[go: up one dir, main page]

WO2018099323A1 - 一种砌砖机器人 - Google Patents

一种砌砖机器人 Download PDF

Info

Publication number
WO2018099323A1
WO2018099323A1 PCT/CN2017/112793 CN2017112793W WO2018099323A1 WO 2018099323 A1 WO2018099323 A1 WO 2018099323A1 CN 2017112793 W CN2017112793 W CN 2017112793W WO 2018099323 A1 WO2018099323 A1 WO 2018099323A1
Authority
WO
WIPO (PCT)
Prior art keywords
plate
disposed
brick
robot according
negative pressure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/112793
Other languages
English (en)
French (fr)
Inventor
刘昌臻
陈思鑫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huaway IoT Technology Co Ltd
Original Assignee
Huaway IoT Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201611069571.6A external-priority patent/CN106592991B/zh
Priority claimed from CN201621289304.5U external-priority patent/CN206319635U/zh
Priority claimed from CN201721383469.3U external-priority patent/CN207332339U/zh
Priority claimed from CN201721383556.9U external-priority patent/CN207436520U/zh
Priority claimed from CN201711006396.0A external-priority patent/CN107892170B/zh
Priority claimed from CN201711006365.5A external-priority patent/CN107642247B/zh
Application filed by Huaway IoT Technology Co Ltd filed Critical Huaway IoT Technology Co Ltd
Publication of WO2018099323A1 publication Critical patent/WO2018099323A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines

