阅读说明：本技术 一种砌砖设备 (Bricklaying equipment ) 是由 刘剑秋 齐博 阳跃武 徐龙 于 2020-05-20 设计创作，主要内容包括：本发明属于建筑机器人技术领域,公开一种砌砖设备,包括底盘框架、导轨机构、驱动机构和砌砖机构,导轨机构包括安装在底盘框架的第一侧边的固定导轨组件,以及与第一侧边的一端转动连接的活动导轨组件；驱动机构用于驱动活动导轨组件转动至与固定导轨组件呈预设夹角；砌砖机构滑动地安装在导轨机构上,并可在固定导轨组件和活动导轨组件之间切换位置。本发明通过设置与底盘框架转动连接的活动导轨组件,使活动导轨组件可相对底盘框架伸展或回缩,一方面在底盘框架固定不动的前提下能够扩大砌砖机构的作业覆盖范围；另一方面能够提高该砌砖设备在底盘框架固定不动的前提下制作不同类型墙体的能力,进而提高该砌砖设备在狭小空间内的作业能力。(The invention belongs to the technical field of construction robots, and discloses brick laying equipment which comprises a chassis frame, a guide rail mechanism, a driving mechanism and a brick laying mechanism, wherein the guide rail mechanism comprises a fixed guide rail assembly arranged on a first side edge of the chassis frame and a movable guide rail assembly rotatably connected with one end of the first side edge; the driving mechanism is used for driving the movable guide rail assembly to rotate to form a preset included angle with the fixed guide rail assembly; the brick laying mechanism is slidably mounted on the rail mechanism and is switchable between a fixed rail assembly and a movable rail assembly. According to the invention, the movable guide rail assembly is rotationally connected with the chassis frame, so that the movable guide rail assembly can extend or retract relative to the chassis frame, and on one hand, the operation coverage of the brick laying mechanism can be enlarged on the premise that the chassis frame is fixed; on the other hand can improve the ability of this equipment of laying bricks preparation different grade type wall body under chassis frame rigid's prerequisite, and then improves the operational capability of this equipment of laying bricks in narrow and small space.)

1. A brick laying apparatus, comprising:

a chassis frame;

the guide rail mechanism comprises a fixed guide rail component arranged on the first side edge of the chassis frame and a movable guide rail component which is rotatably connected with one end of the first side edge;

the driving mechanism is used for driving the movable guide rail assembly to rotate to form a preset included angle with the fixed guide rail assembly;

and the bricklaying mechanism is slidably arranged on the guide rail mechanism and can switch positions between the fixed guide rail assembly and the movable guide rail assembly.

2. The brick laying equipment according to claim 1, wherein the movable guide rail assembly comprises a movable slide rail, one end of the movable slide rail close to the fixed guide rail assembly is provided with a movable positioning surface, the fixed guide rail assembly comprises a fixed slide rail, one end of the fixed slide rail close to the movable guide rail assembly is provided with a fixed positioning surface, when the movable positioning surface is attached to the fixed positioning surface, the brick laying mechanism can switch positions between the fixed guide rail assembly and the movable guide rail assembly, and the brick laying mechanism is slidably connected with the movable slide rail and the fixed slide rail.

3. The brick laying apparatus according to claim 2 wherein the movable rail assembly further comprises a movable frame, the movable rail being mounted to the movable frame, the drive mechanism comprising:

the swinging seat is arranged at one end of the first side edge of the chassis frame, and one end of the movable frame is hinged with the swinging seat;

the swing driving piece is installed on the swing seat, is in transmission connection with the movable frame and is used for driving the movable frame to rotate.

4. The brick laying apparatus according to claim 2 wherein the movable track assembly further comprises a movable rack parallel to the movable slide, the fixed track assembly further comprises a fixed rack parallel to the fixed slide, the movable rack abutting the fixed rack when the movable positioning surface is engaged with the fixed positioning surface; bricklaying mechanism includes:

the brickwork support is connected with the movable slide rail and the fixed slide rail in a sliding way;

the horizontal driving piece is arranged on the bricklaying support and used for driving the bricklaying support to move along the movable sliding rail and the fixed sliding rail;

and the horizontal driving gear is arranged at the output end of the horizontal driving piece, and is meshed with the movable rack and the fixed rack.

