GB2621648A

GB2621648A - Bricklaying method, bricklaying apparatus, bricklaying device, and building system

Info

Publication number: GB2621648A
Application number: GB2300067.2A
Authority: GB
Inventors: Xie Jun; Cao Geng; Xiao Guoxin; Yang Yuewu; Guo Chong; Yi Jun
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-06-08
Filing date: 2022-06-08
Publication date: 2024-02-21
Also published as: WO2022257948A1; GB202300067D0

Abstract

The present application provides a bricklaying method, a bricklaying apparatus, bricklaying device, and a building system. The bricklaying method is used by the bricklaying apparatus to execute a bricklaying operation. The bricklaying apparatus comprises a bricklaying robot and a control module for controlling an operation of the bricklaying robot; a bricklaying sequence is preset in the control module; the bricklaying sequence defines a first position and a last position of each row of bricks. The method is executed by the control module, and comprises: controlling the bricklaying robot to sequentially lay bricks; conveying a plastered brick from an initial position to a grabbing position, and enabling a horizontal plastered surface of the plastered brick to face upwards, and a horizontal non-plastered surface of the plastered brick to face downwards; controlling the horizontal plastered surface and the horizontal non-plastered surface of the plastered brick to flip up and down; controlling a vertical plastered surface of the plastered brick to be close to the last position with respect to a vertical non-plastered surface; and controlling the plastered block to move in a direction from the last position to the first position to adhere the vertical plastered surface to a vertical placement surface, and move downwards to adhere the horizontal plastered surface to a horizontal placement surface.

Description

BRICKLAYING METHOD, BRICKLAYING APPARATUS, BRICKLAYING DEVICE, AND BUILDING SYSTEM

CROSS-REFERENCE TO RELATED APPLICATIONS

The present disclosure claims priority to Chinese Patent Application No. 202110640061A, filed with the China National Intellectual Property Administration on June 8, 2021, and Chinese Patent Application No. 202110645032.7, filed with the China National Intellectual Property Administration on June 8, 2021, which are incorporated herein by reference in their entireties.

TECHNICAL FIELD

The present application relates to the field of bricklaying technologies, and for example, relates to a bricklaying method, a bricklaying apparatus, a bricklaying device, and a building system.

BACKGROUND

In the field of building construction, building a wall is a construction operation with an extremely high labor intensity. Especially as a building construction technology is improving, after a concrete frame is poured, relatively large building block bricks are used to build a wall to implement spatial isolation With continuous rise of a wall in a masonry process, it is required to lift building blocks onto a scaffold. As a result, a wall-building method in related technologies consumes workers' physical strength and affects wall building efficiency, and a major safety hazard such as brick falling and crushing also exists

SUMMARY

Embodiments of the present application provide a bricklaying method, a bricklaying apparatus, a bricklaying device, and a building system, which are used to resolve the problem that a wall-building method in related technologies consumes workers' physical strength and affects wall building efficiency.

An embodiment of the present application provides a bricklaying method, which is for a bricklaying apparatus to perform a bricklaying operation in an environment, the bricklaying apparatus includes a bricklaying robot and a control module for controlling the bricklaying robot to operate, the control module is preset with a bricklaying sequence, and the bricklaying sequence defines a first position and a last position of each row of bricks; the method is performed by the control module, and the method includes: controlling the bricklaying robot to sequentially lay bricks; conveying each plastered brick from an initial position to a picked-up position, and making a horizontal plastered surface of the plastered brick upward, and a horizontal non-plastered surface of the plastered brick downward; controlling the horizontal plastered surface and the horizontal non-plastered surface of the plastered brick to overturn up and down; controlling a vertical plastered surface of the plastered brick to be closer to the last position than a vertical non-plastered surface; and controlling the plastered brick to move in a direction from the last position to the first position to stick the vertical plastered surface to a vertical placement surface, and to move downward to stick the horizontal plastered surface to a horizontal placement surface.

An embodiment of the present application further provides a bricklaying apparatus, which performs a bricklaying operation in an environment by using the bricklaying method according to any one of the foregoing embodiments. The bricklaying apparatus includes a bricklaying robot and a control module for controlling the bricklaying robot to operate. The bricklaying robot includes a supporting portion, and an overturning mechanism and a bricklaying mechanical arm that are arranged on the supporting portion, and the control module is electrically connected to the overturning mechanism and the bricklaying mechanical arm.

An embodiment of the present application further provides a bricklaying device, which is configured to stack bricks into a wall. Each of the bricks forms a stacking position on the wall, and the bricklaying device includes: a supporting portion; an overturning mechanism including a mounting portion and a pick-up portion, where the mounting portion is connected to the supporting portion, the pick-up portion is pivotally connected to the mounting portion along a first axis, the pick-up portion is capable of picking up a plastered brick and overturning the plastered brick along the first axis, and the overturned and plastered brick is arranged with a plastered surface downward and a non-plastered surface upward, and a bricklaying mechanical arm including a base portion, a joint arm extending forward from the base portion, and a hand portion connected to a front end of the joint arm, where the base portion is mounted on the supporting portion, the joint arm is configured to have a plurality of degrees of freedom, and the hand portion is capable of picking up the overturned and plastered brick downward and releasing the overturned brick at the stacking position.

An embodiment of the present application further provides a building system, including: the bricklaying device according to any one of the foregoing embodiments, and a chassis, where the chassis is provided with a brick conveying track and a moving track, where the brick conveying track is used to convey plastered bricks in a first direction, a supporting portion is capable of being arranged on the moving track in a reciprocating mode, so that the bricklaying device is capable of reciprocating on the moving track, and an overturning mechanism in the bricklaying device picks up the plastered bricks from the brick conveying track, and where a direction of reciprocating of the bricklaying device is parallel to the first direction and a direction of a wall, and the brick conveying track has a height greater than that of the moving track.

BRIEF DESCRIPTION OF DRAWINGS

To more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings required in the description of the embodiments of the present application will be described briefly below. It should be understood that the following accompanying drawings show only some embodiments of the present application. For a person of ordinary skill in the art, other relevant accompanying drawings can also be obtained based on these accompanying drawings without creative efforts.

FIG. 1 is a schematic flowchart of a bricklaying method according to an embodiment of the present application; FIG. 2 is a schematic diagram of a structure of a bricklaying apparatus according to an embodiment of the present application; FIG. 3 is a schematic diagram of a structure of the bricklaying apparatus shown in FIG. 2 in another perspective; FIG. 4 is a schematic diagram of a structure of a bricklaying apparatus according to another embodiment of the present application; FIG. 5 is a schematic diagram of a partial structure of a bricklaying apparatus according to an embodiment of the present application; FIG. 6 is a schematic diagram of a structure of a building system according to an embodiment of the present application; FIG. 7 is a schematic diagram of a structure of a bricklaying device according to an embodiment of the present application; FIG. 8 is a schematic diagram of a structure of a bricklaying device according to an embodiment of the present application in another perspective; FIG. 9 is a schematic diagram of a structure of a bricklaying device according to an embodiment of the present application in still another perspective; FIG. 10 is a schematic diagram of a structure of a bricklaying device according to an embodiment of the present application in yet another perspective; FIG. 11 is a schematic diagram of a structure of a bricklaying device according to another embodiment of the present application; FIG. 12 is a schematic diagram of a partial structure of the bricklaying device shown in FIG. 11; FIG. 13 is a schematic diagram of a structure of the bricklaying device shown in FIG. 12 in another perspective; FIG. 14 is a schematic diagram of another partial structure of the bricklaying device shown in FIG. 11; FIG. 15 is a schematic diagram of another partial structure of the bricklaying device shown in FIG. 11; FIG. 16 is a schematic diagram of a structure of a bricklaying mechanical arm according to an embodiment of the present application; FIG. 17 is a schematic diagram of a partial structure of the bricklaying mechanical arm shown in FIG. 16; FIG. 18 is a schematic diagram of a structure of a chassis according to an embodiment of the present application; FIG. 19 is a schematic diagram of a partial structure of the chassis shown in FIG. 18; FIG. 20 is another schematic diagram of a structure of a bricklaying apparatus according to an embodiment of the present application; FIG. 21 is a schematic diagram of the bricklaying apparatus shown in FIG. 20 in a perspective Vi; and FIG. 22 is a schematic diagram of a partial structure of the bricklaying apparatus shown in FIG. 20.

Description of reference numerals

20. Plastered brick; 21. Horizontal plastered surface; 22. Horizontal non-plastered surface; 23. Vertical plastered surface; 24. Vertical non-plastered surface; Si. Vertical placement surface; S2. Horizontal placement surface; R. First clock direction; 10. Bricklaying apparatus; 100/100'. Bricklaying robot; 110/410. Supporting portion; 120. Overturning mechanism; 121. Mounting portion; 122. Rotating portion; 123. Connecting plate; 124. Clamping plate; 130. Bricklaying mechanical arm; 131. First arm; 132. Second arm; 133. Hand portion; 134/310. Base portion; 200. Conveying track; 210. Initial position; 220. Picked-up position; 300. Plastering and feeding mechanism; 40. Bricklaying device; 420. First lifting mechanism; 111. Fixed frame; 1111. First-stage driving portion; 1 11 2. First-stage active portion; 1113. First-stage guide rail; 1114. Top limit switch inductor; 1115. Bottom limit switch inductor; 1116. Vertical rod; 1117. Transverse rod; 1118. Avoidance groove; 1119. First fixed portion; 112. First-stage lifter; 1121. Annular belt; 1122. First-stage moving frame; 1123. First-stage driven portion; 1124. First-stage sliding block; 1125. Top limit switch; 1126. Bottom limit switch; 1127. Rotating wheel; 113. Second-stage lifter; 1131. Second-stage moving frame; 1132. Second fixed portion; 1133. Second-stage guide rail; 1134. Third-stage driven portion 114. Third-stage lifter 1141. Third-stage driving portion 1142.

Third-stage moving portion; 1143. Third-stage sliding block; 140. Second lifting mechanism; 121. Mounting portion; 160. Pick-up portion; 123. Connecting plate; 222. Clamping portion; 230. In-position inductor; 240. Limiting block; 320. Joint arm; 3221. First arm body; 3222. Second arm body; 3223. Third arm body; 323. Shoulder joint; 324. Elbow joint; 325. Wrist joint; 326. X-direction driving joint; 3261. Driving wheel; 3262. Driven wheel; 327. Y-direction driving joint; 328. Z-direction driving joint; 133. Hand portion; 331. Position detection apparatus; 33 la/33 lb. Laser ranging sensor; 332. Hand plate; 334. Clamping pad; S. First reference; Pl. First pose; P2. Second pose; 50. Building system; G. ground; 400. Chassis; 500. Brick conveying track; 510. Sub-conveying track; 511. Conveying roller; 512. Conveying gear; 513. Conveyor belt; 520. Intermediate gear; 530. Mounting block; 53 L Elongated hole; and 600. Moving track.

DESCRIPTION OF EMBODIMENTS

The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. The described embodiments are only some embodiments of the present application rather than all embodiments. Generally, components of the embodiments of the present application described and shown in the accompanying drawings herein can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the claimed scope of the present application, but only to represent selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments that are obtained by a person skilled in the art without creative efforts shall all fall within the protection scope of the present application.

In the present application, the orientation or positional relationship indicated by the terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer" "middle", "vertical", "horizontal", "transverse", and "longitudinal" is based on the orientation or positional relationship shown in the accompanying drawings. These terms are mainly intended to better describe the present application and embodiments thereof, and are not intended to limit that the indicated apparatus, element, or component must have a particular orientation, or be constructed and operated in a particular orientation In addition, some of the foregoing terms may be used to express other meanings besides the orientation or positional relationship, for example, the term "upper" may also be used to express a certain attachment or connection relationship in some cases. For a person of ordinary skill in the art, the meanings of the terms in the present application may be understood based on circumstances.

Furthermore, the terms "mounted", "arranged", "provided", "connect" and "connected" should be construed broadly. For example, the term may be fixed connection or detachable connection, or an integral structure; or may be mechanical connection or point connection; or may be direct connection, indirect connection by using an intermediate medium, or internal communication between two apparatuses, elements or components. For a person of ordinary skill in the art, the meanings of the foregoing terms in the present application may be understood based on circumstances.

In addition, the terms such as "first" and "second" are mainly used to distinguish between different apparatuses, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated apparatuses, elements or components. Unless otherwise stated, "a plurality or means two or more.

In an embodiment, a bricklaying method is used for a bricklaying apparatus to perform a bricklaying operation in an environment to form bricks into a wall. Each brick forms a stacking position on the wall. The bricklaying apparatus includes a bricklaying robot and a control module for controlling the bricklaying robot to operate, the control module is preset with a bricklaying sequence, and the bricklaying sequence defines a first position and a last position of each row of bricks. The method is performed by the control module and includes: controlling the bricklaying robot to sequentially lay bricks; conveying each plastered brick from an initial position to a picked-up position, and making a horizontal plastered surface of the plastered brick upward, and a horizontal non-plastered surface of the plastered brick downward; controlling the horizontal plastered surface and the horizontal non-plastered surface of the plastered brick to overturn up and down; controlling a vertical plastered surface of the plastered brick to be closer to the last position than a vertical non-plastered surface; and controlling the plastered brick to move in a direction from the last position to the first position to stick the vertical plastered surface to a vertical placement surface, and to move downward to stick the horizontal plastered surface to a horizontal placement surface.

As shown in FIG. I, a bricklaying method is used for a bricklaying apparatus 10 to perform a bricklaying operation in an environment. FIG. 2 shows an embodiment of the bricklaying apparatus 10. The bricklaying apparatus 10 of this embodiment includes a bricklaying robot 100 and a control module for controlling the bricklaying robot 100 to operate. FIG. 20 shows another embodiment of the bricklaying apparatus 10. The bricklaying apparatus 10 of this embodiment includes a bricklaying robot 100' and a control module for controlling the bricklaying robot to operate. The method includes the following steps.

Ml: The control module is preset with a bricklaying sequence, and is configured to control the bricklaying robot 100 to sequentially lay bricks, and the bricklaying sequence defines a first position and a last position of each row of bricks. The bricklaying robot 100 sequentially lays bricks based on the bricklaying sequence, so that the bricklaying robot 100 can lay a plurality of rows of bricks until a wall is formed.

M2: Convey each plastered brick 20 from an initial position 210 to a picked-up position 220, and make a horizontal plastered surface 21 of the plastered brick 20 upward, and a horizontal non-plastered surface 22 of the plastered brick 20 downward. The plastered brick 20 is conveyed to the picked-up position 220 and the horizontal plastered surface 21 of the plastered brick 20 is upward during the conveying, so that the horizontal plastered surface 21 can be prevented from sticking to a brick conveying apparatus.

