CN113585771B - Brick-laying robot - Google Patents

Brick-laying robot Download PDF

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Publication number
CN113585771B
CN113585771B CN202010362424.8A CN202010362424A CN113585771B CN 113585771 B CN113585771 B CN 113585771B CN 202010362424 A CN202010362424 A CN 202010362424A CN 113585771 B CN113585771 B CN 113585771B
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China
Prior art keywords
brick laying
chassis
horizontal
robot
brick
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CN202010362424.8A
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Chinese (zh)
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CN113585771A (en
Inventor
潘继文
刘剑秋
徐龙
舒远
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Guangdong Bozhilin Robot Co Ltd
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Guangdong Bozhilin Robot Co Ltd
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Priority to CN202010362424.8A priority Critical patent/CN113585771B/en
Publication of CN113585771A publication Critical patent/CN113585771A/en
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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14Conveying or assembling building elements
    • E04G21/16Tools or apparatus
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14Conveying or assembling building elements
    • E04G21/16Tools or apparatus
    • E04G21/22Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines

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

Abstract

The invention discloses a brick laying robot, comprising: the chassis is provided with a traveling device; the vertical lifting device is arranged on the chassis and is positioned at one end of the chassis; the first rotating device is used for driving the vertical lifting device to rotate around a vertical axis; the horizontal brick laying device is connected to the vertical lifting device; the brick laying robot has a walking pose and a brick laying pose which can be switched, the vertical lifting device drives the horizontal brick laying device to rotate to an inward angle when the walking pose is reached, and the horizontal projection of the brick laying device is positioned in the chassis; the vertical lifting device at the brick laying pose drives the horizontal brick laying device to rotate to an outward angle, and the horizontal projection of the brick laying device is positioned outside the chassis. According to the brick laying robot, the trafficability characteristic and the operation precision of the robot can be improved.

Description

Brick laying robot
Technical Field
The invention belongs to the technical field of construction machinery, and particularly relates to a brick laying robot.
Background
The building industry is the prop industry of China, and plays a foundation and a leading role in national economy. Only one house that we are familiar with in our country has 10-20 billion cubic meters per year. The masonry structure is always a structural form with large quantity and wide range in China.
Some construction areas have small entrances, such as the entrance width of a house on the floor of a house and the width of a passageway. The brick laying robot in the related art has the problem of overlarge size, and can not lay the inner wall of a high-rise building or automatically enter each floor of different house types for laying. The transportation is carried by people, and the universality is poor. The aerated bricks of residential buildings are generally large in size and heavy in weight. If the size of the robot is reduced, the work of laying bricks cannot be finished although the trafficability is strong.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a brick laying robot to improve the trafficability and operation precision of the robot.
The brick laying robot according to the embodiment of the invention comprises: the chassis is provided with a traveling device; the vertical lifting device is arranged on the chassis and is positioned at one end of the chassis; the first rotating device is used for driving the vertical lifting device to revolve around a vertical axis; the horizontal bricklaying device is connected to the vertical lifting device; the brick laying robot has a walking pose and a brick laying pose which can be switched, the vertical lifting device drives the horizontal brick laying device to rotate to an inward angle when the walking pose is achieved, and the horizontal projection of the horizontal brick laying device is located in the chassis; at the position appearance of laying bricks vertical lifting device drives the level device of laying bricks gyration to outside angle, the level projection of level device of laying bricks is located outside the chassis.
According to the brick laying robot provided by the embodiment of the invention, the walking pose and the brick laying pose of the brick laying robot are switchable, so that when the brick laying robot runs on the road or enters a construction area with a narrow entrance, the brick laying robot can be in the walking pose to reduce the overall external size of the robot, the brick laying robot can rapidly pass through the entrance of the construction area, the running safety is improved, and the trafficability of the brick laying robot is improved. After the bricklaying robot got into the construction district, the bricklaying robot can switch to the position appearance of laying bricks for vertical elevating gear drives horizontal bricklaying device and revolves to outside angle, and the horizontal projection of horizontal bricklaying device is located outside the chassis, and the bricklaying robot can be in quiescent condition this moment, can carry out the operation of laying bricks through horizontal bricklaying device, in order to realize the operation on a large scale of location, thereby can promote the accuracy of laying bricks and the reliability of the robot of laying bricks.
In some embodiments, the brick laying robot further comprises: and the control device is arranged on the chassis and positioned at the other end of the chassis, and the horizontal brick laying device is positioned above the control device in the walking pose.
In some embodiments, the walking device comprises: two steering wheels arranged on one diagonal of the chassis; two universal wheels arranged on the other diagonal of the chassis.