5. A bricklaying apparatus according to claim 4, wherein the bricklaying mechanism further comprises:

the brick laying jig is slidably arranged on the brick laying support and used for clamping bricks;

and the vertical driving piece is used for driving the bricklaying jig to move up and down.

6. The equipment of laying bricks according to claim 5, wherein the support of laying bricks includes support main part and crane, the support main part install in guide rail mechanism, the crane with support main part along vertical direction sliding connection, the tool of laying bricks along vertical direction sliding connection in the crane, vertical driving piece includes first driving piece and second driving piece, first driving piece is used for driving the crane relatively the support main part reciprocates, the second driving piece is used for driving the tool of laying bricks relatively the crane reciprocates.

7. The brick laying apparatus according to claim 1, further comprising a ground bracing mechanism mounted to the movable rail assembly for bracing an end of the movable rail assembly remote from the stationary rail assembly.

8. A brick laying apparatus according to claim 7 wherein the ground bracing mechanism comprises:

a ground support bracket mounted to the movable rail assembly;

the ground supporting piece is slidably mounted on the movable guide rail assembly or the ground supporting bracket;

the body of the ground supporting driving piece is mounted on the ground supporting bracket, and the output end of the ground supporting driving piece is in transmission connection with the ground supporting piece and is used for driving the ground supporting piece to move up and down.

9. A brick laying apparatus according to any one of claims 1 to 8 wherein steering wheels are provided at each of the four corners of the chassis frame, the steering wheels being rigidly connected to the chassis frame.

10. A brick laying apparatus according to any one of claims 1 to 8 further comprising a locking mechanism for locking the moveable rail assembly to the chassis frame.

Technical Field

The invention relates to the technical field of construction robots, in particular to brick laying equipment.

Background

The wall masonry process is one of common processes of building construction, the labor intensity of the process is high, the construction efficiency is low, and a robot is necessary to replace the operation. Meanwhile, partial passages of the residential building are narrow, and high requirements are put forward on the structural size of the brick laying robot. However, the brick laying robot in the market at present has low automation degree, cannot completely replace the construction of workers, or has overlarge volume, and cannot freely enter a construction area through a passageway to perform automatic construction operation.

In addition, the building areas of the residential floors are different, various wall bodies (such as a linear wall, a T-shaped wall and an L-shaped wall) exist, and the wall bodies of individual rooms, toilets and kitchens are short and narrow in space, so that the existing brick laying robot is low in universality and poor in practicability.

Based on the current situation, a new brick laying device needs to be designed.

Disclosure of Invention

One object of the present invention is: the brick laying equipment can meet the masonry requirements of different types of walls.

In order to achieve the purpose, the invention adopts the following technical scheme:

a brick laying apparatus comprising:

a chassis frame;

the guide rail mechanism comprises a fixed guide rail component arranged on the first side edge of the chassis frame and a movable guide rail component which is rotatably connected with one end of the first side edge;

the driving mechanism is used for driving the movable guide rail assembly to rotate to form a preset included angle with the fixed guide rail assembly;

and the bricklaying mechanism is slidably arranged on the guide rail mechanism and can switch positions between the fixed guide rail assembly and the movable guide rail assembly.

Specifically, the movable guide rail assembly is rotatably connected with the chassis frame, so that the movable guide rail assembly can extend or retract relative to the chassis frame, on one hand, the passing performance of the brick laying equipment in the walking process can be improved, and on the premise that the chassis frame is fixed, the operation coverage of the brick laying mechanism can be enlarged, and further, the operation efficiency is improved; on the other hand, the brick laying equipment can improve the capacity of manufacturing different types of walls such as T-shaped walls and L-shaped walls on the premise that the chassis frame is fixed, and further improves the operation capacity of the brick laying equipment in a narrow space.

Preferably, the fixed rail assembly extends in a horizontal direction.

Preferably, the rotating surface of the movable guide rail assembly is a horizontal surface, and further, the chassis frame further comprises a second side edge, the second side edge is adjacent to the first side edge, and when the movable guide rail assembly is in a retraction state, the movable guide rail assembly is attached to the second side edge. Of course, the rotating surface of the movable guide rail assembly can also be a vertical surface or an inclined surface.