Optionally, the bricklaying apparatus 10 includes a conveying mechanism, which is configured to convey the brick to the picked-up position 220 of an overturning mechanism 120 In an embodiment, referring to FIG. 2 and FIG. 4, the conveying mechanism is configured as a conveying track 200, which is a brick conveying apparatus. The conveying track 200 has an initial position 210 and a picked-up position 220. The conveying track 200 conveys a plastered brick 20 from the initial position 210 to the picked-up position 220. Optionally, the horizontal plastered surface 21 of the plastered brick 20 is upward, and the horizontal non-plastered surface 22 is downward, that is, the horizontal non-plastered surface 22 is in contact with the conveying track 200. This can prevent the horizontal plastered surface 21 from sticking to the conveying track 200 and polluting the conveying track 200 when facing downward. The conveying track 200 herein is selected from one of the following modes: a belt conveying mechanism, a roller conveying mechanism, a clamp conveying line, etc. Referring to FIG. 18, the conveying track 200 is configured as a roller conveying mechanism.

Referring to FIG. 20 and FIG. 21, the conveying track 200 is configured as a clamp conveying line. The conveying track 200 includes a brick loading clamp T1 and a transverse movement driving member T2, the traverse movement driving member includes a traverse movement output end, the brick loading clamp T1 is connected to the traverse movement output end, and the transverse movement driving member T2 drives, by using the traverse movement output end, the brick loading clamp Ti to move between the initial position 210 and the picked-up position 220. The transverse movement driving member 12 is configured as a telescopic member that is telescopically arranged in a traverse movement direction.

In another embodiment, the conveying mechanism is configured as a carrying mechanical arm, and the plastered brick 20 is carried to the picked-up position by the carrying mechanical arm M3: Control the horizontal plastered surface 21 and the horizontal non-plastered surface 22 of the plastered brick 20 to overturn up and down. When the plastered brick 20 reaches the picked-up position 220, the bricklaying robot 100/100' controls the plastered brick 20 to overturn up and down, so that the horizontal plastered surface 21 is downward. This may facilitate subsequent grabbing of the brick for transfer, and the brick may be directly placed on the horizontal placement surface S2 in a pose with the horizontal plastered surface 21_ downward.

In an embodiment, the overturning mechanism 120 of the bricklaying robot 100 is controlled to grab and overturn the plastered brick 20 from the picked-up position 220, so that the horizontal plastered surface 21 and the horizontal non-plastered surface 22 of the overturned and plastered brick 20 overturn up and down. This facilitate the overturning of the plastered brick 20 to make the horizontal plastered surface 21 downward.

In an embodiment, the overturning mechanism 120 is controlled to move downward at the picked-up position 220 to grab the plastered brick 20, and then the overturning mechanism 120 is controlled to overturn the plastered brick 20.

In an embodiment, after the overturning mechanism 120 grabs the plastered brick 20, the overturning mechanism 120 is controlled to rise for a certain distance and then overturn the plastered brick 20. This prevents the overturning mechanism 120 or the brick from interfering with the conveying track 200 when the brick is overturned.

In an embodiment, referring to FIG. 2, FIG. 3, and FIG. 4, because the bricklaying robot 100 needs to perform bricklaying operations at different stations, the position of the overturning mechanism 120 is unfixed relative to the environment, and the position of the initial position 210 is fixed relative to the environment, so that a distance between the overturning mechanism 120 and the initial position 210 is unfixed, and a distance between the initial position 210 and the picked-up position 220 is unfixed because the picked-up position 220 is below the overturning mechanism 120. In this case, the overturning mechanism 120 is controlled to move until an in-place switch of the overturning mechanism 120 is triggered by a vertical non-plastered surface 24 of the plastered brick 20, and then it is confirmed that the overturning mechanism 120 reaches a ready position before the picked-up position 220. In this embodiment, when the plastered brick 20 reaches the picked-up position 220, the in-place switch is triggered. In this way, when the vertical non-plastered surface 24 of the plastered brick 20 triggers the in-place switch, it can be confirmed that the overturning mechanism 120 reaches the ready position, and then the overturning mechanism 120 can be controlled to move until the overturning mechanism 120 reaches the picked-up position 220. The overturning mechanism 120 is controlled to be passively triggered by the conveyed and plastered brick 20, so that the entire bricklaying apparatus 10 does not need to detect a real-time position of the plastered brick 20 at all times by using an additional detection apparatus, and the distance between the picked-up position 220 and the initial position 210 of the bricklaying robot 100 at different stations does not need to be monitored at all times, thereby simplifying a control policy of an operation control process and accelerating a bricklaying rhythm.

Referring to FIG. 2, FIG. 3, and FIG. 4, in an embodiment in which the overturning mechanism 120 is controlled to clamp and overturn the plastered brick 20, two clamping plates 124 of the overturning mechanism 120 are controlled to be parallel to two other vertical side surfaces of the plastered brick 20 perpendicular to a vertical plastered surface 23, and a distance between the two clamping plates 124 is greater than a distance between the two vertical side surfaces parallel to the clamping plates 124. In this embodiment, the overturning mechanism 120 is provided with the two clamping plates 124, and the two clamping plates 124 clamp the plastered brick 20. Because the clamping plates 124 are controlled to be parallel to the two vertical side surfaces of the plastered brick 20, and the vertical side surfaces are adjacent to and perpendicular to the vertical plastered surface 23, the two clamping plates 124 clamp the two vertical non-plastered surfaces of the plastered brick 20, thereby preventing slurry from sticking to the clamping plates 124 and facilitating subsequent transfer of the plastered brick 20.

Referring to FIG. 2, FIG. 3, and FIG. 4, in an embodiment in which the overturning mechanism 120 is controlled to clamp and overturn the plastered brick 20, the overturning mechanism 120 is controlled to rise until a bottom surface of each clamping plate 124 is higher than a top surface of the plastered brick 20, and the overturning mechanism 120 is controlled to translate until the clamping plates 124 clamp a center of the plastered brick 20. In this way, the clamping plate 124 can reach above the plastered brick 20, and it is convenient to adjust the positions of the clamping plates 124 so that the clamping plates 124 are located over the plastered brick 20, thereby ensuring that the overturning mechanism 120 translates until the clamping plates 124 clamp the center of the plastered brick 20, and further ensuring that the overturning mechanism 120 stably grabs and overturns the plastered brick 20.

Referring to FIG. 2, FIG. 3, and FIG. 4, in an embodiment in which the overturning mechanism 120 is controlled to clamp and overturn the plastered brick 20, the overturning mechanism 120 is lowered, the two clamping plates 124 are controlled to contract a distance to abut against the two vertical side surfaces respectively, and then the overturning mechanism 120 is controlled to rotate along a horizontal line as an axis, so that two horizontal planes of the plastered brick 20 are overturned by 1800, which is convenient for the overturning mechanism 120 to overturn the vertical plastered surface 23 of the plastered brick 20 from upward to downward.

In an embodiment, referring to FIG. 20 and FIG. 21, the overturning mechanism 120, the conveying track 200 and the bricklaying robot 100' are all mounted on a movable chassis 400. The bricklaying robot 100', the overturning mechanism 120 and the conveying track 200 are carried by the movable chassis 400 to perform bricklaying operations at different stations. A distance between the overturning mechanism 120 and the initial position 210 in an operation state is a brick transportation distance, and the brick transportation distance is fixed. The transportation distance is fixed, so that the bricklaying robot 100' can make a brick transportation time equal even at different stations, and does not need to monitor the distance between the picked-up position 220 and the initial position 210 at all times, thereby simplifying the control policy.

Referring to FIG. 20 and FIG. 21, in another embodiment in which the conveying track 200 conveys a brick from the initial position 210 to the picked-up position 220, a transverse movement driving member drives a brick loading clamp to reach the initial position 210, the plastered brick 20 is placed in the brick loading clamp at the initial position 210, and the transverse movement driving member drives the brick loading clamp to transport the plastered brick 20 from the initial position 210 to the picked-up position 220 of the overturning mechanism 120. The picked-up position 220 is located below the overturning mechanism 120. The control module learns a transportation distance from the plastered brick 20 to the picked-up position 220, and controls the plastered brick to be transported to the picked-up position 220 based on the transportation distance Referring to FIG. 20 and FIG. 21, in an embodiment in which the overturning mechanism 120 is controlled to clamp and overturn the plastered brick 20, after the plastered brick 20 is transported to the picked-up position 220, the overturning mechanism 120 is controlled to clamp the plastered brick 20 downward, then two clamping plates 124 of the overturning mechanism 120 are controlled to contract a distance to abut against two vertical side surfaces of the plastered brick 20 respectively, and then the overturning mechanism 120 is controlled to rotate along a horizontal axis, so that the horizontal plastered surface 21 and the horizontal non-plastered surface 22 of the plastered brick 20 are overturned by 1800 M4: Control a vertical plastered surface 23 of the plastered brick 20 to be closer to the last position than a vertical non-plastered surface 24. That is, the vertical plastered surface 23 of the plastered brick 20 is controlled to face and approach the last position of the row of bricks being laid, i.e., to face and approach the last position of the previous laid brick. If the vertical non-plastered surface 24 faces the last position, the brick is controlled to overturn left and right so that the vertical plastered surface 23 faces the last position In an embodiment, a bricklaying mechanical arm 130 of the bricklaying robot 100 is controlled to swing in a first clock direction R to above the horizontal non-plastered surface 22, and a tangential direction in which a free end of the bricklaying mechanical arm 130 swings at the final position is opposite to a direction D from the first position to the last position (a direction opposite to the direction D from the first position to the last position is a direction from the last position to the first position). In this way, the bricklaying mechanical arm 130 can reach above the plastered bricks 20 grabbed by the overturning mechanism 120, i.e., reach above the horizontal non-plastered surface 22. At a last moment of the process of reaching above the horizontal non-plastered surface 22, the free end of the mechanical arm moves in the direction opposite to the direction D from the first position to the last position, and in this case, a hand portion 133 of the bricklaying mechanical arm 130 can just reach above the horizontal non-plastered surface 22.

In an embodiment, after the bricklaying mechanical arm 130 picks up the plastered and overturned brick on the overturning mechanism 120, the bricklaying mechanical arm 130 is controlled to swing in a second clock direction opposite to the first clock direction R to overturn the vertical plastered surface 23 and the vertical non-plastered surface 24 left and right, so that the vertical plastered surface 23 is relatively close to and faces the last position. In this way, after grabbing the plastered brick 20, the bricklaying mechanical arm 130 can start to swing in the direction in which the plastered brick 20 is conveyed, that is, the tangential direction in which the free end of the bricklaying mechanical arm 130 begins to swing is the same as the direction D from the first position to the last position, and then the free end continues to swing in the second clock direction, so that a trajectory of the plastered brick 20 in the entire process of conveying and transferring by the mechanical arm is a continuous trajectory, and the entire bricklaying process is relatively smooth, improving bricklaying efficiency.

In an embodiment, when the vertical plastered surface 23 is close to and faces the last position after being overturned, i.e., when the bricklaying mechanical arm 130 swings to the last position in the second clock direction, the tangential direction in which the free end of the bricklaying mechanical arm 130 swings is opposite to the direction D from the first position to the last position. In this case, because the vertical plastered surface 23 is facing the last position, the plastered brick 20 can be subsequently controlled for translation.

In an embodiment, as shown in FIG. 5, the overturning mechanism 120 is arranged on a side of a supporting portion 110 of the bricklaying robot 100 that faces away from the initial position 210, and the bricklaying mechanical arm 130 moves in a space on a side of the supporting portion 110 that faces away from the initial position 210. The direction from the initial position 210 to the picked-up position 220 is the same as the direction D from the first position to the last position. In this way, it can be ensured that after the plastered brick 20 reaches the picked-up position 220 from the initial position 210, the overturning mechanism 120 grabs and overturns the plastered brick, and then the bricklaying mechanical arm 130 grabs and transports the plastered brick in the direction facing away from the initial position 210. In this way, it can be ensured that the trajectory of the plastered brick 20 in the entire process of conveying and transferring by the mechanical arm is a continuous trajectory, and the entire bricklaying process is relatively smooth, improving bricklaying efficiency.

M5: Referring to FIG. 3, control the plastered brick 20 to move in a direction opposite to the direction D from the first position to the last position to stick the vertical plastered surface 23 to a vertical placement surface Sl, and to move downward to stick the horizontal plastered surface 21 to a horizontal placement surface S2. In this embodiment, the bricklaying mechanical arm 130 controls the plastered brick 20 to continue to move, the vertical placement surface Si is a vertical surface that is located at the last position and that is of the previous laid block, and the horizontal placement surface S2 is a horizontal surface that is located at the last position, that is upward and that is of the previous row of bricks. When the vertical plastered surface 23 of the plastered brick 20 faces and approaches the last position, the bricklaying robot 100 is controlled to drive the plastered brick 20 to continue to move. In this case, the plastered brick 20 needs to be driven in the direction opposite to the direction D from the first position to the last position to move until the vertical plastered surface 23 abuts against and sticks to the vertical placement surface SI, and the plastered brick 20 is controlled to move downward until the horizontal plastered surface 21 abuts against and sticks to the horizontal placement surface S2.

In an embodiment, the step of moving in a direction opposite to the direction D from the first position to the last position to stick the vertical plastered surface 23 to a vertical placement surface S1 is no later than the step of moving downward to stick the horizontal plastered surface 21 to a horizontal placement surface S2. In this way, after the vertical plastered surface 23 is aligned with and sticks to the vertical placement surface Si or while the vertical plastered surface 23 is aligned with and sticks to the vertical placement surface Si, the horizontal plastered surface 21 is aligned with and sticks to the horizontal placement surface S2, so that relative friction between the vertical plastered surface and the vertical placement surface Si makes less slurry drop than relative friction between the horizontal plastered surface and the horizontal placement surface S2, and a better bricklaying effect can be ensured.

In an embodiment, referring to FIG. 5, a first arm 131, a second arm 132 and a hand portion 133 that are sequentially horizontally and rotatably connected to the bricklaying mechanical arm 130 are controlled, so that the second arm 132 rotates around the first arm 131 in the first clock direction R to above the overturning mechanism 120, the first arm HI is controlled to descend, then the hand portion 133 is controlled to grab the plastered brick 20 on the overturning mechanism 120, and then the second arm 132 is controlled to rotate around the first arm 131 by 180° in the second clock direction, so that the hand portion 133 reaches a stacking position, and the vertical plastered surface 23 is parallel to the vertical placement surface SI at the last position, and faces the vertical placement surface SI at the last position. In this way, it is convenient for the bricklaying mechanical arm 130 to grasp, transfer and lay the plastered brick 20.