Specifically, the walking device further comprises: a suspension structure connected between the chassis and the steering wheel.
In some embodiments, the brick laying robot is provided with at least two obstacle avoidance radars and a navigation radar, and the obstacle avoidance radars are arranged on opposite corners of the chassis.
In some embodiments, the first rotating means comprises: the first motor is arranged on the chassis; the first bearing is arranged on the chassis, and the vertical lifting device is arranged on the first bearing and connected with the first motor.
In some embodiments, the brick laying robot further comprises: and the second rotating device is connected between the vertical lifting device and the horizontal bricklaying device and can drive the horizontal bricklaying device to rotate around a horizontal axis.
Specifically, the vertical lifting device includes: the first-stage lifting frame is arranged on the base plate and is connected with the first rotating device; the second lifting frame can be vertically and vertically connected to the first lifting frame, and the second rotating device can be vertically and vertically connected to the second lifting frame; the primary lifting driving assembly is connected between the primary lifting frame and the secondary lifting frame; and the second-stage lifting driving assembly is connected between the second-stage lifting frame and the second rotating device.
In some optional embodiments, the second rotating means comprises: the rotary supporting platform is connected to the vertical lifting device in a lifting manner; the second motor is arranged on the rotary support table; and the second bearing is arranged on the rotary supporting table, and the horizontal brick laying device is arranged on the second bearing and connected with the second motor.
In some embodiments, the horizontal bricklaying device is a telescopic arm with a telescopic length; the brick laying robot further comprises a brick laying execution assembly movably arranged on the telescopic arm.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a perspective view of a brick laying robot in an embodiment of the present invention;
fig. 2 is a schematic structural view of the brick laying robot in an embodiment of the present invention (in which the brick laying robot is in a walking pose);
fig. 3 is a schematic structural view of the brick laying robot in an embodiment of the present invention (in which the brick laying robot is in a brick laying pose and the horizontal brick laying device is vertically arranged);
fig. 4 is a schematic structural view of a brick laying robot in an embodiment of the present invention (in which the brick laying robot is in a brick laying attitude and a horizontal brick laying device is horizontally arranged);
fig. 5 is a partial structural schematic view of a brick laying robot in an embodiment of the present invention at a viewing angle;
FIG. 6 is a partial schematic structural view of a brick laying robot at another viewing angle in one embodiment of the present invention;
FIG. 7 is a side view of a brick laying robot according to an embodiment of the present invention;
FIG. 8 is a rear view of a brick laying robot in an embodiment of the present invention;
fig. 9 is a perspective view of a brick laying robot according to another embodiment of the present invention;
fig. 10 is an exploded view of part of the construction of a brick laying robot according to another embodiment of the present invention;
fig. 11 is an exploded view of a bricklaying execution assembly according to another embodiment of the invention.
Reference numerals:
a brick laying robot 100,
A chassis 1, a running gear 11, a steering wheel 111, a universal wheel 112, an integrated electronic box 12,
A vertical lifting device 2, a primary lifting frame 21, a secondary lifting frame 22,
First rotating device 3, first motor 31, first bearing 32, and drive shaft 33
A second rotating device 4, a rotating support 41, a second motor 42, a second bearing 43, a connecting and fixing mechanism 44,
A horizontal brick laying device 5,
The brick laying execution assembly 6, the tail end rotating mechanism 61, the fixed frame 611, the third motor 612, the third bearing 613, the connecting assembling machine 614, the grabbing mechanism 62, the tail end working arm 63,
The system comprises an electric control frame 7, a power supply device 71, a control device 72, an obstacle avoidance radar 8 and a navigation radar 9.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "vertical", "horizontal", "axial", "circumferential", and the like are used in the positional or orientational relationships indicated in the drawings only for the convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A brick laying robot 100 according to an embodiment of the invention is described below with reference to fig. 1-11.
A brick laying robot 100 according to an embodiment of the present invention, as shown in fig. 1, includes: the device comprises a chassis 1, a vertical lifting device 2, a first rotating device 3 and a horizontal brick laying device 5.
The walking device 11 is arranged on the chassis 1, the chassis 1 is the foundation of the brick laying robot 100, all parts are arranged on the chassis 1 to ensure the overall stability, and the walking device 11 enables the brick laying robot 100 to have the automatic running capability.
The vertical lifting device 2 is arranged on the chassis 1, and the vertical lifting device is positioned at one end of the chassis. This can improve the operation stability of the vertical lifting device 2 and improve the brick laying height of the brick laying robot 100.