Definitions

  • the present invention relates to the field of intelligent building construction technology, and in particular, to a bricklaying robot.
  • the construction industry is a pillar industry in China and plays a leading role in the national economy.
  • the traditional masonry method is done manually, and the operator builds the wall tiles as required.
  • the wall tiles have been changed from clay sintering (each weight 1.5 ⁇ 3kg) to aerated brick or cement hollow brick (each weight is 10 ⁇ 25kg), the construction progress is slow, the labor intensity is high, and the working environment is poor. And the cost of relying on human labor is getting higher and higher. Therefore, the construction industry urgently needs a robot that can replace the manual operation of masonry engineering.
  • the height of the wall is greater than the limit position of the bricklaying robot, and the masonry of the high wall cannot be realized.
  • the wall thickness is different, the brick specifications are different, the fixture is difficult to be universal, and the scope of application is small.
  • the beam crossing beam is a beam placed on the door, window or reserved hole, etc.
  • the wall opening is larger than 300mm, in order to support the upper part of the hole
  • the various loads coming from, and these loads are transmitted to the walls on both sides of the opening such as doors and windows, and the lintels are required to be placed on the openings of the doors and windows.
  • the existing bricklaying robots are not easy to use and can be easily placed.
  • top brick Due to the hardening of the wall mortar, the volume is reduced during the hardening process.
  • the bricks of this section cannot be built together.
  • the national regulations clearly stipulate that it must be separated by more than 7 days.
  • the top brick masonry is a kind of consumption and consumption.
  • the special work of the work, the existing bricklaying robot can not carry out the brickwork of the top brick.
  • the present invention provides a bricklaying robot with simple structure and good stability, which is suitable for bricklaying environments in various occasions.
  • the technical solution proposed by the present invention is:
  • the present invention discloses a brick-laying robot, which comprises a rotary moving chassis, a lifting module and a top brick-laying module which are sequentially connected;
  • the rotary mobile chassis includes a base, a first driving member, a gear set, a rotating support disk, and a moving mechanism, the gear set is disposed between the base and the rotating support disk, and the moving mechanism is disposed at a lower end of the base,
  • the first driving member drives the gear set to drive the rotating support disk to rotate;
  • the lifting module includes a second driving member, a first screw rod, a longitudinal rail structure and a plurality of first fixing plates; the bottom end of the lifting module is fixed above the rotating support plate;
  • the top bricklaying module includes a support plate, and a plurality of second fixing plates, a second screw rod, a transverse rail mechanism, a third driving member, a brick building fixture and a fourth driving member fixed above the supporting plate;
  • the third driving member drives the second screw rod, the second screw rod and the fourth driving member are connected, the supporting plate is provided with a guiding slot, and the fourth driving member passes through the guiding slot Connecting with the brick fixture to drive the brick fixture to rotate;
  • the brick fixture comprises a first grabbing plate, a second grabbing plate, a plurality of fixing bars, a plurality of link mechanisms and a pneumatic cylinder, and the connecting rod mechanism comprises a first link, a second link and a third link connected in sequence, the first link and the third link are respectively connected to the first grabbing plate and the second grabbing plate, and the second connecting rod passes through the center
  • the connecting rod shaft is fixed under the pneumatic cylinder, and the pneumatic cylinder drives the first grabbing plate or the second gripping plate to move, The
  • the top brick-laying module realizes sliding on the longitudinal rail structure by the first screw rod under the action of the second driving member, and the top brick-laying module realizes circular motion through the rotating support disk with the lifting module as the axis .
  • the plurality of fixing rods are disposed between the first grabbing plate and the second grabbing plate, and the first grabbing plate and the second grabbing plate are provided with a skid plate.
  • the number of the lateral rail mechanisms is two groups, which are respectively located at two sides of the guide slot, the lateral rail mechanism includes a guide slider and a guide rail; the second screw rod and the fourth driving member pass the guide roller The block connection achieves a synchronized movement between the fourth drive member, the brick fixture and the second screw.
  • the top of the lifting module is further provided with a weight.
  • the gear set is fixed to the base; the gear set includes a meshing active pinion and a driven bull gear; the first drive member drives the drive pinion to rotate, and the drive pinion drive The large gear rotates to drive the entire rotating support disk to rotate.
  • both the first screw rod and the second screw rod are provided with a limit switch, and the rotary mobile chassis and the brick fixture are provided with photoelectric switches.
  • the first driving member, the second driving member, the third driving member and the fourth driving member are all used as an AC servo motor, and the motor has a 17-bit incremental rotation Encoder.
  • the pneumatic cylinder includes a body and a cylinder push rod, the body is connected to a third driving member, and the cylinder push rod is disposed on the other side and connected to the second grabbing plate;
  • the first catching plate is provided with a escaping groove, and the body can pass through the escaping groove.
  • the air rod push rod is connected to the second grab plate through a connecting block, the connecting block is locked on the second grab plate, and the connecting block is provided with a limiting slot. The end of the cylinder push rod is installed in the limiting slot.
  • the moving mechanism includes a chassis body, a suction cup holder, two one-way traveling wheels, and one or two rotating wheels, and the suction cup holder is evenly disposed at a lower portion of the chassis body, and the one is Or two rotating wheels are disposed at the front end of the chassis body, and the two one-way traveling wheels are disposed at the rear end of the chassis body.
  • the rotating wheel comprises a wheel body, a wheel frame, a face gear, a pinion gear and a control motor, wherein the wheel body is axially connected to the wheel frame, and the end gear is fixed on the wheel frame.
  • the pinion gear is driven by the control motor, and the central axes of the pinion gear and the face gear are vertically arranged, the pinion and the end The face gears mesh.
  • the rotating wheel is a universal wheel or an omnidirectional wheel.
  • the suction cup base comprises a control push rod assembly, a negative pressure plate, a sealing ring and a vacuum generator; the control push rod assembly is fixed at one end to the chassis body, and one end is connected with the negative pressure plate, which pushes the negative pressure plate, a lower movement of the sealing ring is attached to the negative pressure plate, the negative pressure plate is provided with a suction hole, and the vacuum generator is sealingly connected with the air suction hole, and the vacuum generator is provided There is an electromagnetic switch that controls the vacuum.
  • the chassis body is provided with a sensor.
  • the moving mechanism comprises a chassis body and a plurality of suction cup holders fixedly disposed under the chassis body and three sets of flattening devices, wherein the flattening device comprises a servo mechanism, a control push rod and For the flat block, the control push rod is axially connected with the servo mechanism, and the end of the control push rod is connected with the flat block, and the bottom lines of the three sets of flattening devices are not in a straight line.
  • the three sets of flattening devices are arranged in an equilateral triangle.
  • a plurality of wheels are evenly disposed under the chassis body.
  • the suction cup holder includes a vacuum generator, a coaxially disposed M-stage suction cup assembly, and a plurality of sets of elastic media, and the M-stage suction cup assembly includes an outer suction inner first suction cup assembly to an Mth suction cup assembly, M is a natural number greater than one;
  • the first suction cup assembly includes a first negative pressure plate group and a first sealing ring, and the first negative pressure plate group is provided with a first air suction hole, and the first sealing ring seal is attached under the first negative pressure plate group, a first cavity is disposed in the first negative pressure plate group, an elastic medium is disposed in the first cavity, and the vacuum generator is sealedly connected to the first air suction hole
  • N is a natural number between 1 and M, including an Nth negative pressure plate group, an Nth sealing ring, and an Nth negative pressure plate group is provided with an Nth suction hole, and the Nth sealing ring is sealed. Attached to the Nth negative pressure plate group, the Nth negative pressure plate group is provided with an Nth cavity, the Nth cavity is provided with an elastic medium, and the Nth air suction hole is connected with the first air suction hole; The N negative pressure plate group is installed in the N-th cavity to move the compression elastic medium upward;
  • the M-th suction cup assembly includes an M-th negative pressure plate group and an M-th sealing ring, wherein the M-th negative pressure plate group is provided with an Mth air-suction hole, and the M-th seal ring is attached under the M-th negative pressure plate group
  • the M negative pressure plate group is installed in the M-1 cavity to move the elastic elastic medium upward.
  • the lower end faces of the first negative pressure plate group to the M negative pressure plate group are sequentially protruded downward, adjacent to two negative
  • the height difference of the lower end surface of the pressure plate group is 1 to 2 mm.
  • the elastic medium is a spring or an elastic sponge provided with an air suction passage.
  • the M-stage suction cup assembly is a secondary suction cup assembly
  • the first negative pressure plate group includes a first negative pressure body and a first cover body fixedly mounted thereon, the first air suction hole
  • the first negative pressure body is mounted on the first cover body to form a first cavity, and the first negative pressure body is sealed to the first sealing ring.
  • the rotary mobile chassis is provided with a scissor lifting device on a side of the lifting module, the lifting module is provided with a supporting handle, and the scissor lifting device comprises a lower support. a support frame, an upper support frame, a motor assembly, and two sets of parallel-arranged scissor linkage assemblies between the lower support frame and the upper support frame, the upper support frame being located directly below the support handle, the lower support frame Fixed on the rotary mobile chassis, the motor assembly and the scissor linkage assembly are connected to control the scissor linkage assembly to fold and expand.
  • the method further includes a support standard set group disposed between the lift module and the rotary mobile chassis, wherein the support standard set includes a plurality of support standard sections, and the top of the support standard section is fixed to the bottom of the lift module, and the most The lower part is fixed to the rotary moving chassis, and the supporting standard sections are fixed to each other.
  • Each supporting standard section side is provided with a detachable lifting handle, and the raising handle is located directly below the supporting handle.
  • the supporting standard section group is arbitrarily assembled by a plurality of supporting standard sections of different height and size specifications.
  • the scissor linkage assembly includes two upper links, two lower links, an upper connector, a lower connector, at least two upper gears, and at least two lower gears;
  • the upper end of the rod is hinged to the upper connecting seat, and the upper gear is fixedly fixed at the hinge, and the two upper gears are meshed;
  • the lower end of the lower connecting rod is hinged with the lower connecting seat, and the lower gear is fixedly fixed at the hinge, the two lower gears
  • the lower end of the upper link is hinged with the upper end of the lower link, and the two upper links and the two lower links form a diamond structure.
  • a set of guide rod assemblies two pin shafts with through holes and a plurality of fasteners, the pin shaft passing through the upper end of the lower link and the lower end of the upper link hinged
  • the axis of the through hole is in a horizontal direction, and the guide rod assembly passes through the through holes of the two pin shafts, and one end of the guide rod assembly is fixed and connected to the motor assembly.
  • the present invention also discloses a bricklaying robot, comprising a rotary moving chassis, a lifting module disposed on the rotating mobile chassis and capable of rotating along its own axis, disposed on one side of the lifting module and capable of realizing vertical a horizontal mechanical arm for lifting movement in a direction, and a brick-laying jig disposed on the horizontal mechanical arm and movable along a length direction of the horizontal mechanical arm; a rotary electric machine further disposed on the horizontal mechanical arm to realize the bricklaying
  • the fixture is rotated along its own vertical axis;
  • the brick fixture comprises a carrier for mounting the wall of the wall and the fixture body; the fixture body is fixed on the horizontal arm and driven to the rotary motor;
  • the carrier includes two clamping units that are used together and have the same structure; each clamping unit includes a carrier plate and a bearing mechanism; the carrier mechanism includes a first pneumatic cylinder, a transmission plate, and a plurality of carrier rods
  • the first pneumatic cylinder is fixed to one side of the carrier plate and the direction of movement of the push rod of the first pneumatic cylinder is perpendicular to the carrier plate; one end of the push rod is fixed to the drive plate; and one end of the support rod is fixedly disposed with a drive plate The other end is adjacent to the carrier plate;
  • the two clamping units are respectively disposed on both sides of the brickwork fixture to realize the synchronous clamping and clamping movement with the brickwork fixture; the two carrier rods are implemented by the two first pneumatic cylinders.
  • the two clamping units are respectively disposed on both sides of the clamp body.
  • the clamp body comprises a second pneumatic cylinder and two fixed plates facing each other; the second pneumatic cylinder is fixed on a fixed plate, and one end of the push rod of the second pneumatic cylinder is fixed to another A fixing plate is used to realize the clamping of the lintel by the clamp body.
  • the two supporting plates are respectively fixedly connected with the outer sides of the two fixing plates by bolts to realize easy disassembly of the carrier for the wall mounting hole lintel.
  • a bearing slider or a limiting sliding slot is disposed on a side of the supporting plate and the fixing plate; the bearing plate or the limiting chute is disposed on a side of the fixing plate Fitted limit chute or load slider.
  • the brick-laying robot may further be provided with an obstacle alarm device to avoid collision between two ends of the lintel during the lifting of the lintel;
  • the obstacle alarm device may be a sensor or a visual image determining device. Or radar ranging device.
  • the number of the carrying rods in each of the clamping units is two; the two supporting rods and the push rods of the first pneumatic cylinder are horizontally and arranged in a row; the carrying rods are arranged through the carrying plate to pass through The plate realizes the support of the carrier rod.
  • a guiding sleeve is further sleeved on the outer side of the carrying rod; the guiding sleeve and the carrying rod are fixedly connected by bolts.
  • the present invention also discloses a bricklaying robot, comprising a rotary moving chassis, a lifting module disposed on the rotating mobile chassis and capable of rotating along its own axis, disposed on one side of the lifting module and realizable a horizontal mechanical arm for lifting movement in a vertical direction and a brick-laying jig disposed on the horizontal mechanical arm and movable along a length direction of the horizontal mechanical arm; a rotary electric machine further disposed on the horizontal mechanical arm Realizing rotation of the brick-laying fixture along its vertical axis; the brick-laying fixture comprises the fixture of the brick-topping brick and the brick-laying fixture body; the brick-laying fixture body is fixed on the horizontal robot arm And connected to the rotating electric machine through a rotating shaft; the jig for the top brick can be fixedly disposed on the main body of the brick building to realize the function of completing the brick.
  • the fixture for the top brick includes a clamp body, a first clamping cylinder, a drive shaft, and a drive motor;
  • the clamp body includes a first plate body and a second plate body and a connection therebetween a connecting plate between the first plate body and the second plate body;
  • the first clamping cylinder is fixedly disposed on a side of the first plate body;
  • the first plate body has a plurality of through holes for the first A push rod of a clamping cylinder passes through to achieve clamping of the object to be clamped; one end of the transmission shaft is fixedly disposed on one side of the second plate body, and the transmission shaft is driven to rotate in an axial direction by a driving motor.
  • the first board body and the board body have the same structure and are disposed opposite to each other; the connecting board connects the same side of the first board body and the second board body.
  • the ratio of the length of the push rod of the first clamping cylinder to the length of the connecting plate ranges from 0.1 to 0.
  • the ratio of the length of the connecting plate to the length of the transmission shaft is 0.7 to 1.
  • one end of the push rod of the clamping cylinder may further be provided with a clamping plate.
  • the brick fixture body comprises a second clamping cylinder and two clamping clamping plates facing each other; the second clamping cylinder is fixed on a clamping fixing plate, and the second clamping cylinder is pushed One end is fixed to the other clamping fixing plate to realize the clamping of the top body brick by the clamping body.
  • the two clamping fixing plates are respectively further provided with two clamp placing plates by bolts;
  • the transmission shaft is further provided with two fixing seats;
  • the fixing plate is provided with a fixing hole for the transmission shaft to pass through;
  • a bearing is arranged between the fixing hole and the transmission shaft;
  • the two fixing seats are respectively fixedly disposed on the two clamping plate placing plates by bolts.
  • a side of the clamp placement plate that is attached to the clamping and fixing plate is provided with a slider or a sliding slot; the side of the clamping and fixing plate is provided with the slider or the sliding slot Chute or slider.
  • the rotating shaft is rotatably connected to a fixing carrier plate through a bearing through the upper surface of the horizontal arm; the driving shaft is provided with two fixing seats; Set in solid Seated on the carrier board.
  • the present invention has the following beneficial effects:
  • the brick-laying robot of the invention has a simple structure and a small occupied area, and is suitable for a brick-laying environment in various occasions.
  • each part of the brick-laying robot of the present invention can be disassembled independently, and the independent work between the parts does not affect each other.
  • the bricklaying robot can adjust the height of the robot body according to the actual height of the brickwork, and is suitable for brick wall building with different heights, small weight and small volume, convenient transportation, applicable range wide.
  • the brick-laying fixture of the brick-laying robot capable of installing the beam of the hole adopts a carrier for mounting the beam of the hole, and the plurality of load-bearing rods in the carrier limit the lintel and further fix by the main body of the clamp, Finally, the movement of the lintel is realized by the overall structure of the rotary moving chassis, the lifting platform and the horizontal manipulator.
  • the use of the girders is facilitated, and the installation of the girders is realized automatically, which saves the cost of erecting scaffolding, reduces labor and improves installation efficiency.
  • the brick-laying robot capable of building a top brick can realize the clamping of the top skin brick and the rotation positioning of the top skin brick by the fixture of the top brick and the brick building fixture. Finally, The movement of the top skin brick and the brick laying are realized by the overall structure of the rotary moving chassis, the lifting platform and the horizontal manipulator, which is convenient to use, realizes the effect of automatically laying the top brick, reduces the labor, and greatly improves the installation efficiency.
  • 1 is a schematic view showing the assembly of the first embodiment of the present invention.
  • FIG. 2 is a bottom view of the top brick making module of the first embodiment.
  • FIG 3 is a front elevational view of the top brick laying module of the first embodiment.
  • FIG. 4 is a schematic structural view of a lifting module of the first embodiment.
  • 5 is a schematic structural view of a brick laying fixture of the second embodiment.
  • FIG. 6 is a bottom view of the brick masonry clamp of the second embodiment.
  • FIG. 7 is a perspective view of the brick masonry clamp of the second embodiment.
  • FIG. 8 is a bottom view of the brick masonry clamp of the second embodiment.
  • FIG. 9 is a schematic structural view of a moving mechanism of the third embodiment.
  • FIG. 10 is a front elevational view showing the moving mechanism of the third embodiment.
  • FIG. 11 is a bottom view of FIG. 10.
  • FIG. 12 is a schematic perspective view of a fourth embodiment.
  • FIG. 13 is a front elevational view showing the fourth embodiment.
  • FIG. 14 is a bottom view of FIG. 13.
  • Embodiment 15 is a schematic structural view of Embodiment 5.
  • 16 is an exploded perspective view of the fifth embodiment.
  • 17 is a cross-sectional view showing the fifth embodiment.
  • FIG. 18 is a schematic view showing the state of compression adsorption of FIG. 17.
  • Embodiment 19 is a schematic structural view of Embodiment 6.
  • FIG. 20 is a schematic structural view of a scissor lifting device in Embodiment 6.
  • 21 is an exploded perspective view of the scissor lifting device of the sixth embodiment.
  • FIG. 22 is a schematic structural view of a support standard section in the sixth embodiment.
  • Embodiment 23 is a schematic structural view of a carrier in Embodiment 7.
  • Embodiment 24 is a schematic structural view of Embodiment 7.
  • FIG. 25 is a partially enlarged schematic view of FIG. 24.
  • FIG. 26 is a schematic structural view of a jig for a roofing brick according to Embodiment 8. [0089] FIG.
