Efficient bricklaying robot

Abstract

The efficient bricklaying robot comprises a walking device, a lifting table, an electric rotary table, a mechanical arm assembly and a clamp assembly, the clamp assembly is arranged, a brick is clamped through a fixed clamping plate and a movable clamping plate of a clamping device, and a movable image sensor synchronously moves along with the movable clamping plate; an image of a fixed clamping plate in the vertical direction is obtained through a fixed image sensor, an image of a movable clamping plate in the vertical direction is obtained through a movable image sensor, the alignment state of the placement position of a brick and the wall surface is judged according to the obtained images, and an infrared distance measuring sensor measures the distance between the fixed image sensor and the movable image sensor; the distance between the fixed clamping plate and the movable clamping plate is measured, the width of the clamped bricks is detected, it is guaranteed that the bricks of the same size are adopted for wall building, and the fixed image sensor bricks, the movable image sensor bricks and the infrared distance measuring sensor bricks are adjusted to be washed and blow-dried through the cleaning mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of building construction equipment, in particular to a high-efficiency bricklaying robot. Background Art

[0002] In the construction industry, brickwork is often done manually, using traditional tools. However, manual bricklaying is limited in wall height and requires scaffolding, which increases labor intensity and makes construction inconvenient.

[0003] At present, bricklaying robots are used to replace manual bricklaying to reduce worker labor and increase construction efficiency. The Chinese invention patent with publication number CN110842949B discloses a bricklaying robot, which includes a chassis; a brick supplying mobile mechanism, which is arranged on the chassis; a brick supplying manipulator, which is used to grab bricks to be smeared, and the brick supplying manipulator is arranged at the output end of the brick supplying mobile mechanism, and the brick supplying mobile mechanism can drive the brick supplying manipulator to move up and down and horizontally; the bricklaying mobile mechanism is arranged on the chassis; the bricklaying manipulator is used to grab bricks that have been smeared for laying, and the bricklaying manipulator is arranged at the output end of the brick supplying mobile mechanism, and the bricklaying mobile mechanism can drive the brick supplying manipulator to move up and down and horizontally. By arranging the brick supplying manipulator for grabbing bricks to be smeared at the output end of the brick supplying mobile mechanism, the brick supplying mobile mechanism can drive the brick supplying manipulator to move up and down and horizontally, so that the brick supplying manipulator can grab bricks at different heights and different positions in the horizontal direction on the ground, thereby expanding the range of movement for grabbing bricks;

[0004] The above-mentioned bricklaying robot uses a manipulator to grab and lay bricks, but the bricks need to be vertically aligned with the wall when placed. The placement of the bricks is not aligned and detected, which can easily cause the bricks to tilt, and then make the built wall tilted or uneven. The width of the bricks is not monitored. Since different bricks have different sizes, when bricks of different sizes are mixed in the brick pile, detection cannot be performed, which affects the subsequent bricklaying operations. In addition, mixing bricks of different sizes to build a wall will cause the wall to be uneven. Utility Model Content

[0005] (1) Technical problems solved

[0006] In view of the deficiencies in the prior art, the present invention provides a high-efficiency bricklaying robot that solves the above-mentioned problems.

[0007] (2) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: an efficient bricklaying robot, comprising a walking device and a clamp assembly, a lifting platform is installed on the top of the walking device, an electric turntable is installed on the top of the lifting platform, a mechanical arm assembly is installed on the top of the electric turntable, the clamp assembly is installed on the mechanical arm assembly, the clamp assembly includes a clamping device, a synchronous wheel group, a drive motor, a sensor moving device, a fixed image sensor, an active image sensor, an infrared ranging sensor, a fixed plate, a cleaning mechanism and a connecting plate, the top of the clamping device is fixedly connected to the sensor moving device, the right ends of the sensor moving device and the clamping device are respectively connected to the synchronous wheel group for transmission, the right end of the synchronous wheel group is fixed with a drive motor, and the output shaft of the drive motor is connected to the synchronous wheel group for transmission, a fixed image sensor and an active image sensor are respectively provided on the left and right sides of the front end of the sensor moving device, and an infrared ranging sensor is installed on the left end of the active image sensor, a fixed plate is fixed on the left side of the top of the sensor moving device, and a cleaning mechanism is provided on the front side of the fixed plate, the middle part of the top of the sensor moving device is fixedly connected to the connecting plate, and the top of the connecting plate is connected to the mechanical arm assembly.