In an embodiment, the first arm 131 is controlled to translate on the supporting portion 110 of the bricklaying robot 100 in the direction from the last position to the first position until the vertical plastered surface 23 is parallel to and partially abuts against the vertical placement surface S1 at the last position, and then the first arm 131 is controlled to descend on the supporting portion 110 until the horizontal plastered surface 21 of the plastered brick 20 abuts against the horizontal placement surface S2 at the last position. In this way, the step of moving in a direction opposite to the direction D from the first position to the last position to stick the vertical plastered surface 23 to a vertical placement surface S1 is earlier than the step of moving downward to stick the horizontal plastered surface 21 to a horizontal placement surface S2. Therefore, after the vertical plastered surface 23 is aligned with and sticks to the vertical placement surface SI or while the vertical plastered surface 23 is aligned with and sticks to the vertical placement surface Sl, the horizontal plastered surface 21 is aligned with and sticks to the horizontal placement surface S2, so that relative friction between the vertical plastered surface and the vertical placement surface S1 makes less slurry drop than relative friction between the horizontal plastered surface and the horizontal placement surface S2, and a better bricklaying effect can be ensured.

In another embodiment, as shown in FIG. 20, a joint arm 320 of the bricklaying mechanical arm 130 includes a base portion 134, a first arm 131, a second arm 132, and a hand portion 133 that are sequentially rotatably connected along a horizontal elbow-joint 324. An end of the first arm 131 away from the second arm 132 is rotatably connected to the base portion 134 along the horizontal elbow joint 324, and is connected to a first supporting portion 110a by using the base portion 134. The base portion 134 is rotatably connected to the first supporting portion 110a along a vertically-arranged shoulder joint 323, and an end of the second arm 132 away from the first arm 131 is rotatably connected to the hand portion 133 by using a vertical wrist joint 325. The hand portion 133 is configured to grab a plastered and overturned brick. The base portion 134 is controlled to rotate in the first clock direction R around the vertical axis so that the joint arm 320 drives the hand portion 133 to be opposite to the plastered brick 20, then the first arm 131 and/or the second arm 132 are/is controlled to rotate so that the hand portion 133 moves toward the plastered brick 20, then the hand portion 133 is controlled to clamp the plastered brick 20 from the overturning mechanism 120, and then the first arm 131 is controlled to rotate in the second clock direction around the vertical axis so that the hand portion 133 transfers the plastered brick 20 to the stacking position, and the vertical plastered surface 23 of the plastered brick 20 at the stacking position faces the vertical placement surface at the last position.

After step M4 of controlling, by using the mechanical arm, a vertical plastered surface 23 of the plastered brick 20 to be closer to the last position than a vertical non-plastered surface 24, and before step MS of sticking the vertical plastered surface 23 to a vertical placement surface SI, and moving downward to stick the horizontal plastered surface 21 to a horizontal placement surface S2, a fine positioning and calibration step is performed. The fine positioning and calibration step is configured to control a rotation adjusting mechanism of the bricklaying mechanical arm 130 to adjust the plastered brick 20 to a target pose, and the target pose means that the plastered brick 20 is parallel to a wall and a horizontal plane The fine positioning and calibration step is beneficial to the bricklaying effect and improves a wall qualification rate In an embodiment, the fine positioning and calibration step is performed prior to step MS of controlling the bricklaying mechanical arm to continue to move, or the fine positioning and calibration step and step MS of controlling the bricklaying mechanical arm to continue to move are performed alternately, or the fine positioning and calibration step and step MS of controlling the bricklaying mechanical arm to continue to move are performed simultaneously.

In an embodiment, the rotation adjusting mechanism is shown in FIG. 16 and FIG. 17 or shown in FIG. 20. The bricklaying mechanical arm 130 is provided with a rotation adjusting mechanism for adjusting XYZ-direction rotation, in which XYZ-direction rotating shafts are configured to form three driving joints in X, Y and Z directions, including an X-direction driving joint 326, a Y-direction driving joint 327, and a Z-direction driving joint 328, which are sequentially connected so that the rotation adjusting mechanism can perform pose adjustment of pitching up and down, rolling left and right, and swinging left and right.

In the foregoing bricklaying method, the control module of the bricklaying apparatus 10 controls the bricklaying robot 100 of the bricklaying apparatus 10 to perform a bricklaying operation. The control module is preset with a bricklaying sequence first, so that the bricklaying robot 100 can sequentially operate every time. The plastered brick 20 is conveyed to the picked-up position 220, and the horizontal plastered surface 21 of the plastered brick 20 is upward during conveying, so that the horizontal plastered surface 21 can be prevented from sticking to the brick conveying track. When the plastered brick 20 reaches the picked-up position 220, the bricklaying robot 100 controls the plastered brick 20 to overturn up and down so that the horizontal plastered surface 21 is downward, then the plastered brick 20 starts to be transferred, so that the vertical plastered surface 23 of the plastered brick 20 is close to the last position, i.e., close to the last position of the previous laid block, and then the plastered brick 20 is controlled to continue to move, so that the vertical plastered surface 23 sticks to the vertical placement surface Si of the previous laid brick, and the horizontal plastered surface 21 sticks to the horizontal placement surface S2 of the previous laid brick, thereby completing the bricklaying operation. The entire bricklaying process is simple and easy to operate, saving a lot of manpower and time, and improving bricklaying efficiency, i.e., improving efficiency of building a wall.

As shown in FIG. 2 and FIG. 20, a bricklaying apparatus 10 performs a bricklaying operation in an environment by using the bricklaying method according to any one of the foregoing embodiments. The bricklaying apparatus 10 includes a bricklaying robot 100/100' and a control module for controlling the bricklaying robot 100 to operate. The bricklaying robot 100/100' includes a supporting portion 110, and an overturning mechanism 120 and a bricklaying mechanical arm 130 that are arranged on the supporting portion 110, and the control module is electrically connected to the overturning mechanism 120 and the bricklaying mechanical arm 130.

Referring to FIG. 2, in an embodiment of the bricklaying apparatus 10, the bricklaying mechanical arm 130 and the overturning mechanism 120 of the bricklaying robot 100 are mounted on a same supporting portion 110, and perform bricklaying operations at different stations with the supporting portion 110 along a preset track. An embodiment of the preset track is configured as a moving track 600 shown in FIG. 6 and FIG. 10.

Referring to FIG. 20, in another embodiment of the bricklaying apparatus 10, the bricklaying mechanical arm 130 and the overturning mechanism 120 are mounted on different supporting portions 110. The different supporting portions 110 include a first supporting portion 110a and a second supporting portion 110b. The bricklaying mechanical arm 130 is mounted on the first supporting portion 110a, and the overturning mechanism 120 is mounted on the second supporting portion 110b.

The foregoing bricklaying apparatus 10 performs a bricklaying operation in an environment by using the foregoing bricklaying method. The bricklaying apparatus 10 includes a control module and a bricklaying robot 100. The control module controls the bricklaying robot 100 of the bricklaying apparatus 10 to perform a bricklaying operation. The control module is preset with a bricklaying sequence first, so that the bricklaying robot 100 can sequentially operate every time. The plastered brick 20 is conveyed to the picked-up position 220, and the horizontal plastered surface 21 of the plastered brick 20 is upward during conveying, so that the horizontal plastered surface 21 can be prevented from sticking to the brick conveying track. When the plastered brick 20 reaches the picked-up position 220, the overturning mechanism 120 of the bricklaying robot 100 controls the plastered brick 20 to overturn up and down so that the horizontal plastered surface 21 is downward, then the bricklaying mechanical arm 130 starts to transfer the plastered brick 20, so that the vertical plastered surface 23 of the plastered brick 20 is close to the last position, i.e., close to the last position of the previous laid block, and then the bricklaying mechanical arm 130 controls the plastered brick 20 to continue to move, so that the vertical plastered surface 23 sticks to the vertical placement surface SI of the previous laid brick, and the horizontal plastered surface 21 sticks to the horizontal placement surface S2 of the previous laid brick, thereby completing the bricklaying operation. The entire bricklaying process is simple and easy to operate, saving a lot of manpower and time, and improving bricklaying efficiency, i.e., improving efficiency of building a wall.

In an embodiment, as shown in FIG. 2 and FIG. 4, the bricklaying apparatus 10 further includes a conveying track 200. The conveying track 200 has an initial position 210 for starting to place a brick and a picked-up position 220 for a grabbed brick, and the supporting portion 110 is arranged adjacent to the picked-up position 220. The overturning mechanism 120 is arranged on the side of the supporting portion 110 that faces away from the initial position 210, the bricklaying mechanical arm 130 moves in a space on a side of the supporting portion 110 that faces away from the initial position 210, and a direction from the initial position 210 to the picked-up position 220 is parallel to a direction D from a first position to a last position. In this way, it can be ensured that after the plastered brick 20 reaches the picked-up position 220 from the initial position 210, the overturning mechanism 120 grabs and overturns the plastered brick, and then the bricklaying mechanical arm 130 grabs and transports the plastered brick in the direction facing away from the initial position 210. In this way, it can be ensured that the trajectory of the plastered brick 20 in the entire process of conveying and transferring by the mechanical arm is a continuous trajectory, and the entire bricklaying process is relatively smooth, improving bricklaying efficiency.

In another embodiment, as shown in FIG. 22, the bricklaying apparatus 10 further includes a conveying track 200, and the conveying mechanism includes a brick loading clamp and a transverse movement driving member. The transverse movement driving member drives the brick loading clamp to move between the initial position 210 and the picked-up position 220. The initial position 210 is used to start to place a brick, and the picked-up position 220 is used for the overturning mechanism 120 to grab a brick. The first supporting portion 110a is arranged adjacent to the picked-up position 220. The initial position 210 is arranged on the second supporting portion 110b and located on a side of the first supporting portion 110a. The overturning mechanism 120 is arranged on the second supporting portion 110b and located on a side that faces away from the initial position 210, the bricklaying mechanical arm 130 moves in a space on a side of the supporting portion 110a that faces away from the initial position 210, and a direction from the initial position 210 to the picked-up position 220 is the same a direction D from a first position to a last position. The direction from the initial position 210 to the picked-up position 220 is the same the direction D from the first position to the last position. In this way, it can be ensured that after the plastered brick 20 reaches the picked-up position 220 from the initial position 210, the overturning mechanism 120 grabs and overturns the plastered brick, and then the bricklaying mechanical arm 130 grabs and transports the plastered brick in the direction facing away from the initial position 210. In this way, it can be ensured that the trajectory of the plastered brick 20 in the entire process of conveying and transferring by the mechanical arm is a continuous trajectory, and the entire bricklaying process is relatively smooth, improving bricklaying efficiency.

In an embodiment, as shown in FIG. 5, the overturning mechanism 120 includes a mounting portion 121, a rotating portion 122, a connecting plate 123, and two parallel clamping plates 124 arranged on the connecting plate 123, where the mounting portion 121 is arranged on the supporting portion 110 in a lifting/descending mode, and the rotating portion 122 is rotatably connected to the mounting portion 121 and the connecting plate 123 along a first axis A. The first axis A is a horizontal axis and is perpendicular to the direction from the initial position 210 to the picked-up position 220. The two clamping plates 124 are relatively spaced in an extension direction of the first axis A, and a distance between the two clamping plates 124 is adjustable to clamp or release the plastered brick 20. The overturning mechanism 120 can grab the plastered brick 20 downward through the mounting portion 121 moved up and down along the supporting portion 110. The distance between the two clamping plates 124 on the connecting plate 123 is adjustable, so that the two clamping plates 124 can be controlled to clamp the plastered brick 20. The rotation of that rotating portion 122 can drive the connecting plate 123, the two clamping plates 124 and the clamped and plastered brick 20 to overturn, which is convenient for the overturning mechanism 120 to overturn the vertical plastered surface 23 of the plastered brick 20 from upward to downward. In this embodiment, a rotation axis of the mounting portion 121 is horizontal.

In an embodiment, as shown in FIG. 22, the overturning mechanism 120 includes a mounting portion 121, a rotating portion 122, a connecting plate 123, and two parallel clamping plates 124 arranged on the connecting plate 123, where the mounting portion 121 is arranged on the second supporting portion 110b in a liftable mode. The rotating portion 122 is rotatably connected to the mounting portion 121 and the connecting plate 123 along a first axis A. The first axis A is a horizontal axis and is perpendicular to the direction from the initial position 210 to the picked-up position 220. The two clamping plates 124 are relatively spaced in an extension direction of the first axis A, and a distance between the two clamping plates 124 is adjustable to clamp or release the plastered brick 20.

In an embodiment, as shown in FIG. 5, the bricklaying mechanical arm 130 includes a first arm 131, a second arm 132, and a hand portion 133 that are sequentially rotatably connected along a vertical elbow joint 324. An end of the first arm 131 away from the second arm 132 is rotatably connected to the base portion 134 along a vertical shoulder joint 323, and is connected to the supporting portion 110 by using the base portion 134. An end of the second arm 132 away from the first arm 131 is rotatably connected to the hand portion 133 by using a vertical wrist joint 325. The hand portion 133 is configured to grab a plastered and overturned brick. In this way, it is convenient for the bricklaying mechanical arm 130 to grasp, transfer and lay the plastered brick 20.

In another embodiment, as shown in FIG. 20, the bricklaying mechanical ann 130 includes a first arm 131, a second arm 132, and a hand portion 133 that are sequentially rotatably connected along a horizontal elbow joint 324. An end of the first arm 131 away from the second arm 132 is rotatably connected to the base portion 134 along the horizontal elbow joint 324, and is connected to a first supporting portion 110a by using the base portion 134. The base portion 134 is rotatably connected to the first supporting portion 110a along a vertically-arranged shoulder joint 323, and an end of the second arm 132 away from the first arm 131 is rotatably connected to the hand portion 133 by using a vertical wrist joint 325. The hand portion 133 is configured to grab a plastered and overturned brick 20. In this way, it is convenient for the bricklaying mechanical arm 130 to grasp, transfer and lay the plastered brick 20. In this embodiment, the first supporting portion 110a is a column with a fixed height, but in another embodiment, the first supporting portion 110a may be a column that can be lifted and retracted in a vertical direction In an embodiment, as shown in FIG. 4, the bricklaying apparatus 10 further includes a plastering and feeding mechanism 300, and the plastering and feeding mechanism 300 is arranged adjacent to the initial position 210. The plastering and feeding mechanism 300 is configured to plaster a brick, and then place the plastered brick 20 at the initial position 210 on the conveying track 200.