The first rotating device 3 is used for driving the vertical lifting device 2 to revolve around a vertical axis. Thus, the vertical lifting device 2 is rotated to an inward angle by the driving action of the first rotating device 3, and the vertical lifting device 2 can also be rotated to an outward angle. Thereby promoting the application scope of the brick laying robot 100, for example, the vertical lifting device 2 can change the position and posture flexibly to adapt to different construction area conditions.
The horizontal bricklaying device 5 is connected to the vertical lifting device 2. The arrangement of the horizontal brick laying device 5 here may improve the laying accuracy of the brick laying robot 100. If in the actual operation process, the horizontal brick laying device 5 can enable the brick laying robot 10 to stop at one position for laying a large range, so that the accuracy and the reliability of laying bricks can be greatly improved.
As shown in fig. 2-4, the brick laying robot 100 has a walking position and a brick laying position which can be switched, and in the walking position, as shown in fig. 2, the vertical lifting device 2 drives the horizontal brick laying device 5 to rotate to an inward angle, and the horizontal projection of the horizontal brick laying device 5 is positioned in the chassis 1. In the laying position, as shown in fig. 4, the vertical lifting device 2 drives the horizontal laying device to rotate to an outward angle, and the horizontal projection of the horizontal laying device 5 is positioned outside the chassis 1.
It can be appreciated that when the brick laying robot 100 needs to transfer position, as shown in fig. 2, the brick laying robot 100 can be switched to a walking pose, so that the vertical lifting device 2 drives the horizontal brick laying device 5 to rotate to an inward angle, and the horizontal projection of the horizontal brick laying device 5 is located in the chassis 1. Therefore, the floor area of the brick laying robot 100 can be reduced, and the running safety of the brick laying robot 100 on the road can be improved. When the brick laying robot 100 enters a construction area, if the entrance of the construction area is narrow, such as the entrance width of a house on a residential floor and the width of a passageway are narrow, the brick laying robot 100 is in a walking pose, the external dimension of the brick laying robot is small, the brick laying robot 100 can rapidly pass through the brick laying robot, the situation that the robot is difficult to carry out the construction area due to the large external dimension of the brick laying robot 100 is reduced, and the brick laying robot 100 can conveniently enter walls inside a high-rise building and floors of different house types. After the brick laying robot 100 gets into the construction area, the brick laying robot 100 can be switched to the position appearance of laying bricks, as shown in fig. 4, can be so that vertical elevating gear 2 drives horizontal brick laying device 5 and revolves to outside angle, and the horizontal projection of horizontal brick laying device 5 is located outside the chassis 1, and the operation of laying bricks of the brick laying robot 100 of being convenient for this moment can realize once fixing a position and carry out operation on a large scale, and the precision of laying bricks is high. After the horizontal brick laying device 5 completes the brick laying work in the workable range, the brick laying robot 100 can change the position by the traveling device 11 to perform another range of brick laying work. After the brick laying robot 100 completes the brick laying work, the brick laying robot 100 can switch to the walking pose to leave the construction area quickly.
According to the brick laying robot 100 provided by the embodiment of the invention, the walking pose and the brick laying pose of the brick laying robot 100 are switchable, so that when the brick laying robot 100 runs on the road or enters a construction area with a narrow entrance, the walking pose can be positioned to reduce the overall external size of the robot, the brick laying robot 100 can rapidly pass through the entrance of the construction area, the running safety is improved, and the trafficability of the brick laying robot 100 is improved. After the brick laying robot 100 gets into the construction area, the brick laying robot 100 can switch to the position appearance of laying bricks for vertical elevating gear 2 drives horizontal brick laying device 5 and revolves to outside angle, and horizontal projection of horizontal brick laying device 5 is located outside chassis 1, and the operation of laying bricks of the brick laying robot 100 of being convenient for this moment can realize the operation on a large scale of location, thereby can promote the brick laying precision and the reliability of brick laying robot 100.
In some embodiments, as shown in fig. 5 and 6, the brick laying robot 100 further comprises: and the control device 72 is arranged on the chassis 1 and positioned at the other end of the chassis 1, and the horizontal brick laying device 5 is positioned above the control device 5 in the walking pose. Therefore, the space of the chassis 1 can be effectively utilized, the layout of the brick laying robot 100 is more reasonable, and the operation is more stable. In addition, the control device 72 can effectively control the brick laying robot 100, and the stability and the sequence of operation of each component on the brick laying robot 100 are improved.