[0009] Preferably, the fixed image sensor and the movable image sensor are arranged in the same horizontal direction, and the ranging direction of the infrared ranging sensor is towards the fixed image sensor.

[0010] Preferably, the clamping device includes a shell 1, a fixed splint, a movable splint, a screw 1 and a light rod 1. A fixed splint is installed on the left side of the bottom end of the shell 1, and a movable splint is provided on the right side of the bottom end of the shell 1. The top of the movable splint extends into the interior of the shell 1. The screw 1 and the light rod 1 respectively pass through the top of the movable splint horizontally, and the screw 1 is threadedly connected to the movable splint. The left and right ends of the light rod 1 are fixedly connected to the shell 1, and the top of the shell is fixedly connected to the sensor moving device.

[0011] Preferably, the fixed clamp is vertically aligned with the fixed image sensor, the movable clamp is vertically aligned with the movable image sensor, and the image acquisition angles of the fixed image sensor and the movable image sensor are both vertically downward.

[0012] Preferably, the sensor moving device includes a second shell, a fixed rotating motor, a movable rotating motor, a movable plate, a second screw, a slide rail and a slide groove. A fixed rotating motor is installed on the left side of the interior of the second shell, and a movable rotating motor is provided on the right side of the interior of the second shell. The bottom end of the movable rotating motor is fixedly connected to the movable plate, the inner middle part of the movable plate is horizontally penetrated by the second screw, and the second screw is threadedly connected to the movable plate, the bottom end of the movable plate is slidably connected to the slide rail, and the slide rail is fixed to the inner bottom end of the shell, the output shaft at the front end of the fixed rotating motor is transmission-connected to the fixed image sensor, a slide groove is horizontally opened at the front end of the second shell, the front end of the output shaft of the movable rotating motor passes through the slide groove and is transmission-connected to the movable image sensor, the bottom end of the second shell is fixedly connected to the first shell, and the top middle part of the second shell is fixedly connected to the connecting plate.

[0013] Preferably, the cleaning mechanism includes a support plate, a flushing nozzle, a fan, a water supply pipe and an adjusting motor. The flushing nozzle and the fan are respectively installed on the left and right sides of the bottom end of the support plate. The top of the flushing nozzle is connected to the water supply pipe. The adjusting motor is fixed to the rear end of the fixed plate, and the front end of the output shaft of the adjusting motor is transmission-connected to the support plate.

[0014] Preferably, the left ends of the synchronous wheels on the upper and lower sides of the synchronous wheel group are respectively connected to the second screw and the first screw.

[0015] Preferably, the second screw, the slide rail and the slide groove are arranged parallel to each other.

[0016] (3) Beneficial effects

[0017] The utility model provides a high-efficiency bricklaying robot with the following beneficial effects: a clamp assembly is provided, bricks are clamped by a fixed clamping plate and a movable clamping plate of a clamping device, a movable image sensor moves synchronously with the movable clamping plate, the fixed image sensor acquires an image in the vertical direction of the fixed clamping plate, and the movable image sensor acquires an image in the vertical direction of the movable clamping plate, and the alignment of the brick placement position and the wall surface is determined based on the acquired images, and an infrared ranging sensor measures the distance between the fixed image sensor and the movable image sensor, thereby determining the spacing between the fixed clamping plate and the movable clamping plate, detecting the width of the clamped bricks, and ensuring that bricks of the same size are used for wall construction.

