An automatic bricklaying device and method for hollow brick walls

Abstract

This invention discloses an automated bricklaying device and method for hollow brick walls, belonging to the field of building automation technology. The device includes a frame spaced apart on the left and right, a bricklaying platform, several robotic arms, and corresponding brick stacking stations. Each robotic arm has a clamping and grouting mechanism at its end. The clamping and grouting mechanism includes a mounting base, two clamping plates, a power component, a support plate with a ball bearing structure, a grouting pipe, and stop bars. The bricklaying platform has a transverse guide rail, allowing each robotic arm to move independently left and right. A 3D contour laser sensor is also provided for positioning and guidance. During bricklaying, the robotic arm clamps a brick and moves it to the target position. After releasing the brick, it retracts the support plate while grouting, then actively presses and levels the grout in the brick joints, and rotates 90 degrees to complete pressing on all four sides. This invention achieves full automation of the hollow brick wall process from clamping and laying to grout leveling, significantly improving construction efficiency and bricklaying quality.

Description

Technical Field

[0001] This invention relates to the field of automated construction equipment technology, specifically to an automatic brick wall construction device and a method for brick wall construction using the device. Background Technology

[0002] Perforated brick walls are a common type of architectural decorative wall. Their characteristic feature is the stacking of bricks in a cross-shaped pattern, forming a regular perforated design. This provides good ventilation, lighting, and decorative effects. However, traditional perforated brick wall construction relies entirely on manual labor, which presents the following problems: High labor intensity: Workers need to move bricks one by one, apply cement slurry, and ensure the precise positioning of each brick, which is labor-intensive and inefficient.

[0003] Precision is difficult to guarantee: When laying bricks manually, the control of the position, levelness, verticality and joint size of the bricks depends on the experience of the workers, which can easily lead to cumulative errors and affect the quality of the wall.

[0004] The cross-shaped stacking is difficult: the hollow wall requires the upper layer of bricks to be stacked between two adjacent lower layer bricks, and the orientation of each layer of bricks changes alternately, which requires high positioning accuracy and is prone to misalignment during manual operation.

[0005] Inaccurate control of grouting volume: During manual grouting, it is difficult to accurately control the amount and uniformity of cement grout, which can easily lead to problems such as excessive grout overflow or insufficient grout resulting in poor adhesion. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic bricklaying equipment and method for hollow brick walls, so as to realize the automated, high-precision and high-efficiency bricklaying of hollow brick walls, and solve the problems of low efficiency and poor precision of manual bricklaying in the prior art.

[0007] The objective of this invention is achieved through the following technical solution: an automatic bricklaying device for hollow brick walls, comprising: Two uprights are set at intervals on the left and right, and each upright is equipped with a drive block that is driven by a servo electric cylinder to move vertically. The construction platform is fixedly connected between the left and right drive blocks; Several robotic arms are spaced apart from left to right on the masonry platform. The end of each robotic arm is equipped with a grouting clamping mechanism. The grouting clamping mechanism can perform forward and backward translation, vertical lifting and lowering, and rotation around the vertical axis through the robotic arms. Several brick stacking stations are set up in front of each robotic arm, and the bricks at the brick stacking stations are stacked layer by layer in a cross-shaped manner. The clamping grouting mechanism includes: Mounting base, which is fixedly connected to the robotic arm; Two clamping plates are positioned opposite each other on the underside of the mounting base; The power unit, located within the mounting base, is used to drive the two clamping plates to move closer or further apart in a horizontal direction. A support plate is provided at the bottom of the opposite side of each clamping plate. The upper and lower sides of the support plate are respectively embedded with ball bearing structures. The support plate is installed on the clamping plate by a telescopic drive member so that it can extend or retract in the horizontal direction relative to the clamping plate. The grouting pipe is located inside the support plate, and the outlet end of the grouting pipe is set on the opposite end face of the support plate.

[0008] Furthermore, two horizontally spaced support plates are provided on the same clamping plate, and a synchronization block is provided between the two support plates. The power end of the telescopic drive is connected to the synchronization block. This structure ensures the synchronous telescopic movement of the two support plates, ensuring uniform force on the bottom of the brick.

[0009] Furthermore, the total width of the two support plates on the same clamping plate is equal to or slightly less than the width of the brick, and the thickness of the support plate is equal to or slightly less than the set thickness of a single layer of cement grout. This design allows the support plate to fully support the bottom of the brick, while the grouting height matches the thickness of the support plate, ensuring that the bottom surface of the brick is flush with the upper surface of the grout after it is placed.