In an embodiment, a bricklaying device 40 is configured to stack bricks into a wall. Each of the bricks forms a stacking position on the wall, and the bricklaying device 40 includes a supporting portion 410, an overturning mechanism 120, and a bricklaying mechanical arm 130. The overturning mechanism 120 includes a mounting portion 121 and a pick-up portion 160, where the mounting portion 121 is connected to the supporting portion 410, the pick-up portion 160 is pivotally connected to the mounting portion 121 along a first axis A, the pick-up portion 160 is capable of picking up a plastered brick and overturning the plastered brick along the first axis, and the overturned and plastered brick is arranged with a plastered surface downward and a non-plastered surface upward. The bricklaying mechanical arm 130 includes a base portion 310, a joint arm 320 extending forward from the base portion 310, and a hand portion 133 connected to a front end of the joint arm 320, where the base portion 310 is mounted on the supporting portion 410, the joint arm 320 is configured to have a plurality of degrees of freedom, and the hand portion 133 is capable of picking up the overturned and plastered brick downward and releasing the overturned brick at the stacking position.

As shown in FIG. 6, FIG. 7, and FIG. 8, a bricklaying device 40 in an embodiment is configured to stack bricks into a wall. Each of the bricks forms a stacking position on the wall, and the bricklaying device 40 includes a supporting portion 410, an overturning mechanism 120, and a bricklaying mechanical arm 130 The overturning mechanism 120 includes a mounting portion 121 and a pick-up portion 160, where the mounting portion 121 is connected to the supporting portion 410, and the pick-up portion 160 is pivotally connected to the mounting portion 121 along a first axis A, that is, the pick-up portion 160 rotates around the first axis A on the mounting portion 121. The pick-up portion 160 can pick up the plastered brick and overturn the brick along the first axis A, and the overturned brick is arranged with a plastered surface 31 downward and a non-plastered surface 32 upward. In this embodiment, before the plastered brick is picked up by the pick-up portion 160, a horizontal plastered surface 21 of the plastered brick is upward and a horizontal non-plastered surface 22 thereof is downward. The bricklaying mechanical arm 130 includes a base portion 310, a joint arm 320 extending forward from the base portion 310, and a hand portion 133 connected to a front end of the joint arm 320, where the base portion 310 is mounted on the supporting portion 410, the joint arm 320 is configured to have a plurality of degrees of freedom, and the hand portion 133 can pick up the overturned brick downward and release the overturned brick at the stacking position.

In the foregoing bricklaying device 40, the pick-up portion 160 of the overturning mechanism 120 can grab the plastered brick 20, and the bricklaying mechanical arm 130 is configured to re-grab the plastered brick 20 grabbed by the pick-up portion 160 and then transfer the plastered brick to a stacking position, so as to perform a bricklaying operation. The hand portion 133 is configured to grab the plastered brick 20. The joint arm 320 has a plurality of degrees of freedom, and may drive the hand portion 133 to the position of the pick-up portion 160, or may drive the hand portion 133 to the stacking position. The foregoing bricklaying operation does not need manual handling and bricklaying, which saves manpower, avoids a potential safety hazard such as brick falling and crushing that may occur, and improves bricklaying efficiency through an automatic operation of the machine. The horizontal plastered surface 21 needs to be upward when the plastered brick 20 is conveyed or placed, so as to prevent slurry on the horizontal plastered surface 21 from sticking to the conveying mechanism or a placing mechanism, and prevent the slurry on the horizontal plastered surface 21 from polluting the conveying mechanism or the placing mechanism. In this case, after the pick-up portion 160 grabs the plastered brick 20, the plastered brick 20 can be overturned by 1800 through rotation of the pick-up portion 160 on the mounting portion 121, so that the horizontal plastered surface 21 is downward. In this way, it is convenient for the bricklaying mechanical arm 130 to grab the plastered brick 20 on the pick-up portion 160, and after the plastered brick 20 is transferred, the plastered brick 20 can be directly placed to the stacking position in a pose with the horizontal plastered surface 21 downward, to complete the bricklaying, so that when the bricklaying mechanical arm 130 places the brick at the stacking position, the plastered surface 31 of the brick is downward and sticks to the horizontal placement surface at the stacking position, thereby preventing the plastered surface 31 of the brick from being exposed outside when placed at the stacking position and waiting for sticking of the next brick, thereby avoiding a poor bricklaying effect caused by slurry solidification during the waiting. When the foregoing effect is ensured, the overturning mechanism 120 can further function to make the plastered surface 31 upward during brick conveying, so that the scraping of the slurry is reduced during the transfer of the brick to the bricklaying mechanical arm 130 after brick plastering, thereby avoiding nonuniform distribution or too little slurry on the plastered surface 31 caused by the scraping, and ilirther avoiding poor bricklaying effects caused by nonuniform distribution or too little slurry on the plastered surface 31. Furthermore, while the bricklaying mechanical arm 130 places the brick at the stacking position, the overturning mechanism 120 overturns the next to-be-stacked plastered brick 20, so that the bricklaying mechanical arm 130 does not need to wait for a too long time when needing to pick up the next to-be-stacked plastered brick 20 after the bricklaying is completed, thereby reducing an operation time, and being very convenient and efficient. The bricklaying device 40 of this embodiment ensures the plastering effect during brick conveying and also ensures the bricklaying effect, and also accelerates the bricklaying.

To facilitate the alignment with the plastered brick 20 before the hand portion 133 grabs the plastered brick 20, in an embodiment, as shown in FIG 8 and FIG. 16, the bricklaying device 40 further includes a control module, where the hand portion 133 includes position detection apparatuses 331, and the position detection apparatuses 331 each are configured to detect a pose of the overturned brick, and are in telecommunication connection with the control module. The control module generates an action instruction based on the pose of the overturned brick, the action instruction is used to control the hand portion 133 to be adjusted to a parallel pose parallel to the brick, and the control module controls the hand portion 133 to grab the brick from top to bottom in the parallel pose. In this way, the position detection apparatuses 331 detect the pose of the overturned brick and provide a feedback to the control module. The control module controls the hand portion 133 based on the pose information of the brick to move until the hand portion 133 is parallel to the brick, thereby implementing the alignment operation before the hand portion 133 grabs the brick, so that the hand portion 133 subsequently translates and lifts or descends to grab the plastered brick 20 on the pick-up portion 160. It should be noted that when the position detection apparatuses 331 of the hand portion 133 detect the pose of the overturned brick, the hand portion 133 and the position detection apparatuses 331 are located over the brick. This ensures that the position detection apparatuses 331 can detect the pose of the brick, so that the hand portion 133 is aligned with the brick.

To facilitate the detection of the pose of the overturned and plastered brick 20 by the position detection apparatuses 331, in an embodiment, as shown in FIG. 8 and FIG. 16, the position detection apparatuses 331 are laser ranging sensors 331a/331b, and there are at least three laser ranging sensors 33 la/33 lb. In this embodiment, there are three laser ranging sensors. When the hand portion 133 is located above the pick-up portion 160, each of the three laser ranging sensors emits laser lines toward the non-plastered surface 32 and forms three laser points on the non-plastered surface 32. The three laser points are not on the same straight line, and lines connecting the three laser points form a triangle. A plane where the triangle is located forms a first reference S. The control module controls the hand portion 133 to be adjusted to be parallel to the first reference S, and controls the hand portion 133 to grab the brick in the pose parallel to the first reference S. In this way, the first reference S is formed by the lines connecting the three laser points emitted on the non-plastered surface 32 by the three laser ranging sensors, and information of the laser points transmitted by each of the laser ranging sensors is sent to the control module. The control module obtains the information of the first reference S composed of the laser points, and then the control module can control the hand portion H3 to be adjusted to be parallel to the first reference S, and control the hand portion 133 to grab the brick in the pose parallel to the first reference S, so that it is convenient for the position detection apparatuses 331 to detect the pose of the overturned and plastered brick 20.

In an embodiment, as shown in FIG. 8, lines connecting the three laser points form a triangle, and when viewed from top to bottom, a projection of a mass center of the brick is located in the triangle, so that the position detection apparatuses 331 detect flatness of a region that is a central area of the brick, and thus flatness of the first reference S is flatness of the central area of the brick. The pose adjusted by the hand portion 133 is based on the flatness of the central area of the brick, so that when the hand portion 133 picks up the brick, the pose of the brick is roughly the same as that of the hand portion H3, and thus controlling the pose of the hand portion 133 is equivalent to controlling the pose of the brick, which facilitates control over accuracy of placing the brick at the stacking position.

To make it convenient for the position detection apparatuses 331 to detect the flatness of the central area of the brick, in an embodiment, as shown in FIG. 16, three laser ranging sensors are arranged on a left side and a right side of the hand portion 133, a side of the hand portion 133 is provided with two laser ranging sensors 331a, and the other side of the hand portion 133 is provided with the remaining laser ranging sensor 33 lb. The control module confirms, based on spatial coordinates of the mass center of the brick and spatial coordinates of the hand portion 133, path planning for the hand portion 133 to rotate to above the central area of the brick, and defines that the three laser ranging sensors are arranged on two sides of the hand portion 133 respectively, so that when the hand portion 133 is located above the central area of the brick, the three laser ranging sensors are located on the left side and the right side of the mass center of the brick respectively, and also located on a front side and a rear side of the mass center of the brick respectively. In this embodiment, the laser ranging sensor 331b and one of the laser ranging sensors 331a are aligned with each other in a left-right direction, which ensures that the mass center of the brick is located in the triangle formed by the three laser ranging sensors on the non-plastered surface 32 of the brick. In this embodiment, there may be four, five or more laser ranging sensors, as long as lines connecting a plurality of laser points on the non-plastered surface 32 of the brick can form a polygon, and the flatness of a plane on which the polygon is located is the first reference S. Similarly, the mass center of the brick is located in the polygon, which is beneficial to accuracy of the hand portion 133 stacking the bricks on the wall.

To facilitate automatic transfer of the plastered brick 20 by the bricklaying mechanical arm 130, in an embodiment, as shown in FIG. 7 and FIG. 10, the bricklaying device 40 further includes a control module, where the control module can control the bricklaying mechanical arm 130 to swing between a first pose P1 and a second pose P2, the bricklaying mechanical arm 130 picks up the overturned bricks downward in the first pose Pl, the bricklaying mechanical arm 130 is calibrated and positioned with a laid brick in the second pose P2, and a tail end arm of the joint arm 320 in the first pose P1 and a tail end arm of the joint arm 320 in the second pose P2 are in 180° symmetry in a front-back direction. In this way, the control module can control the bricklaying mechanical arm 130 to transfer the brick on the pick-up portion 160 on a side of the supporting portion 410 to the stacking position on the other side of the supporting portion 410, and the vertical plastered surface 23 of the brick can be overturned by 180°, so as to be in parallel butt joint with the vertical surface of another laid brick.

To facilitate swing of the bricklaying mechanical arm 130 between the first pose P1 and the second pose P2, in an embodiment, as shown in FIG. 8 to FIG. 10, switched from the first pose PI to the second pose P2, the joint arm 320 is provided with a shoulder joint 323, an elbow joint 324, and a wrist joint 325, for control of the bricklaying mechanical arm 130, the control module applies an action instruction to only the elbow joint 324, and the action instruction makes the tail end arm of the joint arm 320 swing forward by 1800 in a horizontal direction. In this embodiment, the joint arm 320 is rotatably connected to the base portion 310 by using the shoulder joint 323, the joint arm 320 rotates a tail end arm by using the elbow joint 324, and the joint arm 320 is rotatably connected to the hand portion 133 by using the wrist joint 325. Therefore, under control by the control module, the joint arm 320 has the shoulder joint 323, the elbow joint 324, and the wrist joint 325, so that rotation of the tail end arm of the joint arm 320 can be adjusted in a horizontal direction, and the application of the action instruction to only the elbow joint 324 can control the bricklaying mechanical arm 130 to switch from the first pose P1 to the second pose P2 To improve bricklaying efficiency, in an embodiment, the overturning mechanism 120 overturns a plastered brick 20 to a same height every time, so that the height of the plastered brick 20 after overturning is kept at a fixed height, and thus every time the hand portion 133 of the bricklaying mechanical arm 130 reaches above the pick-up portion 160, a height difference between the hand portion 133 and the overturned brick is the same. In this way, a grabbing position for the hand portion 133 can be reached by rising or descending by the fixed height difference without adjusting a height by which the bricklaying mechanical arm 130 needs to lift or descend every time. The adjustment value of the fixed height difference greatly saves a time required to transfer bricks and improves bricklaying efficiency.

To improve bricklaying efficiency, in an embodiment, the hand portion 133 grabs a brick downward at a same height and position every time, so that the height and horizontal position of the hand portion 133 are unchanged every time, and then the hand portion lifts or descends by a fixed height to grab a brick, thereby reducing a process of adjusting the height and horizontal position of the hand portion 133 before grabbing a brick every time, and greatly improving bricklaying efficiency.

To accurately determine whether a plastered brick 20 reaches a position for grabbing by the pick-up portion 160, in an embodiment, as shown in FIG. 6 and FIG. 11, the brick is conveyed to a picked-up position in a conveying direction, the picked-up position is independently or integrally provided on the bricklaying device 40, the plastered brick 20 at the picked-up position is used to be picked up by the overturning mechanism 120, the overturning mechanism 120 is provided with an in-place inductor 230, and the in-place inductor 230 is mounted on the pick-up portion 160 and configured to sense a position of the brick in the conveying direction. In this way, the in-place inductor 230 senses whether the brick is in place, e.g., whether the brick reaches an induction position, which is located before the picked-up position, so that the overturning mechanism 120 starts to adjust the position, and then grabs and overturns the plastered brick 20.

To facilitate the arrangement of the in-place inductor 230 and enable the in-place inductor 230 to conveniently sense the in-place of the plastered brick 20, in an embodiment, as shown in FIG. 11, the pick-up portion 160 is provided with a limiting block 240, the limiting block 240 is arranged on the pick-up portion 160, the limiting block 240 or the pick-up portion 160 is provided with the in-place inductor 230, the limiting block 240 is provided with a blocking surface facing the plastered brick 20, an induction surface of the in-place inductor 230 is parallel to the blocking surface, or the induction surface protrudes from the blocking surface, and the in-place inductor 230 is a contact inductor. The limiting block 240 blocks and limits the plastered brick 20, so that the brick is in place, and reaches an induction position, which is located before a picking-up position. In this case, the brick comes into contact with the in-place inductor 230, the in-place inductor 230 provides a feedback to the control module, and the control module starts to control the overturning mechanism 120 to adjust its position and operate. Because the induction surface is parallel to the blocking surface or protrudes from the blocking surface, the arrangement of the in-place inductor 230 on the limiting block 240 or the pick-up portion 160 can effectively come into contact with and sense the plastered brick 20.

To enable the pick-up portion 160 to conveniently grab and overturn a plastered brick 20, in an embodiment, as shown in FIG 7 and FIG. 11, the pick-up portion 160 includes a connecting plate 123 and two clamping portions 222. The connecting plate 123 is rotatably connected to the mounting portion 121 by using a rotating shaft, an axis of the rotating shaft is the first axis A, the two clamping portions 222 are spaced on the connecting plate 123, and at least one of the two damping portions 222 is slidably connected to the connecting plate 123, so that a brick clamping space is formed between the two clamping portions 222. In this way, the connecting plate 123 rotates and drives the two clamping portions 222 to overturn, thereby driving the brick clamped in the brick clamping space by the two clamping portions 222 to overturn.