[0018] The utility model provides an efficient bricklaying robot having the following beneficial effects: by providing a cleaning mechanism brick, by adjusting the positions and angles of the fixed image sensor brick, the movable image sensor brick, and the infrared ranging sensor brick, the cleaning mechanism rinses and dries the fixed image sensor brick, the movable image sensor brick, and the infrared ranging sensor brick, thereby preventing the fixed image sensor brick, the movable image sensor brick, and the infrared ranging sensor brick from adhering to mud and affecting their detection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural diagram of the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the clamp assembly of the present utility model;

[0021] Figure 3 This is a schematic diagram of the internal structure of the fixture assembly in the present utility model;

[0022] Figure 4 This is a schematic diagram of the internal structure of the sensor moving device in the present utility model;

[0023] Figure 5 This is a top view of the internal structure of the sensor moving device in the present utility model;

[0024] Figure 6 This is a schematic diagram of the cleaning mechanism structure of the present utility model.

[0025] In the figure: walking device-1, lifting platform-2, electric turntable-3, robotic arm assembly-4, clamp assembly-5, clamping device-51, synchronous wheel group-52, drive motor-53, sensor moving device-54, fixed image sensor-55, movable image sensor-56, infrared ranging sensor-57, fixed plate-58, cleaning mechanism-59, connecting plate-510, housing 1-511, fixed splint-512, movable splint-513, screw 1-514, polished rod 1-515, housing 2-541, fixed rotating motor-542, movable rotating motor-543, movable plate-544, screw 2-545, slide rail-546, slide chute-547, support plate-591, flushing nozzle-592, fan-593, water supply pipe-594, regulating motor-595. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] See also Figure 1-5The utility model provides a technical solution for an efficient bricklaying robot: an efficient bricklaying robot, comprising a walking device 1 and a clamp assembly 5, a lifting platform 2 is installed on the top of the walking device 1, an electric turntable 3 is installed on the top of the lifting platform 2, a mechanical arm assembly 4 is installed on the top of the electric turntable 3, the clamp assembly 5 is installed on the mechanical arm assembly 4, a slurry mechanism can be provided on the mechanical arm assembly 4, and the bricks are slurried by the slurry mechanism, or the slurry can be applied on the top of the stacked wall bricks, so that the clamp assembly 5 can grab the bricks and place them directly on the cement slurry above the wall bricks;

[0028] The clamping assembly 5 includes a clamping device 51, a synchronous wheel group 52, a driving motor 53, a sensor moving device 54, a fixed image sensor 55, a movable image sensor 56, an infrared ranging sensor 57, a fixed plate 58, a cleaning mechanism 59 and a connecting plate 510. The top of the clamping device 51 is fixedly connected to the sensor moving device 54. The right ends of the sensor moving device 54 and the clamping device 51 are respectively connected to the synchronous wheel group 52. The right end of the synchronous wheel group 52 is fixed with a driving motor 53, and the output shaft of the driving motor 53 is connected to the synchronous wheel group 52. The fixed image sensor 55 and the movable image sensor 56 are respectively provided on the left and right sides of the front end of the sensor moving device 54, and the infrared ranging sensor 57 is installed on the left end of the movable image sensor 56. The fixing plate 58 is fixed to the left side of the top of the sensor moving device 54, and the front side of the fixing plate 58 is provided with a cleaning mechanism 59. The middle part of the top of the sensor moving device 54 is fixedly connected to the connecting plate 510, and the top of the connecting plate 510 is connected to the robotic arm assembly 4;

[0029] The clamping device 51 includes a shell 511, a fixed splint 512, a movable splint 513, a screw 514 and a polished rod 515. The fixed splint 513 is installed on the left side of the bottom end of the shell 511, and the movable splint 513 is provided on the right side of the bottom end of the shell 511. The top of the movable splint 513 extends into the interior of the shell 511. The screw 514 and the polished rod 515 respectively pass through the top of the movable splint 513 horizontally, and the screw 514 is threadedly connected to the movable splint 513. The left and right ends of the polished rod 515 are fixedly connected to the shell 511. The top of the shell 511 is fixedly connected to the sensor moving device 54.