As an optimal technical scheme, the movable guide rail subassembly is including the activity slide rail, the activity slide rail is close to the one end of fixed guide rail subassembly is provided with the activity locating surface, the fixed guide rail subassembly is including fixed slide rail, fixed slide rail is close to the one end of movable guide rail subassembly is provided with the fixed locating surface, works as the activity locating surface with when the fixed locating surface is laminated, the mechanism of laying bricks can the fixed guide rail subassembly with switch over the position between the movable guide rail subassembly, the mechanism of laying bricks with the activity slide rail fixed slide rail sliding connection.

Preferably, when the movable positioning surface is attached to the fixed positioning surface, the movable guide rail assembly and the fixed guide rail assembly are located on the same straight line.

Preferably, the quantity of activity slide rail is two, every the activity slide rail all is provided with the activity locating surface, the quantity of fixed slide rail is two, every all be provided with on the fixed slide rail fixed locating surface, further, at least one be provided with the location boss on the activity locating surface, the correspondence is provided with positioning groove on the fixed locating surface, the location boss can insert in the positioning groove.

Specifically, can laminate each other through the setting activity locating surface with the fixed position face can improve the activity slide rail with the positioning accuracy of fixed slide rail, and then improve the mechanism of laying bricks is in the activity slide rail with gliding smooth and easy degree between the fixed slide rail effectively reduces the vibration and avoids the card to die, can improve simultaneously the activity slide rail with the life of fixed slide rail.

Preferably, the fixed guide rail assembly further comprises a fixed frame and a connecting frame, the fixed frame is mounted on the chassis frame through the connecting frame, and the fixed slide rail is mounted on the fixed frame in a manner of extending along the horizontal direction.

As a preferred technical scheme, the movable guide rail assembly further comprises a movable frame, the movable slide rail is mounted on the movable frame, and the driving mechanism comprises:

the swinging seat is arranged at one end of the first side edge of the chassis frame, and one end of the movable frame is hinged with the swinging seat;

the swing driving piece is installed on the swing seat, is in transmission connection with the movable frame and is used for driving the movable frame to rotate.

Preferably, the swing seat includes swing base, swing seat of honour and driving piece seat, the swing base with the swing seat of honour install respectively in on the chassis frame, the one end of adjustable shelf is provided with the free bearing, the free bearing install in the swing base with between the swing seat of honour, the driving piece seat is installed the top of swing seat of honour, the swing driving piece install in the driving piece seat, the swing driving piece run through the driving piece seat and with the free bearing transmission is connected.

Particularly, through setting up swing seat can improve the rotation reliability of adjustable shelf reduces the vibration of rotation in-process.

As a preferred technical solution, the movable guide rail assembly further includes a movable rack, the movable rack is parallel to the movable slide rail, the fixed guide rail assembly further includes a fixed rack, the fixed rack is parallel to the fixed slide rail, and when the movable positioning surface is engaged with the fixed positioning surface, the movable rack is abutted to the fixed rack; bricklaying mechanism includes:

the brickwork support is connected with the movable slide rail and the fixed slide rail in a sliding way;

the horizontal driving piece is arranged on the bricklaying support and used for driving the bricklaying support to move along the movable sliding rail and the fixed sliding rail;

and the horizontal driving gear is arranged at the output end of the horizontal driving piece, and is meshed with the movable rack and the fixed rack.

Preferably, be provided with horizontal slider on the bricklaying support, the quantity of horizontal slider is the twice of the quantity of activity slide rail, horizontal slider with the activity slide rail fixed slide rail sliding connection.

Preferably, the horizontal drive is a motor.

As a preferred technical solution, the bricklaying mechanism further includes:

the brick laying jig is slidably arranged on the brick laying support and used for clamping bricks;

and the vertical driving piece is used for driving the bricklaying jig to move up and down.

Specifically, can follow through the setting the tool of laying bricks support vertical movement can enlarge the operation coverage of the direction of height of tool of laying bricks.

Preferably, be provided with vertical slide rail on the support of laying bricks, the tool of laying bricks with vertical slide rail sliding connection.

As an optimal technical scheme, the brickwork support includes support main part and crane, the support main part install in guide rail mechanism, the crane with support main part is along vertical direction sliding connection, the tool of laying bricks along vertical direction sliding installation in the crane, vertical driving piece includes first driving piece and second driving piece, first driving piece is used for the drive the crane is relative the support main part reciprocates, the second driving piece is used for the drive the tool of laying bricks is relative the crane reciprocates.