[0010] Furthermore, the masonry platform is provided with a transverse guide rail, and each robotic arm is mounted on the transverse guide rail via a sliding seat and is driven by a transverse drive component to move independently or in conjunction with the left and right directions of the masonry platform.

[0011] Furthermore, the ball bearing structure comprises multiple rolling balls, each rotatably embedded in the upper and lower sides of the support plate. The ball bearing structure generates rolling friction between the support plate and the bottom surface of the brick, as well as the existing masonry wall below, significantly reducing the resistance when the support plate retracts.

[0012] Furthermore, the inlet end of the grouting pipe is connected to a grout delivery pipe, which is equipped with an electrically controlled valve for precisely controlling the start and stop of grouting and the flow rate.

[0013] Furthermore, the power component is a dual-headed electric actuator, and the telescopic drive component is a miniature electric actuator, which is embedded inside the clamping plate, resulting in a compact structure and precise control.

[0014] Furthermore, a baffle is provided between the inner end faces of the two support plates on the same clamping plate, and the outlet end of the grouting pipe passes through the baffle. The baffle serves to prevent grout from entering the interior of the clamping plate during the grouting process, thus preventing grout from contaminating the clamping mechanism.

[0015] Furthermore, the mounting base is also equipped with a 3D contour laser sensor to identify the position and posture of the bricks and the position of the brick joints in the constructed wall, providing precise positioning guidance for the robotic arm.

[0016] A bricklaying method using the aforementioned automatic brick wall construction equipment includes the following steps: S1: Lower the masonry platform to its lowest position and stack the bricks in a cross-shaped manner at the brick stacking station, with the long sides of the bricks exposed on the clamping path of the clamping grouting mechanism. S2: Raise the masonry platform to the first level of masonry height; S3: The robotic arm moves the clamping and grouting mechanism to above the brick stacking station. The 3D contour laser sensor scans and identifies the actual position and posture of the brick to be clamped. The robotic arm adjusts its posture according to the identification result and then descends. S4: The two clamping plates move closer to each other under the drive of the power component, correct the position of the two ends of the long side of the brick and clamp it, while the support plate extends under the drive of the telescopic drive component to support the bottom of the brick. S5: The robotic arm drives the clamping and grouting mechanism to lift and remove the bricks from the stacking station; S6: The robotic arm moves the clamping grouting mechanism to directly above the target masonry position of the current layer. The 3D contour laser sensor scans and identifies the brick joint positions of the masonry wall. The robotic arm adjusts its posture according to the identification results and then descends. S7: The two clamping plates move away from each other under the drive of the power component, releasing the brick and causing it to fall onto the upper side of the support plate. S8: The support plate retracts outward under the drive of the telescopic drive component, and at the same time, the grouting pipe injects cement grout into the bricks below. The grouting height is equal to the thickness of the support plate. The baffle retracts synchronously with the support plate. The support plate retracts completely and detaches from the bottom of the bricks. The bricks are supported by the injected cement grout. S9: The robotic arm drives the support plate to slowly return to its original position at the brick joint height, and simultaneously cooperates with the baffle to press the grout at both ends of the long side of the current brick. S10: The robotic arm drives the clamping grouting mechanism to rotate 90 degrees around the vertical axis, repeating step S9 to press the grout at the brick joints on the other two sides of the current brick. S11: Repeat steps S3 to S5. The robotic arm moves a certain distance to the left or right along the length of the masonry platform, and the masonry platform rises to continue laying the next layer of bricks.

[0017] Compared with the prior art, the advantages of the present invention are as follows: 1. High degree of automation: Through the coordinated operation of the lifting and lowering of the frame, the multi-degree-of-freedom movement of the robotic arm, and the clamping and grouting mechanism, the entire process from brick clamping, transportation, positioning, release, grouting to compaction and leveling is fully automated, which greatly reduces the intensity of manual labor.

[0018] 2. High masonry precision: 3D contour laser sensors identify the posture of bricks and the position of brick joints in the wall in real time. Combined with the precise motion control of the robotic arm, it ensures the accurate positioning of each brick and eliminates the cumulative error of manual operation.