To make it convenient for the two clamping portions 222 to clamp a brick, in an embodiment, the two clamping portions 222 have two opposite clamping surfaces, at least one of the two clamping surfaces is provided with a contact sensor, and a contact portion of the contact sensor protrudes into a clamping space. Through the arrangement of the contact sensor, a pressure between the two clamping portions 222 can be determined, and then whether the two clamping portions 222 can clamp the brick without falling off can be determined, so that a distance between the two clamping portions 222 can be effectively adjusted until the two clamping portions 222 clamp the brick. In an embodiment, contact sensors are arranged in the two clamping surfaces respectively. In an embodiment, the contact sensor is a pressure sensor To ensure that the joint arm 320 has a plurality of degrees of freedom, in an embodiment, as shown in FIG. 8, FIG. 9, and FIG. 16, the joint arm 320 includes a first arm 131 and a second arm 132, where the first arm 131 is rotatably connected to the base portion 310 by using a shoulder joint 323, an end of the first arm 131 away from the base portion 310 is rotatably connected to the second arm 132 by using an elbow joint 324, the hand portion 133 is rotatably connected to an end of the second arm 132 away from the first arm 131 by using a wrist joint 325, and a rotation axis of the shoulder joint 323, a rotation axis of the elbow joint 324 and a rotation axis of the wrist joint 325 are parallel to each other and are separately perpendicular to an extension direction of the first arm 131. In this way, the shoulder joint 323, the elbow joint 324, and the wrist joint 325 can control the first arm 131 to rotate relative to the base portion 310, control the second arm 132 to rotate relative to the first arm 131, and control the hand portion 133 to rotate relative to the second arm 132, thereby controlling the joint arm 320 to drive the hand portion 133 to perform multi-level displacement, and improving flexibility of translation of the hand portion 133.

In an embodiment, as shown in FIG. 16, the hand portion 133 includes a hand plate 332 and two clamping plates 124 connected to the hand plate 332. The two clamping plates 124 are spaced and parallel to each other, and at least one of the two damping plates 124 is slidably arranged on the hand plate 332, so that a distance between the two clamping plates 124 is adjustable. Opposite surfaces of the two clamping plates 124 are each provided with a clamping pad 334, and the clamping pad 334 is configured to abut against a plastered brick 20.

To effectively improve the degree of freedom of the bricklaying mechanical arm 130, in an embodiment, as shown in FIG. 16 and FIG. 17, the bricklaying mechanical arm 130 is provided with a rotation adjusting mechanism for adjusting XYZ-direction rotation, where the wrist joint 325 of the joint arm 320 is a Z-direction R-shaft of the rotation adjusting mechanism, and an XY-direction R-shaft of the rotation adjusting mechanism is located between the wrist joint 325 and the elbow joint 324 or is arranged close to a front end relative to the wrist joint 325, and is located between the hand portion 133 and the wrist joint 325. Through the arrangement of the rotation adjusting mechanism for adjusting XYZ-direction rotation, the hand portion 133 can move in all directions, rotate in a horizontal plane and further rotate in a vertical plane, so that it is more convenient to adjust a spatial pose of the hand portion 133 in an operation space, thereby facilitating adjustment of a target pose of the hand portion 133. The target pose means that a plastered brick 20 is parallel to a wall and the horizontal plane, and is released at the stacking position in the target pose, thereby ensuring the yield of bricklaying quality.

To facilitate the adjustment of the joint arm 320 in the X and Y directions, in an embodiment, as shown in FIG. 16 and FIG. 17, the XY-direction R-shaft includes an X-direction R-shaft and a Y-direction R-shaft, and the second arm 132 includes a first arm body 3221, a second arm body 3222, a third arm body 3223, the X-direction R-shaft, and the Y-direction R-shaft; extension directions of the first arm body 3221, the second arm body 3222 and the third arm body 3223 are separately the same as an extension direction of the entire second arm 132, the first arm body 3221 is connected to the elbow joint 324, the X-direction R-shaft is rotatably arranged on the first arm body 3221, an axis of the X-direction R-shaft is perpendicular to an axis of the elbow joint 324 and the extension direction of the first arm body 3221, and the second arm body 3222 is rotatably connected to the first arm body 3221 by using the X-direction R-shaft; the Y-direction R-shaft is rotatably arranged on the second arm body 3222, an axis of the Y-direction R-shaft is perpendicular to an axis of the elbow joint 324 and is parallel to the extension direction of the second arm body 3222, the third arm body 3223 is rotatably connected to the second arm body 3222 by using the Y-direction R-shaft, and the third arm body 3223 is connected to the wrist joint 325. In this way, the first arm body 3221 can swing around the Z-direction, so that the hand portion 133 can improve flexibility of swinging around the Z-direction, the second arm body 3222 can rotate around the X-direction relative to the first arm body 3221, and the third arm body 3223 can rotate around the Y-direction relative to the second arm body 3222, so that the hand portion 133 and the wrist joint 325 can rotate around the Y-direction with the third arm body 3223. In this way, the hand portion 133 can rotate around XYZ-direction axes, which improves flexibility of the bricklaying mechanical arm 130 in transferring bricks To drive the X-direction R-shaft, the Y-direction R-shaft, and the Z-direction R-shaft to rotate, in an embodiment, as shown in FIG 16 and FIG. 17, the first arm body 3221 is provided with an X-direction driving joint 326, a rotation axis of the X-direction driving joint 326 is in the X-direction, an output shaft of the X-direction driving joint 326 is sleeved with a driving wheel 3261, the driving wheel 3261 is in transmission connection with a driven wheel 3262 by using a synchronous belt, and the driven wheel 3262 is connected to the X-direction R-shaft; the second arm body 3222 is provided with a Y-direction driving joint 327, and an output shaft of the Y-direction driving joint 327 is connected to the Y-direction R-shaft; the third arm body 3223 is provided with a Z-direction driving joint 328, and an output shaft of the Z-direction driving joint 328 is connected to the Z-direction R-shaft. In this way, the X-direction R-shaft, the Y-direction R-shaft, and the Z-direction R-shaft can be separately driven to rotate, and the rotations are performed independently or together, thereby greatly improving movement flexibility of the hand portion 133. The Z-direction driving joint 328 is located at an end of the second arm 132 away from the first arm 131 and rotatably connected to the hand portion 133, so that the Z-direction driving joint 328 forms the wrist joint 325 of the bricklaying mechanical arm 130.

To improve bricklaying efficiency, in an embodiment, the bricklaying device 40 further includes a control module, where the control module sends a first action instruction and a second action instruction simultaneously, the first action instruction causes the bricklaying mechanical arm to perform a bricklaying action, and the second action instruction causes the overturning mechanism 120 to grab and overturn the plastered brick. In this way, the control module can send the first action instruction and the second action instruction simultaneously, so that operations of overturning a brick and transferring a brick can be performed simultaneously, two plastered bricks 20 in front and rear can be operated separately, the previous plastered brick 20 can be laid, and the next plastered brick 20 can be grabbed and overturned, and then the bricklaying mechanical arm 130 can rotate and grab the next overturned and plastered brick 20, which greatly improves bricklaying efficiency.

To ensure operation continuity, in an embodiment, duration of the second action instruction is less than or equal to that of the first action instruction. In this way, when the bricklaying mechanical arm 130 has laid the previous plastered brick 20, and prepares to rotate to transfer the next plastered brick 20, the overturning mechanism 120 has already overturned the next plastered brick 20, so that the bricklaying mechanical arm 130 does not need to wait for the overturning of the plastered brick 20 by the overturning mechanism 120, thereby improving bricklaying efficiency.

To control the overturning mechanism 120 and the bricklaying mechanical arm 130 to lift or descend and to prevent the overturning mechanism 120 from affecting operations of transferring a brick and laying a brick by the bricklaying mechanical arm HO, in an embodiment, as shown in FIG. 6 and FIG. 11, the supporting portion 410 is provided with a first lifting mechanism 420 and a second lifting mechanism 140, where the first lifting mechanism 420 is connected to the bricklaying mechanical arm 130 to lift or descend the bricklaying mechanical arm 130, the second lifting mechanism 140 is connected to the overturning mechanism 120 to lift or descend the overturning mechanism 120, and the second lifting mechanism 140 is arranged behind the first lifting mechanism 420. In this way, the lifting or descending of the overturning mechanism 120 and the bricklaying mechanical arm 130 can be controlled, so that it is convenient to grab the plastered brick 20. Moreover, the second lifting mechanism 140 is arranged behind the first lifting mechanism 420, which can prevent the overturning mechanism 120 from affecting operations of transferring a brick and laying a brick by the bricklaying mechanical arm 130.

To make it convenient for the first lifting mechanism 420 to drive the base portion 310 to lift or descend, in an embodiment, as shown in FIG. 11, FIG. 14, and FIG. 15, the first lifting mechanism 420 includes a fixed frame 111, a first-stage lifter 112, a second-stage lifter 113, and a third-stage lifter 114 that are sequentially arranged from rear to front, where the first-stage lifter 112 is arranged on the fixed frame 111, an annular belt 1121 is arranged on the first-stage lifter 112, two ends of the annular belt 1121 are located on a front side and a rear side of the first-stage lifter 112 respectively, a first end of the annular belt 1121 is fixedly connected to an upper part of the fixed frame 111, and a second end of the annular belt 1121 is fixedly connected to a lower part of the second-stage lifter 113; while the first-stage lifter 112 rises, the annular belt 1121 with a fixed length drives the second-stage lifter 113 and the third-stage lifter 114 on the second-stage lifter 113 to rise synchronously, and the base portion 310 is connected to the third-stage lifter 114. In this embodiment, the third-stage lifter 114 lifts or descends on the second-stage lifter 113, and the second-stage lifter 113 lifts or descends on the first-stage lifter 112. In this way, multi-stage lifting or descending is implemented, which ensures that a height requirement that the bricklaying mechanical arm 130 can lift and descend is met, so that when the first-stage lifter 112 performs vertical movement, the second-stage lifter 113, the third-stage lifter 114, and the base portion 310 can be driven by only the annular belt 1121 to move up synchronously, which is very convenient.

To facilitate the lifting or descending of the first-stage lifter 112 on the fixed frame 111, in an embodiment, as shown in FIG. 11 to FIG. 15, the first-stage lifter 112 includes a first-stage moving frame 1122 and a first-stage driven portion 1123, the fixed frame 111 is provided with a first-stage driving portion 1111, the first-stage moving frame 1122 is slidably arranged on the fixed frame 111 in a vertical direction, the first-stage driving portion 1111 is in transmission connection with a first-stage active portion 1112, the first-stage active portion 1112 is in transmission connection with the first-stage driven portion 1123, the first-stage driven portion 1123 is connected to the first-stage moving frame 1122, and the first-stage driven portion 1123 drives the first-stage moving frame 1122 to slide on the fixed frame 111 in the vertical direction. In this way, the first-stage driving portion 1111 drives the first-stage active portion 1112 to drive the first-stage driven portion 1123 to move, and the first-stage driven portion 1123 drives the first-stage moving frame 1122 to slide on the fixed frame 111, so that the first-stage lifter 112 moves up and down to drive the second-stage lifter 113 to move up and down.

To prevent the first-stage driving portion 1111 from interfering with the first-stage lifter 112, in an embodiment, as shown in FIG. 11 to FIG. 15, the first-stage driving portion 1111 is arranged on a side of the fixed frame 111 that faces away from the first-stage moving frame 1122, so that the first-stage driving portion 1111 does not hinder the movement of the first-stage lifter 112, and a situation in which a relatively wide space is provided between the first-stage moving frame 1122 and the fixed frame 111 to arrange the first-stage driving portion 1111, so that the first-stage lifter 112 has an uncompact structure and a relatively large size is prevented.

To control a lifting or descending range of the first-stage lifter 112, in an embodiment, as shown in FIG. 11 to FIG. 15, two sides of the first-stage moving frame 1122 are provided with first-stage sliding blocks 1124 respectively, a side surface of at least one of the first-stage sliding blocks 1124 is provided with a top limit switch 1125 and a bottom limit switch 1126 that are vertically spaced, the fixed frame 111 is provided with a first-stage guide rail 1113, the first-stage sliding block 1124 is in sliding fit with the first-stage guide rail 1113, and a top limit switch inductor 1114 and a bottom limit switch inductor 1115 are arranged at an upper end and a lower end of a side of the fixed frame 111 respectively, and are configured to sense the top limit switch inductor 1125 and the bottom limit switch inductor 1126 respectively. In this way, the top limit switch inductor 1114 senses the top limit switch 1125, and the bottom limit switch inductor 1115 senses the bottom limit switch 1126, so that a highest point and a lowest point that can be reached by the first-stage lifter 112 can be controlled, that is, the lifting or descending range of the first-stage lifter 112 can be controlled, and the first-stage lifter 112 can be prevented from being separated from the fixed frame 111.

To drive the first-stage moving frame 1122 to move and prevent the first-stage driven portion 1123 from occupying more space, in an embodiment, as shown in FIG. 11 to FIG. 15, the fixed frame 111 includes two vertical rods 1116 and a plurality of transverse rods 1117 vertically arranged between the two vertical rods 1116, each of the transverse rods 1117 is provided with an avoidance groove 1118 vertically running through the transverse rod 1117, the first-stage active portion 1112 is a first-stage gear, the first-stage driven portion 1123 is a first-stage rack, the first-stage gear meshes with the first-stage rack, and the first-stage rack sequentially penetrates through the avoidance grooves 1118. In this way, the first-stage gear drives the first-stage rack to lift or descend, so that it is convenient to drive the first-stage moving frame 1122 to move. Moreover, the avoidance groove 1118 can accommodate at least part of the first-stage rack, so as to prevent the first-stage rack from protruding excessively and affecting lifting or descending movement of the first-stage moving frame 1122, and to prevent a situation in which the first-stage rack protrudes excessively to occupy excessive space, so that the first-stage lifter 112 has an uncompact structure and an excessively large size.