Specifically, through setting up crane and the tool two-stage elevation structure of laying bricks can make under compact structure's prerequisite the tool of laying bricks realizes great flexible coverage.

As a preferred technical scheme, the bricklaying equipment further comprises a ground supporting mechanism, wherein the ground supporting mechanism is installed on the movable guide rail assembly and is used for supporting one end, far away from the fixed guide rail assembly, of the movable guide rail assembly.

Specifically, when the movable guide rail subassembly is relative when chassis frame is in the extended state, the movable guide rail subassembly is kept away from the one end of fixed guide rail subassembly is unsettled, through setting up prop ground mechanism and support the unsettled end, can avoid the downward sloping of movable guide rail subassembly warp or even break, and then improve the operation precision of the mechanism of laying bricks and improve equipment's life.

As a preferable technical solution, the ground supporting mechanism includes:

a ground support bracket mounted to the movable rail assembly;

the ground supporting piece is slidably mounted on the movable guide rail assembly or the ground supporting bracket;

the body of the ground supporting driving piece is mounted on the ground supporting bracket, and the output end of the ground supporting driving piece is in transmission connection with the ground supporting piece and is used for driving the ground supporting piece to move up and down.

Specifically, through setting up the liftable prop ground piece, when equipment walking, prop ground piece rebound and leave ground, avoid interfering with ground, guarantee the reliability of equipment walking during the operation of the mechanism of laying bricks, prop ground piece rebound butt ground, it is right the movable guide subassembly supports, guarantees the operation precision of the mechanism of laying bricks.

As a preferable technical scheme, four corners of the chassis frame are respectively provided with a steering wheel, and the steering wheels are rigidly connected with the chassis frame.

Specifically, the four steering wheels which are rigidly connected are arranged at the four corners of the chassis frame, so that on one hand, the linkage of the four steering wheels can be realized by utilizing the tilt angle sensor, and the walking reliability and obstacle crossing capability are further ensured; on the other hand can guarantee the chassis frame supports ground reliably steadily, can effectively avoid the equipment focus that reciprocating motion arouses changes and causes rocking of equipment during the operation of the mechanism of laying bricks, and then improves the operation precision of the mechanism of laying bricks.

Preferably, the bricklaying equipment further comprises a control box and a battery bin which are arranged below the middle part of the chassis frame in parallel. The control box and the battery compartment are arranged below the chassis frame, so that the space below the chassis frame can be fully utilized, the overall compactness of the equipment is improved, and the miniaturization of the equipment is facilitated.

As a preferred technical solution, the brick laying apparatus further comprises a locking mechanism for locking the movable rail assembly to the chassis frame.

Specifically, through setting up locking mechanical system can with the activity guide rail subassembly locking with the fixed rail subassembly is the position of predetermineeing the contained angle, avoids laying bricks the mechanism operation in-process the unusual swing of activity guide rail subassembly, and then improves the operational reliability of the mechanism of laying bricks.

Preferably, the body of the locking mechanism is mounted on the chassis frame, and the output end of the locking mechanism is provided with a friction piece which is used for extruding and fixing the movable guide rail assembly; or the body of the locking mechanism is arranged on the movable guide rail assembly, the output end of the locking mechanism is provided with a friction piece, and the friction piece is used for extruding the chassis frame to fix the movable guide rail assembly.

Preferably, the second side of chassis frame is kept away from the one end of first side is provided with the retaining member, the retaining member is used for the movable guide rail subassembly with when the second side laminating will the movable guide rail subassembly is fixed in chassis frame is in order to avoid at equipment walking in-process the movable guide rail subassembly extends unusually and bumps with the external world, and then improves the reliability of equipment walking.

The invention has the beneficial effects that: the movable guide rail assembly is rotatably connected with the chassis frame, so that the movable guide rail assembly can extend or retract relative to the chassis frame, the passing performance of the brick laying equipment in the walking process can be improved, the operation coverage range of the brick laying mechanism can be expanded on the premise that the chassis frame is fixed, and the operation efficiency is improved; on the other hand, the brick laying equipment can improve the capacity of manufacturing different types of walls such as T-shaped walls and L-shaped walls on the premise that the chassis frame is fixed, and further improves the operation capacity of the brick laying equipment in a narrow space.

Drawings

The invention is explained in more detail below with reference to the figures and examples.