[0019] 3. Adaptable to special processes of hollow brick walls: The robotic arm can rotate 90 degrees around the vertical axis, enabling the clamping and grouting mechanism to adapt to the vertical changes in the direction of adjacent brick layers; the cross-shaped brick stacking method provides ample clamping space for the clamping plate.

[0020] 4. High-quality grouting: The design of grouting while the support plate is retracted ensures that the bottom surface of the brick is naturally flush with the top surface of the grout after it is placed. After grouting is completed, the grout is actively pressed and compacted by the retaining strip to ensure that the grout is full, uniform and firmly bonded.

[0021] 5. Low friction: The ball bearing structure embedded on the upper and lower sides of the support plate forms rolling friction with the bottom surface of the brick and the wall below during the retraction of the support plate, which avoids jamming and brick displacement.

[0022] 6. High efficiency of multi-arm collaboration: Multiple robotic arms are set at intervals on the masonry platform. Each robotic arm corresponds to an independent brick stacking station and can work simultaneously or alternately, which greatly improves masonry efficiency. Attached Figure Description

[0023] Figure 1 This is a structural schematic diagram of an embodiment of an automatic brick wall construction device according to the present invention.

[0024] Figure 2 This is a schematic diagram of the robotic arm and the grouting clamping mechanism.

[0025] Figure 3 This is a structural diagram of the clamping plate and the supporting plate.

[0026] Figure 4 yes Figure 3 Sectional view of AA.

[0027] Figure 5 This is a working principle diagram of an automatic brick wall construction equipment (before grouting).

[0028] Figure 6 This is a schematic diagram of the working principle of an automatic brick wall construction equipment (after grouting).

[0029] Labeling Explanation: 1-Upright frame; 2-Drive block; 3-Masonry platform; 31-Transverse guide rail; 4-Robot arm; 41-Sliding seat; 5-Clamping grouting mechanism; 51-Mounting seat; 52-Clamping plate; 53-Power component; 54-Support plate; 541-Ball bearing structure; 542-Telescopic drive component; 55-Grouting pipe; 56-Stop bar; 6-Brick stacking station; 7-Brick; 8-3D contour laser sensor. Detailed Implementation

[0030] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: like Figure 1-6 The diagram shown is an embodiment of an automatic brick wall construction device provided by the present invention.

[0031] An automatic bricklaying device for hollow brick walls includes two uprights 1 spaced apart on the left and right. Each upright 1 is equipped with a vertical guide rail, and a drive block 2 is slidably engaged with the vertical guide rail and driven by a servo electric cylinder to move up and down along the vertical guide rail.

[0032] The masonry platform 3 is fixedly connected between the left and right drive blocks 2 and rises and falls synchronously with the drive blocks 2. The masonry platform 3 is provided with a transverse guide rail 31 along its length. The robotic arms 4 are slidably mounted on the transverse guide rail 31 through sliding seats 41. Each sliding seat 41 is driven by an independent transverse drive component (such as a lead screw module driven by a servo motor), so that each robotic arm 4 can move independently in the left and right directions of the masonry platform 3.

[0033] Each robotic arm 4 is a six-degree-of-freedom articulated robotic arm, with a grouting clamping mechanism 5 at its end. The robotic arm 4 can control the grouting clamping mechanism 5 to perform forward and backward translation, vertical lifting and lowering, and rotation around the vertical axis.

[0034] The brick stacking station 6 is located on the front side of each robotic arm 4 and on the bricklaying platform 3. The bricks on the brick stacking station 6 are stacked layer by layer in a cross-shaped manner, that is, the orientation of adjacent layers of bricks is perpendicular to each other. This stacking method exposes the two long sides of each brick to the clamping path of the clamping and grouting mechanism 5, which facilitates clamping.

[0035] The specific structure of the clamping grouting mechanism 5 includes: Mounting base 51 is fixedly connected to the end of robotic arm 4. Mounting base 51 is equipped with a 3D contour laser sensor for scanning and identifying the position of bricks and the position of brick joints.

[0036] Two clamping plates 52 are positioned opposite each other on the underside of the mounting base 51, and are L-shaped or flat, for clamping bricks from both sides.

[0037] The power component 53 is a double-headed electric push rod, which is installed in the mounting base 51. Its two ends are respectively connected to two clamping plates 52, which are used to drive the two clamping plates 52 to move closer or further apart in the horizontal direction.