To make it convenient for the annular belt 1121 to drive the second-stage lifter 113 to move, in an embodiment, as shown in FIG. 11 to FIG. 15, a rotating wheel 1127 is rotatably arranged at the top of the first-stage moving frame 1122, the annular belt 1121 is sleeved on the rotating wheel 1127, the first end of the annular belt 1121 is located on a side of the first-stage moving frame 1122 facing the fixed frame 111, and is connected to a first fixed portion 1119 protruding on the fixed frame 111, the second end of the annular belt 1121 is located on the other side of the first-stage moving frame 1122 that faces away from the fixed frame 111, and is connected to the second-stage lifter 113, and the second-stage lifter 113 is slidably arranged on the first-stage moving frame 1122. In this embodiment, the fixed frame 111 and the second-stage lifter 113 are located on two sides of the first-stage lifter 112 respectively. In this way, the first-stage lifter 112 lifts or descends on the fixed frame 111, while the first end of the annular belt 1121 is connected to the fixed frame 111, and the second end of the annular belt 1121 is connected to the second-stage lifter 113. Therefore, when the first-stage lifter 112 lifts or descends, the annular belt 1121 has a fixed length, and thus lengths of parts of the annular belt 1121 on two sides of the first-stage lifter 112 change, thereby changing the height of the second-stage lifter 113, and making it convenient for the annular belt 1121 to drive the second-stage lifter 113 to move.

To facilitate separate lifting or descending of the second-stage lifter 113 and the third-stage lifter 114, in an embodiment, as shown in FIG. 11 to FIG. 15, the second-stage lifter 113 includes a second-stage moving frame 1131 and a second fixed portion 1132 arranged on the second-stage moving frame 1131, the second end of the annular belt 1121 is connected to the second fixed portion 1132, and the second-stage moving frame 1131 is provided with a second-stage guide rail 1133, the third-stage lifter 114 includes a third-stage driving portion 1141, a third-stage active portion, and a third-stage moving portion 1142; the second-stage moving frame 1131 is further provided with a third-stage driven portion 1134, the third-stage moving portion 1142 is slidably arranged on the second-stage guide rail 1133, the third-stage driving portion 1141 is in transmission connection with the third-stage active portion, the third-stage active portion is in transmission connection with the third-stage driven portion 1134, the third-stage driven portion 1134 drives the third-stage moving portion 1142 to slide on the second-stage guide rail 1133, and the base portion 310 is connected to the third-stage lifter 114. In this way, the annular belt 1121 rolls and drives the second fixed portion 1132 and the second-stage moving frame 1131 to lift or descend, to facilitate the lifting or descending of the second-stage lifter 113 The third-stage driving portion 1141 drives the third-stage active portion to move, the third-stage active portion drives the third-stage moving portion 1142 to move, and the third-stage moving portion 1142 drives the base portion 310 to move, to facilitate the lifting or descending of the third-stage lifter 114. In an embodiment, as shown in FIG. 15, the third-stage moving portion 1142 is slidably connected to the second-stage guide rail 1133 by using a third-stage sliding block 1143 To make it convenient for the bricklaying mechanical arm 130 to operate and grab the plastered brick 20 on the overturning mechanism 120 and to facilitate the transfer of the plastered brick 20 to the stacking position, in an embodiment, a first side and a second side are defined in a left-right direction, the bricklaying mechanical arm 130 swings backward toward the first side to above the overturning mechanism 120, and the base portion 310 is biased toward the first side. That is, a motion trajectory of the bricklaying mechanical arm 130 reaches the rear toward the first side from the front of the bricklaying mechanical arm 130, that is, reaches the rear after passing through a side of the supporting portion 410 toward the first side. Because the joint arm 320 swings toward the first side relative to the supporting portion 410, during the process of the joint arm 320 rotating to above the overturning mechanism 120, to enable the joint arm 320 to have a relatively large movement range, the wrist joint 325 of the first arm 131 protrudes on the first side from the supporting portion 410 by a certain distance, so that the second arm 132 can swing front and rear by 1800 in an operation space of the first side of the supporting portion 410, to limit in such a way that the base portion 310 is biased to the first side. Therefore, a relatively small length of the first arm 131 can make a wrist protrude from the supporting portion 410 by a certain distance on the first side, thereby reducing the overall length of the joint arm 320 and facilitating overall rigidity of the joint arm 320. In an embodiment, the wrist joint 325 protrudes from the supporting portion 410 by a certain distance, and the certain distance makes the wrist joint 325 and the overturning mechanism 120 located on a same vertical plane extending forward and rearward. For control of the joint arm 320, the control module controls only the wrist joint 325 to rotate front and rear by 180°, so that the hand portion 133 can rotate between a pick-up position and a calibration position. The pick-up position is located over the overturning mechanism 120, as shown in FIG. 9 and FIG. 10, and the calibration position is a ready position before a brick is placed at a stacking position of a wall, as shown in the position of the brick in the second pose P2 in FIG. 10. This embodiment reduces the overall length of the bricklaying mechanical arm 130, strengthens overall rigidity, further makes it convenient for the bricklaying mechanical arm 130 to operate and grab the plastered brick 20 on the overturning mechanism 120, and facilitates transfer of the plastered brick 20 to the stacking position. In an embodiment, the left-right direction is a direction in which the plastered brick 20 is conveyed, and the first side points to the plastered brick 20.

To make it convenient for the joint arm 320 to drive the hand portion 133 to move to above the pick-up portion 160, in an embodiment, the base portion 310 and the mounting portion 121 have a fixed relative position in a left-right direction in a coordinate system of the bricklaying device 40, and the mounting portion 121 is located on a first side of the base portion 310. This ensures continuity of the joint arm 320 driving the hand portion 133 to move to above the pick-up portion 160.

FIG. 20 and FIG. 21 show a bricklaying device 40 in another embodiment. The bricklaying device 40 includes a chassis 400, a supporting portion 410 mounted on the chassis 400, and a conveying mechanism 200, an overturning mechanism 120 and a bricklaying mechanical arm 130 that are mounted on the supporting portion 410. The supporting portion 410 includes a first supporting portion 410a mounted in a rear area of the chassis 400 and a second supporting portion 410b mounted in a front area 410b of the chassis 400. The first supporting portion 410a is used to mount the conveying mechanism 200 and the overturning mechanism 120, and the second supporting portion 410b is used to mount the bricklaying mechanical arm 130.

As shown in FIG. 6 and FIG. 18, a building system 50 includes a chassis 400 and the bricklaying device 40 according to any one of the foregoing embodiments. The chassis 400 is provided with a brick conveying track 500 and a moving track 600, where the brick conveying track 500 is used to convey plastered bricks 20 in a first direction D, and can be arranged on the moving track 600 in a reciprocating mode, so that the bricklaying device 40 can reciprocate on the moving track 600, and an overturning mechanism 120 picks up the plastered bricks 20 from the brick conveying track 500, where a direction of reciprocating of the bricklaying device 40 is parallel to the first direction D and a direction of a wall, and the brick conveying track 500 has a height greater than that of the moving track 600. In this embodiment, the building system 50 operates on a ground G. The building system 50 includes the bricklaying device 40. The pick-up portion 160 of the overturning mechanism 120 can grab the plastered brick 20, and the bricklaying mechanical arm 130 is configured to re-grab the plastered brick 20 grabbed by the pick-up portion 160 and then transfer the plastered brick to a stacking position, so as to perform a bricklaying operation. The hand portion 133 is configured to grab the plastered brick 20. The joint arm 320 has a plurality of degrees of freedom, and may drive the hand portion 133 to the position of the pick-up portion 160, or may drive the hand portion 133 to the stacking position. The foregoing bricklaying operation does not need manual handling and bricklaying, which saves manpower, avoids a potential safety hazard such as brick falling and crushing that may occur, and improves bricklaying efficiency through an automatic operation of the machine. The horizontal plastered surface 21 needs to be upward when the plastered brick 20 is conveyed or placed, so as to prevent slurry on the horizontal plastered surface 21 from sticking to the conveying mechanism or a placing mechanism, and prevent the slurry on the horizontal plastered surface 21 from polluting the conveying mechanism or the placing mechanism. In this case, after the pick-up portion 160 grabs the plastered brick 20, the plastered brick 20 can be overturned by 1800 through rotation of the pick-up portion 160 on the mounting portion 121, so that the horizontal plastered surface 21 is downward. In this way, it is convenient for the bricklaying mechanical arm 130 to grab the plastered brick 20 on the pick-up portion 160, and after the plastered brick 20 is transferred, the plastered brick 20 can be directly placed to the stacking position in a pose with the horizontal plastered surface 21 downward, to complete the bricklaying, so that when the bricklaying mechanical arm 130 places the brick at the stacking position, the plastered surface 31 of the brick is downward and sticks to the horizontal placement surface at the stacking position, thereby preventing the plastered surface 31 of the brick from being exposed outside when placed at the stacking position and waiting for sticking of the next brick, thereby avoiding a poor bricklaying effect caused by slurry solidification during the waiting. When the foregoing effect is ensured, the overturning mechanism 120 can further function to make the plastered surface 31 upward during brick conveying, so that the scraping of the slurry is reduced during the transfer of the brick to the bricklaying mechanical arm 130 after brick plastering, thereby avoiding nonuniform distribution or too little slurry on the plastered surface 31 caused by the scraping, and further avoiding poor bricklaying effects caused by nonuniform distribution or too little slurry on the plastered surface 31. Furthermore, while the bricklaying mechanical arm 130 places the brick at the stacking position, the overturning mechanism 120 overturns the next to-be-stacked plastered brick 20, so that the bricklaying mechanical arm 130 does not need to wait for a too long time when needing to pick up the next to-be-stacked plastered brick 20 after the bricklaying is completed, thereby reducing an operation time, and being very convenient and efficient. The bricklaying device 40 of this embodiment ensures the plastering effect during brick conveying and also ensures the bricklaying effect, and also accelerates the bricklaying. In addition, the brick conveying track 500 is used to convey the plastered bricks 20, and the bricklaying device 40 can move on the moving track 600. A moving direction of the bricklaying device 40 is parallel to the direction in which the plastered bricks are conveyed, i.e., parallel to the first direction D, so that it is convenient for the bricklaying device 40 to perform operations such as picking up, overturning, transferring, and stacking the plastered bricks 20.

To make it convenient for the pick-up portion 160 of the overturning mechanism 120 to grab the plastered brick 20, in an embodiment, the overturning mechanism 120 is located over the brick conveying track 500, so that the pick-up portion 160 of the overturning mechanism 120 can directly descend and grab the plastered brick 20 on the brick conveying track 500, that is, it is convenient for the pick-up portion 160 of the overturning mechanism 120 to grab the plastered brick 20.

To control the plastered brick 20 in conveying to reach the picked-up position accurately, in an embodiment, the brick conveying track 500 conveys the plastered brick 20 to the picked-up position, the overturning mechanism 120 at a picking-up position is located downstream of conveyance of the plastered brick 20, a position of the overturning mechanism 120 for preparing to pick up the plastered brick is the picking-up position, the in-place inductor 230 has an induction position that is on the conveying track and that is somewhere different from the picked-up position, and in the conveying direction, the induction position is located upstream of the overturning mechanism 120 and downstream of the conveyed brick. The building system 50 includes a control module. When the brick reaches the induction position, the control module controls the brick conveying track 500 to slow down to a stop state, so that the plastered brick 20 conveyed is stopped at the picked-up position, and the picked-up position is located between the overturning mechanism 120 and the induction position. When the in-place inductor 230 is a touch sensor, the induction position is a tail end of a pressure detection arm of the touch sensor. A limiting block 240 is arranged beside the in-place inductor 230, and a side of the limiting block 240 facing the brick forms a stop surface. When the control module controls the brick conveying track 500 to stop conveying, the brick is stopped by the stop surface of the limiting block 240, and the stop surface defines the picked-up position of the brick. The tail end of the detection arm of the in-place inductor 230 slightly exceeds the stop surface in the direction toward the brick, which facilitates the detection of the brick by the detection arm of the in-place inductor 230. It should be noted that the picked-up position is one of the positions of the plastered brick 20, and the picking-up position is one of the positions of the overturning mechanism 120.

Alternatively, in another embodiment, the picked-up position is defined by a part mounted on the bricklaying device 40, and the part may be a plate-like platform mounted on the supporting portion 410 and located below the overturning mechanism 120. The means of conveying a brick in this implementation is to convey a brick by using the brick conveying track 500, and the picked-up position is located on a conveying downstream path of the brick. When a non-contact sensor such as a laser sensor among the in-place inductors 230 is provided, and laser light of the laser sensor is used to detect that there is a certain distance between the brick and the picked-up position, the certain distance defines the induction position of the in-place inductor 230, and the control module controls the brick conveying track 500 to stop a conveying action, and by using a stop pulse signal for controlling a conveying track driving motor, the brick is stopped at the picked-up position by a deceleration distance. Alternatively, the means of conveying a brick in this implementation may be to transfer a brick from outside to the picked-up position by using a transfer mechanical hand, and when the in-place inductor 230 senses that the brick is at the picked-up position, the control module controls the overturning mechanism 120 to pick up the brick. The in-place inductor 230 herein may be mounted on the overturning mechanism 120, or may be mounted on the plate-like platform that defines the picked-up position.

To control the plastered brick 20 in conveying to reach the picked-up position accurately, in an embodiment, the overturning mechanism 120 at the picking-up position is higher than the plastered brick conveyed, the overturning mechanism 120 has an induction position, and the induction position is located below the overturning mechanism 120 and downstream of conveyance of the plastered brick 20 conveyed. The building system 50 includes a control module. When the brick reaches the induction position, the control module controls the brick conveying track 500 to slow down to a stop state, so that the plastered brick 20 conveyed is stopped at the picked-up position, and the picked-up position is located between the overturning mechanism 120 and downstream of the induction position. When the plastered brick 20 reaches the induction position before the picked-up position, i.e., reaches the induction position upstream of the pick-up position, a feedback can be provided to the control module through the sensing by the in-place inductor 230, the control module controls the brick conveying track 500 to slow down to a stop state, so that the plastered brick 20 can just stop at the picked-up position. Because the overturning mechanism 120 is higher than the plastered brick 20, both the induction position and the picked-up position may be located below the overturning mechanism 120.