Optionally, the brick laying robot 100 may further include: a power supply device 71. It will be appreciated that the power supply unit 71 may provide energy to the brick laying robot 100, thereby enabling continuous operation of the brick laying robot 100 and improving operating efficiency. The brick laying machine 100 may here also comprise an electronic control rack 7 for mounting the power supply unit 71 and the control unit 72, the electronic control rack 7 being provided on the chassis 1. The arrangement of the electric control frame 7 can improve the installation stability of the power supply device 71 and the control device 72, and is beneficial to improving the operation stability of the brick laying robot 100.
Alternatively, the power supply device 71 is detachably mounted on the electrical control rack 7, and further alternatively, the brick laying robot 100 may perform automatic replacement of the power supply device 71.
Of course, in other embodiments, the power supply device 71 can be directly installed in the chassis 1, and stable power supply can be realized, and the specific installation position and form of the power supply device 71 are not limited herein.
Optionally, as shown in fig. 5 and 6, an integrated electronic box 12 is further disposed on the chassis 1. The number of the integrated electronic boxes 12 can be two, the two integrated electronic boxes 12 are distributed in the middle of the left side and the right side of the chassis 1, the space of the chassis 1 is utilized to the maximum extent, the integrated electronic boxes are close to the control units of the chassis 1, the control circuit is short, the occupied space of the control circuit can be reduced, and the cost is effectively reduced.
In some embodiments, as shown in fig. 6, the walking device 11 includes: two steering wheels 111 arranged on one pair of corners of the chassis 1 and two universal wheels 112 arranged on the other pair of corners of the chassis 1. Therefore, the range of the chassis 1 contacting the ground can be effectively enlarged, the integral gravity center falls in the range of four-wheel supporting points, and the stability of the walking device 11 is improved. In addition, the steering wheel 111 can improve the bearing capacity of the traveling device 11, and can control the traveling precision and the positioning precision of the chassis 1, so that the trafficability characteristic of the chassis 1 is better. The universal wheels 112 can facilitate the steering of the traveling device 11, and improve the flexibility of the traveling device 11.
Specifically, the running gear 11 further includes: a suspension structure connected between the chassis 1 and the steering wheel 111. Running gear 11 can adapt to the operational environment of indoor laying bricks like this to further promote running performance of running gear 11, promote the adaptability to various road conditions of brick laying robot 100. Here, the steering wheel 111 and the suspension structure are prior art and are not specifically developed here. The steering wheel 111 can automatically run and automatically reverse, so that the brick laying robot 100 has automatic running capability.
In some embodiments, as shown in fig. 6, the brick laying robot 100 is provided with at least two obstacle avoidance radars 8 and a navigation radar 9, and the obstacle avoidance radars 8 are arranged on opposite corners of the chassis 1. It will be appreciated that the obstacle avoidance radar 8 may detect the distance between the brick laying robot 100 and the obstacle. Keep away barrier radar 8 from this and set up to two at least and set up on chassis 1 diagonal angle, can realize the ascending detection in 100 a plurality of directions of brick laying robot for brick laying robot 100 has keeps away the barrier ability. The navigation radar 9 is arranged to navigate the brick laying robot 100, so that the traveling performance of the brick laying robot 100 is improved.
Optionally, the scanning range of each obstacle avoidance radar 8 is 270 °. Therefore, the two radars can detect the distances between the obstacles in the front, back, left and right directions of the chassis 1 and the chassis 1 body, and ensure that the chassis 1 moves in all directions.
Alternatively, as shown in fig. 5 and 6, the navigation radar 9 is disposed above and behind the chassis 1. Because the back upper side is not sheltered from, navigation radar 9 can scan bigger area, collects more information, further promotes the navigation accuracy, guarantees chassis 1's trafficability characteristic.
In some embodiments, as shown in fig. 5 and 6, the first rotating means 3 comprises: a first motor 31 and a first bearing 32. The first motor 31 is provided on the chassis 1. The first bearing 32 is arranged on the chassis 1, and the vertical lifting device 2 is arranged on the first bearing 32 and connected with the first motor 31. It will be appreciated that the first motor 31 may power the first bearing 32 such that the first bearing 32 and the vertical lift device 2 have a slewing capability. In addition, the first bearing 32 is arranged on the chassis 1, which is beneficial to improving the supporting stability of the first bearing 32.
Alternatively, as shown in fig. 5 and 6, the first rotating unit 3 is installed at the center of the front lower portion of the chassis 1 concentrically with the axis of the first bearing 32, and the driving shaft 33 is installed on the output shaft of the first motor 31. Thus, the layout of the brick laying robot 100 is more compact, and the passing performance of the brick laying robot 100 is further improved.