[0038] Each clamping plate 52 has two horizontally spaced support plates 54 at its bottom on the opposite side (i.e., the side facing the other clamping plate). A synchronizing block is provided between the two support plates 54. A telescopic drive 542 (a miniature electric push rod) is embedded inside the clamping plate 52, and its power end is connected to the synchronizing block to drive the two support plates 54 to extend or retract synchronously in the horizontal direction relative to the clamping plate 52. The total width of the two support plates 54 on the same clamping plate 52 is equal to or slightly less than the width of the brick, ensuring that the support plates 54 can fully support the bottom of the brick.

[0039] The upper and lower sides of the support plate 54 are respectively provided with ball bearing structures 541. The ball bearing structure 541 consists of multiple rolling balls, each of which is rotatably embedded in the interior of the support plate 54, with part of the spherical surface exposed on the upper and lower surfaces, so as to form rolling friction between the support plate 54 and the bottom surface of the brick and the wall already built below.

[0040] The grouting pipe 55 is located inside the support plate 54. Its inlet end is connected to the grout delivery pipe, which is equipped with an electrically controlled valve to control the start, stop, and flow rate of the grouting. The outlet end of the grouting pipe 55 is located on the opposite end face of the support plate 54, facing the central area between the two clamping plates 52.

[0041] A baffle 56 is also provided between the inner end faces of the two support plates 54 on the same clamping plate 52. The outlet end of the grouting pipe 55 passes through the baffle 56 and is flush with or slightly protruding outward from the end face of the baffle 56. The baffle 56 serves to prevent grout from entering the interior of the clamping plate 52 during the grouting process, thus avoiding grout contamination of the clamping mechanism, and at the same time, it can be used for grout compaction.

[0042] The thickness of the support plate 54 is equal to or slightly less than the set thickness of the single layer of cement grout, so that the grouting height matches the thickness of the support plate and ensures that the bottom surface of the brick is flush with the upper surface of the grout after the brick is placed.

[0043] Masonry methods The construction method using the above-mentioned equipment is as follows: Initial preparation: Lower the masonry platform 3 to its lowest position (close to the ground). Workers stack bricks layer by layer in a crisscross pattern at each brick stacking station 6, with the long sides of each brick exposed on the clamping path of the clamping and grouting mechanism 5. After stacking is completed, raise the masonry platform 3 to the first layer masonry height (i.e., the masonry plane position of the first layer of bricks).

[0044] Brick clamping: The robotic arm 4 moves the clamping and grouting mechanism 5 above the brick stacking station 6. A 3D contour laser sensor scans and identifies the actual position and posture of the brick to be clamped (there may be slight deviations due to manual stacking). The robotic arm 4 adjusts its posture based on the identification results and then descends to the clamping position. The two clamping plates 52 move closer together under the drive of the power component 53, correcting the position of the two ends of the long side of the brick and clamping it. At the same time, the support plate 54 extends under the drive of the telescopic drive component 542 and inserts into the bottom of the brick to form support. The robotic arm 4 drives the clamping and grouting mechanism 5 to lift and remove the brick from the stacking station.

[0045] Bricklaying: The robotic arm 4 moves the clamping and grouting mechanism 5 to directly above the target bricklaying position of the current layer. The 3D contour laser sensor scans and identifies the brick joint positions of the already laid wall (for the first layer, the baseline or positioning mark is used as the reference). The robotic arm 4 adjusts its posture according to the identification result and then descends to the bricklaying height. The two clamping plates 52 move away from each other under the drive of the power component 53, releasing the bricks. The bricks fall onto the upper side of the support plate 54 under the action of gravity and are temporarily supported by the support plate 54.

[0046] Grouting: Under the drive of the telescopic drive component 542, the support plate 54 retracts outward (i.e., towards the clamping plate 52). Simultaneously, the grouting pipe 55 injects cement grout into the gap between the lower brick and the lower wall (or ground), with the grouting height equal to the thickness of the support plate 54. The stop strip 56 retracts synchronously with the support plate 54, preventing grout from entering the interior of the clamping plate 52 during the grouting process. After the support plate 54 is fully retracted, it detaches from the bottom of the brick, and the brick is supported by the injected cement grout. At this point, the bottom surface of the brick is naturally flush with the upper surface of the grout.