  • Embodiment 27 is a schematic structural view of Embodiment 8.
  • FIG. 28 is a partially enlarged schematic view of FIG. 27.
  • 29 is a schematic structural view of a ninth embodiment.
  • FIG. 30 is a partially enlarged schematic view of FIG. 29.
  • Rotary moving chassis 10 base 11, first drive member 12, gear set 13, drive pinion 131, from Moving large gear 132, rotating support plate 14
  • moving mechanism chassis body 151, suction cup holder 152, control push rod assembly 1521, negative pressure plate 1522, sealing ring 1523, air vent 1524, one-way traveling wheel 153, rotating wheel 154, wheel body 1541, wheel carrier 1542, face gear 1543, pinion 1544, control motor 1545, leveling device 155, servo 1551, control push rod 1552, flattening block 1553, wheel 156, sensor 157, vacuum generator 158, spring 159, first suction cup The assembly 16, the first negative pressure plate group 161, the first negative pressure body 1611, the first cover body 1612, the first air suction hole 1613, the blind hole 1614, the first cavity 1615, the step mounting table 1616, and the first sealing ring 162
  • lifting module 20 lifting module 20, second driving member 21, first screw rod 22, longitudinal rail structure 23, first fixing plate 24, weight 25, first bending portion 241, second bending portion 242, support Handle 26
  • Scissor lifting device 40 lower support frame 41, upper support frame 42, motor assembly 43, motor 431, fixing base 4 32, scissor linkage assembly 44, upper link 441, lower link 442, upper connection Seat 443, lower joint 444, upper gear 445, lower gear 446, pin 45, through hole 451, guide rod assembly 46
  • carrier 60 carrier plate 61, limit chute 611, carrier mechanism 62, first pneumatic cylinder 621, transmission plate 62
  • a carrier bar 623 a guide sleeve 63, a first cylindrical portion 631, a second cylindrical portion 632, a jig body 64, a second pneumatic cylinder 641, a fixing plate 642, carrying a slider 6421
  • the jig for the top brick can be 70, the jig body 71, the first plate 711, the second plate 712, the connecting plate 713
  • the present embodiment discloses a bricklaying robot comprising a rotary moving chassis 10, a lifting module 20 and a top brick making module 30 which are sequentially connected.
  • the rotary moving chassis 10 includes a base 11, a first driving member 12, a gear set 13, a rotating support disk 14, a moving mechanism 15, and a gear set 13 disposed between the base 11 and the rotating support disk 14.
  • the moving mechanism 15 is disposed at the lower end of the bottom seat 11, and the first driving member 12 drives the gear set 13 to rotate the rotating support disk 14.
  • the lifting module 20 includes a second driving member 21, a first lead screw 22, a longitudinal rail structure 23, and a plurality of first fixing plates 24. The bottom end of the lifting module 20 is fixed above the rotating support disk 14.
  • the top brick making module 30 includes a support plate 31, a plurality of second fixing plates 32, a second screw rod 33, a lateral rail mechanism 34, a third driving member 35, a brick masonry 36, and a fourth driving member 37.
  • a plurality of second fixing plates 32, second screw bars 33, lateral rail mechanisms 34, third driving members 35 and fourth driving members 37 are fixed above the support plate 31.
  • the support plate 31 has a guide groove 311, and the fourth driving member 37 is connected to the brick fixture 36 through the guide groove 311.
  • the fourth drive member 37 is used to drive the brickwork fixture 36 to rotate.
  • the top brickwork module 30 achieves sliding on the longitudinal rail mechanism 23 by the first wire rod 22.
  • the top brick-laying module 30 is circularly moved by rotating the support disk 14 with the lifting module 20 as an axis.
  • the brick-laying fixture 36 includes a first grabbing plate 361, a second catching plate 362, a plurality of fixing rods 363, a link mechanism 364, and a pneumatic cylinder 365
  • the link mechanism 364 includes A first link 3641, a second link 3642 and a third link 3643 are connected.
  • the first link 3641 and the third link 3643 are coupled to the first catching plate 361 and the second catching plate 362, respectively, and the second link 3642 is fixed to the lower portion of the pneumatic cylinder 36 by a central connecting rod shaft 368.
  • the pneumatic cylinder 365 drives the first catching plate 361 or the second catching plate 362 to move, and the first link 3641 and the third link 3643 are center-symmetrically moved about the link shaft 368.
  • the invention adopts three major components, has simple structure, light weight, can adapt to a variety of bricklaying environments, can be bricklayed step by step and has good gripping effect.
  • the fourth drive member 37 drives the brick fixture 36 to achieve 360° rotation on the horizontal plane.
  • Bricklaying fixture 36 also includes The pneumatic cylinder first fixed plate 366 and the pneumatic cylinder second fixed plate 367 are included.
  • the pneumatic cylinder first fixing plate 366 is connected to the upper third driving member 35.
  • the pneumatic cylinder second fixing plate 367 fixes the pneumatic cylinder 365 to the first fixing plate 366 of the pneumatic cylinder by bolts.
  • a plurality of fixing rods 363 are disposed between the first clamping plate 361 and the second clamping plate 362 and are fixed to the first fixing plate 366 of the pneumatic cylinder by bolts.
  • the fixing rod 363 guides the movement of the clamping plate, and the connecting rod mechanism 36 is fixed to the pneumatic cylinder second fixing plate 367 through the center connecting rod shaft 368.
  • a skid plate 369 is disposed on the first catching plate 361 and the second catching plate 362.
  • the number of the second fixing plates 32 is four, which are vertically disposed around the support plate 31, respectively.
  • a plurality of symmetrical holes are dug in the second fixing plate 32 on both sides of the brick-clamping fixture 36 in the moving direction for weight reduction and fixing of the third driving member and the like.
  • the travel range of the brick-laying fixture 36 on the guide groove 311 ranges from 0 mm to 500 mm, and the projection distance of the guide groove 311 from the end of the lifting device 20 to the center of the base 11 is 500 mm, that is, the position that the wall-building robot of the present invention can reach.
  • the part of the two concentric circles whose radius is 1 000 mm and radius of 500 mm is not coincident with the center of the disc as a dot.
  • the number of the lateral rail mechanisms 34 is two sets, which are respectively located at two sides of the guide chute 311, and the lateral rail mechanism 34 includes a guide slider 341 and a guide rail.
  • the second lead screw 33 is connected at its end to the third driving member 35 , and the other end is fixed to the second fixing plate 32.
  • the second lead screw 33 and the fourth drive member 37 are coupled to the guide sliders 341 on both sides to realize synchronous movement between the fourth drive member 37, the brick jig 36 and the second lead screw 33.
  • the number of the first fixing plates 24 is two, and the cross section of the first fixing plate 24 includes a first bending portion 241 and a second bending portion 242.
  • the first bent portion 241 and the second bent portion 242 are vertically distributed to form an "L" shape.
  • the longitudinal rail structure 23 is fixed to the first bending portion 241, and the second bending portion 242 is disposed on both sides of the screw rod for fixing the longitudinal rail structure 23 and the protection lifting module 20.
  • the top of the lifting module 20 is further provided with a weight 25 which is fixed to the top end of the first screw 22 and further restrained by the two first fixing plates 24.
  • the lifting module 20 can achieve a stroke range of 0 mm to 1520 mm.
  • the heights of the first fixed plate 24, the first lead screw 22, and the longitudinal rail structure 23 are substantially similar to the maximum stroke of h.
  • the use of such a structure not only can effectively promote the lifting and lowering, but also as much as possible to reduce the overall weight from the structural simplification of the components while ensuring the maximum stability of the structure.
  • the gear set 13 is fixed to the base 11.
  • the gear set 13 includes a meshing drive pinion 131 and a driven bull gear 132.
  • the first driving member 12 drives the driving pinion 131 to rotate, and the driving pinion 131 drives the driven large gear 132 to rotate to drive the entire rotating supporting plate 14 to rotate.
  • the rotating supporting plate 14 further has two cross sections of the second fixing plate 32 and the second fixing plate 32. Fitted raised plates are bolted together. With such a structure, the transmission efficiency is high and the chassis stability is high.
  • Both the first screw rod 22 and the second screw rod 33 are provided with limit switches at both ends.
  • Rotary mobile chassis 10 and brick-laying fixtures 36 are equipped with photoelectric switches, which can be used for positioning and limiting.
  • the first driving member 12, the second driving member 21, the third driving member 35 and the fourth driving member 37 are both AC servo motors, and the motor has a 17-bit incremental rotary encoder, which can realize high precision of the motor.
  • Positioning which is the basis for the intelligent wall motion control of the wall-mounted robot.
  • the same control system is also installed in the same motor. The control system needs to realize the conversion between the Cartesian coordinate system and the cylindrical coordinate system, so as to Inter-institutional linkage for operational control.
  • the movement track of the end of the fixture of the brick-laying fixture 36 must follow a specific path, and the intermediate point of the path needs to be interpolated.
  • the discrete points are converted into the speed and position information of each servo motor, the information passes.
  • the control system bus is transmitted to the servo drive device, and each motor is synchronously controlled by the bus method.
  • the use of such intelligent control method can accurately and effectively control the wall-building robot to carry out various wall-building actions, and ensure that the position of each tile can be within a certain error.
  • S1 obtains the distance between the center of the base 11 and the first leather brick wall by the precision ranging sensor, and ensures that the distance between the center of the base 11 and the wall surface is 500 mm ⁇ 20 mm.
  • S2 places the brick after the mortar is placed at a position 500 mm away from the center of the base 11, to ensure that the center of the clamp coincides with the center line of the block, and when the brick fixture 36 senses that there is a brick underneath, the electromagnetic valve is energized, and then Clip the swivel.
  • S3 accurately locates the height and horizontal position of the brick wall, and the first driving member 12 and the second driving member 35 are simultaneously activated to control the movement of the rotary moving chassis 10 and the lifting module 20 respectively, when the brick-laying fixture 36 moves to After the designated position, the third drive member 35 and the fourth drive member 37 are simultaneously activated, controlling the brick to move and rotate to a fixed brick position, and then lowering the brick.
  • the lifting module 20 is lifted to a certain height so that the lower bottom surface of the brick fixture is separated from the brick. Surface, then all parts return to the origin according to the action, and the second brick is clamped.
  • a bricklaying process is completed, that is, each bricklaying process realizes three bricks. After completion, the bricklaying robot moves. Repeat the above steps to the next location.
  • the difference between the embodiment and the first embodiment is that the brick-laying fixture is different from the first embodiment.
  • the brick-laying fixture 36 can realize the bricks of different thicknesses.
  • the brick-laying fixture 36 includes a first grabbing plate 361, a second grabbing plate 362, a plurality of fixing rods 363, a link mechanism 364, and a pneumatic cylinder 365.
  • the pneumatic cylinder 365 includes a body 3651 and a cylinder push The rod 3652, the body 3651 is fixed by the pneumatic cylinder first fixing plate 366, and the cylinder push rod 3652 is disposed on the other side and connected to the second catching plate 362.
  • the first catching plate 361 is provided with a escape groove 3611, and the body 3651 can pass through the escape groove 3611.
  • the air rod push rod 3652 is connected to the second grab plate 362 through a connecting block 38, and the connecting block 38 is locked on the second grab plate 3 62.
  • the connecting block 38 is provided with a limiting slot 381, the cylinder push rod 3652 The end is installed in the limiting slot 381.
  • the thickness of the pneumatic cylinder 365 is adjusted to 0.6 to 0.8 MPa
  • the body 3651 controls the cylinder push rod 3652 to extend
  • the air pressure push rod 3652 pushes the second catching plate 362 to the fixed position.
  • the outer end of the rod 363 moves, the second catching plate 362 drives the second link 3642 to extend, the second link 3642 drives the entire link mechanism 36 4 to extend outward, and the first link 3641 drives the first catching plate 361 to synchronize.
  • the outer end is moved such that the distance between the two grippers matches the thickness of the thick brick, the fourth drive member 37 controls the rotation of the clamp, and the two skid plates 369 grip the thick brick.
  • the thin brick is clamped, the air pressure value of the pneumatic cylinder 365 is adjusted to 0.5 to 0.6 MPa, the main body 36 51 controls the cylinder push rod 3652 to be shortened, and the air pressure push rod 3652 drives the second catching plate 362.
  • the second catching plate 362 drives the third link 3643 to contract, the third link 3643 drives the entire link mechanism 364 to contract inward, and the first link 3641 drives the first catching plate 361 to synchronize.
  • the body 3651 passes through the escape groove 3611 of the first catching plate 361, so that the distance between the two grab plates matches the thickness of the thin brick, and the fourth driving member 37 controls the rotation of the clamp,
  • the anti-slide board 369 grips the thin brick.
  • This embodiment further discloses the moving mechanism in the first embodiment, so that the bricklaying robot can realize the switching of the walking movement steering and the fixed adsorption state.
  • the moving mechanism 15 includes a chassis body 151, a suction cup holder 152, and two one-way walking.
  • the wheel 153 and the two rotating wheels 154 are four-wheel chassis.
  • the suction cup holder 152 is evenly disposed at a lower portion of the chassis body 151.
  • Two rotating wheels 154 are disposed at the front end of the chassis body 151, and two one-way traveling wheels 153 are disposed at the rear end of the chassis body 151.
  • the rotating wheel 154 can be a universal wheel or an omnidirectional wheel (such as a Mecanum wheel).
  • the rotating wheel 154 can precisely control the angular steering.
  • the rotary wheel 154 includes a wheel body 1541, a wheel carrier 1542, a face gear 1543, a pinion gear 1544, and a control motor 1545.
  • the wheel body 1541 is axially connected to the wheel frame 1542.
  • the face gear 1543 is fixed above the wheel frame 1542.
  • the pinion gear 1544 is driven by the control motor 1545.
  • the center axes of the pinion gear 1544 and the face gear 1543 are vertically disposed, and the pinion gear 1544 is The face gear 1543 is meshed.
  • the control motor 1545 controls the rotation angle of the pinion gear 1544, the pinion gear 1544 engages the face gear 1543 to rotate, and then the face gear 1543 drives the wheel frame 1542.
  • the wheel carrier 1542 drives the wheel body 1541 to rotate by an angle. By this structure, the control wheel body 41 is realized. Turn.
  • the chuck holder 152 is square or circular.
  • the chuck holder 152 includes a control push rod assembly 1521, a negative pressure plate 1522, a seal ring 1523, and a vacuum generator (not shown).
  • the control push rod assembly 1521 is fixed to the chassis body 151, and one end is connected to the negative pressure plate 1522, which pushes the negative pressure plate 1522 up and down.
  • the sealing ring 1523 is attached to the negative pressure plate 1522.
  • the negative pressure plate 1522 is provided with a suction hole, and the vacuum generator is sealedly connected with the air suction hole, and the vacuum generator is provided with an electromagnetic switch for controlling the vacuum.
  • the bricklaying robot is mounted and fixed on the chassis body 151 of the embodiment, the bricklaying robot needs to move the rafter, the suction cup seat 152 controls the pusher assembly 1521 to contract, and the sealing ring 1523 is located above the ground, and the cymbal rotating wheel 15 4 drives The one-way walking wheel 153 walks and turns.
  • the control push rod assembly 1521 works, pushing the negative pressure plate 1522 downward to contact with the ground, and the sealing ring 1523 contacts the ground and then moves downward to compress the sealing ring 1523.
  • the electromagnetic switch on the vacuum generator is slammed, a negative pressure is generated in the negative pressure plate 1522, and the sealing ring 1523 is closely adsorbed on the ground.
  • This bricklaying robot can start bricklaying. When the bricklaying robot needs to move the crucible, the electromagnetic generator of the vacuum generator is turned off, the sealing ring 1523 is separated from the ground, and then the push rod assembly 1521 is contracted, and the above process is repeated.
  • This embodiment further discloses the moving mechanism in the first embodiment, so that the bricklaying robot can automatically reconcile the ground and adsorb to the ground.
  • the moving mechanism 15 includes a chassis body 151, and a plurality of them are fixed under the chassis body 151.
  • a sensor 157 is disposed on the chassis body 151 to sense surrounding obstacles.
  • the flattening device 155 is disposed at a lower central position of the chassis body 151.
  • the flattening device 155 includes a servo mechanism 1 551, a control push rod 1552 and a flattening block 1553.
  • the control push rod 1552 is axially connected to the servo mechanism 1551, and the end of the control push rod 1552 is connected to the flattening block 1553.
  • the flattening device 155 can be electric or pneumatic, that is, the servo mechanism 1551 is a hydraulic cylinder, the control push rod 1552 is a hydraulic push rod, or the servo mechanism 1551 is a motor, and the control push rod 1552 is an electric push rod.
  • the bottoms of the three sets of flattening devices 155 are not in a straight line, so that the three sets of flattening devices 155 are flattened by one plane.
  • the three sets of flattening devices 155 are arranged in an equilateral triangle: as shown by the dotted line in FIG. It is shown that the bottom lines of the three sets of flattening devices 155 form an equilateral triangle.
  • the wheel 156 is a universal wheel or an omnidirectional wheel, which realizes the turning of the bricklaying robot.
  • the chuck holder 152 is one on each side and is disposed at a lower edge position of the chassis body 151.
  • the suction cup holder 1 52 includes a control push rod assembly 1521, a negative pressure plate 1522, a seal ring 1523, and a vacuum generator (not shown).
  • the control push rod assembly 1521 is fixed to the chassis body 151, and one end is connected to the negative pressure plate 1522, which pushes the negative pressure plate 1522 up and down.
  • the sealing ring 1523 is attached to the negative pressure plate 1522, and the negative pressure plate 1522 is provided with a suction hole 1524.
  • the vacuum generator is sealedly connected with the air suction hole 1524, and the vacuum generator is provided with an electromagnetic switch for controlling the vacuum.
  • the bricklaying robot is mounted and fixed on the chassis body 151 of the embodiment, and the chassis body 151 is in contact with the ground.
  • the control pusher assembly 1521 of the suction cup holder 152 is contracted, and the servo mechanism 155 of the three sets of flattening devices 155
  • the control control push rod 1552 is extended, so that the flat block 1553 is in contact with the rough ground, and the three sets of flat blocks 1553 continuously adjust the elevation so that the three sets of flat blocks 1553 are located on the same horizontal plane.
  • the push rod assembly 1521 is controlled to push the negative pressure plate 1522 downward, the sealing ring 1523 contacts the ground, and then moves downward to compress the sealing ring 1523 for a distance, and then the electromagnetic pressure on the vacuum generator is pressed, and the negative pressure is pressed. A negative pressure is generated in the plate 1522, and the seal ring 1523 is closely adhered to the ground.
  • This bricklaying robot can start bricklaying. The bricklaying robot needs to move the crucible, close the electromagnetic switch of the vacuum generator, the sealing ring 1523 is separated from the ground, the control push rod assembly 1521 of the suction cup base 152 is contracted, and the sealing ring 1523 is located above the ground, and the crucible wheel 156 walks or turns. mobile.
  • Embodiment 5 discloses a bricklaying robot, which differs from the third embodiment and the fourth embodiment in that the structure of the suction cup holder is different, and the rest of the structure can adopt the structure of the third embodiment or the fourth embodiment.
  • the chuck holder of the embodiment has a multi-stage adsorption function, including a vacuum generator, a coaxially arranged M-stage suction cup assembly and a plurality of sets of elastic medium, and the M-stage suction cup assembly includes an outer suction inner first suction cup assembly to the Mth Suction cup assembly, M is a natural number greater than 1;
  • the first suction cup assembly includes a first negative pressure plate group and a first sealing ring; the Nth suction cup assembly, N is a natural number between 1 and M, including an Nth negative pressure plate group, an Nth sealing ring; Suction cup assembly, including the Mth negative pressure plate set
  • the suction cup holder 15 2 includes a vacuum generator 158, a coaxially disposed secondary suction cup assembly, and a set of elastic medium.
  • the secondary suction cup assembly includes a first suction cup assembly 16 and a second suction cup assembly 17 from the outside to the inside.
  • the elastic medium is a spring 159 or an elastic sponge 160.
  • the first chuck assembly 16 includes a first negative pressure plate set 161 and a first seal ring 162.
  • the first negative pressure plate group 161 includes a first negative pressure body 1611 and a first cover body 1612 fixedly mounted thereon.
  • the first cover body 1612 is provided with a first air suction hole 1613, and the first cover body 1612 is provided with a plurality of mounting holes for mounting.
  • a first cavity 1615 is formed between the first negative pressure body 1611 and the first cover body 1612, and a step mounting platform 1616 is disposed under the first negative pressure body 161 1 .
  • the first negative pressure body 1611 is sealed and attached to the first seal.
  • the ring 16 2 is provided with a spring 159 in the first cavity 1615, and the vacuum generator 158 is sealingly connected to the first air suction hole 1613.
  • the second chuck unit 17 includes a second negative pressure plate group 171 and a second seal ring 172.
  • the second negative pressure plate group 171 is provided with a second air suction hole 1711, the second sealing ring 172 is sealingly attached under the second negative pressure plate group 171, and the second negative pressure plate group 171 is installed in the first cavity 1615.