FIG. 7 shows an embodiment of the bricklaying device 40. FIG. 20 and FIG. 21 show another embodiment of the bricklaying device 40. In the foregoing two embodiments, to prevent the overturning mechanism 120 or the plastered brick 20 from interfering with the brick conveying track 500 when the overturning mechanism 120 overturns the plastered brick 20, the supporting portion 410 is provided with a second lifting mechanism 140. The second lifting mechanism 140 is connected to the overturning mechanism 120 to lift or descend the overturning mechanism 120, and the second lifting mechanism 140 drives the overturning mechanism 120 to lift or descend between a first picking-up position and a second picking-up position. The overturning mechanism 120 at the first picking-up position is configured to pick up the plastered brick 20 from the brick conveying track 500 and rises from the first picking-up position to the second picking-up position. A height of the second picking-up position can allow the overturning mechanism 120 to rotate by 180° along a first axis without interfering with the brick conveying track 500, and the plastered brick 20 overturned at the second picking-up position is for being picked up by the bricklaying mechanical arm 130. In this way, the pick-up portion 160 of the overturning mechanism 120 can grab the plastered brick 20 at the first picking-up position, and then can overturn the plastered brick 20 when rising to the second picking-up position. In this case, the overturning mechanism 120 or the plastered brick 20 does not interfere with the brick conveying track 500 To splice a plurality of sub-conveying tracks 510 and ensure stability of power transmission, in an embodiment, as shown in FIG. 19, the brick conveying track 500 includes a plurality of sub-conveying tracks 510, each of the sub-conveying tracks 510 is provided with a plurality of conveying rollers 511 and a plurality of conveying gears 512, and the conveying gears 512 are sleeved on end portions of the conveying rollers 511. The plurality of conveying gears 512 are sleeved and in transmission connection by using a conveyor belt 513. An intermediate gear 520 meshes between the conveying gear 512 at the tail of one sub-conveying track 510 and the conveying gear 512 at the head of another adjacent sub-conveying track 510, and one of the two sub-conveying tracks 510 is provided with a mounting block 530. The mounting block 530 is adjustably arranged on a side surface of the sub-conveying track 510 in a direction perpendicular to the sub-conveying track 510, and the intermediate gear 520 is arranged on the mounting block 530. After the sub-conveying tracks 510 are spliced, there is a certain error in a center distance between the front-end conveying gear 512 and the rear-end conveying gear 512. A center distance between the intermediate gear 520 and the front-end conveying gear 512 and a center distance between the intermediate gear 520 and the rear-end conveying gear 512 can be adjusted by adjusting up-and-down movement of the mounting block 530, so as to ensure meshing of the three gears and further ensure power transmission. Through this design, the plurality of sub-conveying tracks 510 can be quickly assembled, and power is transmitted by using the conveying gear 512 and the conveyor belt 513. For example, the conveyor belt 513 is a chain, precise alignment is performed through limiting by using a mechanical seam, and quickly connection and disconnection can be manually implemented by using a snap mechanism without any tools.

To facilitate adjustment of the up-and-down movement of the mounting block 530, in an embodiment, as shown in FIG. 19, the mounting block 530 slides relative to a side surface of the sub-conveying track 510. The adjustable arrangement of the mounting block 530 is as follows: The side surface of the sub-conveying track 510 is provided with a mounting hole, the mounting block 530 is provided with an elongated hole 531 with an extension direction perpendicular to the sub-conveying track 510, the elongated hole 531 communicates with the mounting hole, a locking member passes through the elongated hole 531 and penetrates into the mounting hole to fix the mounting block 530 to the side surface of the sub-conveying track 510. Alternatively, an adjusting plate protrudes on the side surface of the sub-conveying track 510, an adjusting rod is screwed and passes through the adjusting plate and is connected to the mounting block 530, and an extension direction of the adjusting rod is perpendicular to the sub-conveying track 510. This facilitates the adjustment of the up-and-down movement of the mounting block 530.

The moving track 600 is used for a base of the bricklaying device 40 to reciprocate along the first direction. The base of the bricklaying device 40 is a bottom plate of the fixed frame 111, and a roller is arranged below the base to be in movable fit with the moving track 600. A straight rack is included between the moving tracks 600. The straight rack is formed by sequentially splicing a plurality of sub-racks head to tail in the first direction. The base has a through hole. A conveying end of the motor is connected to a gear, and passes through the through hole from top to bottom to reach below the base to drive and fit with the straight rack, and the motor drives the gear to rotate, so that the base can reciprocate on the moving track 600 along the moving track 600.

In all the embodiments of the present application, "large" and "small" are relative, "more" and "less" are relative, and "up" and "down" are relative. For the expressions of such relative terms, details are not described again in the embodiments of the present application.

It should be understood that "in this embodiment", "in an embodiment of the present application" or "as an optional implementation" provided throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in this embodiment", "in an embodiment of the present application" or "as an optional implementation" appearing throughout the specification does not necessarily mean the same embodiment. In addition, these specific features, structures or characteristics may be combined in any suitable manner in one or more embodiments. A person skilled in the art should also be aware that the embodiments described in the specification are optional embodiments, and that the actions and modules involved are not necessarily required for the present application It should be understood that in various embodiments of the present application, sizes of sequence numbers of the foregoing processes do not imply the order of execution. The order of performing the processes should be determined based on their function and internal logic, and should not constitute a limitation to the implementation process of the embodiments of the present application.