[0030] The fixed image sensor 55 and the movable image sensor 56 are arranged in the same horizontal direction, and the ranging direction of the infrared ranging sensor 57 is toward the fixed image sensor 55. The fixed clamping plate 512 is vertically aligned with the fixed image sensor 55, and the movable clamping plate 513 is vertically aligned with the movable image sensor 56. The image acquisition angles of the fixed image sensor 55 and the movable image sensor 56 are both vertically downward. The infrared ranging sensor 57 measures the distance between the fixed image sensor 55 and the movable image sensor 56, and then determines the spacing between the fixed clamping plate 512 and the movable clamping plate 513. The fixed image sensor 55 acquires an image of the fixed clamping plate 512, and the movable image sensor 56 acquires an image of the movable clamping plate 513. The alignment of the brick placement position and the wall surface is determined based on the acquired images.

[0031] The sensor moving device 54 includes a second housing 541, a fixed rotating motor 542, a movable rotating motor 543, a movable plate 544, a second screw 545, a slide rail 546 and a slide groove 547. The fixed rotating motor 542 is installed on the left side of the interior of the second housing 541, and the movable rotating motor 543 is provided on the right side of the interior of the second housing 541. The bottom end of the movable rotating motor 543 is fixedly connected to the movable plate 544. The inner middle part of the movable plate 544 is horizontally penetrated by the second screw 545, and the second screw 545 is threaded with the movable plate 544. The bottom end of the movable plate 544 is slidably connected to the slide rail 546, and the slide rail 546 is fixed to the inner bottom end of the housing 541. The output shaft at the front end of the fixed rotating motor 542 is transmission-connected to the fixed image sensor 55. A slide groove 547 is horizontally opened at the front end of the second housing 541. The front end of the output shaft of the movable rotating motor 543 passes through the slide groove 547 and is transmission-connected to the movable image sensor 56. The bottom end of the second housing 541 is fixedly connected to the first housing 511, and the middle of the top end of the second housing 541 is fixedly connected to the connecting plate 510.

[0032] The left ends of the synchronous wheels on the upper and lower sides of the synchronous wheel group 52 are respectively connected to the second screw 545 and the first screw 514, so that the drive motor 53 drives the synchronous wheel group 52 to rotate, and the two synchronous wheels of the synchronous wheel group 52 respectively drive the second screw 545 and the first screw 514 to rotate simultaneously;

[0033] Screw 2 545 , slide rail 546 and slide groove 547 are arranged parallel to each other, so that screw 2 545 rotates and drives the movable plate 544 to slide along the slide rail 546 through the threaded cooperation between the screw 2 and the movable plate 544, and the movable plate 544 drives the movable rotating motor 543 to move synchronously laterally, and the output shaft of the movable rotating motor 543 slides along the inner wall of the slide groove 547.

[0034] See also Figure 6The cleaning mechanism 59 includes a support plate 591, a flushing nozzle 592, a fan 593, a water supply pipe 594 and an adjusting motor 595. The flushing nozzle 592 and the fan 593 are respectively installed on the left and right sides of the bottom end of the support plate 591. The top of the flushing nozzle 592 is connected to the water supply pipe 594. The adjusting motor 595 is fixed to the rear end of the fixed plate 58, and the front end of the output shaft of the adjusting motor 595 is transmission-connected to the support plate 591.

[0035] The water supply tank and water pump of the flushing nozzle 592 can be installed on the top edge of the lifting platform 2 to quickly supply water to the flushing nozzle 592, and the controller of the bricklaying robot can be installed in the walking device 1 and remotely controlled using wireless control technology.