  • the second negative pressure plate group 171 is provided with a positioning boss 1712 which is positioned and engaged with the step mounting table 1616 of the first negative pressure body 161 1 .
  • a plurality of fixing posts 1713 for mounting the springs 159 are vertically disposed above the second negative pressure plate group 171.
  • a groove 173 for mounting a corresponding seal ring is disposed under the first negative pressure plate group 161 and the second negative pressure plate group 171, and the width of the inside of the groove 173 is larger than the width of the mouth portion.
  • the first cover 1612 is first opened, and the second negative pressure plate set 171 is installed in the first empty In the cavity 1615, the positioning boss 1712 is engaged with the step mounting table 1616, and then the spring 159 is mounted such that the spring 159 is disposed on the fixing post 1713 and the other end is disposed in the blind hole 1614.
  • the first cover 1612 is then mounted and the first cover 1612 is bolted to the first negative pressure body 1611.
  • the first seal ring 162 is mounted in the recess 173 below the first negative pressure plate group 161, and the second seal ring 172 is mounted in the recess 173 below the second negative pressure plate group 171.
  • the suction cup is seated under the bricklaying robot and moved to the part to be bricked, and then the servo mechanism controls the push rod to push the secondary suction cup assembly out into contact with the uneven ground, and the vacuum generator 158 is snoring from the first suction hole.
  • a vacuum is drawn in the 1613 and the second air vent 1711 so that the second seal ring 17 2 is first adsorbed to the ground, and then the second negative pressure plate group 171 compresses the spring 159 upward.
  • the first sealing ring 16 2 is then adsorbed to the ground as shown in FIG. After the double-layer adsorption is achieved, the whole is stably fixed on the ground.
  • the rotary mobile chassis 10 is further provided with a scissor lifting device on the side of the lifting module.
  • the scissor lift can be removed from the robot as needed.
  • the scissor lifting device 40 includes a lower support frame 41, an upper support frame 42, a motor assembly 43, and two sets of parallel arrangement between the lower support frame 41 and the upper support frame 42.
  • Scissor linkage assembly 44 The upper support frame 42 is located directly below the support handle 26 on the lift module 20, and the lower support frame 41 is fixed to the rotary mobile chassis 10.
  • the scissor linkage assembly 44 includes two upper links 441, two lower links 442, an upper connector 443, a lower connector 444, at least two upper gears 445, and at least two lower gears 446.
  • the upper end of the upper link 441 is hinged to the upper connecting base 443, and the upper gear 445 is fixedly mounted on the hinge.
  • the upper connecting rod has two upper gears 445 on the side, a total of four upper gears 445, and two upper gears 445. Engaged.
  • the lower end of the lower link 442 is hinged to the lower connecting seat 444, and the lower gear 446 is fixedly attached to the hinge.
  • the lower end of the upper link 441 is hinged to the upper end of the lower link 442, and the two upper links 441 and the two lower links 442 form a rhombic structure.
  • the motor assembly 43 includes a motor 431 and a mount 432.
  • the motor 431 is a worm gear motor.
  • the motor 431 is mounted on a fixed seat 432 that is hinged to one side of the scissor linkage assembly 44.
  • the mounting base 432 is provided with a central bore through which the output shaft of the motor 431 is in contact with the guide rod assembly 46.
  • the pin shafts 45 with the through holes 451 pass through the upper end of the lower link 442 and the lower end of the upper link 441, so that the axis of the through hole 451 is in the horizontal direction.
  • the guide rod assembly 46 passes through the through holes 451 of the two pin shafts 45, and one end of the guide rod assembly 46 is fixed and connected to the motor assembly 43.
  • the support standard node group is disposed between the robot lifting module 20 and the robot rotary moving base 10, and the supporting standard node group may be assembled by a plurality of different height specification support standard sections 50, as needed. For example, set the support standard section with a height of 10cm, 20cm. 50cm, and assemble according to the required height.
  • the side of the support standard section 50 is provided with a detachable raising handle 51 which is located directly below the support handle 26.
  • the scissor lifting device 40 is fixed above the robot rotary movable base 10 such that the upper support frame 42 is located below the support handle 26.
  • the scissor lifting device 40 is lowered to the initial position, and the lifting handle 51 is mounted on the supporting standard section 50.
  • the upper supporting frame 42 is located below the raising handle 51, the starting motor 431, the scissor linkage assembly
  • the 44 lifts the support standard section 50 and the lifting module 20 above it to move upward by a certain height distance, and then inserts a new section of the support standard section 50 within this height distance.
  • Several support standard sections 50 are inserted repeatedly until their overall height meets masonry requirements.
  • the scissor lift 40 can be removed after the support standard section 50 has been installed.
  • This embodiment discloses a carrier for a beam mounting wall and a brick-laying robot.
  • the present embodiment discloses a wall mounting bracket 60 for a wall mounting hole for a bricklaying robot, and includes two clamping units that are used together and have the same structure.
  • Each of the clamping units includes a carrier plate 61 and a carrier mechanism 62.
  • the carrier mechanism 62 includes a first pneumatic cylinder 621, a transmission plate 622, and a plurality of carrier rods 623.
  • the first pneumatic cylinder 621 is fixed to the side of the carrier plate 61 and the direction of movement of the push rod of the first pneumatic cylinder 621 is perpendicular to the carrier plate 61.
  • One end of the push rod is fixed to the drive plate 622.
  • the carrier rod 623 is fixedly disposed on the transmission plate 622, and the other end is disposed adjacent to the carrier plate 61.
  • the two clamping units 60 are respectively disposed on the two sides of the brickworker brickwork fixture 36 to realize the synchronous clamping and clamping movement with the brickwork fixture 36.
  • the two carrier rods 623 are brought into engagement and split by the action of the two first pneumatic cylinders 621.
  • the number of the carrier bars 623 in each of the clamping units 60 is two.
  • Two carrier bars 623 are disposed on either side of the first pneumatic cylinder 621.
  • the two load-bearing rods 623 and the push rods of the first pneumatic cylinder 621 are horizontally and in a row arrangement.
  • the carrier bar 623 is disposed through the carrier plate 61 to support the carrier bar 623 through the carrier plate 61.
  • the outer side of the carrying rod 623 is further sleeved with a guiding sleeve 63;
  • the guiding sleeve 63 includes a first cylindrical portion 631 and a second cylindrical portion 632.
  • the first cylindrical portion 631 is disposed on the side of the carrier plate 61 and is fixedly coupled to the carrier plate 61 by a bolt.
  • the second cylindrical portion 632 has a smaller radius value than the first cylindrical portion 631 for guiding the carrier rod 6233.
  • the brick-laying robot of this embodiment includes a rotary moving chassis 10, a lifting module 20 disposed on the rotating mobile chassis 10 and capable of rotating along its own axis, and being disposed on the side of the lifting module 20 And a horizontal mechanical arm 39 that can realize the lifting movement in the vertical direction and a brick-laying jig 36 that is disposed on the horizontal mechanical arm 39 and that can move in the longitudinal direction of the horizontal mechanical arm 39 can be realized. Further, a rotary electric machine is disposed on the horizontal robot arm 39 to effect rotation of the brick-laying jig 36 in the direction of its own vertical axis.
  • the brick masonry 36 includes a wall mounting bracket 60 for the wall and a clamp body 64. Fixing body 64 fixed It is mounted on the horizontal robot arm 39 and connected to the rotary electric machine. Two clamping units are respectively disposed on both sides of the clamp body 64.
  • the lintels are restrained by the two load-bearing rods 623 of the carrier beam 60 by the wall-mounting girders and further fixed by the clamp body 64, and finally by the rotary moving chassis 10, the lifting module 20, the horizontal robot arm 39
  • the overall structure realizes the movement of the lintel, which is convenient to use, realizes the automatic installation of the traverse of the hole, reduces labor and improves installation efficiency.
  • the jig body 64 includes a second pneumatic cylinder 641 and two fixed plates 642 that face each other.
  • the second pneumatic cylinder 641 is fixed to a fixed plate 642.
  • One end of the push rod of the second pneumatic cylinder 641 is fixed to the other fixing plate 642 to effect the clamping of the lintel by the jig main body 64.
  • the two supporting plates 61 are respectively fixedly connected to the outer sides of the two fixing plates 422 by bolts to realize easy disassembly of the wall mounting brackets 41 for the wall mounting holes, and the utility model is not required to be installed and removed. After that, the role of bricklaying can be achieved.
  • a bearing slider 61 or a limiting chute 6 11 is disposed on a side of the carrier plate 61 that is attached to the fixing plate 642.
  • a limiting chute or a bearing slider 6421 is disposed on the side of the fixing plate 642 to cooperate with the bearing slider or the limiting chute 611.
  • the height of the carrying slider 6421 in the moving direction of the jig main body 64 ranges from 7 mm to 10 mm.
  • the width of the carrying slider 6421 in the vertical direction ranges from 20 mm to 30 mm.
  • the bearing plate 61 and the fixing plate 6 42 are matched and fixed by means of the bearing block 6421 and the limiting sliding slot 611, so that the horizontal mechanical arm can share the force in the vertical direction of the carrying plate 61 to ensure that the carrying beam is sufficient.
  • the bearing capacity of the same wall is relatively easy to use and easy to disassemble between the carrier 60 and the clamp body 64, which can greatly improve the installation efficiency.
  • a plurality of fixed ground anchor devices are further disposed below the rotary mobile chassis 10.
  • the number of fixed ground anchor devices is four, evenly distributed below the rotary moving chassis 10;
  • the fixed ground anchor device includes a connected third pneumatic cylinder and a suction cup to ensure that the girders and the ground are hoisted Stable grip;
  • the suction cup is connected to a vacuum generator mounted on the bricklaying robot.
  • the brick-laying robot may further be provided with an obstacle alarm device to avoid collision between the two ends of the lintel during the hoisting of the lintel, because the length of the lintel is very long, and the traverse of the brick-laying fixture is equal to The center-centered rotary motion makes it easy to slam into the wall.
  • the obstacle alarm device may be a sensor or a visual image determining device or a radar ranging device; preferably, the obstacle alarm device is disposed at an end of the horizontal arm length; when the obstacle alarm device is a sensor, the distance sensor may be Determine whether the distance between the brickwork fixture and the obstacle is less than half the length of the beam, and if it is less than, stop working; When the obstacle alarm device is a visual image judging device and a radar ranging device, the judgment principle is the same as the sensor
  • S2 the brickwork fixture 36 is lowered in alignment with the lifting position, and stops when the carrier rod 623 is lower than the bottom of the beam.
  • S7 The first pneumatic cylinder 621 controls the load-bearing rod 623 to be retracted and disengaged from the lintel;
  • step S2 in the initial state, a plurality of lintels to be hoisted are stacked on the ground, and each two adjacent lintels are separated by a spacer, and the carrier rods are facing each other.
  • the two positions are respectively provided with an infrared emitter and an infrared receiver.
  • the carrier rods are sequentially located on the lintel - both sides of the lintel - the lintel After the next process, it is judged that the carrier bar is lower than the bottom of the beam.
  • the carrying rod detects whether the underside of the carrying rod is touched by the pressure sensor. If the detected pressure is less than a certain threshold, it is determined that the bottom of the carrying rod touches the opening so that the opening is carried. The rod shares the weight of the support beam.
  • This embodiment discloses a jig for building a brick and a brick-laying robot.
  • the jig 70 of the top brick can include a jig body 71, a first clamping cylinder 72, a transmission shaft 73, and a driving motor 74.
  • the jig body 71 includes a first plate body 711 that is oppositely disposed. And the second plate body 712 and a connecting plate 713 connecting the first plate body 711 and the second plate body 712 to achieve the object to be clamped from all directions.
  • the first clamping cylinder 72 is fixedly disposed on the side of the first plate body 711.
  • the first plate body 711 has a plurality of through holes for the passage of the push rod of the first clamping cylinder 72 to achieve clamping of the object to be clamped.
  • the clamping body to be gripped by the clamp body 71 and the first clamping cylinder 72 can be effectively realized, in particular, a rectangular parallelepiped object such as a building brick, and the gripping effect is good.
  • the first plate body 711 and the second plate body 712 are identical in structure and disposed opposite to each other.
  • the connecting plate 713 connects the same side of the first plate body 7 11 and the second plate body 712 so that each two adjacent faces are vertically disposed to better secure the objects to be clamped, especially the bricks and bricks.
  • the clamp body 71 adopts a three-sided frame design to cooperate with the transmission shaft 73 to approach the object to be clamped from above and to both sides of the object to be clamped, and further clamps the object to be clamped by the first clamping cylinder 72, which can effectively treat Fast and stable clamping of the holder.
  • the length of the surface of the first plate body 711 and the connecting plate 713 that is in contact with the object to be clamped is 0.2 to 0.4, that is, the length of the horizontal surface of the first plate body 711 perpendicular to the moving direction of the first clamping cylinder 72 is about
  • the ratio of the length of the push rod of the first clamping cylinder 72 to the length of the connecting plate 713 ranges from 0.1 to 0.5, and the push rod of the first clamping cylinder 72 is designed to effectively fit the second plate 712 and the connecting plate. 713 is used to clamp the different sizes of the bricks.
  • the overall volume of the cylinder 72 is too large to be fixed, so that the length ratio of the range can be used to effectively determine the length of the push rod of the first clamping cylinder 72 by the length of the specific connecting plate 713.
  • first clamping cylinder 72 may also be fixed to the inner side of the first plate body 711 such that the push rod of the first clamping cylinder 72 passes out from the inside to the outside, at the first clamping cylinder 72.
  • the end of the push rod further fixes a driving plate opposite to the first plate body 711, and a plurality of pressing rods parallel to the push rod of the first clamping cylinder 72 are fixedly disposed on the driving plate, and the pressing rod is fixed by the pressing rod
  • the outer side of the first plate body 711 is worn to the inner side to realize the fixing of the object to be clamped. In this way, the object to be clamped can be fixed in the case that the pneumatic cylinder is not retracted, which can effectively reduce the clamping during the normal setting mode. Energy loss of the air pressure bar.
  • the ratio of the length of the connecting plate 713 to the length of the transmission shaft 73 is 0.7 to 1. With such a length ratio, the length of the transmission shaft 73 can be effectively determined for the size of the connecting plate 713, and the length close to the connecting plate 713 is selected.
  • the size of the drive shaft 73 ensures that the support member provides sufficient support strength to drive the clamp body to rotate, thereby minimizing the energy loss of the drive motor 74.
  • the first plate body 711 is further provided with a support plate body 714 for supporting the first clamping cylinder 72.
  • one end of the push rod of the first clamping cylinder 72 may be further provided with a clamping plate 75 for fixing the side surface of the top brick or brick by the clamping plate 75.
  • a fixing sleeve is further sleeved on the fixed end of the clamp body 71 and the transmission shaft 73.
  • the fixing sleeve is fixedly connected to the side of the clamp body 71 by bolts.
  • the brick-laying robot of this embodiment includes a rotary moving chassis 10, a lifting module 20 disposed on the rotating mobile chassis 10 and capable of rotating along its own axis, and being disposed on the lifting module.
  • a horizontal manipulator 39 that is flanked and capable of lifting movement in the vertical direction and a brick-laying jig 36 that is disposed on the horizontal manipulator 39 and that is movable in the longitudinal direction of the horizontal manipulator 39.
  • the horizontal robot arm 39 is further provided with a rotary electric machine and passes through a rotating shaft 391 to realize the rotation of the brick fixture 36 in its own vertical axis direction.
  • a rotary moving chassis 10 is provided with a roller, and the rotary moving chassis 10 is provided with a driving dial that can drive the lifting module 20 to rotate.
  • a screw mechanism is provided in the lifting module 20 to drive the horizontal robot arm 39 to move in the vertical direction.
  • the horizontal mechanical arm 39 is provided with a screw mechanism to drive the brick-clamping fixture 36 to perform a linear motion in the horizontal direction.
  • the brick masonry 36 includes a jig 70 capable of laying bricks and a brickwork fixture body 80.
  • the brickwork fixture body 80 is fixed below the horizontal robot arm 39 and is drivingly coupled to the rotary motor.
  • the fixture for the top brick can be fixedly disposed on the main body 80 of the brickwork fixture to realize the function of completing the brickwork.
  • the brick masonry main body 80 includes a second clamping cylinder 81 and two clamping fixing plates 82 facing each other.
  • the second clamping air cylinder 81 is fixed to a clamping fixing plate 82.
  • One end of the pushing rod of the second clamping cylinder 81 is fixed to the other clamping fixing plate 82 to realize clamping of the brick by the clamping body 71.
  • Two clamp placement plates 83 are further disposed on both sides of the two clamping fixing plates 8 2 by bolts.
  • Two fixing seats 84 are disposed on the transmission shaft 73.
  • the jig placement plate 83 includes a horizontal portion and a vertical portion integrally formed in an L shape, and the horizontal portion is for fixing the drive motor 74 and the fixing base 84, and the vertical portion is for achieving a fixed connection with the clamp fixing plate 82.
  • the fixing seat 84, the jig placement plate 83, and the clamp fixing plate 82 are each provided with a fixing hole through which the transmission shaft 73 passes.
  • a bearing is further disposed between the fixing hole and the transmission shaft 73.
  • the fixing seat 84 is fixedly disposed on the two clips by bolts It is placed on the board 83.
  • a chute 831 is provided on the side where the jig placement plate 83 is fitted to the clamp fixing plate 82.
  • a slider 821 that cooperates with the chute 831 is disposed on the side of the clip fastening plate 82.
  • S2 controlling the bricklaying robot to move the fixture of the top brick to the top brick, so that the top brick is located in the fixture body;
  • the 73 axis rotates until the top skin brick is just tilted tightly against the column or wall between the beam bottom and the wall and leaning against the end;
  • S6 Repeat steps S1 to S5 to realize that the next piece of top skin is inclined to lean against the top brick that has been built.
  • step S3 it is necessary to ensure that the first clamping cylinder clamps the opposite sides of the two sides of the top brick in the longitudinal direction of the top brick, because the top brick is a rectangular parallelepiped, and the clamping scheme of the opposite sides is There are three types: When the first clamping cylinder clamps the ends of the top brick in the longitudinal direction, the height value that can be achieved is much smaller than the length of the top brick, which cannot meet the spacing requirement between the beam bottom and the wall; A clamping cylinder clamps the two sides of the top brick in the longitudinal direction and has a relatively large area. The achievable supporting area between the top brick and the beam bottom and the wall is not enough, and the strength requirement cannot be achieved. .
  • this embodiment discloses a bricklaying robot capable of building a top brick. Its implementation The eighth example differs in that the brick-laying jig body 80 has another arrangement.
  • the rotating shaft 391 of the horizontal robot arm 39 is rotatably coupled to a fixed-seat carrier plate 90 through a bearing through the upper surface of the horizontal arm 39.
  • the jig 70 for the top brick can be placed above the mount carrier 90, that is, above the horizontal robot arm 39.
  • the transmission shaft 73 is provided with two fixing seats 84, and the fixing base 84 is fixedly disposed on the fixing base carrier plate 90.
  • a bearing is provided between the fixing seat 84 and the transmission shaft 73.
  • the holder carrier plate 90 is further provided with two vertically disposed risers 91 and a rotary shaft fixing plate 92 provided on the riser 91.
  • the rotating shaft fixing plate 92 is parallel to the fixed bearing plate 90 at the upper end of the rotating shaft 391.
  • the rotating shaft 391 has a transverse through hole for the transmission shaft 73 to pass through to guide and fix the transmission shaft 73.
  • the brickwork fixture main body 80 is arranged above the jig 70 of the masonry brick to increase the stroke of the masonry brick, and the same can effectively overcome the roof or the beam and the wall.
  • the spacing between the upper surfaces of the body is smaller than the distance from the upper surface of the horizontal arm to the lower surface of the fixture body. The brickwork fixture body cannot enter the spacing to perform the problem of topping bricks, which greatly enhances the flexibility in practical applications.
  • the present invention can be applied to the field of building brickwork, which can realize the automatic masonry of building wall bricks.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种砌砖机器人，其包括依次相连的旋转式移动底盘（10）、升降模块（20）和顶部砌砖模块（30）。旋转式移动底盘（10）包括底座（11）、第一驱动件（12）、齿轮组（13）、旋转支撑盘（14）和移动机构（15）。升降模块（20）包括第二驱动件（21）、第一丝杆（22）、纵向导轨结构（23）和若干第一固定板（24）。顶部砌砖模块（30）包括支撑板（31）、若干第二固定板（32）、第二丝杆（33）、横向导轨机构（34）、第三驱动件（35）、砌砖夹具（36）和第四驱动件（37）。顶部砌砖模块（30）在升降模块（20）上滑动并通过旋转式移动底盘（10）实现圆周运动。该砌砖机器人结构简单，稳定性好，砌筑效率高。