In some embodiments, the brick laying robot further comprises: and the second rotating device 4 is connected between the vertical lifting device 2 and the horizontal bricklaying device 5, and the second rotating device 4 can drive the horizontal bricklaying device 5 to rotate around a horizontal axis. This makes it possible to raise the working height and working range of the first rotating device 3 and to raise the laying height and accuracy of the laying robot 100. If the drive effect through second rotary device 4, horizontal bricklaying device 5 can turn around to vertical setting, and horizontal bricklaying device 5 also can turn around to horizontal setting.
In the actual operation in-process, horizontal bricklaying device 5 can revolve to horizontal setting around the horizontal axis, and bricklaying robot 100 can be in quiescent condition this moment, but horizontal bricklaying device 5's operation scope is big, and bricklaying operation reliability and precision are high, and the robot can stop to carry out great scope in a position promptly and build by laying bricks or stones to promote the precision of bricklaying. If when requiring higher brickwork height, horizontal brickwork device 5 can revolve to vertical setting around the horizontal axis to can further promote the brickwork height of brickwork robot 100. In some embodiments, as shown in fig. 9, the vertical lift device 2 comprises: the lifting device comprises a primary lifting frame 21, a secondary lifting frame 22, a primary lifting driving assembly and a secondary lifting driving assembly. The primary lifting frame 21 is arranged on the chassis 1 and is connected with the first rotating device 3. The second-stage lifting frame 22 is vertically connected to the first-stage lifting frame 21 in a lifting manner, and the second rotating device 4 is vertically connected to the second-stage lifting frame 22 in a lifting manner. The primary lifting driving assembly is connected between the primary lifting frame 21 and the secondary lifting frame 22. The secondary lifting driving assembly is connected between the secondary lifting frame 22 and the second rotating device 4. It will be appreciated that the primary lifting drive assembly may provide power to the secondary lifting frame 22 such that the secondary lifting frame 22 may be moved up and down relative to the primary lifting frame 21. The secondary lifting driving component can provide power for the second rotating device 4, so that the second rotating device 4 can do lifting movement relative to the secondary lifting frame 22. This is advantageous for further increasing the brick laying height of the brick laying robot 100. In addition, the primary lifting frame 21 is arranged on the chassis 1, and the operation stability of the primary lifting frame 21 is improved.
It should be noted that, general brick laying robots all have certain height restrictions, and for walls with large heights, lifting equipment is needed to realize the height restrictions. And under the prerequisite of limited bricklaying robot height, the traditional lift height of robot receives very big restriction, and the wall height that can build by laying bricks or stones also can not satisfy the demand. In the brick laying robot 100, the second rotating device 4 is adopted, so that the horizontal brick laying device 5 can be vertically arranged, and the first-stage lifting frame 21 and the second-stage lifting frame 22 are arranged, so that the working height of the brick laying robot 100 can be greatly improved.
In some alternative embodiments, as shown in fig. 10, the second rotating means 4 comprises: a rotary support table 41, a second motor 42 and a second bearing 43. The rotary support 41 is connected to the vertical lifting device 2 so as to be liftable. The second motor 42 is provided on the rotary support 41. A second bearing 43 is provided on the rotary support table 41 and the horizontal brick laying device 5 is provided on the second bearing 43 and connected to the second motor 42. It will be appreciated that the second motor 42 may power the second bearing 43 such that the second bearing 43 and the horizontal brick laying device 5 have rotational capabilities. In addition, the arrangement of the rotary support 41 provides a mounting position for the second motor 42, which can improve the operation stability of the second motor 42. The rotary support table 41 also enables the second rotating device 4 to perform lifting movement relative to the vertical lifting device 2, so that the brick laying height of the brick laying robot 100 is increased.
In some embodiments, the horizontal brick laying apparatus 5 is a telescopic arm which is telescopic in length, as shown in fig. 9. The brick laying robot 100 further comprises a brick laying execution assembly 6 movably arranged on the telescopic arm. It can be understood that the effective working distance of the telescopic boom is large and the working height is high. Here through the telescopic boom structure, the bricklaying execution assembly 6 can reach a longer distance, so that the operable range of one-time positioning can be further improved. In addition, the telescopic boom has better operation safety performance, for example, the telescopic boom has a load telescopic function, when the piling operation is carried out on an uneven road surface, the telescopic boom can stop at a position far away from a brick piling point, and the telescopic boom and the variable amplitude boom are used for completing the operation on a brick body.