Claims

CLAIMSI. A bricklaying method, wherein the bricklaying method is for a bricklaying apparatus to perform a bricklaying operation in an environment; the bricklaying apparatus comprises a bricklaying robot and a control module for controlling the bricklaying robot to operate, the control module is preset with a bricklaying sequence, the bricklaying sequence defines a first position and a last position of each row of bricks; the method is performed by the control module, and the method comprises: controlling the bricklaying robot to sequentially lay bricks, conveying each plastered brick from an initial position to a picked-up position, and making a horizontal plastered surface of the plastered brick upward, and a horizontal non-plastered surface of the plastered brick downward; controlling the horizontal plastered surface and the horizontal non-plastered surface of the plastered brick to overturn up and down; controlling a vertical plastered surface of the plastered brick to be closer to the last position than a vertical non-plastered surface; and controlling the plastered brick to move in a direction from the last position to the first position to stick the vertical plastered surface to a vertical placement surface, and to move downward to stick the horizontal plastered surface to a horizontal placement surface.
2. The bricklaying method according to claim 1, wherein the controlling the horizontal plastered surface and the horizontal non-plastered surface of the plastered brick to overturn up and down comprises: controlling an overturning mechanism of the bricklaying robot to grab and overturn the plastered brick from the picked-up position, so that the horizontal plastered surface and the horizontal non-plastered surface of the overturned and plastered brick overturn up and down.
3. The bricklaying method according to claim 1, wherein the controlling a vertical plastered surface of the plastered brick to be closer to the last position than a vertical non-plastered surface comprises: controlling a bricklaying mechanical arm of the bricklaying robot to transfer the plastered brick from the overturning mechanism, so that the vertical plastered surface of the plastered brick becomes closer to the last position than the vertical non-plastered surface.
4. The bricklaying method according to claim 3, wherein the controlling the plastered brick to move in a direction from the last position to the first position to stick the vertical plastered surface to a vertical placement surface, and to move downward to stick the horizontal plastered surface to a horizontal placement surface comprises: controlling the bricklaying mechanical arm to continue to move, so that the plastered brick moves in the direction from the last position to the first position to stick the vertical plastered surface to the vertical placement surface, and moves downward to stick the horizontal plastered surface to the horizontal placement surface.
5. The bricklaying method according to claim 4, after the vertical plastered surface of the plastered brick becomes closer to the last position than the vertical non-plastered surface, and before the sticking the vertical plastered surface to a vertical placement surface, and moving downward to stick the horizontal plastered surface to a horizontal placement surface, further comprising: controlling a rotation adjusting mechanism of the bricklaying mechanical arm to adjust the plastered brick into a target pose, wherein the target pose means that the plastered brick is parallel to a wall and a horizontal plane.
6. The bricklaying method according to claim 3, before the controlling a bricklaying mechanical arm of the bricklaying robot to transfer the plastered brick from the overturning mechanism, further comprising: controlling the bricklaying mechanical arm to swing to above the horizontal non-plastered surface along a first clock direction, so that when a free end of the bricklaying mechanical arm swings to above the horizontal non-plastered surface, a swinging tangent direction of the free end of the bricklaying mechanical arm is opposite to the direction from the first position to the last position.
7. The bricklaying method according to claim 3, wherein the controlling a bricklaying mechanical arm of the bricklaying robot to transfer the plastered brick from the overturning mechanism, so that the vertical plastered surface of the plastered brick becomes closer to the last position than the vertical non-plastered surface comprises: controlling the bricklaying mechanical arm to swing along a first clock direction to be arranged opposite to the horizontal non-plastered surface, and controlling the bricklaying mechanical arm to pick up the plastered brick overturned on the overturning mechanism; and after the bricklaying mechanical arm picks up the plastered brick overturned on the overturning mechanism, controlling the bricklaying mechanical arm to swing along a second clock direction opposite to the first clock direction, so as to overturn the vertical plastered surface and the vertical non-plastered surface left and right, so that the vertical plastered surface is relatively closer to and faces the last position.
8. The bricklaying method according to claim 4, wherein the bricklaying mechanical arm comprises a multi-joint joint arm and a hand portion connected to a tail end of the joint arm, and the controlling a bricklaying mechanical arm of the bricklaying robot to transfer the plastered brick from the overturning mechanism comprises: controlling the joint arm to drive the hand portion to rotate in a first clock direction to be opposite to the plastered brick, then controlling the joint arm to drive the hand portion to move toward the plastered brick to pick up the plastered brick from the overturning mechanism, and controlling the joint arm to drive the hand portion and the plastered brick picked by the hand portion to rotate in a second clock direction, so that the hand portion places the plastered brick in a stacking position and the vertical plastered surface of the plastered brick is closer to the last position than the vertical non-plastered surface.
9. The bricklaying method according to claim 8, wherein the joint arm comprises a first arm and a second arm that are sequentially rotatably connected along a vertical joint, the second arm is connected to the hand portion, and the method further comprises: controlling the second arm to rotate around the first arm in the first clock direction to above the overturning mechanism, controlling the first arm to descend, then controlling the hand portion to grab the plastered brick from the overturning mechanism, and then controlling the second arm to rotate around the first arm in the second clock direction, so that the hand portion and the plastered brick reach the stacking position, and the vertical plastered surface is parallel to the vertical placement surface at the last position and faces the vertical placement surface at the last position.
10. The bricklaying method according to claim 9, wherein the controlling the bricklaying mechanical arm to continue to move, so that the plastered brick moves in the direction from the last position to the first position to stick the vertical plastered surface to the vertical placement surface, and moves downward to stick the horizontal plastered surface to the horizontal placement surface comprises: controlling the first arm provided on a supporting portion of the bricklaying robot to translate along the direction from the last position to the first position until the vertical plastered surface is parallel to and partially abuts against the vertical placement surface at the last position, and then controlling the first arm to descend along the supporting portion until the horizontal plastered surface of the plastered brick abuts against the horizontal placement surface at the last position
11. The bricklaying method according to claim 8, wherein the joint arm comprises a base portion, a first arm and a second arm that are sequentially rotatably connected around a horizontal joint, the base portion is capable of rotating around a vertical axis, the second arm is connected to the hand portion, and the method further comprises: controlling the base portion to rotate in the first clock direction around the vertical axis so that the joint arm drives the hand portion to be opposite to the plastered brick, then controlling the first arm and/or the second arm to rotate so that the hand portion moves toward the plastered brick, then controlling the hand portion to pick up the plastered brick from the overturning mechanism, and then controlling the first arm to rotate in the second clock direction around the vertical axis so that the hand portion transfers the plastered brick to the stacking position, and the vertical plastered surface of the plastered brick at the stacking position faces the vertical placement surface at the last position
12. The bricklaying method according to claim 2, wherein the bricklaying apparatus further comprises a conveying mechanism, and the method further comprises the conveying mechanism conveying the plastered brick from the initial position to the picked-up position of the overturning mechanism and when a relative position relationship between the initial position and the picked-up position is being variable, controlling the overturning mechanism to move downward until a ready position that an in-place switch of the overturning mechanism is capable of being triggered by the vertical non-plastered surface of the plastered brick, and then confirming that the overturning mechanism reaches the ready position located downstream of the picked-up position.
13. The bricklaying method according to claim 12, further comprising: after it is confirmed that the overturning mechanism reaches the ready position located downstream of the picked-up position, controlling the overturning mechanism to rise until a bottom surface of a clamping plate is higher than a top surface of the plastered brick, controlling the overturning mechanism to translate until the overturning mechanism is aligned with a center of the plastered brick, and then controlling the overturning mechanism to grab the plastered brick downward.
14. The bricklaying method according to claim 13, wherein the controlling the overturning mechanism to grab the plastered brick downward comprises: descending the overturning mechanism, and then controlling two clamping plates of the overturning mechanism to contract a distance to abut against two vertical side surfaces of the plastered brick respectively, and then controlling the overturning mechanism to rotate along a horizontal axis, so that the horizontal plastered surface and the horizontal non-plastered surface of the plastered brick are overturned by 1800
15. The bricklaying method according to claim 2, wherein the bricklaying apparatus further comprises a conveying mechanism, and the method further comprises: the conveying mechanism conveying the plastered brick from the initial position to the picked-up position of the overturning mechanism, wherein the picked-up position is located below the overturning mechanism; and when the relative position relationship between the initial position and the picked-up position is fixed, controlling the plastered brick to be placed at the initial position, the control module learning a transportation distance from the plastered brick to the picked-up position, and controlling, based on the transportation distance, the plastered brick to be transported to the picked-up position.
16. The bricklaying method according to claim 15, wherein after the transporting the plastered brick to the picked-up position, the method further comprises: controlling the overturning mechanism to grab the plastered brick downward, then controlling two clamping plates of the overturning mechanism to contract a distance to abut against two vertical side surfaces of the plastered brick respectively, and then controlling the overturning mechanism to rotate along a horizontal axis, so that the horizontal plastered surface and the horizontal non-plastered surface of the plastered brick are overturned by 1800
17. A bricklaying apparatus, wherein the bricklaying apparatus performs a bricklaying operation in an environment by using the bricklaying method according to any one of claims 1 to 16, the bricklaying apparatus comprises a bricklaying robot and a control module for controlling the bricklaying robot to operate, the bricklaying robot comprises a supporting portion, and an overturning mechanism and a bricklaying mechanical arm that are arranged on the supporting portion, and the control module is electrically connected to the overturning mechanism and the bricklaying mechanical ann.
18. The bricklaying apparatus according to claim 17, wherein the bricklaying apparatus further comprises a chassis and a conveying mechanism arranged on the chassis, wherein the bricklaying mechanical arm is mounted on the chassis through the supporting portion, the conveying mechanism has an initial position for feeding a brick and the picked-up position for the brick being grabbed, the initial position is provided on one side of the supporting portion, the overturning mechanism is provided on the other side of the supporting portion that faces away from the initial position, the bricklaying mechanical arm moves in a space on the other side of the supporting portion that faces away from the initial position, and a direction from the initial position to the picked-up position is parallel to a direction from a first position to a last position.
19. The bricklaying apparatus according to claim 17, wherein the overturning mechanism comprises: a mounting portion, a rotating portion, a connecting plate, and two parallel clamping plates arranged on the connecting plate, wherein the mounting portion is capable of lifting or descending and driving the rotating portion to lift or descend the plastered brick, the rotating portion is rotatably connected to the mounting portion and the connecting plate along a horizontal axis, the horizontal axis is perpendicular to the direction from the initial position to the picked-up position so that the plastered brick is overturned up and down, the two clamping plates are oppositely arranged in a direction parallel to the horizontal axis, and a distance between the two clamping plates is adjustable to clamp or release the plastered brick.
20. The bricklaying apparatus according to claim 17, wherein the bricklaying mechanical arm comprises a first arm, a second arm, and a hand portion that are sequentially rotatably connected, an end of the first arm away from the second arm is connected to the supporting portion by using a base portion, and the hand portion is configured to grab the plastered and overturned brick.
21. The bricklaying apparatus according to claim 18, wherein the bricklaying apparatus further comprises a plastering and feeding mechanism, and the plastering and feeding mechanism is arranged adjacent to the initial position.
22. A bricklaying device, wherein the bricklaying device is configured to stack bricks into a wall, each of the bricks forms a stacking position on the wall, and the bricklaying device comprises: a supporting portion; an overturning mechanism comprising a mounting portion and a pick-up portion, wherein the mounting portion is connected to the supporting portion, the pick-up portion is pivotally connected to the mounting portion along a first axis, the pick-up portion is capable of picking up a plastered brick and overturning the plastered brick along the first axis, and the overturned and plastered brick is arranged with a plastered surface downward and a non-plastered surface upward; and a bricklaying mechanical arm comprising a base portion, a joint arm extending forward from the base portion, and a hand portion connected to a front end of the joint ann, wherein the base portion is mounted on the supporting portion, the joint arm is configured to have a plurality of degrees of freedom, and the hand portion is capable of picking up the overturned and plastered brick downward and releasing the overturned brick at the stacking position.
23. The bricklaying device according to claim 22, further comprising a control module, wherein the hand portion comprises position detection apparatuses, and the position detection apparatuses each are configured to detect a pose of the overturned brick, and are in telecommunication connection with the control module; and the control module generates an action instmction based on the pose of the overturned brick, the action instruction is used to control the hand portion to be adjusted to a parallel pose parallel to the brick, and the control module controls the hand portion to grab the overturned and plastered brick from top to bottom in the parallel pose.
24 The bricklaying device according to claim 23, wherein the position detection apparatuses are laser ranging sensors, and there are at least three laser ranging sensors, and when the hand portion is located above the pick-up portion, each of the at least three laser ranging sensors emits laser lines toward the non-plastered surface and forms at least three laser points on the non-plastered surface, connecting lines between the at least three laser points form a first reference, and the control module controls the hand portion to be adjusted to be parallel to the first reference, and controls the hand portion to grab the overturned and plastered brick in the pose parallel to the first reference.
25. The bricklaying device according to claim 24, wherein the connecting lines between the at least three laser points form a polygon, and a projection of a mass center of the brick is located in the polygon when viewed from top to bottom.
26. The bricklaying device according to claim 22, wherein the bricklaying device further comprises a control module, the control module is capable of controlling the bricklaying mechanical arm to swing between a first pose and a second pose, the bricklaying mechanical arm picks up the overturned and plastered brick in the first pose, the bricklaying mechanical atm is calibrated and positioned with a laid brick in the second pose, and a tail end arm of the joint arm in the first pose and a tail end arm of the joint arm in the second pose are in 1800 symmetry in a front-back direction
27 The bricklaying device according to claim 26, wherein switched from the first pose to the second pose, the joint arm is provided with a shoulder joint, an elbow joint, and a wrist joint; for control of the bricklaying mechanical arm, the control module applies an action instruction to only the elbow joint, and the action instruction makes the tail end arm of the joint arm swing forward by 1800 in a horizontal direction
28. The bricklaying device according to claim 22, wherein the overturning mechanism overturns a plastered brick to a same height every time.
29. The bricklaying device according to claim 22, wherein the hand portion grabs a brick downward at a same position every time.
30. The bricklaying device according to claim 22, wherein the brick is conveyed to a picked-up position in a conveying direction, the picked-up position is independently or integrally provided on the bricklaying device, the plastered brick at the picked-up position is used to be picked up by the overturning mechanism, the overturning mechanism is provided with an in-place inductor, and the in-place inductor is mounted on the pick-up portion and configured to sense a position of the brick in the conveying direction
31. The bricklaying device according to claim 30, wherein the pick-up portion is provided with a limiting block, the blocking and limiting block is arranged on the pick-up portion, the limiting block or the pick-up portion is provided with the in-place inductor, the limiting block is provided with a blocking surface facing the plastered brick, an induction surface of the in-place inductor is parallel to the blocking surface, or the induction surface protrudes from the blocking surface, and the in-place inductor is a contact inductor.
32. The bricklaying device according to claim 22, wherein the pick-up portion comprises a connecting plate and two clamping portions, wherein the connecting plate is rotatably connected to the mounting portion by using a rotating shaft, an axis of the rotating shaft is the first axis, the two clamping portions are spaced on the connecting plate, and at least one of the two clamping portions is slidably connected to the connecting plate, so that a brick clamping space is formed between the two clamping portions.
33. The bricklaying device according to claim 32, wherein the two clamping portions have two opposite clamping surfaces, at least one of the two clamping surfaces is provided with a contact sensor, and a contact portion of the contact sensor protrudes into a clamping space.
34. The bricklaying device according to claim 22, wherein the joint arm comprises a first arm and a second arm, wherein the first arm is rotatably connected to the base portion by using a shoulder joint, an end of the first arm away from the base portion is rotatably connected to the second arm by using an elbow joint, the hand portion is rotatably connected to an end of the second arm away from the first arm by using a wrist joint, and a rotation axis of the shoulder joint, a rotation axis of the elbow joint and a rotation axis of the wrist joint are parallel to each other and are separately perpendicular to an extension direction of the first arm.
35. The bricklaying device according to claim 34, wherein the bricklaying mechanical arm is provided with a rotation adjusting mechanism for adjusting XYZ-direction rotation, wherein the wrist joint of the joint arm is a Z-direction R-shaft, and an XY-direction R-shaft is located between the wrist joint and the elbow joint or is arranged close to a front end relative to the wrist joint.
36. The bricklaying device according to claim 35, wherein the XY-direction R-shaft comprises an X-direction R-shaft and a Y-direction R-shaft, and the second arm comprises a first arm body, a second arm body, a third arm body, the X-direction R-shaft, and the Y-direction R-shaft; extension directions of the first arm body, the second arm body and the third arm body are separately the same as an extension direction of the entire second ann, the first arm body is connected to the elbow joint, the X-direction R-shaft is rotatably arranged on the first arm body, an axis of the X-direction R-shaft is perpendicular to an axis of the elbow joint and the extension direction of the first arm body, and the second arm body is rotatably connected to the first arm body by using the X-direction R-shaft; the Y-direction R-shaft is rotatably arranged on the second arm body, an axis of the Y-direction R-shaft is perpendicular to an axis of the elbow joint and is parallel to the extension direction of the second arm body, the third arm body is rotatably connected to the second arm body by using the Y-direction R-shaft, and the third arm body is connected to the wrist joint.
37. The bricklaying device according to claim 36, wherein the first arm body is provided with an X-direction driving joint, a rotation axis of the X-direction driving joint is in the X-direction, an output shaft of the X-direction driving joint is sleeved with a driving wheel, the driving wheel is in transmission connection with a driven wheel by using a synchronous belt, and the driven wheel is connected to the X-direction R-shaft; the second arm body is provided with a Y-direction driving joint, and an output shaft of the Y-direction driving joint is connected to the Y-direction R-shaft; the third arm body is provided with a Z-direction driving joint, and an output shaft of the Z-direction driving joint is connected to the Z-direction R-shaft.
38. The bricklaying device according to claim 22, further comprising a control module, wherein the control module sends a first action instruction and a second action instruction simultaneously, the first action instruction causes the bricklaying mechanical arm to perform a bricklaying action, and the second action instruction causes the overturning mechanism to grab and overturn the plastered brick.
39. The bricklaying device according to claim 38, wherein duration of the second action instruction is less than or equal to that of the first action instruction.
40. The bricklaying device according to claim 22, wherein the supporting portion is provided with a first lifting mechanism and a second lifting mechanism, wherein the first lifting mechanism is connected to the bricklaying mechanical arm to lift or descend the bricklaying mechanical arm, the second lifting mechanism is connected to the overturning mechanism to lift or descend the overturning mechanism, and the second lifting mechanism is arranged behind the first lifting mechanism.
41. The bricklaying device according to claim 40, wherein the first lifting mechanism comprises a fixed frame, a first-stage lifter, a second-stage lifter, and a third-stage lifter that are sequentially arranged from rear to front, wherein the first-stage lifter is arranged on the fixed frame, an annular belt is arranged on the first-stage lifter, two ends of the annular belt are located on a front side and a rear side of the first-stage lifter respectively, a first end of the annular belt is fixedly connected to an upper part of the fixed frame, and a second end of the annular belt is fixedly connected to a lower part of the second-stage lifter; while the first-stage lifter rises, the annular belt with a fixed length drives the second-stage lifter and the third-stage lifter on the second-stage lifter to rise synchronously, and the base portion is connected to the third-stage lifter.
42. The bricklaying device according to claim 41, wherein the first-stage lifter comprises a first-stage moving frame and a first-stage driven portion, the fixed frame is provided with a first-stage driving portion, the first-stage moving frame is slidably arranged on the fixed frame in a vertical direction, the first-stage driving portion is in transmission connection with a first-stage active portion, the first-stage active portion is in transmission connection with the first-stage driven portion, the first-stage driven portion is connected to the first-stage moving frame, and the first-stage driven portion drives the first-stage moving frame to slide on the fixed frame in the vertical direction.
43. The bricklaying device according to claim 42, wherein two sides of the first-stage moving frame are provided with first-stage sliding blocks respectively, a side surface of at least one of the first-stage sliding blocks is provided with a top limit switch and a bottom limit switch that are vertically spaced, the fixed frame is provided with a first-stage guide rail, the first-stage sliding block is in sliding fit with the first-stage guide rail, and a top limit switch inductor and a bottom limit switch inductor are arranged at an upper end and a lower end of a side of the fixed frame respectively, and are configured to sense the top limit switch and the bottom limit switch respectively.
44 The bricklaying device according to claim 41, wherein the fixed frame comprises two vertical rods and a plurality of transverse rods vertically arranged between the two vertical rods, each of the transverse rods is provided with an avoidance groove vertically running through the transverse rod, the first-stage active portion is a first-stage gear, the first-stage driven portion is a first-stage rack, the first-stage gear meshes with the first-stage rack, and the first-stage rack sequentially penetrates through the avoidance grooves
45. The bricklaying device according to claim 41, wherein a rotating wheel is rotatably arranged at the top of the first-stage moving frame, the annular belt is sleeved on the rotating wheel, the first end of the annular belt is located on a side of the first-stage moving frame facing the fixed frame, and is connected to a first fixed portion protruding on the fixed frame, the second end of the annular belt is located on the other side of the first-stage moving frame that faces away from the fixed frame, and is connected to the second-stage lifter, and the second-stage lifter is slidably arranged on the first-stage moving frame
46. The bricklaying device according to claim 45, wherein the second-stage lifter comprises a second-stage moving frame and a second fixed portion arranged on the second-stage moving frame, and the second-stage moving frame is provided with a second-stage guide rail; the third-stage lifter comprises a third-stage driving portion, a third-stage active portion, and a third-stage moving portion; the second-stage moving frame is further provided with a third-stage driven portion, the third-stage moving portion is slidably arranged on the second-stage guide rail, the third-stage driving portion is in transmission connection with the third-stage active portion, the third-stage active portion is in transmission connection with the third-stage driven portion, the third-stage driven portion drives the third-stage moving portion to slide on the second-stage guide rail, and the base portion is connected to the third-stage lifter.
47. The bricklaying device according to claim 22, wherein a first side and a second side are defined in a left-right direction, the bricklaying mechanical arm swings backward toward the first side to above the overturning mechanism, and the base portion is biased toward the first side relative to the second side.
48. The bricklaying device according to claim 47, wherein the base portion and the mounting portion have a fixed relative position in a left-right direction in a coordinate system of the bricklaying device, and the mounting portion is located on a first side of the base portion.
49. A building system, comprising: the bricklaying device according to any one of claims 22 to 48; and a chassis, wherein the chassis is provided with a brick conveying track and a moving track, wherein the brick conveying track is used to convey plastered bricks in a first direction, a supporting portion is capable of being arranged on the moving track in a reciprocating mode, so that the bricklaying device is capable of reciprocating on the moving track, and an overturning mechanism in the bricklaying device picks up the plastered bricks from the brick conveying track; wherein a direction of reciprocating of the bricklaying device is parallel to the first direction and a direction of a wall, and the brick conveying track has a height greater than that of the moving track.
50. The building system according to claim 49, wherein the overturning mechanism is located over the brick conveying track.
51. The building system according to claim 50, wherein the brick conveying track conveys the plastered brick to a picked-up position, the picked-up position is independently or integrally provided on the bricklaying device, the plastered brick at the picked-up position is used to be picked up by the overturning mechanism, the overturning mechanism at a picking-up position is located downstream of conveyance of the plastered brick, a position of the overturning mechanism for preparing to pick up the plastered brick is the picking-up position, the overturning mechanism is provided with an in-place inductor, the in-place inductor is mounted on a pick-up portion of the overturning mechanism and configured to sense a position of the plastered brick in the conveying direction, the in-place inductor has an induction position, and in the conveying direction, the induction position is located upstream of the overturning mechanism and downstream of the plastered brick conveyed; and the building system comprises a control module, and when the plastered brick reaches the induction position, the control module controls the brick conveying track to slow down to a stop state, so that the plastered brick conveyed is stopped at the picked-up position, and the picked-up position is located between the overturning mechanism and the induction position
52. The building system according to claim 49, wherein the overturning mechanism at the picking-up position is higher than the plastered brick conveyed, the overturning mechanism has an induction position, and the induction position is located below the overturning mechanism and downstream of conveyance of the plastered brick conveyed; and the building system comprises a control module, and when the plastered brick reaches the induction position, the control module controls the brick conveying track to slow down to a stop state, so that the plastered brick conveyed is stopped at the picked-up position, and the picked-up position is located below the overturning mechanism and downstream of conveyance of the induction position.
53. The building system according to claim 49, wherein the supporting portion is provided with a first lifting mechanism and a second lifting mechanism, wherein the first lifting mechanism is connected to a bricklaying mechanical arm in the bricklaying device to lift or descend the bricklaying mechanical arm, the second lifting mechanism is connected to the overturning mechanism to lift or descend the overturning mechanism, the second lifting mechanism is arranged behind the first lifting mechanism, the second lifting mechanism drives the overturning mechanism to lift or descend between a first picking-up position and a second picking-up position, the overturning mechanism at the first picking-up position is configured to pick up the plastered brick from the brick conveying track, and rise from the first picking-up position to the second picking-up position, a height of the second picking-up position is capable of allowing the overturning mechanism to rotate by 180° along a first axis without interfering with the brick conveying track, and the plastered brick overturned at the second picking-up position is for being picked up by the bricklaying mechanical arm