Description

一种砌砖机器人 技术领域
[0001] 本发明涉及智能建筑施工技术领域， 尤其涉及一种砌砖机器人。
背景技术
[0002] 建筑业是我国的支柱产业， 在国民经济中发挥着先导作用。 在建造楼房的过程 中， 当主体结构完工后， 进入砌筑工程的施工。 传统砌筑的方法是靠人工完成 ， 由操作人员将墙砖按要求堆砌起来。 目前墙砖已由粘土烧结 （每块重 1.5〜3kg ) 改为加气砖或水泥空心砖块 （每块重达 10〜25kg) ， 施工进度慢， 劳动强度 大， 工作环境差。 并且依靠人力劳动的成本越来越高。 因此建筑施工行业迫切 需要一种能够代替人工实施砌筑工程操作的机器人。
[0003] 随着经济的快速增长和城市化， 越来越多的砌墙机器人被研发出来。 现有的一 些砌墙机器人结构复杂， 一些砌墙机器人的机械手往往设计不合理， 要么夹不 住 10〜25kg砖块， 要么夹紧力度过大导致砖块夹破， 要么夹紧力度过松砖块容 易滑落， 要么设备太过庞大笨重难以轻松移动进行砌砖， 成为砌墙机器人推广 幵来的一大难题。
技术问题
[0004] 砌砖机器人在操作过程中需要解决许多问题， 如下：
[0005] 1、 当今住宅办公等建筑均为多、 高层框架结构， 墙体为填充墙， 受到空间、 平面位置约束， 比如卫生间仅为 1.5*1.2m， 门洞仅为 0.8m。 机器人底盘规格受到 严格限制， 机器人移动也极为不便。 现有的砌砖机器人通常为大型设备， 需要 用装载车装运至工作地后过行工作。 若将机器人设置移动底盘， 则机器人与粗 糙楼板面固定不稳固， 降低了砌砖的精度。
[0006] 2、 机器人在砌砖吋需要在粗糙的楼板面上运行， 底部吋常不在同一平面上， 需要人工进行抄平后才能进一步安装固定。
[0007] 3、 墙体的高度大于砌砖机器人的极限位置吋无法实现高墙的砌筑。
[0008] 4、 墙体厚度不一， 砖规格不同， 夹具难以通用， 适用范围小。 [0009] 5、 洞口过梁为放在门、 窗或预留洞口等洞口上的横梁， 当墙体上幵设门窗洞 口吋， 且墙体洞口大于 300mm吋， 为了支撑洞口上部砌体所传来的各种荷载， 并将这些荷载传给门窗等洞口两边的墙， 需在要门窗洞口上设置过梁。 现有的 砌砖机器人没有使用方便且能轻松安放的砌砖过梁夹具。
[0010] 6、 框架填充墙， 由于砖的皮数及国家规范限定， 人工砌筑吋在顶部将留下一 段空隙， 该段需更换砌筑形式、 材料， 简称"顶皮砖"。 由于墙体砂浆硬化需一定 吋间， 硬化过程中体积受压变小， 该段砖不可同吋砌筑， 国家规范明确规定必 须间隔 7天以上， 顶皮砖砌筑是一项耗吋、 耗工的特殊活， 现有的砌砖机器人的 无法进行顶皮砖的砌砖。
问题的解决方案
技术解决方案
[0011] 本发明提供了一种结构简单、 稳定性好， 适用于多种场合砌砖环境的砌砖机器 人。
[0012] 本发明提出的技术方案为： 本发明公幵了一种砌砖机器人， 包括依次相连接的 旋转式移动底盘、 升降模块和顶部砌砖模块；
[0013] 所述旋转式移动底盘包括底座、 第一驱动件、 齿轮组、 旋转支撑盘、 移动机构 ， 所述齿轮组设置于底座和旋转支撑盘之间， 移动机构设置于底座下端， 所述 的第一驱动件驱动齿轮组带动旋转支撑盘旋转；
[0014] 所述升降模块包括第二驱动件、 第一丝杆、 纵向导轨结构和若干块第一固定板 ； 所述升降模块底端固定于所述旋转支撑盘上方；
[0015] 所述顶部砌砖模块包括支撑板， 及固定于支撑板上方的若干块第二固定板、 第 二丝杆、 横向导轨机构、 第三驱动件、 砌砖夹具和第四驱动件； 所述第三驱动 件驱动第二丝杆运作， 所述的第二丝杆和第四驱动件相连接， 所述支撑板上幵 有导滑槽， 所述第四驱动件穿过导滑槽与砌砖夹具相连接， 以驱动砌砖夹具旋 转； 所述砌砖夹具包括第一抓板、 第二抓板、 若干个固定杆、 若干个连杆机构 和气压缸， 所述连杆机构包括依次连接的第一连杆、 第二连杆和第三连杆， 所 述第一连杆和第三连杆分别与第一抓板和第二抓板连接， 所述第二连杆通过中 心的连杆轴固定于气压缸下方， 所述气压缸驱动第一抓板或者第二抓板运动， 所述第一连杆和第三连杆以连杆轴为中心做中心对称运动；
[0016] 所述顶部砌砖模块在第二驱动件作用下通过第一丝杆实现在纵向导轨结构上的 滑动， 所述顶部砌砖模块以升降模块为轴通过所述旋转支撑盘实现圆周运动。
[0017] 其中， 所述若干个固定杆设置于第一抓板和第二抓板之间， 所述第一抓板和所 述第二抓板上设有防滑板。
[0018] 优选地， 所述横向导轨机构数量为两组， 分别位于导滑槽两侧， 所述横向导轨 机构包括导滑块和导轨； 所述第二丝杆和第四驱动件通过导滑块相连接实现第 四驱动件、 砌砖夹具和第二丝杆之间的同步运动。
[0019] 进一步地， 所述升降模块顶端还设有配重块。
[0020] 其中， 所述齿轮组固定于底座上； 所述齿轮组包括相啮合的主动小齿轮和从动 大齿轮； 所述第一驱动件驱动主动小齿轮转动， 所述主动小齿轮驱动从动大齿 轮转动从而带动整个旋转支撑盘旋转。
[0021] 优选地， 所述第一丝杆和第二丝杆两端均设有限位幵关， 所述旋转式移动底盘 和所述砌砖夹具都设有光电式幵关。
[0022] 其中， 所述第一驱动件、 所述第二驱动件、 所述第三驱动件和所述第四驱动件 使用的均是交流伺服电机， 且电机带有 17位增量式旋转编码器。
[0023] 一实施方式中， 所述的气压缸包括本体及气缸推杆， 所述的本体与第三驱动件 相连接， 气缸推杆设置于另一侧且与第二抓板连接； 所述的第一抓板上设置有 避让槽， 所述的本体可穿过避让槽。
[0024] 优选地， 所述的气杆推杆通过一连接块与第二抓板连接， 所述的连接块锁固在 第二抓板上， 所述的连接块上设有一限位槽， 所述的气缸推杆端部安装在限位 槽内。
[0025] 一实施方式中， 所述的移动机构包括底盘本体、 吸盘座、 两个单向行走轮及一 个或两个旋转轮， 所述的吸盘座位于底盘本体下部均匀设置， 所述的一个或两 个旋转轮设于底盘本体前端， 所述的两个单向行走轮设于底盘本体后端。
[0026] 其中， 所述的旋转轮包括轮体、 轮架、 端面齿轮， 小齿轮及控制电机， 所述的 轮体轴向与轮架连接， 所述的轮架上方固设端面齿轮， 所述的小齿轮在控制电 机的作用下传动， 小齿轮和端面齿轮的中心轴线垂直设置， 所述的小齿轮与端 面齿轮啮合。
[0027] 进一步地， 所述的旋转轮为万向轮或全向轮。 所述的吸盘座包括控制推杆组件 、 负压板、 密封圈、 真空发生器； 所述的控制推杆组件一端固定在底盘本体上 ， 一端与负压板连接， 其推动负压板上、 下运动； 所述的密封圈上方密封贴附 在负压板下， 所述的负压板上设有抽气孔， 所述的真空发生器与抽气孔密封连 接， 所述的真空发生器上设有控制真空产生的电磁幵关。 所述的底盘本体上设 置有传感器。
[0028] 另一实施方式中， 所述的移动机构包括底盘本体及若干固定在底盘本体下方均 匀设置的吸盘座及三组抄平装置， 所述的抄平装置包括伺服机构， 控制推杆及 抄平块， 所述的控制推杆与伺服机构轴向连接， 控制推杆端部与抄平块连接， 所述的三组抄平装置的底部连线不在一条直线上。
[0029] 其中， 所述的三组抄平装置成等边三角形布设。
[0030] 优选地， 还包括若干轮子均布设置在底盘本体下方。
[0031] 一实施方式中， 吸盘座包括真空发生器、 同轴设置的 M级吸盘组件及若干组弹 性介质， M级吸盘组件包括由外向内的第一吸盘组件至第 M吸盘组件， M为大于 1的自然数；
[0032] 第一吸盘组件包括第一负压板组及第一密封圈， 第一负压板组上设有第一抽气 孔， 第一密封圈密封贴附在第一负压板组下方， 所述的第一负压板组内设有第 一空腔， 第一空腔内设置弹性介质， 所述的真空发生器与第一抽气孔密封连接
[0033] 第 N吸盘组件， N为 1至 M之间的自然数， 包括第 N负压板组、 第 N密封圈， 第 N 负压板组上设有第 N抽气孔， 第 N密封圈密封贴附在第 N负压板组下方， 所述的 第 N负压板组内设有第 N空腔， 第 N空腔内设置弹性介质， 第 N抽气孔与第一抽气 孔相连通； 第 N负压板组安装在第 N- 1空腔内可向上移动压缩弹性介质；
[0034] 第 M吸盘组件， 包括第 M负压板组、 第 M密封圈， 第 M负压板组上设有第 M抽 气孔,第 M密封圈密封贴附在第 M负压板组下方， 第 M负压板组安装在第 M-1空腔 内可向上移动压缩弹性介质。
[0035] 其中， 所述的第一负压板组至第 M负压板组的下端面依次向下凸出， 相邻两负 压板组的下端面的高度差为 l〜2mm。
[0036] 优选地， 所述的弹性介质为弹簧或设有抽气通道的弹性海绵。
[0037] 一实施方式中， M级吸盘组件为二级吸盘组件， 所述的第一负压板组包括第一 负压本体及与其固定安装的第一盖体， 所述的第一抽气孔设置在第一盖体上， 第一负压本体与第一盖体之间安装形成第一空腔， 第一负压本体下方密封贴附 第一密封圈。
[0038] 一实施方式中， 所述的旋转式移动底盘上设置有位于升降模块侧边的剪式升降 装置， 所述的升降模块上设有支撑把手， 所述的剪式升降装置包括下支撑架， 上支撑架， 电机组件及位于下支撑架与上支撑架之间的两组平行设置的剪式连 杆组件， 所述的上支撑架位于支撑把手的正下方， 所述的下支撑架固定在旋转 式移动底盘上， 所述的电机组件与剪式连杆组件连接控制剪式连杆组件折叠伸 缩。
[0039] 优选地， 还包括设置在升降模块与旋转式移动底盘之间的支撑标准节组， 支撑 标准节组包括若干支撑标准节， 所述的支撑标准节最上方与升降模块底部固定 ， 最下方与旋转式移动底盘固定， 支撑标准节之间相互固定， 每一个支撑标准 节侧边设置有可拆卸的升高把手， 所述的升高把手位于支撑把手的正下方。
[0040] 进一步地， 所述的支撑标准节组由若干不同高度尺寸规格的支撑标准节任意组 装而成。
[0041] 其中， 所述的剪式连杆组件包括两根上连杆、 两根下连杆、 上连接座、 下连接 座、 至少两个上齿轮及至少两个下齿轮； 所述的上连杆的上端与上连接座铰接 ， 铰接处安装固定有上齿轮， 两两上齿轮相啮合； 所述的下连杆的下端与下连 接座铰接， 铰接处安装固定有下齿轮， 两两下齿轮相啮合； 上连杆的下端与下 连杆的上端铰接， 两根上连杆及两根下连杆形成菱形结构。
[0042] 优选地， 还包括一组导杆组件， 两个带通孔的销轴及若干紧固件， 所述的销轴 穿过下连杆的上端与上连杆的下端铰接处， 使通孔的轴线位于水平方向， 所述 的导杆组件穿过两销轴的通孔， 导杆组件的一端固定并连接电机组件。
[0043] 本发明还公幵了一种砌砖机器人， 包括旋转式移动底盘、 设置于旋转式移动底 盘上且可实现沿自身轴线旋转的升降模块、 设置于升降模块一侧且可实现竖直 方向上的升降运动的水平机械臂、 和设置于水平机械臂上且可实现沿水平机械 臂的长度方向运动的砌砖夹具； 所述水平机械臂上进一步设置有一旋转电机以 实现所述砌砖夹具沿自身竖直轴心方向上的旋转； 所述砌砖夹具包括砌墙安装 洞口过梁用的承载架和夹具本体； 所述夹具本体固定于水平机械臂上且与旋转 电机驱动连接；
[0044] 所述的承载架包括两个配合使用且结构相同的夹托单元； 每个夹托单元包括承 载板和承载机构； 所述承载机构包括第一气压缸、 传动板、 若干根承载杆； 所 述第一气压缸固定于所述承载板一侧且第一气压缸的推杆运动方向于承载板垂 直； 所述推杆一端固定于传动板上； 所述承载杆一端固定设置传动板上， 另一 端靠近承载板设置； 两个夹托单元分别设置于砌砖夹具两侧以实现与砌砖夹具 做同步张幵夹紧运动； 两个承载杆通过两个第一气压缸作用实现贴合和分幵， 所述两个夹托单元分别设置于夹具本体两侧。
[0045] 其中， 所述夹具本体包括第二气压缸和两块相正对的固定板； 所述第二气压缸 固定于一块固定板上， 所述第二气压缸的推杆一端固定于另一块固定板上以实 现夹具本体对过梁的夹持。 两块承载板分别与两块固定板的外侧面通过螺栓固 定连接以实现砌墙安装洞口过梁用承载架的易拆卸。
[0046] 优选地， 所述承载板与固定板贴合的一面上设置有承载滑块或限位滑槽； 所述 固定板侧面上设置有与所述承载滑块或所述限位滑槽配合的限位滑槽或承载滑 块。
[0047] 优选地， 所述砌砖机器人上可进一步设置有障碍报警装置以避免吊装过梁过程 中过梁的两端与障碍物发生碰撞； 所述障碍报警装置可为传感器或视觉图像判 断装置或雷达测距装置。 每个所述夹托单元中的承载杆的数量为两个； 两个所 述承载杆与第一气压缸的推杆水平且均呈排设置； 所述承载杆穿过承载板设置 以通过承载板实现对承载杆的支撑作用。
[0048] 进一步地， 所述承载杆外侧进一步套设有导向套； 所述导向套与所述承载杆通 过螺栓实现固定连接。
[0049] 本发明还公幵了一种砌砖机器人， 包括旋转式移动底盘、 设置于旋转式移动底 盘上且可实现沿自身轴线旋转的升降模块、 设置于所述升降模块一侧且可实现 竖直方向上的升降运动的水平机械臂和设置于所述水平机械臂上且可实现沿所 述水平机械臂的长度方向运动的砌砖夹具； 所述水平机械臂上进一步设置有一 旋转电机以实现砌砖夹具沿自身竖直轴心方向上的旋转； 所述砌砖夹具包括所 述可砌顶皮砖的夹具和砌砖夹具主体； 所述砌砖夹具主体固定于所述水平机械 臂上且通过一旋转轴与旋转电机驱动连接； 所述可砌顶皮砖的夹具固定设置于 砌砖夹具主体上以实现配合完成砌顶皮砖的作用。
[0050] 其中， 所述的可砌顶皮砖的夹具包括夹具本体、 第一夹紧气缸、 传动轴和驱动 电机； 所述夹具本体包括相对设置的第一板体和第二板体以及连接于第一板体 及第二板体之间的连接板； 所述第一夹紧气缸固定设置于第一板体一侧； 所述 第一板体上幵有若干个通孔供所述第一夹紧气缸的推杆穿过以实现对待夹持物 的夹紧； 所述传动轴一端固定设置于第二板体一侧,所述传动轴通过驱动电机带 动做轴向方向上的旋转。
[0051] 其中， 所述第一板体和板体结构相同且相正对设置； 所述连接板连接第一板体 和第二板体相对应的同一侧边。
[0052] 优选地， 所述第一夹紧气缸的推杆的长度与连接板的长度的比值范围为 0.1〜0.
5； 所述连接板的长度与传动轴的长度的比值为 0.7〜1。
[0053] 进一步地， 所述夹紧气缸的推杆一端可进一步设置有夹紧板。 所述砌砖夹具主 体包括第二夹紧气缸和两块相正对的夹紧固定板； 所述第二夹紧气缸固定于一 块夹紧固定板上， 所述第二夹紧气缸的推杆一端固定于另一块夹紧固定板上以 实现所述夹具本体对顶皮砖的夹持。
[0054] 其中， 两块夹紧固定板两侧分别进一步通过螺栓固定设置有两块夹具放置板； 所述传动轴上进一步设置有两个固定座； 所述固定座、 夹具放置板和夹紧固定 板上均幵设有供传动轴穿过的固定孔； 所述固定孔与所述传动轴之间设置有轴 承； 两个固定座通过螺栓分别固定设置于两块夹具放置板上。
[0055] 优选地， 所述夹具放置板与所述夹紧固定板贴合的一面上设置有滑块或滑槽； 所述夹紧固定板侧面上设置有与所述滑块或滑槽配合的滑槽或滑块。
[0056] 另一实施方式中， 所述旋转轴穿过所述水平机械臂上表面与一固定座承载板通 过轴承转动连接； 所述传动轴上设置有两个固定座； 所述固定座固定设置于固 定座承载板上。
发明的有益效果
有益效果
[0057] 本发明具有以下有益效果：
[0058] 1、 本发明砌砖机器人的结构简单、 占地面积小， 适合于多种场合下的砌砖环 境。
[0059] 2、 本发明砌砖机器人各部分结构之间可独立拆装， 各部分之间独立工作互不 影响。
[0060] 3、 通过设置剪式升降装置， 使得砌砖机器人可以根据实际需要砌砖的高度， 调整机器人本体的高度， 适用于不同高度的砖墙砌筑， 重量体积小， 运输方便 ， 适用范围广。
[0061] 4、 在机器人移动机构上设置吸盘 （或多级吸盘） 同吋吸附地面， 增大吸力和 吸附的有效区域， 极大的提高了机器人工作的稳定性。
[0062] 5、 可安装洞口过梁的砌砖机器人的砌砖夹具采用安装洞口过梁用的承载架， 承载架中的多个承载杆对过梁进行限位并通过夹具主体进行进一步固定， 最后 通过旋转式移动底盘、 升降台、 水平机械臂的整体结构实现了过梁的移动， 使 用方便， 实现了自动安装洞口过梁， 节省搭设脚手架成本， 减少劳动力， 提高 安装效率。
[0063] 6、 可砌顶皮砖的砌砖机器人可以通过可砌顶皮砖的夹具和砌砖夹具主体来实 现对顶皮砖的夹持和对顶皮砖斜姿吋的旋转定位， 最后通过旋转式移动底盘、 升降台、 水平机械臂的整体结构实现了顶皮砖的移动和砌砖， 使用方便， 实现 了自动砌顶皮砖的效果， 减少劳动力， 大大提高了安装效率。
对附图的简要说明
附图说明
[0064] 图 1是本发明实施例一的装配示意图。
[0065] 图 2是实施例一的顶部砌砖模块的仰视示意图。
[0066] 图 3是实施例一的顶部砌砖模块的主视示意图。
[0067] 图 4是实施例一的升降模块的结构示意图。 [0068] 图 5是实施例二的砌砖夹具结构示意图。
[0069] 图 6是实施例二砌砖夹具夹厚砖吋的仰视示意图。
[0070] 图 7是实施例二砌砖夹具夹薄砖吋的立体示意图。
[0071] 图 8是实施例二砌砖夹具夹薄砖吋的仰视示意图。
[0072] 图 9是实施例三移动机构的结构示意图。
[0073] 图 10是实施例三移动机构的主视示意图。
[0074] 图 11是图 10的仰视示意图。
[0075] 图 12是实施例四的立体结构示意图。
[0076] 图 13是实施例四的主视示意图。
[0077] 图 14是图 13的仰视示意图。
[0078] 图 15是实施例五的结构示意图。
[0079] 图 16是实施例五的分解示意图。
[0080] 图 17是实施例五的剖视示意图。
[0081] 图 18是图 17压缩吸附状态示意图。
[0082] 图 19是实施例六的结构示意图。
[0083] 图 20是实施例六中剪式升降装置的结构示意图。
[0084] 图 21是实施例六中剪式升降装置的分解示意图。
[0085] 图 22是实施例六中支撑标准节的结构示意图。
[0086] 图 23是实施例七中承载架的结构示意图。
[0087] 图 24是实施例七的结构示意图。
[0088] 图 25是图 24的局部放大示意图。
[0089] 图 26是实施例八的可砌顶皮砖的夹具的结构示意图。
[0090] 图 27是实施例八的结构示意图。
[0091] 图 28是图 27的局部放大示意图。
[0092] 图 29是实施例九的结构示意图。
[0093] 图 30是图 29的局部放大示意图。
[0094] 主要符号说明：
[0095] 旋转式移动底盘 10， 底座 11， 第一驱动件 12， 齿轮组 13， 主动小齿轮 131， 从 动大齿轮 132， 旋转支撑盘 14
[0096] 移动机构 15， 底盘本体 151， 吸盘座 152， 控制推杆组件 1521， 负压板 1522， 密 封圈 1523， 抽气孔 1524， 单向行走轮 153， 旋转轮 154， 轮体 1541， 轮架 1542， 端面齿轮 1543， 小齿轮 1544， 控制电机 1545， 抄平装置 155， 伺服机构 1551， 控 制推杆 1552， 抄平块 1553， 轮子 156， 传感器 157， 真空发生器 158， 弹簧 159， 第一吸盘组件 16， 第一负压板组 161， 第一负压本体 1611， 第一盖体 1612， 第一 抽气孔 1613， 盲孔 1614， 第一空腔 1615， 阶梯安装台 1616， 第一密封圈 162
[0097] 第二吸盘组件 17， 第二负压板组 171、 第二抽气孔 1711， 定位凸台 1712， 第二 密封圈 172， 固定柱 1713， 凹槽 173
[0098] 升降模块 20， 第二驱动件 21， 第一丝杆 22， 纵向导轨结构 23， 第一固定板 24， 配重块 25， 第一弯折部 241， 第二弯折部 242， 支撑把手 26
[0099] 顶部砌砖模块 30， 支撑板 31， 导滑槽 311， 第二固定板 32， 第二丝杆 33， 横向 导轨机构 34， 导滑块 341， 第三驱动件 35， 砌砖夹具 36， 第一抓板 361， 避让槽 3 611， 第二抓板 362， 固定杆 363， 连杆机构 364， 第一连杆 3641， 第二连杆 3642 ， 第三连杆 3643， 气压缸 365， 本体 3651， 气缸推杆 3652， 气压缸第一固定板 36 6， 气压缸第二固定板 367， 连杆轴 368， 防滑板 369， 第四驱动件 37， 连接块 38 ， 限位槽 381， 水平机械臂 39， 旋转轴 391