[0036] When in use, the robot is moved by controlling the walking device 1, the height of the electric turntable 3 and the mechanical arm assembly 4 is adjusted by controlling the lifting platform 2 to rise and fall, the mechanical arm assembly 4 is rotated by controlling the electric turntable 3, and the clamp assembly 5 is moved by controlling the mechanical arm assembly 4 to achieve position and angle control of the clamp assembly 5;

[0037] When it is necessary to grab a brick, the clamp assembly 5 is moved to the top of the brick, and the fixed clamping plate 512 and the movable clamping plate 513 are respectively located on the left and right sides of the brick. The synchronous wheel set 52 is driven to rotate by controlling the driving motor 53. The two synchronous wheels of the synchronous wheel set 52 respectively drive the second screw 545 and the first screw 514 to rotate simultaneously. The rotation of the first screw 514 drives the movable clamping plate 513 to move leftward through the threaded engagement between the movable clamping plate 513, so that the fixed clamping plate 512 and the movable clamping plate 513 clamp the brick.

[0038] The second screw 545 rotates and engages with the threaded connection between the screw rod and the movable plate 544, driving the movable plate 544 to slide along the slide rail 546. The movable plate 544 drives the movable rotating motor 543 to move laterally in synchronization. The output shaft of the movable rotating motor 543 slides along the inner wall of the slide groove 547. The movable rotating motor 543 drives the movable image sensor 56 to move synchronously, so that the movable image sensor 56 and the movable clamping plate 513 move synchronously.

[0039] The infrared distance sensor 57 measures the distance between the fixed image sensor 55 and the movable image sensor 56, and then determines the spacing between the fixed clamping plate 512 and the movable clamping plate 513, and detects the width of the clamped bricks to ensure that bricks of the same size are used for wall construction;

[0040] By controlling the electric turntable 3 and the robotic arm assembly 4, the clamp assembly 5 and the grabbed brick are moved to the desired wall-laying position. When the brick is fixed, the fixed image sensor 55 captures an image of the fixed clamping plate 512 in the vertical direction, and the movable image sensor 56 captures an image of the movable clamping plate in the vertical direction 513. Based on the captured images, the alignment of the placement position of the brick with the wall surface is determined. Once aligned, the brick can be placed.

[0041] When it is necessary to clean the fixed image sensor 55, the active image sensor 56 and the infrared ranging sensor 57, the fixed rotating motor 542 is controlled to rotate the camera of the active image sensor 56 upward, the adjusting motor 595 is controlled to drive the support plate 591 to rotate, the angles of the flushing nozzle 592 and the fan 593 are adjusted, the camera is flushed by the flushing nozzle 592, and air-dried by the fan 593, and the infrared ranging sensor 57 is controlled to move to the left to the bottom of the flushing mechanism 59, and the active rotating motor 543 is controlled to drive the active image sensor 56 to rotate, and the camera of the active image sensor 56 or the infrared ranging sensor 57 is rotated to align with the flushing mechanism 59, so that flushing and air-drying can be carried out.

[0042] The control method of the present invention is to manually start and stop the switch. The wiring diagram of the power element and the provision of power supply are common knowledge in the field. Moreover, the present invention is mainly used to protect mechanical devices. Therefore, the control method and wiring arrangement are not explained in detail in the present invention.

[0043] The control method of the present invention is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by technicians in this field. The provision of power is also common knowledge in this field. In addition, the present invention is mainly used to protect mechanical devices, so the control method and circuit connection are no longer explained in detail in the present invention.

[0044] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An efficient bricklaying robot, comprising a walking device (1), a lifting platform (2) being installed on the top of the walking device (1), an electric turntable (3) being installed on the top of the lifting platform (2), and a mechanical arm assembly (4) being installed on the top of the electric turntable (3); Its characteristics are: The invention also includes a clamping assembly (5), which is installed on the mechanical arm assembly (4). The clamping assembly (5) includes a clamping device (51), a synchronous wheel group (52), a driving motor (53), a sensor moving device (54), a fixed image sensor (55), a movable image sensor (56), an infrared ranging sensor (57), a fixing plate (58), a cleaning mechanism (59) and a connecting plate (510). The top of the clamping device (51) is fixedly connected to the sensor moving device (54). The right ends of the sensor moving device (54) and the clamping device (51) are respectively connected to the synchronous wheel group (52). The right end of the synchronous wheel group (52) is connected to the sensor moving device (54). A driving motor (53) is fixed at the end, and the output shaft of the driving motor (53) is transmission-connected to the synchronous wheel group (52); a fixed image sensor (55) and a movable image sensor (56) are respectively provided on the left and right sides of the front end of the sensor moving device (54); an infrared ranging sensor (57) is installed at the left end of the movable image sensor (56); a fixing plate (58) is fixed on the left side of the top end of the sensor moving device (54), and a cleaning mechanism (59) is provided on the front side of the fixing plate (58); the middle part of the top end of the sensor moving device (54) is fixedly connected to the connecting plate (510), and the top of the connecting plate (510) is connected to the mechanical arm assembly (4).