Fig. 1 is a schematic structural view of a bricklaying apparatus (with a movable rail assembly retracted) according to an embodiment;

fig. 2 is a schematic structural view of a bricklaying apparatus (movable rail assembly extended and bricklaying mechanism not embodied) according to an embodiment;

FIG. 3 is an enlarged view of a portion of the portion A shown in FIG. 1;

FIG. 4 is an enlarged view of a portion of the portion B shown in FIG. 2;

FIG. 5 is a schematic diagram of an assembled structure of the movable rail assembly, the driving mechanism and the ground supporting mechanism according to the embodiment at a first view angle;

FIG. 6 is a schematic diagram of an assembled structure of the movable rail assembly, the driving mechanism and the ground supporting mechanism according to the embodiment at a second view angle;

FIG. 7 is a schematic view from a first perspective of an assembly structure of the bricklaying mechanism and the movable rail assembly according to the embodiment;

FIG. 8 is a schematic view from a second perspective of an assembly structure of the bricklaying mechanism and the movable rail assembly according to the embodiment;

fig. 9 is a schematic structural view of a brick laying mechanism according to an embodiment;

FIG. 10 is a schematic view showing the working state of a short wall constructed by the bricklaying equipment according to the embodiment;

FIG. 11 is a schematic view showing the working condition of the bricklaying equipment for bricklaying a shorter wall according to the embodiment;

FIG. 12 is a schematic view showing the working state of the bricklaying equipment for laying L-shaped walls according to the embodiment;

FIG. 13 is a schematic view showing the working condition of the bricklaying equipment for building a T-shaped wall according to the embodiment;

fig. 14 is a schematic view showing the working state of the bricklaying equipment for laying a long wall according to the embodiment.

In fig. 1 to 14:

1. a chassis frame; 11. a second side edge;

2. a guide rail mechanism; 21. a fixed rail assembly; 211. a fixed slide rail 212 and a fixed positioning surface; 213. a positioning groove; 214. a fixed mount; 215. a connecting frame; 216. fixing a rack; 22. a movable rail assembly; 221. a movable slide rail; 222. a movable positioning surface; 223. a movable frame; 224. hinging seat; 225. a movable rack;

3. a drive mechanism; 31. a swing seat; 311. a swing base; 312. swinging the upper seat; 313. a driver seat; 32. a swing drive;

4. a brick laying mechanism; 41. building a brick support; 411. a stent body; 412. a lifting frame; 42. a horizontal drive member; 43. a horizontal drive gear; 44. a horizontal slider;

5. a ground supporting mechanism; 51. a ground support; 52. a ground supporting member; 53. a ground supporting driving member;

6. a steering wheel;

7. a control box;

8. a battery compartment;

9. a wall body.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

A brick laying device is shown in figures 1 and 2 and comprises a chassis frame 1, a guide rail mechanism 2, a driving mechanism 3 and a brick laying mechanism 4, wherein the guide rail mechanism 2 comprises a fixed guide rail assembly 21 arranged on a first side edge of the chassis frame 1 and a movable guide rail assembly 22 rotatably connected with one end of the first side edge; the driving mechanism 3 is used for driving the movable guide rail assembly 22 to rotate to form a preset included angle with the fixed guide rail assembly 21; the brick laying mechanism 4 is slidably mounted on the rail mechanism 2 and is switchable between a fixed rail assembly 21 and a movable rail assembly 22. Specifically, the movable guide rail assembly 22 which is rotatably connected with the chassis frame 1 is arranged, so that the movable guide rail assembly 22 can extend or retract relative to the chassis frame 1, on one hand, the passing performance of the brick laying equipment in the walking process can be improved, and on the premise that the chassis frame 1 is fixed, the operation coverage of the brick laying mechanism 4 can be enlarged, and further, the operation efficiency is improved; on the other hand can improve the ability of this equipment of laying bricks preparation different grade type wall body such as T shape wall, L shape wall under chassis frame 1 rigid's prerequisite, and then improves the operational capability of this equipment of laying bricks in narrow and small space.

In this embodiment, the fixed rail assembly 21 extends along the horizontal direction, the rotation plane of the movable rail assembly 22 is a horizontal plane, the chassis frame 1 further includes a second side edge 11, the second side edge 11 is adjacent to the first side edge, and when the movable rail assembly 22 is in the retraction state, the movable rail assembly 22 is attached to the second side edge 11. Of course, in other embodiments, the rotation surface of the movable rail assembly 22 may be a vertical surface or an inclined surface.