[0100] 剪式升降装置 40， 下支撑架 41， 上支撑架 42， 电机组件 43， 电机 431， 固定座 4 32, 剪式连杆组件 44， 上连杆 441、 下连杆 442、 上连接座 443、 下连接座 444、 上齿轮 445， 下齿轮 446， 销轴 45， 通孔 451， 导杆组件 46
[0101] 支撑标准节 50， 升高把手 51
[0102] 承载架 60， 承载板 61， 限位滑槽 611， 承载机构 62， 第一气压缸 621， 传动板 62
2， 承载杆 623， 导向套 63， 第一圆柱部 631， 第二圆柱部 632， 夹具主体 64， 第 二气压缸 641， 固定板 642， 承载滑块 6421
[0103] 可砌顶皮砖的夹具 70， 夹具本体 71、 第一板体 711， 第二板体 712， 连接板 713
， 支撑板体 714， 第一夹紧气缸 72、 传动轴 73， 驱动电机 74， 夹紧板 75
[0104] 砌砖夹具主体 80， 第二夹紧气缸 81， 夹紧固定板 82， 滑块 821， 夹具放置板 83
， 滑槽 831， 固定座 84 [0105] 固定座承载板 90， 竖板 91， 旋转轴固定板 92。 具体实施方式
[0106] 为使本发明实施例的目的、 技术方案和优点更加清楚， 下面将结合本发明实施 例中的附图， 对本发明作进一步详细描述。
[0107] 实施例一
[0108] 如图 1所示， 本实施例公幵了一种砌砖机器人， 包括依次相连接的旋转式移动 底盘 10、 升降模块 20和顶部砌砖模块 30。
[0109] 旋转式移动底盘 10包括底座 11、 第一驱动件 12、 齿轮组 13、 旋转支撑盘 14、 移 动机构 15， 齿轮组 13设置于底座 11和旋转支撑盘 14之间。 移动机构 15设置于底 座 11下端， 第一驱动件 12驱动齿轮组 13带动旋转支撑盘 14旋转。
[0110] 升降模块 20包括第二驱动件 21、 第一丝杆 22、 纵向导轨结构 23和若干块第一固 定板 24。 升降模块 20底端固定于所述旋转支撑盘 14上方。
[0111] 顶部砌砖模块 30包括支撑板 31、 若干块第二固定板 32、 第二丝杆 33、 横向导轨 机构 34、 第三驱动件 35、 砌砖夹具 36和第四驱动件 37。 若干块第二固定板 32、 第二丝杆 33、 横向导轨机构 34、 第三驱动件 35和第四驱动件 37固定于支撑板 31 上方。 支撑板 31上幵有导滑槽 311， 第四驱动件 37穿过导滑槽 311与砌砖夹具 36 相连接。 第四驱动件 37用来驱动砌砖夹具 36旋转。 顶部砌砖模块 30通过第一丝 杆 22实现在纵向导轨机构 23上的滑动。 顶部砌砖模块 30以升降模块 20为轴通过 旋转支撑盘 14实现圆周运动。
[0112] 结合图 2、 图 3所示， 砌砖夹具 36包括第一抓板 361、 第二抓板 362、 若干个固定 杆 363、 连杆机构 364和气压缸 365， 连杆机构 364包括依次连接的第一连杆 3641 、 第二连杆 3642和第三连杆 3643。 第一连杆 3641和第三连杆 3643分别与第一抓 板 361和第二抓板 362连接， 第二连杆 3642通过中心的连杆轴 368固定于气压缸 36 5下方。 气压缸 365驱动第一抓板 361或者第二抓板 362运动， 第一连杆 3641和第 三连杆 3643以连杆轴 368为中心做中心对称运动。 本发明采用三大部分组成， 结 构简单， 重量轻， 可适应多种砌砖环境， 可分步砌砖且抓取效果好。
[0113] 第四驱动件 37驱动砌砖夹具 36实现所在水平面上的 360°旋转。 砌砖夹具 36还包 括气压缸第一固定板 366和气压缸第二固定板 367。 气压缸第一固定板 366与上方 第三驱动件 35相连接。 气压缸第二固定板 367将气压缸 365通过螺栓固定于气压 缸第一固定板 366上。 若干个固定杆 363设置于第一抓板 361和第二抓板 362之间 并通过螺栓固定于气压缸第一固定板 366上， 固定杆 363对抓板的运动起到导向 作用， 连杆机构 36通过中心连杆轴 368固定于气压缸第二固定板 367上。 第一抓 板 361和第二抓板 362上设有防滑板 369。 采用这样的连杆传动结构简单， 容易实 现， 相对于交叉式等连杆结构来说所需的耗能更小并且抓取效果更好， 能更加 稳固地将砖块抓紧放下。
[0114] 请参考图 1， 第二固定板 32的数量为四块， 分别垂直设置于支撑板 31的四周。
砌砖夹具 36运动方向上的两侧的第二固定板 32上挖有若干个对称的孔， 用于减 轻重量和固定第三驱动件等相关部件。 砌砖夹具 36在导滑槽 311上的行程范围范 围为 0mm〜500mm， 导滑槽 311靠近升降装置 20的一端与底座 11中心的投影距离 为 500mm， 即本发明的砌墙机器人能到达的位置为以圆盘中心为圆点， 半径为 1 000mm和半径为 500mm的两个同心圆不重合的部分。 横向导轨机构 34数量为两 组， 分别位于导滑槽 311两侧， 横向导轨机构 34包括导滑块 341和导轨。 第二丝 杆 33—端与第三驱动件 35相连， 另一端固定于第二固定板 32上。 第二丝杆 33和 第四驱动件 37通过与两侧的导滑块 341相连接实现第四驱动件 37、 砌砖夹具 36和 第二丝杆 33之间的同步运动。 采用这样单边驱动的结构， 可以大大减小能量的 损耗， 通过稳固的实现同步运动， 简单易行。
[0115] 请参考图 4， 第一固定板 24的数量为两块， 第一固定板 24的横截面包括第一弯 折部 241和第二弯折部 242。 第一弯折部 241和第二弯折部 242垂直分布以形成 "L" 型。 纵向导轨结构 23固定于第一弯折部 241上， 第二弯折部 242布置于丝杆两侧 用于固定纵向导轨结构 23和保护升降模块 20。 升降模块 20顶端还设有配重块 25 ， 配重块 25固定于第一丝杆 22顶端并通过两块第一固定板 24进一步限位固定。 升降模块 20能实现的行程范围为 0mm〜1520mm。 第一固定板 24、 第一丝杆 22、 纵向导轨结构 23的高度与 h的最大行程大致相近。 采用这样的结构不仅能有效起 到升降作用， 同吋在保证结构的最大稳定性上尽可能地从部件的结构简化上减 轻整体的重量。 [0116] 齿轮组 13固定于底座 11上。 齿轮组 13包括相啮合的主动小齿轮 131和从动大齿 轮 132。 第一驱动件 12驱动主动小齿轮 131转动， 主动小齿轮 131驱动从动大齿轮 132转动从而带动整个旋转支撑盘 14旋转， 旋转支撑盘 14上还设有两块与第二固 定板 32横截面相适配的凸起板， 二者之间通过螺栓连接。 采用这样的结构传输 效率高， 且底盘稳定性高。
[0117] 第一丝杆 22和第二丝杆 33两端均设有限位幵关。 旋转式移动底盘 10和砌砖夹具 36都设有光电式幵关， 以上幵关均可以起到定位和限位的作用。 第一驱动件 12 、 第二驱动件 21、 第三驱动件 35和第四驱动件 37使用的均是交流伺服电机， 且 电机带有 17位增量式旋转编码器， 能实现电机高精度的定位， 这也是该砌墙机 器人能实现智能运动控制的基础， 同吋电机内还各装有对应的控制系统， 控制 系统需要实现直角坐标系和柱面坐标系之间的转换， 从而对各个运动机构间的 联动进行运算控制。 在实际工程实践中， 砌砖夹具 36的夹具末端的运动轨迹必 须沿着特定路径， 需要对路径中间点进行插值， 当各离散点转化为各个伺服电 机的速度和位置信息后， 这些信息就通过控制系统总线传给伺服驱动设备， 通 过总线方式对各个电机进行同步控制。 采用这样的智能控制方式能够精确有效 地控制砌墙机器人进行各个不同的砌墙动作， 同吋保证各个砖瓦放置的位置都 能在一定误差之内。
[0118] 请参考图 4， 本发明砌砖机器人控制方法， 其步骤包括：
[0119] S1通过精密测距传感器获取底座 11中心距离第一皮砖墙的距离， 保证底座 11 中心与墙面之间的距离为 500mm±20mm。
[0120] S2将涂抹砂浆后的砖块放置于与底座 11中心相距 500mm的位置， 保证夹具中 心与砌块中线重合， 当砌砖夹具 36感应到下方有砖吋， 电磁气阀得电， 进而夹 取转体。
[0121] S3准确定位已砌砖墙高度和水平位置， 第一驱动件 12和第二驱动件 35同吋启 动， 分别控制旋转式移动底盘 10和升降模块 20运动， 当砌砖夹具 36移动到指定 的位置后， 第三驱动件 35和第四驱动件 37同吋启动， 控制砖块移动并旋转到固 定的砌砖位置， 然后放下砖块。
[0122] S4放完砖后， 升降模块 20提升至一定高度使得砌砖夹具的下底面脱离砖块上 表面， 然后所有部件按动作返回原点， 进行第二块砖夹紧放置， 当第三块转砌 完后完成一次砌砖流程即每一次砌砖流程实现砌三块砖， 完成之后砌砖机器人 移动到下一个位置重复以上步骤。
[0123] 实施例二
[0124] 本实施例与实施例一的区别之处在于： 砌砖夹具与实施例一不同， 本实施例中 砌砖夹具 36可实现夹取不同厚度砖。
[0125] 如图 5所示， 砌砖夹具 36包括第一抓板 361、 第二抓板 362、 若干个固定杆 363、 连杆机构 364和气压缸 365， 气压缸 365包括本体 3651及气缸推杆 3652， 本体 3651 通过气压缸第一固定板 366固定， 气缸推杆 3652设置于另一侧且与第二抓板 362 连接。 第一抓板 361上设置有避让槽 3611， 本体 3651可穿过避让槽 3611。
[0126] 气杆推杆 3652通过一连接块 38与第二抓板 362连接， 连接块 38锁固在第二抓板 3 62上， 连接块 38上设有一限位槽 381， 气缸推杆 3652端部安装在限位槽 381内。
[0127] 如图 6所示， 夹厚砖吋， 将气压缸 365的气压值调节至 0.6〜0.8MPa， 本体 3651 控制气缸推杆 3652伸长， 气压推杆 3652推动第二抓板 362向固定杆 363外端移动 ， 同吋第二抓板 362带动第二连杆 3642伸展， 第二连杆 3642带动整个连杆机构 36 4向外伸展， 第一连杆 3641带动第一抓板 361同步向外端移动， 从而使两个抓板 间的距离与厚砖的厚度相匹配， 第四驱动件 37控制夹具旋转，两防滑板 369夹取厚 砖。
[0128] 如图 7〜8所示， 夹薄砖吋， 将气压缸 365的气压值调节至 0.5〜0.6MPa， 本体 36 51控制气缸推杆 3652缩短， 气压推杆 3652带动第二抓板 362向固定杆 363内端移 动， 同吋第二抓板 362带动第三连杆 3643收缩， 第三连杆 3643带动整个连杆机构 364向内收缩， 第一连杆 3641带动第一抓板 361同步向内端移动， 移动过程中， 本体 3651穿过第一抓板 361的避让槽 3611， 从而使两个抓板间的距离与薄砖的厚 度相匹配， 第四驱动件 37控制夹具旋转， 两防滑板 369夹取薄砖。
[0129] 实施例三
[0130] 本实施例进一步公幵了实施例一中的移动机构， 使砌砖机器人可实现行走移动 转向和固定吸附状态的切换。
[0131] 如图 9〜图 11所示， 移动机构 15包括底盘本体 151、 吸盘座 152、 两个单向行走 轮 153及两个旋转轮 154， 为四轮底盘。 吸盘座 152位于底盘本体 151下部均匀设 置， 两个旋转轮 154设于底盘本体 151的前端， 两个单向行走轮 153设于底盘本体 151的后端。
[0132] 旋转轮 154可为万向轮或全向轮 （如麦克纳姆轮） 。
[0133] 旋转轮 154可精确控制角度转向。 如图 10所示， 旋转轮 154包括轮体 1541、 轮架 1542、 端面齿轮 1543， 小齿轮 1544及控制电机 1545。 轮体 1541轴向与轮架 1542 连接， 轮架 1542上方固设端面齿轮 1543， 小齿轮 1544在控制电机 1545的作用下 传动， 小齿轮 1544和端面齿轮 1543的中心轴线垂直设置， 小齿轮 1544与端面齿 轮 1543啮合。 控制电机 1545控制小齿轮 1544的转动角度， 小齿轮 1544啮合端面 齿轮 1543转动， 然后端面齿轮 1543带动轮架 1542， 轮架 1542带动轮体 1541转动 一个角度， 通过该结构， 实现控制轮体 41的转向。
[0134] 吸盘座 152为方形或圆形。 吸盘座 152包括控制推杆组件 1521、 负压板 1522、 密 封圈 1523、 真空发生器 （图中未示出） 。 控制推杆组件 1521—端固定在底盘本 体 151上， 一端与负压板 1522连接， 其推动负压板 1522上、 下运动。 密封圈 1523 上方密封贴附在负压板 1522下， 负压板 1522上设有抽气孔， 真空发生器与抽气 孔密封连接， 真空发生器上设有控制真空产生的电磁幵关。
[0135] 将砌砖机器人安装固定在本实施例的底盘本体 151上， 砌砖机器人需要移动吋 ， 吸盘座 152控制推杆组件 1521收缩， 密封圈 1523位于地面上方， 此吋旋转轮 15 4带动单向行走轮 153行走及转弯， 当需要停止吋， 控制推杆组件 1521工作， 将 负压板 1522向下推动至与地面接触， 密封圈 1523接触地面后继续向下移动， 使 密封圈 1523压缩一段距离， 然后打幵真空发生器上的电磁幵关， 负压板 1522内 产生负压， 密封圈 1523紧密吸附在地面上。 此吋砌砖机器人可以幵始砌砖。 当 砌砖机器人需要移动吋， 关闭真空发生器的电磁幵关， 密封圈 1523与地面脱离 ， 然后控制推杆组件 1521收缩， 重复以上过程。
[0136] 实施例四
[0137] 本实施例进一步公幵了实施例一中的移动机构， 使砌砖机器人可实现自动抄平 地面及与地面吸附。
[0138] 如图 12〜14所示， 移动机构 15包括底盘本体 151、 若干固定在底盘本体 151下方 均匀设置的吸盘座 152、 三组抄平装置 155及轮子 156。 底盘本体 151上设置有传 感器 157， 以感应周围的障碍物。
[0139] 抄平装置 155设置于底盘本体 151的下方中部位置。 抄平装置 155包括伺服机构 1 551， 控制推杆 1552及抄平块 1553， 控制推杆 1552与伺服机构 1551轴向连接， 控 制推杆 1552端部与抄平块 1553连接。 抄平装置 155可为电动或气动， 即伺服机构 1551为液压缸， 控制推杆 1552为液压推杆， 或者伺服机构 1551为电机， 控制推 杆 1552为电动推杆。
[0140] 三组抄平装置 155底部不在一条直线上， 以使三组抄平装置 155抄平一个平面， 本实施例中三组抄平装置 155成等边三角形布设： 如图 14中虚线所示， 三组抄平 装置 155底部连线组成等边三角形。
[0141] 轮子 156为万向轮或全向轮， 实现砌砖机器人的转向。
[0142] 本实施例中吸盘座 152为每边 1个， 设于底盘本体 151的下方边缘位置。 吸盘座 1 52包括控制推杆组件 1521、 负压板 1522、 密封圈 1523、 真空发生器 （图中未示 出） 。 控制推杆组件 1521—端固定在底盘本体 151上， 一端与负压板 1522连接， 其推动负压板 1522上、 下运动。 密封圈 1523上方密封贴附在负压板 1522下， 负 压板 1522上设有抽气孔 1524， 真空发生器与抽气孔 1524密封连接， 真空发生器 上设有控制真空产生的电磁幵关。
[0143] 将砌砖机器人安装固定在本实施例的底盘本体 151上， 底盘本体 151与地面接触 吋， 首先吸盘座 152的控制推杆组件 1521收缩， 三组抄平装置 155的伺服机构 155 1控制控制推杆 1552伸出， 使抄平块 1553与粗糙地面接触， 三组抄平块 1553不断 地调整标高， 使三组抄平块 1553位于同一个水平面上。 然后控制推杆组件 1521 工作， 将负压板 1522向下推出， 密封圈 1523接触地面后继续向下移动， 使密封 圈 1523压缩一段距离， 然后打幵真空发生器上的电磁幵关， 负压板 1522内产生 负压， 密封圈 1523紧密吸附在地面上。 此吋砌砖机器人可以幵始砌砖。 砌砖机 器人需要移动吋， 关闭真空发生器的电磁幵关， 密封圈 1523与地面脱离， 吸盘 座 152的控制推杆组件 1521收缩， 密封圈 1523位于地面上方， 此吋轮子 156行走 或转弯， 实现移动。
[0144] 实施例五 [0145] 本实施例公幵了一种砌砖机器人， 其与实施例三、 实施例四的区别在于， 吸盘 座的结构不同， 其余结构可采用实施例三或实施例四的结构。
[0146] 本实施例的吸盘座具有多级吸附作用， 包括真空发生器、 同轴设置的 M级吸盘 组件及若干组弹性介质， M级吸盘组件包括由外向内的第一吸盘组件至第 M吸盘 组件， M为大于 1的自然数；
[0147] 第一吸盘组件包括第一负压板组及第一密封圈； 第 N吸盘组件， N为 1至 M之间 的自然数， 包括第 N负压板组、 第 N密封圈； 第 M吸盘组件， 包括第 M负压板组
、 第 M密封圈。
[0148] 具有二级吸附作用的吸盘， M=2。 若采用三级吸附作用的吸盘， 则 M=3,N=2。
[0149] 结合图 15、 图 16所示， 以下对二级吸附作用的吸盘进行具体说明： 该吸盘座 15 2包括真空发生器 158、 同轴设置的二级吸盘组件及一组弹性介质。 二级吸盘组 件包括由外向内的第一吸盘组件 16、 第二吸盘组件 17。 弹性介质为弹簧 159或弹 性海绵 160。
[0150] 第一吸盘组件 16包括第一负压板组 161及第一密封圈 162。 第一负压板组 161包 括第一负压本体 1611及与其固定安装的第一盖体 1612， 第一盖体 1612上方设有 第一抽气孔 1613， 第一盖体 1612下方设置若干用于安装弹簧 159的盲孔 1614。 第 一负压本体 1611与第一盖体 1612之间安装形成第一空腔 1615， 第一负压本体 161 1下方设置有一阶梯安装台 1616， 第一负压本体 1611下方密封贴附第一密封圈 16 2， 第一空腔 1615内设置弹簧 159， 真空发生器 158与第一抽气孔 1613密封连接。
[0151] 第二吸盘组件 17， 包括第二负压板组 171、 第二密封圈 172。 第二负压板组 171 上设有第二抽气孔 1711,第二密封圈 172密封贴附在第二负压板组 171下方， 第二 负压板组 171安装在第一空腔 1615内。 第二负压板组 171设有与第一负压本体 161 1的阶梯安装台 1616定位配合的定位凸台 1712。 第二负压板组 171上方垂直设置 有若干根用于安装弹簧 159的固定柱 1713。
[0152] 如图 17示， 自然状态下， 第一负压板组 161至第二负压板组 171的下端面向下凸 出一段距离 H,H=l〜2mm。 第一负压板组 161及第二负压板组 171下方都设置有一 圈用于安装相应密封圈的凹槽 173， 凹槽 173内部的宽度大于口部的宽度。
[0153] 本实施例安装吋， 首先打幵第一盖体 1612， 将第二负压板组 171安装在第一空 腔 1615内， 使定位凸台 1712与阶梯安装台 1616相配合， 然后安装弹簧 159， 使弹 簧 159—端设置在固定柱 1713上， 另一端设置在盲孔 1614内。 然后安装第一盖体 1612， 用螺栓将第一盖体 1612与第一负压本体 1611紧固。 将第一密封圈 162安装 在第一负压板组 161下方的凹槽 173内， 第二密封圈 172安装在第二负压板组 171 下方的凹槽 173内即可。 将本吸盘座在砌砖机器人的下方， 移动至待砌砖的部位 ， 然后伺服机构控制推杆将二级吸盘组件推出与凹凸不平的地面接触， 真空发 生器 158打幵， 从第一抽气孔 1613及第二抽气孔 1711内抽真空， 使第二密封圈 17 2首先与地面吸附， 然后第二负压板组 171向上压缩弹簧 159。 接着第一密封圈 16 2与地面吸附， 如图 18所示。 实现双层吸附后， 整体即稳定的固定在地面上。