[0047] Compaction and Leveling: The robotic arm 4 drives the support plate 54 to slowly shift back at the grout level in the brick joint, simultaneously coordinating with the stop strip 56 to compact the grout at both ends of the long side of the current brick, thus compacting and leveling the grout, preventing overflow and ensuring a firm bond. Subsequently, the robotic arm 4 drives the clamping and grouting mechanism 5 to rotate 90 degrees around its vertical axis, repeating the above pressing operation to compact the grout at the other two sides of the current brick. At this point, the laying of a single brick is complete.

[0048] Same layer cycle: Repeat the above steps of clamping, laying, grouting and compacting, while the robot arm 4 moves a distance to the left or right along the transverse guide rail 31 to complete the laying of the remaining bricks in the current layer in turn, until the hollow structure of the current layer is completed.

[0049] Raise the bricklaying platform 3 to the height of one brick. Repeat all the above steps until the preset wall height is reached, forming a cross-shaped perforated brick wall.

[0050] This equipment can use a PLC or industrial computer as the main controller, and connect to servo cylinders, robotic arm controllers, 3D contour laser sensors, electric valves, and other actuators and sensors. Through a pre-programmed control program, it automatically coordinates and controls the timing of each actuator according to the steps described above, achieving fully automated construction of hollow brick walls.

[0051] In a preferred embodiment, the lateral drive unit drives the robotic arm 4 to move along the lateral guide rail 31 on the masonry platform 3, with four travel positions, defined from left to right as the first station, the second station, the third station, and the fourth station. Each brick stacking station 6 is correspondingly located in front of each station to provide bricks for the robotic arm 4.

[0052] The operation process of a single robotic arm 4 is as follows: First round of bricklaying (Nth layer): Robotic arm 4 first moves to the first station, picks up a brick from the corresponding brick stacking station 6, and completes the laying of the first brick of the current layer; then robotic arm 4 moves along the transverse guide rail 31 to the third station to complete the laying of the second brick of the current layer. There is a gap between the first station and the third station (the second station), so that there is a gap between the two bricks that have been laid.

[0053] Rising Transition: The masonry platform 3 is raised by one layer of bricks.

[0054] Second round of bricklaying (N+1th layer): Robotic arm 4 moves to the second station, picks up a brick, and moves to the gap between the two bricks laid at the first and third stations to complete the laying of the upper layer of bricks, so that the brick is placed on top of two adjacent bricks in the lower layer; then robotic arm 4 moves to the fourth station and repeats the above operation to complete the laying of the second brick in the upper layer.

[0055] Alternating Cycle: Repeating the above process, robotic arm 4 alternates between the first and third workstations and the second and fourth workstations, while the masonry platform 3 rises layer by layer. As the number of masonry layers increases, the bricks laid at the first and third workstations form two vertical columns, and the bricks laid at the second and fourth workstations form another two vertical columns. The bricks in each column are staggered in height, together forming a cross-shaped hollow brick wall structure.

[0056] When multiple robotic arms 4 are installed on the masonry platform 3, each robotic arm 4 can independently execute the above-mentioned work process and complete the construction of one or more rows of hollow brick walls in its corresponding four work areas. The parallel operation of multiple robotic arms can greatly improve construction efficiency.

Claims

1. An automatic bricklaying device for hollow brick walls, characterized in that, include: Two uprights (1) are set at intervals on the left and right, and each upright (1) is equipped with a drive block (2) that is driven to move vertically by a servo electric cylinder; The masonry platform (3) is fixedly connected between the left and right drive blocks (2); Several robotic arms (4) are spaced apart from left to right on the masonry platform (3). The end of each robotic arm (4) is provided with a clamping grouting mechanism (5). The clamping grouting mechanism (5) performs forward and backward translation, vertical lifting and lowering, and rotation around the vertical axis through the robotic arms (4). Several brick stacking stations (6) are set up in front of each robotic arm (4), and the bricks on the brick stacking stations (6) are stacked layer by layer in a cross-shaped manner. The clamping grouting mechanism (5) includes: Mounting base (51) is fixedly connected to the robotic arm (4); Two clamping plates (52) are disposed opposite each other on the underside of the mounting base (51); A power unit (53) is provided in the mounting base (51) for driving the two clamping plates (52) to move closer or further apart in the horizontal direction; A support plate (54) is provided at the bottom of the opposite side of each clamping plate (52). The upper and lower sides of the support plate (54) are respectively provided with ball bearing structures (541). The support plate (54) is installed on the clamping plate (52) by a telescopic drive member (542) so that it can extend or retract in the horizontal direction relative to the clamping plate (52). The grouting pipe (55) is located inside the support plate (54), and the outlet end of the grouting pipe (55) is set on the opposite end face of the support plate (54).