Alternatively, as shown in fig. 9, the bricklaying execution assembly 6 comprises: an end rotation mechanism 61 and a grasping mechanism 62. The end rotating mechanism 61 is connected to the horizontal brick laying device 5, and the end rotating mechanism 61 is movable in the length direction of the horizontal brick laying device 5. The grasping mechanism 62 is connected to the end rotating mechanism 61, and the end rotating mechanism 61 is used for driving the grasping mechanism 62 to rotate. It can be understood that the grabbing mechanism 62 is driven to rotate by the tail end rotating mechanism 61, so that grabbing operation can be facilitated, the angle of the brick body can be adjusted to better adapt to various masonry walls, and the applicable range of the brick laying execution assembly 6 is expanded. In actual operation, when the brick laying robot 100 is in the brick laying position, the horizontal brick laying device 5 can rotate to be transversely arranged, at the moment, the brick laying robot 100 can be in a static state, the horizontal brick laying device 5 moves in the length direction through the tail end rotating mechanism 61, the brick laying range can be increased, the grabbing mechanism 62 is driven to rotate through the tail end rotating mechanism 61 to adjust the angle, various masonry walls can be better adapted, and grabbing operation of the grabbing mechanism 62 is facilitated.
Optionally, as shown in fig. 10, the second rotating device 4 further includes a connection fixing mechanism 34, and the connection fixing mechanism 34 may be used to further improve the installation stability of the second rotating device 4.
Optionally, as shown in fig. 11, the bricklaying execution assembly 6 further comprises an end working arm 63, the end working arm 63 being connected between the horizontal bricklaying device 5 and the end rotation mechanism 61, the end working arm 63 being movable in the length direction of the horizontal bricklaying device 5. The end rotating mechanism 61 includes a holder 611, a third motor 612, a third bearing 613, and a connection mounting mechanism 614. The fixing bracket 611 is used to fix the end rotating mechanism 61 to the end working arm 63, so that the end rotating mechanism 61 moves together with the end working arm 63 on the horizontal brick laying device 5, and the third motor 612 provides power to the third bearing 613. So that the end rotating mechanism 61 has a rotating function. The connecting and mounting machine 614 is used to connect the gripping mechanism 61 and the end rotating mechanism 62, thereby improving the working stability of the gripping mechanism 61.
Optionally, as shown in fig. 7 and 8, in the walking pose, the height of the brick laying robot 100 is less than or equal to 1750mm, the horizontal length of the brick laying robot 100 is less than or equal to 1250mm, and the horizontal width of the brick laying robot 100 is less than or equal to 750 mm. This facilitates the brick laying robot 100 entering the room, for example, including small house type indoor brick laying (the aisle has only 1050 width, the room door opening has only W800 × H2000), the brick laying robot 100 can switch to the walking pose to enter the indoor brick laying work. When the brick laying robot 100 enters the room, the brick laying robot 100 can switch to a brick laying pose so that the robot can perform a brick laying work in a large range.
Optionally, under the cooperation of the two-stage lifting frame, the two-stage rotating device and the telescopic arm, the height of the brick laying robot 100 in the walking pose is only 1750mm, and the maximum height of masonry in the brick laying pose reaches 4 m.
Optionally, the brick laying robot 100 may further comprise a vision sensor, a laser sensor and a tilt sensor, thereby further improving the working accuracy of the robot.
A brick laying robot 100 in one embodiment of the present invention is described below with reference to the drawings.
A brick laying robot 100 according to an embodiment of the invention comprises: the device comprises a chassis 1, a vertical lifting device 2, a first rotating device 3, a second rotating device 4, a horizontal brick laying device 5 and a brick laying execution assembly 6.
The chassis 1 is provided with a running gear 11. The running gear 11 includes: two steering wheels 111, two universal wheels 112 and a suspension structure, the two steering wheels 111 being arranged on a diagonal of the chassis 1, the suspension structure being connected to the chassis 1 and the idler wheels 111. Two universal wheels 112 are arranged on the other diagonal of the chassis 1.
The vertical lifting device 2 is mounted on the chassis 1.
The first rotating device 3 includes: a first motor 31 and a first bearing 32. The first motor 31 is provided on the chassis 1. The first bearing 32 is arranged on the chassis 1, and the vertical lifting device 2 is arranged on the first bearing 32 and connected with the first motor 31.
The second rotating device 4 includes: a rotary support table 41, a second motor 42 and a second bearing 43. The rotary support 41 is coupled to the vertical lifting device 2 so as to be liftable. The second motor 42 is provided on the rotary support 41. A second bearing 43 is provided on the rotary support table 41 and the horizontal brick laying device 5 is provided on the second bearing 43 and connected to the second motor 42.