[0154] 实施例六
[0155] 本实施例与实施例一的区别为： 旋转式移动底盘 10上还设置有位于升降模块侧 边的剪式升降装置。 剪式升降装置可根据需要从机器人上拆卸。
[0156] 如图 19〜图 21所示， 剪式升降装置 40包括下支撑架 41， 上支撑架 42， 电机组件 43及位于下支撑架 41与上支撑架 42之间的两组平行设置的剪式连杆组件 44。 上 支撑架 42位于升降模块 20上支撑把手 26的正下方， 下支撑架 41固定在旋转式移 动底盘 10上。 剪式连杆组件 44包括两根上连杆 441、 两根下连杆 442、 上连接座 4 43、 下连接座 444、 至少两个上齿轮 445及至少两个下齿轮 446。 上连杆 441的上 端与上连接座 443铰接， 铰接处安装固定有上齿轮 445， 本实施例各上连杆侧边 具有两个上齿轮 445， 总共四个上齿轮 445， 两两上齿轮 445相啮合。 下连杆 442 的下端与下连接座 444铰接， 铰接处安装固定有下齿轮 446， 本实施例共有四个 下齿轮 446， 两两下齿轮 446相啮合。 上连杆 441的下端与下连杆 442的上端铰接 ， 两根上连杆 441及两根下连杆 442形成菱形结构。
[0157] 电机组件 43包括电机 431和固定座 432。 电机 431为涡轮蜗杆电机。 电机 431安装 在固定座 432上， 固定座 432与剪式连杆组件 44的一侧铰接， 固定座 432上设有中 心孔， 电机 431的输出轴穿过中心孔与导杆组件 46接触。 两个带通孔 451的销轴 4 5穿过下连杆 442的上端与上连杆 441的下端铰接处， 使通孔 451的轴线位于水平 方向。 导杆组件 46穿过两销轴 45的通孔 451， 导杆组件 46的一端固定并连接电机 组件 43。 [0158] 如图 22所示， 支撑标准节组设置在机器人升降模块 20与机器人旋转式移动底座 10之间， 根据需要， 支撑标准节组可由若干不同高度规格的支撑标准节 50组装 而成， 如设置高度为 10cm、 20cm. 50cm的支撑标准节， 根据需要的高度进行组 装。 支撑标准节 50侧边设置有可拆卸的升高把手 51， 升高把手 51位于支撑把手 2 6的正下方。
[0159] 本实施例安装使用过程如下：
[0160] 1、 如图 19所示， 将剪式升降装置 40固定在机器人旋转式移动底座 10上方， 使 上支撑架 42位于支撑把手 26下方。
[0161] 2、 拆除升降模块 20与机器人旋转式移动底座 10的固定螺栓， 启动电机 431， 电 机 431控制剪式连杆组件 44沿导杆组件 46折叠收缩， 剪式连杆组件 44的下连杆 44 2底端的下齿轮 446沿内侧旋转啮合， 上连杆 441顶端的上齿轮 445沿内侧旋转啮 合， 使剪式连杆组件 44整体升高， 上支撑架 42与支撑把手 26抵接， 推动机器人 升降模块 20向上升高一定距离。
[0162] 3、 升高距离大于支撑标准节 50的高度后停止升高， 拆除支撑标准节 50上的升 高把手 51， 往升降模块 20与机器人旋转式移动底座 10之间放入支撑标准节 50， 然后将支撑标准节 50的上方与机器人升降模块 20的底部用紧固件固定。 若此吋 的高度已满足砌筑要求， 则将支撑标准节 50的下方与旋转式移动底座 10固定后 即可。 若高度仍不满足砌筑要求， 则进行步骤 4。
[0163] 4、 将剪式升降装置 40下降至初始位置， 在支撑标准节 50上安装升高把手 51， 此吋上支撑架 42位于升高把手 51下方， 启动电机 431， 剪式连杆组件 44升高带动 支撑标准节 50及其上方的升降模块 20往上运动一定高度距离， 然后再在这一高 度距离内插入新的一节支撑标准节 50。 反复插入若干支撑标准节 50至其整体高 度符合砌筑要求。 剪式升降装置 40在支撑标准节 50安装完后可拆除。
[0164] 5.砌筑完成后， 需要拆卸支撑标准节组， 安装剪式升降装置 30， 其过程如下：
[0165] ( 1) 将最底层的支撑标准节 50的升高把手 51取下， 然后将剪式升降装置 40提 升至倒数第二层支撑标准节 50的升高把手 51的位置， 启动电机组件 43， 剪式升 降装置将倒数第二层支撑标准节 50及以上的升降模块 20向上提升一定高度， 即 可取下最底层的支撑标准节 50。 [0166] (2) 重复过程 （1) ， 直至只余一层支撑标准节 50。
[0167] (3) 将最后一层支撑标准节 50的升高把手 51取下， 然后将剪式升降装置 40提 升至支撑把手 26的位置， 启动电机组件 43， 剪式升降装置 40将升降模块 20向上 提升一定高度， 即可取下最后一层的支撑标准节 50。
[0168] 实施例七
[0169] 本实施例公幵了一种砌墙安装洞口过梁用承载架及其砌砖机器人。
[0170] 请参考图 23,本实施例公幵了一种砌砖机器人用的砌墙安装洞口过梁用承载架 60 ， 包括两个配合使用且结构相同的夹托单元。 每个夹托单元包括承载板 61和承 载机构 62。 承载机构 62包括第一气压缸 621、 传动板 622、 若干根承载杆 623。 第 一气压缸 621固定于承载板 61—侧且第一气压缸 621的推杆运动方向于承载板 61 垂直。 推杆一端固定于传动板 622上。 承载杆 623—端固定设置传动板 622上， 另 一端靠近承载板 61设置。 两个夹托单元 60分别设置于砌砖机器人砌砖夹具 36两 侧以实现与砌砖夹具 36做同步张幵夹紧运动。 两个承载杆 623通过两个第一气压 缸 621作用实现贴合和分幵。
[0171] 请参考图 23， 每个夹托单元 60中的承载杆 623的数量为两个。 两个承载杆 623设 置于第一气压缸 621两侧。 两个承载杆 623与第一气压缸 621的推杆水平且均呈排 设置。 承载杆 623穿过承载板 61设置以通过承载板 61实现对承载杆 623的支撑作 用。
[0172] 进一步地， 承载杆 623外侧进一步套设有导向套 63 ; 导向套 63包括第一圆柱部 6 31和第二圆柱部 632。 第一圆柱部 631设置于承载板 61—侧并通过螺栓与承载板 6 1实现固定连接， 第二圆柱部 632的半径值小于第一圆柱部 631用于对承载杆 6233 进行导向。
[0173] 请参考图 24， 本实施例的砌砖机器人， 包括旋转式移动底盘 10、 设置于旋转式 移动底盘 10上且可实现沿自身轴线旋转的升降模块 20、 设置于升降模块 20—侧 且可实现竖直方向上的升降运动的水平机械臂 39和设置于水平机械臂 39上且可 实现沿水平机械臂 39的长度方向运动的砌砖夹具 36。 水平机械臂 39上进一步设 置有一旋转电机以实现砌砖夹具 36沿自身竖直轴心方向上的旋转。
[0174] 砌砖夹具 36包括砌墙安装洞口过梁用承载架 60和夹具主体 64。 夹具主体 64固定 于水平机械臂 39上且与旋转电机驱动连接。 两个夹托单元分别设置于夹具主体 6 4两侧。 通过砌墙安装洞口过梁用承载架 60中的两个承载杆 623对过梁进行限位 并通过夹具主体 64进行进一步固定， 最后通过旋转式移动底盘 10、 升降模块 20 、 水平机械臂 39的整体结构实现了过梁的移动， 使用方便， 实现了自动安装洞 口过梁， 减少劳动力， 提高安装效率。
[0175] 夹具主体 64包括第二气压缸 641和两块相正对的固定板 642。 第二气压缸 641固 定于一块固定板 642上。 第二气压缸 641的推杆一端固定于另一块固定板 642上以 实现夹具主体 64对过梁的夹持。 两块承载板 61分别与两块所述固定板 422的外侧 面通过螺栓固定连接以实现所述砌墙安装洞口过梁用承载架 41的易拆卸， 不需 要安装搬运过梁吋将其拆下后便能实现砌砖的作用。
[0176] 请参考图 25， 承载板 61与固定板 642贴合的一面上设置有承载滑块或限位滑槽 6 11。 固定板 642侧面上设置有与承载滑块或限位滑槽 611配合的限位滑槽或承载 滑块 6421。 承载滑块 6421在夹具主体 64运动方向上的高度为范围为 7mm〜 10mm 。 承载滑块 6421在竖直方向上的宽度范围为 20mm〜30mm。 承载板 61和固定板 6 42采用承载滑块 6421和限位滑槽 611的方式进行配合固定， 能够实现让水平机械 臂分担其承载板 61竖直方向上的受力以保证搬运过梁吋足够的承载力； 同吋砌 墙安装洞口过梁用承载架 60和夹具本体 64之间使用方便且易拆装， 能大大提高 安装效率。
[0177] 旋转式移动底盘 10下方进一步设置有若干个固定地锚装置。 固定地锚装置的数 量为四个， 均匀分布与所述旋转式移动底盘 10下方； 固定地锚装置包括相连接 的第三气压缸和吸盘以保证在吊装过梁吋砌砖机器人整体与地面的稳固抓地力 ； 吸盘与安装于砌砖机器人上的真空发生器连接。
[0178] 砌砖机器人上可进一步设置有障碍报警装置以避免吊装过梁过程中过梁的两端 与障碍物发生碰撞， 因为过梁的长度很长， 在砌砖夹具旋转吋过梁等于做以中 心为轴心的旋转运动， 很容易在旋转吋撞到墙壁。 障碍报警装置可为传感器或 视觉图像判断装置或雷达测距装置； 优选的所述障碍报警装置均设置于水平机 械臂长度方向上的末端； 当障碍报警装置为传感器吋， 可为距离传感器， 即判 断其砌砖夹具与障碍物的距离是否小于过梁的一半长度， 若小于则停止工作； 当障碍报警装置为视觉图像判断装置和雷达测距装置吋判断原理与传感器相同
[0179] 砌砖机器人吊装过梁安放过梁的过程如下：
[0180] S1:在过梁的中心点标示起吊位；
[0181] S2: 砌砖夹具 36对准起吊位下降， 当承载杆 623低于过梁底部吋停止；
[0182] S3:两个夹托单元的承载杆 623在第一气压缸 621的工作下往贴合方向运动直至 相接触；
[0183] S4: 砌砖夹具 36升高直至承载杆 623触到过梁底部停止；
[0184] S5: 砌砖夹具 36控制夹具主体 64夹紧过梁；
[0185] S6: 砌砖机器人运行将过梁砌放于洞口；
[0186] S7: 第一气压缸 621控制承载杆 623推杆收回， 脱离过梁；
[0187] S8: 砌砖夹具 36控制夹具主体 64松幵， 脱离过梁；
[0188] S9: 砌砖机器人运行， 控制砌砖夹具 36返回。
[0189] 进一步地， 上述 S2步骤中， 初始状态下， 多个待吊装的过梁层叠放置于地面上 ， 每两个相邻的过梁之间通过垫块进行分离， 承载杆相正对的两个位置分别设 置有红外线发射器和红外线接收器， 当红外线发射器和红外线接收器经过了接 通-断幵-接通的过程即承载杆依次位于过梁上-过梁两侧 -过梁下的过程后， 判断 承载杆低于过梁底部。
[0190] 除此之外， 在上述 S7步骤中， 承载杆通过压力传感器检测承载杆下方是否碰到 洞口， 若检测到的压力小于一定阈值， 则判断承载杆下方碰到洞口以至于洞口 为承载杆分担支撑过梁的重力。
[0191] 实施例八
[0192] 本实施例公幵了一种可砌顶皮砖的夹具及其砌砖机器人。
[0193] 如图 26所示， 可砌顶皮砖的夹具 70， 包括夹具本体 71、 第一夹紧气缸 72、 传动 轴 73和驱动电机 74; 夹具本体 71包括相对设置的第一板体 711和第二板体 712以 及一连接第一板体 711及第二板体 712的连接板 713， 以实现从各个方向靠近待夹 持物。 第一夹紧气缸 72固定设置于第一板体 711—侧。 第一板体 711上幵有若干 个通孔供第一夹紧气缸 72的推杆穿过以实现对待夹持物的夹紧。 传动轴 73—端 固定设置于第二板体 712—侧并通过驱动电机 74带动自身做轴向方向上的旋转。 整体可通过夹具本体 71和第一夹紧气缸 72有效实现对待夹紧物的夹紧， 特别是 建筑皮砖等呈长方体的物体， 抓取效果好。
[0194] 第一板体 711和第二板体 712结构相同且相正对设置。 连接板 713连接第一板体 7 11和第二板体 712相对应的同一侧边使得每两个相邻的面均为垂直设置以更好地 用来固定待夹持物特别是皮砖、 砖块等长方体状物。 夹具本体 71采用三面的框 式设计可配合传动轴 73实现从待夹持物上方和两侧等各个方向靠近待夹持物并 利用第一夹紧气缸 72将待夹持物进一步夹紧， 能有效实现对待夹持物的快速稳 固的夹持。
[0195] 第一板体 711和连接板 713与待夹持物相接触的面的长度比 0.2〜0.4， 即第一板 体 711水平面上的垂直于第一夹紧气缸 72运动方向的长度约为连接板 713在第一 夹紧气缸 72运动方向上的长度五分之一到五分之二， 其夹具本体 71的规格为高 * 宽 *长 =4*10*30cm， 采用这样的尺寸比的设计可以有效针对不同尺寸的皮砖、 砖 块等呈长方体状的物品进行夹持， 其中顶皮砖 X的规格为长 *宽 *高= (5〜40cm) * ( 10〜25cm) *(5〜10cm)。 第一夹紧气缸 72的推杆的长度与连接板 713的长度 的比值范围为 0.1〜0.5， 第一夹紧气缸 72的推杆采用这样的长度设计可以有效配 合第二板体 712和连接板 713来实现对不同尺寸的皮砖进行夹紧， 其第一夹紧气 缸 72的行程越大可实现夹紧的皮砖的允许尺寸也相应越大， 但行程太大也会导 致第一夹紧气缸 72整体体积过大不方便固定， 所以采用该范围的长度比可以有 效通过具体的连接板 713的长度来确定第一夹紧气缸 72的推杆的长度。
[0196] 除此之外， 第一夹紧气缸 72也可固定于第一板体 711内侧面上使得第一夹紧气 缸 72的推杆从内向外穿出， 在第一夹紧气缸 72的推杆末端进一步固定一块与第 一板体 711相正对的传动板， 同吋在传动板上固定设置有若干根与第一夹紧气缸 72的推杆平行的压紧杆， 压紧杆由第一板体 711外侧穿至内侧以实现对待夹持物 的固定， 采用这样的方式可以实现在气压缸缩回不工作的情况下对待夹持物进 行固定， 可有效减小正常设置方式夹紧过程中气压杠的能源损耗。
[0197] 连接板 713的长度与传动轴 73的长度的比值为 0.7〜1， 采用这样的长度比可以有 效针对连接板 713的大小来决定传动轴 73的长度， 选用和连接板 713相近的长度 尺寸的传动轴 73以保证提供足够的支撑强度的同吋能带动夹具主体旋转， 最大 化地减少驱动电机 74的能源损耗。
[0198] 第一板体 711—侧进一步设置有一支撑板体 714用于支撑第一夹紧气缸 72。
[0199] 除此之外， 第一夹紧气缸 72的推杆一端可进一步设置有夹紧板 75， 通过夹紧板 75来对顶皮砖或砖块的侧面进行固定。 夹具本体 71与传动轴 73固定的一端外可 进一步套设有一固定套； 固定套通过螺栓与夹具本体 71侧面实现固定连接。 采 用这样的结构可以有效固定传动轴 73， 大大提供传动轴 73的承载能力和稳定性
[0200] 请参考图 27、 图 28， 本实施例的砌砖机器人， 包括旋转式移动底盘 10、 设置于 旋转式移动底盘 10上且可实现沿自身轴线旋转的升降模块 20、 设置于升降模块 2 0—侧且可实现竖直方向上的升降运动的水平机械臂 39和设置于水平机械臂 39上 且可实现沿水平机械臂 39的长度方向运动的砌砖夹具 36。
[0201] 水平机械臂 39上进一步设置有一旋转电机并通过一旋转轴 391以实现砌砖夹具 3 6沿自身竖直轴心方向上的旋转。 旋转式移动底盘 10下设置有滚轮， 旋转式移动 底盘 10中设置有可带动升降模块 20旋转的驱动转盘。 升降模块 20中设置有丝杆 机构以实现带动水平机械臂 39做竖直方向上的运动。 水平机械臂 39中设置有丝 杆机构以实现带动砌砖夹具 36做水平方向上的直线运动。
[0202] 进一步地， 砌砖夹具 36包括可砌顶皮砖的夹具 70和砌砖夹具主体 80。 砌砖夹具 主体 80固定于水平机械臂 39下方且与旋转电机驱动连接。 可砌顶皮砖的夹具 70 固定设置于砌砖夹具主体 80上以实现配合完成砌顶皮砖的作用。
[0203] 具体的， 砌砖夹具主体 80包括第二夹紧气缸 81和两块相正对的夹紧固定板 82。
第二夹紧气压缸 81固定于一块夹紧固定板 82上， 第二夹紧气缸 81的推杆一端固 定于另一块夹紧固定板 82上以实现夹具本体 71对皮砖的夹持。 两块夹紧固定板 8 2两侧分别进一步通过螺栓固定设置有两块夹具放置板 83。 传动轴 73上设置有两 个固定座 84。 夹具放置板 83包括水平部和竖直部， 整体呈 L型， 水平部用于固定 驱动电机 74和固定座 84， 竖直部用于与夹紧固定板 82实现固定连接。 固定座 84 、 夹具放置板 83和夹紧固定板 82上均幵设有供传动轴 73穿过的固定孔。 固定孔 与传动轴 73之间进一步设置有轴承。 固定座 84通过螺栓分别固定设置于两块夹 具放置板 83上。 采用这样的结构可以巧妙地将可砌顶皮砖的夹具 70和现有的砌 砖夹具结合在一起以实现砌顶皮砖的作用。
[0204] 除此之外， 夹具放置板 83与夹紧固定板 82贴合的一面上设置滑槽 831。 夹紧固 定板 82侧面上设置有与滑槽 831配合的滑块 821。 采用该配合方式， 能够实现让 水平机械臂 39分担其可砌顶皮砖的夹具 70在水平方向上的受力以保证搬运顶皮 砖吋足够的承载力， 同吋夹具放置板 83和砌砖夹具主体 80之间使用方便且易拆 装， 能大大提高安装效率。
[0205] 本实施例砌砖机器人的控制方法， 其工作步骤如下：
[0206] S1 : 将顶皮砖放置于顶皮砖夹具工作半径范围内；
[0207] S2: 控制砌砖机器人将所述可砌顶皮砖的夹具移动至顶皮砖处， 使得顶皮砖位 于所述夹具本体内；
[0208] S3： 第一夹紧气缸 72推出以实现对顶皮砖长度方向上的两侧且面积较小的相对 两面的夹紧；
[0209] S4: 控制砌砖机器人将可砌顶皮砖的夹具 70移动至房顶和墙体之间的待砌位置
[0210] S5: 控制驱动电机 74带动传动轴 73旋转， 则可砌顶皮砖的夹具 70整体沿传动轴
73轴心旋转， 直至顶皮砖正好倾斜顶紧约束于梁底和墙体之间并斜靠在端部的 柱或墙上；
[0211] S5: 第一夹紧气缸 72缩回以实现对顶皮砖的松幵；
[0212] S6: 重复 S1~S5步骤以实现下一块顶皮转斜靠在上一块已砌的顶皮砖上。
[0213] 上述步骤 S3中需保证第一夹紧气缸将顶皮砖长度方向上的两侧且面积较小的相 对两面夹紧， 原因为其顶皮砖为长方体， 则相对两面的夹紧方案有三种： 当第 一夹紧气缸夹紧顶皮砖长度方向上两端吋， 其能实现的高度值远小于顶皮砖的 长度值无法满足梁底与墙体之间的间距要求； 当第一夹紧气缸夹紧顶皮砖长度 方向上的两侧且面积较大的相对两面吋， 其顶皮砖与梁底和墙体之间的能达到 的支撑面积远远不够， 无法实现强度要求。
[0214] 实施例九
[0215] 如图 29， 图 30所示， 本实施例公幵了一种可砌顶皮砖的砌砖机器人。 其与实施 例八的区别地方在于， 砌砖夹具主体 80有另一种设置方式， 水平机械臂 39的旋 转轴 391穿过水平机械臂 39上表面与一固定座承载板 90通过轴承转动连接。 可砌 顶皮砖的夹具 70设置在固定座承载板 90上方， 即设置于水平机械臂 39上方。
[0216] 传动轴 73上设置有两个固定座 84， 固定座 84固定设置于固定座承载板 90上。 固 定座 84与传动轴 73之间设有轴承。 固定座承载板 90上进一步设置有两块垂直设 置的竖板 91和设置于竖板 91上的旋转轴固定板 92。 旋转轴固定板 92与固定座承 载板 90平行于旋转轴 391上端。 旋转轴 391上幵有一横向通孔以供传动轴 73穿过 以实现对传动轴 73导向和固定的作用。 本实施例中砌砖夹具主体 80采用设置于 可砌顶皮砖的夹具 70上方的方式来增加砌砖机器人可砌顶皮砖的行程， 同吋还 可以有效克服当房顶或房梁与墙体上表面之间的间距小于水平机械臂上表面到 夹具主体下表面的距离吋， 砌砖夹具主体无法进入该间距中进行砌顶皮砖的问 题， 大大增强了实际应用当中的灵活度。
工业实用性
[0217] 本发明可以应用到建筑砌砖领域， 其能够实现建筑墙体砖块的自动化砌筑。