In this embodiment, as shown in fig. 3 and 4, the movable rail assembly 22 includes a movable slide rail 221, one end of the movable slide rail 221 close to the fixed rail assembly 21 is provided with a movable positioning surface 222, the fixed rail assembly 21 includes a fixed slide rail 211, one end of the fixed slide rail 211 close to the movable rail assembly 22 is provided with a fixed positioning surface 212, when the movable positioning surface 222 is attached to the fixed positioning surface 212, the movable rail assembly 22 and the fixed rail assembly 21 are located on the same straight line, the brick laying mechanism 4 can switch positions between the fixed rail assembly 21 and the movable rail assembly 22, the brick laying mechanism 4 is connected to the movable slide rail 221 and the fixed slide rail 211 in a sliding manner. Preferably, the number of the movable slide rails 221 is two, each movable slide rail 221 is provided with a movable positioning surface 222, the number of the fixed slide rails 211 is two, each fixed slide rail 211 is provided with a fixed positioning surface 212, further, at least one movable positioning surface 222 is provided with a positioning boss, the fixed positioning surface 212 is correspondingly provided with a positioning groove 213, and the positioning boss can be inserted into the positioning groove 213. Specifically, through setting up the activity locating surface 222 and the fixed locating surface 212 that can laminate each other, can improve the positioning accuracy of activity slide rail 221 and fixed slide rail 211, and then improve the gliding smooth and easy degree of mechanism 4 of laying bricks between activity slide rail 221 and fixed slide rail 211, effectively reduce the vibration and avoid the card to die, can improve the life of activity slide rail 221 and fixed slide rail 211 simultaneously. In addition, as shown in fig. 2, the fixed rail assembly 21 further includes a fixed frame 214 and a connecting frame 215, the fixed frame 214 is mounted on the chassis frame 1 through the connecting frame 215, and the fixed rail 211 is mounted on the fixed frame 214 to extend in the horizontal direction.

As shown in fig. 3 to fig. 6, the movable rail assembly 22 further includes a movable frame 223, the movable rail 221 is mounted on the movable frame 223, the driving mechanism 3 includes a swing seat 31 and a swing driving element 32, the swing seat 31 is disposed at one end of the first side of the chassis frame 1, and one end of the movable frame 223 is hinged to the swing seat 31; the swing driving member 32 is mounted on the swing seat 31, and the swing driving member 32 is in transmission connection with the movable frame 223 and is used for driving the movable frame 223 to rotate. By providing the swing seat 31, the rotation reliability of the movable frame 223 can be improved, and the vibration during the rotation can be reduced. Further, the swing seat 31 includes a swing base 311, a swing upper seat 312 and a driving member seat 313, the swing base 311 and the swing upper seat 312 are respectively installed on the chassis frame 1, a hinge seat 224 is provided at one end of the movable frame 223, the hinge seat 224 is installed between the swing base 311 and the swing upper seat 312, the driving member seat 313 is installed on the top of the swing upper seat 312, the swing driving member 32 is installed on the driving member seat 313, and the swing driving member 32 penetrates through the driving member seat 313 and is in transmission connection with the hinge seat 224.

As shown in fig. 3, 4, and 7 to 9, the movable rail assembly 22 further includes a movable rack 225, the movable rack 225 is parallel to the movable rail 221, the fixed rail assembly 21 further includes a fixed rack 216, the fixed rack 216 is parallel to the fixed rail 211, and when the movable positioning surface 222 is engaged with the fixed positioning surface 212, the movable rack 225 is engaged with the fixed rack 216. The brickwork mechanism 4 comprises a brickwork support 41, a horizontal driving piece 42 and a horizontal driving gear 43, wherein the brickwork support 41 is connected with a movable sliding rail 221 and a fixed sliding rail 211 in a sliding manner; the horizontal driving member 42 is mounted on the bricklaying support 41 and is used for driving the bricklaying support 41 to move along the movable sliding rail 221 and the fixed sliding rail 211; the horizontal driving gear 43 is installed at the output end of the horizontal driving member 42, and the horizontal driving gear 43 is engaged with the movable rack 225 and the fixed rack 216. Preferably, the bricklaying support 41 is provided with horizontal sliding blocks 44, the number of the horizontal sliding blocks 44 is twice of that of the movable sliding rails 221, and the horizontal sliding blocks 44 are slidably connected with the movable sliding rails 221 and the fixed sliding rails 211. The horizontal drive 42 is a motor.