The horizontal brick laying device 5 is connected to the second rotating device 4, and the second rotating device 4 is used for driving the horizontal brick laying device 5 to rotate around a horizontal axis. The horizontal brick laying device 5 is a telescopic arm with telescopic length.
The bricklaying execution assembly 6 is movably arranged on the telescopic arm. The brick laying execution assembly 6 comprises: an end rotation mechanism 61 and a grasping mechanism 62. The end rotating mechanism 61 is connected to the horizontal brick laying device 5, and the end rotating mechanism 61 is movable in the length direction of the horizontal brick laying device 5. The grasping mechanism 62 is connected to the end rotating mechanism 61, and the end rotating mechanism 61 is used for driving the grasping mechanism 62 to rotate.
The electric control frame 7 is used for installing a power supply device 71 and a control device 72, the electric control frame 7 is arranged on the chassis 1, the horizontal brick laying device 5 is positioned between the vertical lifting device 2 and the electric control frame 7 in the walking pose, and the brick laying execution assembly 6 is positioned above the electric control frame 7.
Two obstacle avoidance radars 8 are arranged on opposite corners of the chassis 1, and the scanning range of each obstacle avoidance radar 8 is 270 degrees. A navigation radar 9 is arranged above and behind the chassis 1.
Wherein, the brick laying robot 100 has changeable walking position appearance and brick laying position appearance, drives horizontal brick laying device 5 at vertical elevating gear 2 and revolves to inside angle, and horizontal projection of horizontal brick laying device 5 is located chassis 1. The height of the brick laying robot 100 is less than or equal to 1750mm, the horizontal length of the brick laying robot 100 is less than or equal to 1250mm, and the horizontal width of the brick laying robot 100 is less than or equal to 750 mm. In the laying pose, the vertical lifting device 2 drives the horizontal laying device to rotate to an outward angle, and the horizontal projection of the horizontal laying device 5 is positioned outside the chassis 1.
In the posture switching operation, the following steps may be employed:
the first step is as follows: when the brick laying robot 100 is in a state I shown in FIG. 2, the first motor 31 drives the vertical lifting device 2 through the first bearing 32, the vertical lifting device 2 and all components mounted thereon rotate together, and after the vertical lifting device 2 rotates 180 degrees, the horizontal brick laying device 5 and the brick laying execution assembly 6 extend outside the vehicle body to a state II shown in FIG. 3;
the second step: when the brick laying robot 100 is in a state II shown in the figure 3, the second rotating device is driven to rotate the horizontal brick laying device 5 connected with the second rotating device, and after the horizontal brick laying device 5 and the brick laying execution assembly 6 rotate by 90 degrees to a horizontal state, the horizontal brick laying device 5 and the brick laying execution assembly 6 extend to a state III shown in the figure 4;
the third step: when the brick laying robot 100 is in a state III shown in the figure 4, the horizontal second rotating device 4 is driven reversely, so that the horizontal brick laying device 5 connected with the horizontal second rotating device is rotated, and after the horizontal second rotating device rotates reversely by 90 degrees to a vertical state, the horizontal brick laying device 5 and the brick laying execution assembly 6 are extended to a state II shown in the figure 3;
the fourth step: when the brick laying robot 100 is in a state II shown in fig. 3, the first motor 31 reversely drives the vertical lifting device 2 through the first bearing 32, so that the vertical lifting device 2 and all the components mounted thereon rotate together, and after the vertical lifting device 2 rotates 180 degrees in the reverse direction, the horizontal brick laying device 5 and the brick laying execution assembly 6 are retracted into the vehicle body to a state I shown in fig. 2.
The first to fourth steps are repeated, and the switching from the walking posture of the brick laying robot 100 to the brick laying posture can be realized.
In the bricklaying operation, the following steps can be carried out:
the method comprises the following steps: the brick laying robot 100 calculates the path of the grabbing mechanism 7 to be moved according to the position information of the object to be built currently and the position information of the grabbing mechanism 7 currently, and calculates the distances of the first-stage lifting frame 21, the second-stage lifting frame 22, the second rotating device 4, the horizontal brick laying device 5 and the brick laying execution assembly 6 to be moved respectively according to a built-in model;
step two: according to the result calculated in the first step, the first-stage lifting frame 21 and the second-stage lifting frame 22 move to the designated positions;
step three: according to the result calculated in the first step, the horizontal brick laying device 5 moves to a specified position;
step four: according to the result calculated in the first step, the second rotating device 4 rotates to a specified position;
step five: according to the result calculated in the first step, the brick laying execution assembly 6 rotates to a specified position; the second step to the fifth step can be carried out simultaneously;
step six: the grasping mechanism 62 grasps the object;
step seven: according to the calculation result in the first step, referring to the second step and the fifth step, the first-level lifting frame 21, the second-level lifting frame 22, the second rotating device 4, the horizontal brick laying device 5 and the brick laying execution assembly 6 work in a coordinated mode, and the grabbed object is placed at the designated position;
step eight: repeating the first step to the seventh step to complete the grabbing and placing of the next object;
step nine: after all work is completed, the components return to the initial state.