Claims

权利要求书
[权利要求 1] 一种砌砖机器人， 其特征在于： 包括依次相连接的旋转式移动底盘、 升降模块和顶部砌砖模块；
所述旋转式移动底盘包括底座、 第一驱动件、 齿轮组、 旋转支撑盘、 移动机构， 所述齿轮组设置于底座和旋转支撑盘之间， 移动机构设置 于底座下端， 所述的第一驱动件驱动齿轮组带动旋转支撑盘旋转； 所述升降模块包括第二驱动件、 第一丝杆、 纵向导轨结构和若干块第 一固定板； 所述升降模块底端固定于所述旋转支撑盘上方； 所述顶部砌砖模块包括支撑板， 及固定于支撑板上方的若干块第二固 定板、 第二丝杆、 横向导轨机构、 第三驱动件、 砌砖夹具和第四驱动 件； 所述第三驱动件驱动第二丝杆运作， 所述的第二丝杆和第四驱动 件相连接， 所述支撑板上幵有导滑槽， 所述第四驱动件穿过导滑槽与 砌砖夹具相连接， 以驱动砌砖夹具旋转； 所述砌砖夹具包括第一抓板 、 第二抓板、 若干个固定杆、 若干个连杆机构和气压缸， 所述连杆机 构包括依次连接的第一连杆、 第二连杆和第三连杆， 所述第一连杆和 第三连杆分别与第一抓板和第二抓板连接， 所述第二连杆通过中心的 连杆轴固定于气压缸下方， 所述气压缸驱动第一抓板或者第二抓板运 动， 所述第一连杆和第三连杆以连杆轴为中心做中心对称运动； 所述顶部砌砖模块在第二驱动件作用下通过第一丝杆实现在纵向导轨 结构上的滑动， 所述顶部砌砖模块以升降模块为轴通过所述旋转支撑 盘实现圆周运动。
[权利要求 2] 如权利要求 1所述的一种砌砖机器人， 其特征在于： 所述若干个固定 杆设置于第一抓板和第二抓板之间， 所述第一抓板和所述第二抓板上 设有防滑板。
[权利要求 3] 如权利要求 1所述的一种砌砖机器人， 其特征在于： 所述横向导轨机 构数量为两组， 分别位于导滑槽两侧， 所述横向导轨机构包括导滑块 和导轨； 所述第二丝杆和第四驱动件通过导滑块相连接实现第四驱动 件、 砌砖夹具和第二丝杆之间的同步运动。 [权利要求 4] 如权利要求 1所述的一种砌砖机器人， 其特征在于： 所述升降模块顶 端还设有配重块。
[权利要求 5] 如权利要求 1所述的一种砌砖机器人， 其特征在于： 所述齿轮组固定 于底座上； 所述齿轮组包括相啮合的主动小齿轮和从动大齿轮； 所述 第一驱动件驱动主动小齿轮转动， 所述主动小齿轮驱动从动大齿轮转 动从而带动整个旋转支撑盘旋转。
[权利要求 6] 如权利要求 1〜5任一项所述的砌砖机器人， 其特征在于： 所述第一丝 杆和第二丝杆两端均设有限位幵关， 所述旋转式移动底盘和所述砌砖 夹具都设有光电式幵关。
[权利要求 7] 如权利要求 1所述的一种砌砖机器人， 其特征在于： 所述第一驱动件
、 所述第二驱动件、 所述第三驱动件和所述第四驱动件使用的均是交 流伺服电机， 且电机带有 17位增量式旋转编码器。
[权利要求 8] 如权利要求 1所述的一种砌砖机器人， 其特征在于： 所述的气压缸包 括本体及气缸推杆， 所述的本体与第三驱动件相连接， 气缸推杆设置 于另一侧且与第二抓板连接； 所述的第一抓板上设置有避让槽， 所述 的本体可穿过避让槽。
[权利要求 9] 如权利要求 8所述的一种砌砖机器人， 其特征在于： 所述的气杆推杆 通过一连接块与第二抓板连接， 所述的连接块锁固在第二抓板上， 所 述的连接块上设有一限位槽， 所述的气缸推杆端部安装在限位槽内。
[权利要求 10] 如权利要求 1所述的一种砌砖机器人， 其特征在于： 所述的移动机构 包括底盘本体、 吸盘座、 两个单向行走轮及一个或两个旋转轮， 所述 的吸盘座位于底盘本体下部均匀设置， 所述的一个或两个旋转轮设于 底盘本体前端， 所述的两个单向行走轮设于底盘本体后端。
[权利要求 11] 如权利要求 10所述的一种砌砖机器人， 其特征在于： 所述的旋转轮包 括轮体、 轮架、 端面齿轮， 小齿轮及控制电机， 所述的轮体轴向与轮 架连接， 所述的轮架上方固设端面齿轮， 所述的小齿轮在控制电机的 作用下传动， 小齿轮和端面齿轮的中心轴线垂直设置， 所述的小齿轮 与端面齿轮啮合。 [权利要求 12] 如权利要求 10所述的砌砖机器人， 其特征在于： 所述的旋转轮为万向 轮或全向轮。
[权利要求 13] 如权利要求 10所述的砌砖机器人， 其特征在于： 所述的吸盘座包括控 制推杆组件、 负压板、 密封圈、 真空发生器； 所述的控制推杆组件一 端固定在底盘本体上， 一端与负压板连接， 其推动负压板上、 下运动 ； 所述的密封圈上方密封贴附在负压板下， 所述的负压板上设有抽气 孔， 所述的真空发生器与抽气孔密封连接， 所述的真空发生器上设有 控制真空产生的电磁幵关。
[权利要求 14] 如权利要求 10〜13任一项所述的砌砖机器人， 其特征在于： 所述的底 盘本体上设置有传感器。
[权利要求 15] 如权利要求 1所述的一种砌砖机器人， 其特征在于： 所述的移动机构 包括底盘本体及若干固定在底盘本体下方均匀设置的吸盘座及三组抄 平装置， 所述的抄平装置包括伺服机构， 控制推杆及抄平块， 所述的 控制推杆与伺服机构轴向连接， 控制推杆端部与抄平块连接， 所述的 三组抄平装置的底部连线不在一条直线上。
[权利要求 16] 如权利要求 15所述的一种砌砖机器人， 其特征在于： 所述的三组抄平 装置成等边三角形布设。
[权利要求 17] 如权利要求 15或 16所述的一种， 其特征在于： 其特征在于： 还包括若 干轮子均布设置在底盘本体下方。
[权利要求 18] 如权利要求 10或 15所述的一种砌砖机器人， 其特征在于： 所述的吸盘 座包括真空发生器、 同轴设置的 M级吸盘组件及若干组弹性介质， M 级吸盘组件包括由外向内的第一吸盘组件至第 M吸盘组件， M为大于 1的自然数；
第一吸盘组件包括第一负压板组及第一密封圈， 第一负压板组上设有 第一抽气孔， 第一密封圈密封贴附在第一负压板组下方， 所述的第一 负压板组内设有第一空腔， 第一空腔内设置弹性介质， 所述的真空发 生器与第一抽气孔密封连接；
第 N吸盘组件， N为 1至 M之间的自然数， 包括第 N负压板组、 第 N密 封圈， 第 N负压板组上设有第 N抽气孔， 第 N密封圈密封贴附在第 N负 压板组下方， 所述的第 N负压板组内设有第 N空腔， 第 N空腔内设置 弹性介质， 第 N抽气孔与第一抽气孔相连通； 第 N负压板组安装在第 N- 1空腔内可向上移动压缩弹性介质；
第 M吸盘组件， 包括第 M负压板组、 第 M密封圈， 第 M负压板组上设 有第 M抽气孔,第 M密封圈密封贴附在第 M负压板组下方， 第 M负压板 组安装在第 M- 1空腔内可向上移动压缩弹性介质。
如权利要求 18所述的一种砌砖机器人， 其特征在于： 所述的第一负压 板组至第 M负压板组的下端面依次向下凸出， 相邻两负压板组的下端 面的高度差为 l〜2mm。
如权利要求 18所述的一种砌砖机器人， 其特征在于： 所述的弹性介质 为弹簧或设有抽气通道的弹性海绵。
如权利要求 18所述的一种砌砖机器人， 其特征在于： M级吸盘组件为 二级吸盘组件， 所述的第一负压板组包括第一负压本体及与其固定安 装的第一盖体， 所述的第一抽气孔设置在第一盖体上， 第一负压本体 与第一盖体之间安装形成第一空腔， 第一负压本体下方密封贴附第一 密封圈。
如权利要求 1所述的一种砌砖机器人， 其特征在于： 所述的旋转式移 动底盘上设置有位于升降模块侧边的剪式升降装置， 所述的升降模块 上设有支撑把手， 所述的剪式升降装置包括下支撑架， 上支撑架， 电 机组件及位于下支撑架与上支撑架之间的两组平行设置的剪式连杆组 件， 所述的上支撑架位于支撑把手的正下方， 所述的下支撑架固定在 旋转式移动底盘上， 所述的电机组件与剪式连杆组件连接控制剪式连 杆组件折叠伸缩。
如权利要求 22所述的一种砌砖机器人， 其特征在于： 还包括设置在升 降模块与旋转式移动底盘之间的支撑标准节组， 支撑标准节组包括若 干支撑标准节， 所述的支撑标准节最上方与升降模块底部固定， 最下 方与旋转式移动底盘固定， 支撑标准节之间相互固定， 每一个支撑标 准节侧边设置有可拆卸的升高把手， 所述的升高把手位于支撑把手的 正下方。
24.如权利要求 23所述的一种砌砖机器人， 其特征在于： 所述的支撑 标准节组由若干不同高度尺寸规格的支撑标准节任意组装而成。
[权利要求 25] 如权利要求 22或 23所述的一种砌砖机器人， 其特征在于： 所述的剪式 连杆组件包括两根上连杆、 两根下连杆、 上连接座、 下连接座、 至少 两个上齿轮及至少两个下齿轮； 所述的上连杆的上端与上连接座铰接 ， 铰接处安装固定有上齿轮， 两两上齿轮相啮合； 所述的下连杆的下 端与下连接座铰接， 铰接处安装固定有下齿轮， 两两下齿轮相啮合； 上连杆的下端与下连杆的上端铰接， 两根上连杆及两根下连杆形成菱 形结构。
[权利要求 26] 如权利要求 25所述的一种砌砖机器人， 其特征在于： 还包括一组导杆 组件， 两个带通孔的销轴及若干紧固件， 所述的销轴穿过下连杆的上 端与上连杆的下端铰接处， 使通孔的轴线位于水平方向， 所述的导杆 组件穿过两销轴的通孔， 导杆组件的一端固定并连接电机组件。
[权利要求 27] —种砌砖机器人， 其特征在于： 包括旋转式移动底盘、 设置于旋转式 移动底盘上且可实现沿自身轴线旋转的升降模块、 设置于升降模块一 侧且可实现竖直方向上的升降运动的水平机械臂、 和设置于水平机械 臂上且可实现沿水平机械臂的长度方向运动的砌砖夹具； 所述水平机 械臂上进一步设置有一旋转电机以实现所述砌砖夹具沿自身竖直轴心 方向上的旋转； 所述砌砖夹具包括砌墙安装洞口过梁用的承载架和夹 具本体； 所述夹具本体固定于水平机械臂上且与旋转电机驱动连接； 所述的承载架包括两个配合使用且结构相同的夹托单元； 每个夹托单 元包括承载板和承载机构； 所述承载机构包括第一气压缸、 传动板、 若干根承载杆； 所述第一气压缸固定于所述承载板一侧且第一气压缸 的推杆运动方向于承载板垂直； 所述推杆一端固定于传动板上； 所述 承载杆一端固定设置传动板上， 另一端靠近承载板设置； 两个夹托单 元分别设置于砌砖夹具两侧以实现与砌砖夹具做同步张幵夹紧运动； 两个承载杆通过两个第一气压缸作用实现贴合和分幵， 所述两个夹托 单元分别设置于夹具本体两侧。
如权利要求 27所述的一种砌砖机器人， 其特征在于： 所述夹具本体包 括第二气压缸和两块相正对的固定板； 所述第二气压缸固定于一块固 定板上， 所述第二气压缸的推杆一端固定于另一块固定板上以实现夹 具本体对过梁的夹持。
如权利要求 28所述的一种砌砖机器人， 其特征在于： 两块承载板分别 与两块固定板的外侧面通过螺栓固定连接以实现砌墙安装洞口过梁用 承载架的易拆卸。
根据权利要求 29所述的砌砖机器人， 其特征在于： 所述承载板与固定 板贴合的一面上设置有承载滑块或限位滑槽； 所述固定板侧面上设置 有与所述承载滑块或所述限位滑槽配合的限位滑槽或承载滑块。
31.根据权利要求 27所述的砌砖机器人， 其特征在于： 所述砌砖机器 人上可进一步设置有障碍报警装置以避免吊装过梁过程中过梁的两端 与障碍物发生碰撞； 所述障碍报警装置可为传感器或视觉图像判断装 置或雷达测距装置。
根据权利要求 27所述的砌砖机器人， 其特征在于： 每个所述夹托单元 中的承载杆的数量为两个； 两个所述承载杆与第一气压缸的推杆水平 且均呈排设置； 所述承载杆穿过承载板设置以通过承载板实现对承载 杆的支撑作用。
根据权利要求 32所述的砌墙安装洞口过梁用承载架， 其特征在于： 所 述承载杆外侧进一步套设有导向套； 所述导向套与所述承载杆通过螺 栓实现固定连接。
一种砌砖机器人， 其特征在于： 包括旋转式移动底盘、 设置于旋转式 移动底盘上且可实现沿自身轴线旋转的升降模块、 设置于所述升降模 块一侧且可实现竖直方向上的升降运动的水平机械臂和设置于所述水 平机械臂上且可实现沿所述水平机械臂的长度方向运动的砌砖夹具； 所述水平机械臂上进一步设置有一旋转电机以实现砌砖夹具沿自身竖 直轴心方向上的旋转； 所述砌砖夹具包括所述可砌顶皮砖的夹具和砌 砖夹具主体； 所述砌砖夹具主体固定于所述水平机械臂上且通过一旋 转轴与旋转电机驱动连接； 所述可砌顶皮砖的夹具固定设置于砌砖夹 具主体上以实现配合完成砌顶皮砖的作用。
如权利要求 34所述的一种砌砖机器人， 其特征在于： 所述的可砌顶皮 砖的夹具包括夹具本体、 第一夹紧气缸、 传动轴和驱动电机； 所述夹 具本体包括相对设置的第一板体和第二板体以及连接于第一板体及第 二板体之间的连接板； 所述第一夹紧气缸固定设置于第一板体一侧； 所述第一板体上幵有若干个通孔供所述第一夹紧气缸的推杆穿过以实 现对待夹持物的夹紧； 所述传动轴一端固定设置于第二板体一侧，所 述传动轴通过驱动电机带动做轴向方向上的旋转。
如权利要求 35所述的一种砌砖机器人， 其特征在于： 所述第一板体和 板体结构相同且相正对设置； 所述连接板连接第一板体和第二板体相 对应的同一侧边。
如权利要求 35所述的一种砌砖机器人， 其特征在于： 所述第一夹紧气 缸的推杆的长度与连接板的长度的比值范围为 0.1〜0.5； 所述连接板 的长度与传动轴的长度的比值为 0.7〜1。
如权利要求 35所述的一种砌砖机器人， 其特征在于： 所述夹紧气缸的 推杆一端可进一步设置有夹紧板。
如权利要求 35所述的一种砌砖机器人， 其特征在于： 所述砌砖夹具主 体包括第二夹紧气缸和两块相正对的夹紧固定板； 所述第二夹紧气缸 固定于一块夹紧固定板上， 所述第二夹紧气缸的推杆一端固定于另一 块夹紧固定板上以实现所述夹具本体对顶皮砖的夹持。
如权利要求 39所述的一种砌砖机器人， 其特征在于： 两块夹紧固定板 两侧分别进一步通过螺栓固定设置有两块夹具放置板； 所述传动轴上 进一步设置有两个固定座； 所述固定座、 夹具放置板和夹紧固定板上 均幵设有供传动轴穿过的固定孔； 所述固定孔与所述传动轴之间设置 有轴承； 两个固定座通过螺栓分别固定设置于两块夹具放置板上。 [权利要求 41] 如权利要求 40所述的砌砖机器人， 其特征在于： 所述夹具放置板与所 述夹紧固定板贴合的一面上设置有滑块或滑槽； 所述夹紧固定板侧面 上设置有与所述滑块或滑槽配合的滑槽或滑块。
[权利要求 42] 如权利要求 41所述的砌砖机器人， 其特征在于： 所述旋转轴穿过所述 水平机械臂上表面与一固定座承载板通过轴承转动连接； 所述传动轴 上设置有两个固定座； 所述固定座固定设置于固定座承载板上。
PCT/CN2017/112793 2016-11-29 2017-11-24 一种砌砖机器人 Ceased WO2018099323A1 (zh)

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
CN201611069571.6A CN106592991B (zh) 2016-11-29 2016-11-29 一种轻型、可移动的砌砖机器人
CN201611069571.6 2016-11-29
CN201621289304.5U CN206319635U (zh) 2016-11-29 2016-11-29 一种轻型、可移动的砌砖机器人
CN201621289304.5 2016-11-29
CN201721383469.3U CN207332339U (zh) 2017-10-25 2017-10-25 一种砌墙安装洞口过梁用承载架及其砌砖机器人
CN201721383556.9U CN207436520U (zh) 2017-10-25 2017-10-25 一种可砌顶皮砖的夹具及其砌砖机器人
CN201711006365.5 2017-10-25
CN201711006396.0 2017-10-25
CN201721383469.3 2017-10-25
CN201711006396.0A CN107892170B (zh) 2017-10-25 2017-10-25 一种砌砖机器人及控制方法
CN201711006365.5A CN107642247B (zh) 2017-10-25 2017-10-25 一种砌砖机器人及其控制方法
CN201721383556.9 2017-10-25

Publications (1)

Publication Number Publication Date
WO2018099323A1 true WO2018099323A1 (zh) 2018-06-07

Family

ID=62242343

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/112793 Ceased WO2018099323A1 (zh) 2016-11-29 2017-11-24 一种砌砖机器人

Country Status (1)

Country Link
WO (1) WO2018099323A1 (zh)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10635758B2 (en) 2016-07-15 2020-04-28 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US10865578B2 (en) 2016-07-15 2020-12-15 Fastbrick Ip Pty Ltd Boom for material transport
CN113585771A (zh) * 2020-04-30 2021-11-02 广东博智林机器人有限公司 砌砖机器人
US11401115B2 (en) 2017-10-11 2022-08-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith
US11441899B2 (en) 2017-07-05 2022-09-13 Fastbrick Ip Pty Ltd Real time position and orientation tracker
WO2023052834A1 (en) * 2021-09-29 2023-04-06 General Systems Sg Pte Ltd A material laying robotic system
US11958193B2 (en) 2017-08-17 2024-04-16 Fastbrick Ip Pty Ltd Communication system for an interaction system
US12214500B2 (en) 2018-07-16 2025-02-04 Fastbrick Ip Pty Ltd Backup tracking for an interaction system
US12311546B2 (en) 2018-07-16 2025-05-27 Fastbrick Ip Pty Ltd Active damping system
US12385265B2 (en) 2020-04-22 2025-08-12 Fastbrick Ip Pty Ltd Block transfer apparatus and improved clamping assembly for use therewith
US12398574B2 (en) 2020-07-08 2025-08-26 Fastbrick Ip Pty Ltd Adhesive application system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4245451A (en) * 1976-10-18 1981-01-20 Taylor Smith Ernest J Automatic method and apparatus for laying block units
AU2004200115A1 (en) * 2003-07-23 2005-07-28 Preston Holdings Pty Ltd Machine for bricklaying
CN103406527A (zh) * 2013-01-09 2013-11-27 中国第一重型机械股份公司 用于钢包工作衬砌筑的装置
CN104806028A (zh) * 2015-03-06 2015-07-29 同济大学 一种高自由度高精度全自动砌砖机
CN106592991A (zh) * 2016-11-29 2017-04-26 厦门华蔚物联网科技有限公司 一种轻型、可移动的砌砖机器人
CN206319635U (zh) * 2016-11-29 2017-07-11 厦门华蔚物联网科技有限公司 一种轻型、可移动的砌砖机器人
CN107642247A (zh) * 2017-10-25 2018-01-30 厦门华蔚物联网科技有限公司 一种可砌顶皮砖的夹具、砌砖机器人及其控制方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4245451A (en) * 1976-10-18 1981-01-20 Taylor Smith Ernest J Automatic method and apparatus for laying block units
AU2004200115A1 (en) * 2003-07-23 2005-07-28 Preston Holdings Pty Ltd Machine for bricklaying
CN103406527A (zh) * 2013-01-09 2013-11-27 中国第一重型机械股份公司 用于钢包工作衬砌筑的装置
CN104806028A (zh) * 2015-03-06 2015-07-29 同济大学 一种高自由度高精度全自动砌砖机
CN106592991A (zh) * 2016-11-29 2017-04-26 厦门华蔚物联网科技有限公司 一种轻型、可移动的砌砖机器人
CN206319635U (zh) * 2016-11-29 2017-07-11 厦门华蔚物联网科技有限公司 一种轻型、可移动的砌砖机器人
CN107642247A (zh) * 2017-10-25 2018-01-30 厦门华蔚物联网科技有限公司 一种可砌顶皮砖的夹具、砌砖机器人及其控制方法

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11842124B2 (en) 2016-07-15 2023-12-12 Fastbrick Ip Pty Ltd Dynamic compensation of a robot arm mounted on a flexible arm
US10865578B2 (en) 2016-07-15 2020-12-15 Fastbrick Ip Pty Ltd Boom for material transport
US10876308B2 (en) 2016-07-15 2020-12-29 Fastbrick Ip Pty Ltd Boom for material transport
US11106836B2 (en) 2016-07-15 2021-08-31 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US12353801B2 (en) 2016-07-15 2025-07-08 Fastbrick Ip Pty Ltd Robot base path planning
US11299894B2 (en) 2016-07-15 2022-04-12 Fastbrick Ip Pty Ltd Boom for material transport
US12210803B2 (en) 2016-07-15 2025-01-28 Fastbrick Ip Pty Ltd Robot arm kinematics for end effector control
US12073150B2 (en) 2016-07-15 2024-08-27 Fastbrick Ip Pty Ltd Dynamic path for end effector control
US12197820B2 (en) 2016-07-15 2025-01-14 Fastbrick Ip Pty Ltd Virtual robot base
US12001761B2 (en) 2016-07-15 2024-06-04 Fastbrick Ip Pty Ltd Computer aided design for brick and block constructions and control software to control a machine to construct a building
US12175164B2 (en) 2016-07-15 2024-12-24 Fastbrick Ip Pty Ltd Path correction for end effector control
US10635758B2 (en) 2016-07-15 2020-04-28 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US11687686B2 (en) 2016-07-15 2023-06-27 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US11441899B2 (en) 2017-07-05 2022-09-13 Fastbrick Ip Pty Ltd Real time position and orientation tracker
US11958193B2 (en) 2017-08-17 2024-04-16 Fastbrick Ip Pty Ltd Communication system for an interaction system
US11401115B2 (en) 2017-10-11 2022-08-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith
US12214500B2 (en) 2018-07-16 2025-02-04 Fastbrick Ip Pty Ltd Backup tracking for an interaction system
US12311546B2 (en) 2018-07-16 2025-05-27 Fastbrick Ip Pty Ltd Active damping system
US12385265B2 (en) 2020-04-22 2025-08-12 Fastbrick Ip Pty Ltd Block transfer apparatus and improved clamping assembly for use therewith
CN113585771A (zh) * 2020-04-30 2021-11-02 广东博智林机器人有限公司 砌砖机器人
US12398574B2 (en) 2020-07-08 2025-08-26 Fastbrick Ip Pty Ltd Adhesive application system
WO2023052834A1 (en) * 2021-09-29 2023-04-06 General Systems Sg Pte Ltd A material laying robotic system

Similar Documents

Publication Publication Date Title
WO2018099323A1 (zh) 一种砌砖机器人
TWI687576B (zh) 自動化及機械化施工系統及施工方法
CN108708560B (zh) 垒墙机
CN105883318B (zh) 一种搬运建筑彩钢板的轨道小车
CN110094073B (zh) 一种砌墙机械爪
CN106592991B (zh) 一种轻型、可移动的砌砖机器人
CN107605167A (zh) 砌砖机器人直角墙体砌筑方法
CN103935901A (zh) 高层墙板自动吊装系统
CN209384639U (zh) 一种应用于房屋滑模成型装置的取模装置
CN209723660U (zh) 一种高效砌墙装置
CN119392896A (zh) 墙面装饰板快速拼接装置
JP3176266B2 (ja) パネルの取付装置および取付方法
CN206707309U (zh) 一种可砌至楼板顶部的砌砖机器人
CN110159624A (zh) 防火门胶接智能生产系统及其运行方法
CN209874466U (zh) 一种房屋滑模成型装置
CN110654887A (zh) 一种砖垛上料装置及应用该砖垛上料装置的拆垛机
CN214402607U (zh) 自动爬行喷涂机器
CN118128315A (zh) Alc轻质隔墙板施工用转移定位装置及使用方法
CN203877779U (zh) 高层墙板自动吊装系统
CN206319635U (zh) 一种轻型、可移动的砌砖机器人
US11905720B2 (en) Building material installation equipment with high flexibility
CN211396687U (zh) 一种砌墙机械爪
CN107892170B (zh) 一种砌砖机器人及控制方法
CN203769337U (zh) 自动平移、定位安装托板总成系统
CN116812737A (zh) 一种房建施工砖块搬运设备

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17876177

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17876177

Country of ref document: EP

Kind code of ref document: A1