2. The automatic brick wall construction equipment according to claim 1, characterized in that: Two horizontally spaced support plates (54) are provided on the same clamping plate (52), and a synchronization block is provided between the two support plates (54). The power end of the telescopic drive (542) is connected to the synchronization block.

3. The automatic bricklaying equipment for hollow brick walls according to claim 2, characterized in that: The total width of the two support plates (54) on the same clamping plate (52) is equal to or slightly less than the width of the brick, and the thickness of the support plate (54) is equal to or slightly less than the set thickness of a single layer of cement slurry.

4. The automatic brick wall construction equipment according to claim 3, characterized in that: The masonry platform (3) is provided with a transverse guide rail (31). Each robotic arm (4) is mounted on the transverse guide rail (31) via a sliding seat (41) and is driven by a transverse drive component to move independently or in conjunction with the left and right directions of the masonry platform (3).

5. The automatic brick wall construction equipment according to claim 1, characterized in that: The ball structure (541) consists of multiple balls, each of which is rotatably embedded in the upper and lower sides of the support plate (54).

6. The automatic brick wall construction equipment according to claim 1, characterized in that: The inlet end of the grouting pipe (55) is connected to the grout delivery pipe, and the grout delivery pipe is equipped with an electric control valve.

7. The automatic brick wall construction equipment according to claim 1, characterized in that: The power component (53) is a double-headed electric push rod, and the telescopic drive component (542) is a miniature electric push rod, which is embedded inside the clamping plate (52).

8. The automatic brick wall construction equipment according to claim 4, characterized in that: A baffle is provided between the inner end faces of the two support plates (54) on the same clamping plate (52), and the outlet end of the grouting pipe (55) passes through the baffle.

9. The automatic brick wall construction equipment according to claim 8, characterized in that: The mounting base (51) is also equipped with a 3D contour laser sensor (8).

10. A method for constructing a brick wall using the automatic brick wall construction equipment as described in claim 9, characterized in that, Includes the following steps: S1: Lower the masonry platform (3) to the lowest position and stack the bricks in a cross-shaped manner at the brick stacking station (6), with the long sides of the bricks exposed on the clamping path of the clamping grouting mechanism (5). S2: Raise the masonry platform (3) to the first masonry height; S3: The robotic arm (4) drives the clamping grouting mechanism (5) to move above the brick stacking station (6). The 3D contour laser sensor scans and identifies the actual position and posture of the brick to be clamped. The robotic arm (4) adjusts its posture according to the identification result and then descends. S4: The two clamping plates (52) are brought closer together under the drive of the power component (53) to correct the position of the two ends of the long side of the brick and clamp them. At the same time, the support plate (54) is extended under the drive of the telescopic drive component (542) to support the bottom of the brick. S5: The robotic arm (4) drives the clamping grouting mechanism (5) to lift and remove the bricks from the stacking station; S6: The robotic arm (4) drives the clamping grouting mechanism (5) to move directly above the target masonry position of the current layer. The 3D contour laser sensor (8) scans and identifies the brick joint position of the masonry wall. The robotic arm (4) adjusts its posture according to the identification result and then descends. S7: The two clamping plates (52) move away from each other under the drive of the power component (53), releasing the brick and causing it to fall onto the upper side of the support plate (54); S8: The support plate (54) retracts outward under the drive of the telescopic drive (542), and at the same time the grouting pipe (55) injects cement slurry into the brick below. The grouting height is equal to the thickness of the support plate (54). The baffle (56) retracts synchronously with the support plate (54). The support plate (54) retracts completely and detaches from the bottom of the brick. The brick is supported by the injected cement slurry. S9: The robotic arm (4) drives the support plate (54) to slowly move back at the height of the grout at the brick joint, and simultaneously cooperates with the baffle (56) to press the grout at both ends of the long side of the current brick. S10: The robotic arm (4) drives the clamping grouting mechanism (5) to rotate 90 degrees around the vertical axis, repeating step S9 to press the grout at the brick joints on the other two sides of the current brick. S11: Repeat steps S3 to S5. The robotic arm (4) moves a certain distance to the left or right along the length of the masonry platform (3), and the masonry platform (3) rises to continue to complete the masonry of the next layer of bricks.

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