Other constructions of the brick laying robot 100 according to embodiments of the present invention, such as circuit boards etc. and the operation thereof, are known to a person skilled in the art and will not be described in detail here.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (9)

1. A brick laying robot, comprising:
the chassis is provided with a traveling device;
the vertical lifting device is arranged on the chassis and is positioned at one end of the chassis;
the first rotating device is used for driving the vertical lifting device to revolve around a vertical axis;
the horizontal brick laying device is connected to the vertical lifting device; wherein,
the brick laying robot has a walking pose and a brick laying pose which can be switched,
when the walking pose is achieved, the vertical lifting device drives the horizontal brick laying device to rotate to an inward angle, and the horizontal projection of the horizontal brick laying device is located in the chassis;
the vertical lifting device drives the horizontal brick laying device to rotate to an outward angle at a brick laying pose, and the horizontal projection of the horizontal brick laying device is positioned outside the chassis;
the second rotating device is connected between the vertical lifting device and the horizontal brick laying device and can drive the horizontal brick laying device to rotate around a horizontal axis.
2. The brick laying robot of claim 1 further comprising: and the control device is arranged on the chassis and positioned at the other end of the chassis, and the horizontal brick laying device is positioned above the control device in the walking pose.
3. The brick laying robot according to claim 1, wherein the walking device comprises:
two steering wheels arranged on one diagonal of the chassis;
two universal wheels arranged on the other diagonal of the chassis.
4. The brick laying robot according to claim 3 wherein the walking device further comprises: a suspension structure connected between the chassis and the steering wheel.
5. The brick laying robot according to claim 1, wherein at least two obstacle avoidance radars are arranged on opposite corners of the chassis, and the obstacle avoidance radars are arranged on the brick laying robot.
6. The brick laying robot according to claim 1, wherein the first rotating device comprises:
the first motor is arranged on the chassis;
the first bearing is arranged on the chassis, and the vertical lifting device is arranged on the first bearing and connected with the first motor.
7. The brick laying robot according to claim 1, wherein the vertical lifting device comprises:
the primary lifting frame is arranged on the base plate and is connected with the first rotating device;
the second lifting frame can be vertically and vertically connected to the first lifting frame, and the second rotating device can be vertically and vertically connected to the second lifting frame;
the first-stage lifting driving assembly is connected between the first-stage lifting frame and the second-stage lifting frame;
and the second-stage lifting driving assembly is connected between the second-stage lifting frame and the second rotating device.
8. The brick laying robot according to claim 1 wherein the second rotation device comprises:
the rotary supporting platform is connected to the vertical lifting device in a lifting manner;
the second motor is arranged on the rotary support platform;
and the second bearing is arranged on the rotary supporting table, and the horizontal brick laying device is arranged on the second bearing and connected with the second motor.
9. A brick laying robot according to any one of claims 1-8, characterized in that the horizontal brick laying device is a telescopic arm which is telescopic in length; the brick laying robot further comprises a brick laying execution assembly movably arranged on the telescopic arm.
CN202010362424.8A 2020-04-30 2020-04-30 Brick-laying robot Active CN113585771B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Family Cites Families (6)

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Publication number Priority date Publication date Assignee Title
WO2018099323A1 (en) * 2016-11-29 2018-06-07 厦门华蔚物联网科技有限公司 Brick laying robot
CN206693652U (en) * 2017-05-15 2017-12-01 厦门华蔚物联网科技有限公司 The bricklaying robot tightly glued between brick can be achieved
CN208137467U (en) * 2018-05-03 2018-11-23 苗健 A kind of masonry robot
CN209261243U (en) * 2018-10-24 2019-08-16 厦门华蔚物联网科技有限公司 A kind of bricklaying robot lifting device
CN209324008U (en) * 2018-11-26 2019-08-30 厦门华蔚物联网科技有限公司 A kind of bricklaying robot with lifting device
CN110842949B (en) * 2020-01-14 2020-06-02 广东博智林机器人有限公司 Brick laying robot

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