2. The efficient bricklaying robot according to claim 1, characterized in that: The fixed image sensor (55) and the movable image sensor (56) are arranged in the same horizontal direction, and the ranging direction of the infrared ranging sensor (57) is toward the fixed image sensor (55).

3. The efficient bricklaying robot according to claim 1, characterized in that: The clamping device (51) includes a shell (511), a fixed splint (512), a movable splint (513), a screw (514) and a light rod (515). The fixed splint (512) is installed on the left side of the bottom end of the shell (511), and the movable splint (513) is provided on the right side of the bottom end of the shell (511). The top of the movable splint (513) extends into the interior of the shell (511). The screw (514) and the light rod (515) respectively pass through the top of the movable splint (513) horizontally, and the screw (514) is threadedly connected to the movable splint (513). The left and right ends of the light rod (515) are fixedly connected to the shell (511), and the top of the shell (511) is fixedly connected to the sensor moving device (54).

4. The efficient bricklaying robot according to claim 3, characterized in that: The fixed clamping plate (512) is vertically aligned with the fixed image sensor (55), and the movable clamping plate (513) is vertically aligned with the movable image sensor (56).

5. The efficient bricklaying robot according to claim 1, characterized in that: The sensor moving device (54) includes a second housing (541), a fixed rotating motor (542), a movable rotating motor (543), a movable plate (544), a second screw (545), a slide rail (546) and a slide groove (547). The fixed rotating motor (542) is installed on the left side of the interior of the second housing (541), and the movable rotating motor (543) is provided on the right side of the interior of the second housing (541). The bottom end of the movable rotating motor (543) is fixedly connected to the movable plate (544). The inner middle part of the movable plate (544) is horizontally penetrated by the second screw (545), and the second screw (545) and the movable plate (544) are connected. ) is threadedly connected, the bottom end of the movable plate (544) is slidably connected to the slide rail (546), and the slide rail (546) is fixed to the inner bottom end of the second shell (541), the output shaft of the front end of the fixed rotating motor (542) is transmission-connected to the fixed image sensor (55), the front end of the second shell (541) is horizontally provided with a slide groove (547), the front end of the output shaft of the movable rotating motor (543) passes through the slide groove (547) and is transmission-connected to the movable image sensor (56), the bottom end of the second shell (541) is fixedly connected to the first shell (511), and the middle of the top end of the second shell (541) is fixedly connected to the connecting plate (510).

6. The efficient bricklaying robot according to claim 1, characterized in that: The cleaning mechanism (59) comprises a support plate (591), a flushing nozzle (592), a fan (593), a water supply pipe (594) and an adjusting motor (595). The flushing nozzle (592) and the fan (593) are respectively installed on the left and right sides of the bottom end of the support plate (591). The top end of the flushing nozzle (592) is connected to the water supply pipe (594). The adjusting motor (595) is fixed to the rear end of the fixed plate (58), and the front end of the output shaft of the adjusting motor (595) is transmission-connected to the support plate (591).

7. The efficient bricklaying robot according to claim 1, characterized in that: The left ends of the synchronous wheels on the upper and lower sides of the synchronous wheel group (52) are respectively connected to the second screw (545) and the first screw (514) for transmission.

8. The efficient bricklaying robot according to claim 5, characterized in that: The second screw (545), the slide rail (546) and the slide groove (547) are arranged parallel to each other.

Images