The brick laying mechanism 4 further comprises a brick laying jig and a vertical driving piece, wherein the brick laying jig is slidably mounted on the brick laying support 41 and used for clamping bricks; the vertical driving piece is used for driving the brick laying jig to move up and down. Through setting up the tool of laying bricks of the vertical removal of support 41 of laying bricks, can enlarge the operation coverage of the direction of height of the tool of laying bricks. Preferably, be provided with vertical slide rail on the support 41 of laying bricks, the tool of laying bricks and vertical slide rail sliding connection.

The support 41 of laying bricks includes support main part 411 and crane 412, and support main part 411 is installed in guide rail mechanism 2, and crane 412 and support main part 411 are along vertical direction sliding connection, and the tool of laying bricks is along vertical direction sliding installation in crane 412, and vertical driving piece includes first driving piece and second driving piece, and first driving piece is used for driving crane 412 and reciprocates relatively support main part 411, and the second driving piece is used for driving the tool of laying bricks and reciprocates relatively crane 412. Specifically, through setting up crane 412 and the tool two-stage elevation structure of laying bricks, can make the tool of laying bricks realize great flexible coverage under compact structure's prerequisite.

In this embodiment, as shown in fig. 2, 5 and 6, the brick laying apparatus further comprises a ground supporting mechanism 5, and the ground supporting mechanism 5 is mounted to the movable rail assembly 22 for supporting an end of the movable rail assembly 22 away from the fixed rail assembly 21. Specifically, when movable guide rail assembly 22 is in the state of extending relative to chassis frame 1, the one end that fixed guide rail assembly 21 was kept away from to movable guide rail assembly 22 is unsettled, props ground mechanism 5 through setting up and supports the unsettled end, can avoid movable guide rail assembly 22 downward sloping to warp or even break, and then improves the operation precision of mechanism 4 of laying bricks and improve equipment's life.

The ground supporting mechanism 5 comprises a ground supporting bracket 51, a ground supporting piece 52 and a ground supporting driving piece 53, wherein the ground supporting bracket 51 is mounted on the movable guide rail assembly 22, the ground supporting piece 52 is slidably mounted on the movable guide rail assembly 22 (naturally, the ground supporting piece 52 can also be slidably mounted on the ground supporting bracket 51), the body of the ground supporting driving piece 53 is mounted on the ground supporting bracket 51, and the output end of the ground supporting driving piece 53 is in transmission connection with the ground supporting piece 52 and is used for driving the ground supporting piece 52 to move up and down. Specifically, through setting up the ground piece 52 that props of liftable, when equipment walking, prop ground piece 52 rebound and leave ground, avoid interfering with ground, guarantee the reliability of equipment walking, when the operation of bricklaying mechanism 4, prop ground piece 52 downward movement butt ground, support movable guide rail subassembly 22, guarantee the operation precision of bricklaying mechanism 4.

Steering wheels 6 are respectively arranged at four corners of the chassis frame 1, and the steering wheels 6 are rigidly connected with the chassis frame 1. Specifically, the steering wheels 6 which are rigidly connected are arranged at the four corners of the chassis frame 1, so that on one hand, the linkage of the four steering wheels 6 can be realized by utilizing the tilt angle sensor, and the walking reliability and obstacle crossing capability are further ensured; on the other hand can guarantee that chassis frame 1 supports ground reliably steadily, and the equipment focus that reciprocating motion arouses when can effectively avoid 4 operations of the mechanism of laying bricks changes and causes rocking of equipment, and then improves the operation precision of the mechanism of laying bricks 4.

In the present embodiment, as shown in fig. 1 and 2, the brick laying apparatus further comprises a control box 7 and a battery compartment 8 mounted in parallel below the middle of the chassis frame 1. The control box 7 and the battery bin 8 are arranged below the chassis frame 1, so that the space below the chassis frame 1 can be fully utilized, the overall compactness of the equipment is improved, and the miniaturization of the equipment is facilitated.

The brick laying apparatus further comprises a locking mechanism for locking the movable rail assembly 22 to the chassis frame 1. Through setting up locking mechanical system, can be the position that predetermines the contained angle with fixed rail subassembly 21 locking with movable guide rail subassembly 22, avoid at 4 operation in-process movable guide rail subassemblies 22 abnormal oscillation of mechanism of laying bricks, and then improve the operation reliability of mechanism of laying bricks 4. In this embodiment, the body of the locking mechanism is mounted on the chassis frame 1, and the output end of the locking mechanism is provided with a friction member for pressing and fixing the movable rail assembly 22. In other embodiments, the body of the locking mechanism is mounted to the movable rail assembly 22, and the output end of the locking mechanism is provided with a friction member for pressing against the chassis frame 1 to fix the movable rail assembly 22.

Optionally, the one end of first side is kept away from to chassis frame 1's second side 11 is provided with the retaining member, and the retaining member is used for being fixed in chassis frame 1 with movable guide rail assembly 22 when movable guide rail assembly 22 and second side 11 laminating to avoid movable guide rail assembly 22 to extend and collide with the external world unusually in the equipment walking process, and then improve the reliability of equipment walking.

Specifically, when the brick laying equipment is used for laying a short wall, the working state is as shown in fig. 10, at this time, the wall bodies 9 on the left side and the right side of the brick laying equipment are already laid, and when the wall body 9 to be laid by the brick laying equipment is shorter and is located between the wall bodies 9 on both sides, the working state shown in fig. 10 can complete the laying action. At this time, the movable guide rail assembly 22 retracts, the brick laying mechanism 4 is located on the movable guide rail assembly 22 (hereinafter referred to as state one), the occupied space of the brick laying equipment is small in the working state, and the wall 9 in a narrow space can be built.

When the brick laying equipment is used for laying a short wall, the working state is as shown in fig. 11, when the front side and the rear side of the brick laying equipment are walls 9 which are already laid, and the brick laying equipment needs to lay a short wall 9 between the walls 9 at the two sides, the laying coverage length of the working state of fig. 10 is insufficient, the laying action needs to be finished in the working state shown in fig. 11, the movable guide rail assembly 22 retracts, and the brick laying mechanism 4 is located on the fixed guide rail assembly 21 (hereinafter referred to as state two), the brick laying equipment occupies a small space in the working state, and the relatively long wall 9 can be laid in a small space. In addition, the brick laying equipment needs to be changed from the working state of fig. 10 to the working state of fig. 11 in a relatively open place, specifically, the movable guide rail assembly 22 is firstly extended to be in the same straight line with the fixed guide rail assembly 21 in the open area, then the brick laying mechanism 4 moves to the fixed guide rail assembly 21 from the movable guide rail assembly 22, and then the movable guide rail assembly 22 is restored to the retraction state, so that the state conversion can be completed.

The working state of the bricklaying equipment for building the L-shaped wall is shown in figure 12, and the working state of the T-shaped wall is shown in figure 13.

The masonry process of the L-shaped wall 9 and the T-shaped wall 9 is as follows:

the first step is as follows: the brick laying equipment completes one layer of the front wall 9 in the first state.

The second step is that: and (3) converting the brick laying mechanism 4 into a second state, wherein in the second state, one layer of the wall body 9 at the side of the brick laying equipment is firstly laid, and then the previous layer of the wall body 9 at the side is laid.

The third step: the brick laying mechanism 4 is switched to state one in which the previous course of the wall 9 in front of the first step is completed, followed by laying the next previous course.

The fourth step: and repeating the second step and the third step, so that the L/T-shaped wall can be built layer by layer.

This equipment of laying bricks is when building long wall, and operating condition is as shown in figure 14, and movable rail subassembly 22 stretches out this moment and be the collinear with fixed rail subassembly 21, and the mechanism of laying bricks 4 can remove and switch at will between movable rail subassembly 22 and fixed rail subassembly 21, makes the horizontal stroke of the mechanism of laying bricks 4 be the length sum of movable rail subassembly 22 and fixed rail subassembly 21, and then improves the mechanism of laying bricks 4's the building length of covering greatly.

In the description herein, it is to be understood that the terms "upper", "lower", "left", "right", and the like are used in a descriptive sense or positional relationship based on the orientation or positional relationship shown in the drawings for convenience in description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.

In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.