Brick-laying robot for rising masonry

(42) Date of commencement of the patent: 15. 6.1996 (45) Date of issue: 27. 1.1997 (73) Patent owner:

OPFERKUCH BAU SOCIETY MBH

A-8083 ST. STEFAN IN THE ROSENTAL, STEIERMARK (AT). PAIER RUPERT

A-8082 KIRCHBACH, STEIERMARK (AT).

(72) Inventor:

MARKET ANDREAS

WHITE CHURCHES, STONESMARK (AT).

(54) ROBOT FOR LAMINATING A RECORDING MACHINERY (57) A brick-setting robot for a rising masonry with a gripping arm (80), wherein a central support device (32) carrying the gripping arm (80) is provided, on which the entire robot is statically supportable and a peripheral support device is provided with support feet (7) height-adjustable between a retracted and an extended position, in soft retracted position the entire robot with the central support device (32) is statically supported on the ground and in which extended position the entire robot with the support feet (7) is statically supported on the ground, wherein the peripheral support device is displaceable in the direction parallel to the set of bricks to be set relative to the central support device (32) by a predeterminable step size.

CQ

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AT 402 085

WB 0078315

AT 402 085 Β

The invention relates to a brick laying robot for a rising masonry with a gripping arm.

So far, the erection of a masonry by hand, the individual bricks were connected to each other with mortar. A skilled worker set the bricks, and this specialist had to ensure the horizontal planarity of each group of bricks before setting the next group of bricks due to geometric differences between the individual bricks and the usually not completely flat mortar layers between the bricks. In order to avoid the unevenness caused by the individual mortar layers, the bricks are in love with each other. This method is also used in this invention.

Furthermore, additional persons were needed for the brick supply and the preparation of the mortar used to connect the bricks.

From these circumstances, the following two disadvantages arise: The building of a wall according to this known type takes a lot of time and the persons used to build the masonry cost the client.

Object of the present invention is therefore to provide a robot of the type mentioned, with which it is possible to automatically set even extensive masonry.

According to the invention, this is achieved by in that a central supporting device carrying the gripping arm is provided, on which the entire robot is statically supportable, a peripheral support device is provided with support feet height-adjustable between a retracted and an extended position, in which retracted position the entire robot with the central support device is statically supported on the ground and in which extended position the entire robot is statically supported with the support feet on the ground, and that the peripheral support device is displaceable in the direction parallel to the bricks to be set against the central support device uni a predeterminable step size.

As a result, the robot can easily perform walking movements, so move on independently and thus build arbitrarily long masonry with any course.

In this context it can be provided that the central support device is formed from a hollow cylinder which is fixedly connected to a bottom plate and provided with lateral support wings.

With this design, a very good stability of the robot is achieved.

Furthermore, it can be provided that the support feet of the peripheral support device are arranged on a horizontal base plate, and that the central support device is arranged through a pivot bearing and through the horizontal base plate hindurchverlaufend, wherein the pivot bearing connected on the one hand to the central support device and on the other hand with a horizontal Verfahrplattform is which positioning platform is displaceable relative to the horizontal base plate.

This allows a simple and convenient construction of the peripheral support device and a good mobility of the central support device and thus the gripping arm with respect to pivotal movements.

In a preferred embodiment of the invention can be provided that the pivot bearing is formed by a ball bearing, the inner roller is firmly connected on one side with the central support device and the outer roller is firmly connected to the other side with the horizontal positioning platform.

The use of a ball bearing brings a slight pivoting and thus the possibility of an energy-saving drive for this pivoting with it.

Another embodiment of the invention may be that the inner roller of the ball bearing is connected to the central support device via a first plate and optionally via a second plate.

This detail allows good transfer of the weight exerted by the vertical column and the pivoting arm onto the support feet.

Furthermore, it can be provided that on the outer roller of the ball bearing, a toothing is mounted, which is in engagement with a pinion of a plate arranged on the third gear motor.

This arrangement allows a backlash-free drive the pivoting.

A wide type of embodiment of this invention may be that the traversing platform along two guides by two preferably formed of piston and cylinder traversing drives relative to the base plate is displaceable, which fixed at one end to the base plate and at its other ends to the horizontal traversing platform are connected.

Using these elements, the horizontal displacement of the travel platform can be very accurate, play and still powerful.

A further embodiment of the invention may also provide that the base plate is square, each with a support leg at its vertices and with a preferably circular opening in its center

AT 402 085 Β is formed, through which breakthrough the central support device is performed.

This results in a light and fast Fertigbarkett the described part, which contributes to the fact that the production costs of the robot are kept low. Furthermore, a sufficient stability of the robot is ensured by the use of four support feet.

A preferred embodiment of the invention may consist in that the gripping arm is formed by a horizontal pivot arm, which is arranged vertically adjustable with a movable along the Schwenkarmachse gripper for receiving and depositing a brick on a vertical column, and that the vertical column at its lower end in which arranged on the horizontal traveling platform pivot bearing is pivotable about its longitudinal axis or the pivot bearing with the horizontal positioning platform is pivotable about the column.

Such a design of the gripper arm a good mobility of the robot is achieved.

In this context, it can be provided that the gripper is connected to one end of the horizontal pivot arm and that the horizontal pivot arm along a guide rail is horizontally displaceable relative to the vertical column.

As a result, an almost backlash-free and very exact displaceability of the gripper is achieved.

Another type of embodiment of the invention may consist in that on the horizontal pivot arm extending over the longitudinal axis of the rack is arranged, which is in engagement with a pinion of a arranged on the vertical column first geared motor.

With the help of this design, an efficient and accurate movement of the gripper is possible.

Furthermore, it can be provided that the vertical column is formed of two parallel uprights, between which a horizontal swivel arm carrying carriage is arranged adjustable in height.

This is a relatively play and strong leadership of the swing arm is achieved.

In this context, it can be provided in a further development of the invention that on the vertical column in the longitudinal direction extending over the longitudinal axis rack is arranged, which is in engagement with a pinion of a slide arranged on the second geared motor.

The use of this option represents a play-free drive the Schwenkarmhöhenverstellung.

Another preferred embodiment of the invention may be that the gripping arm consists of at least two interconnected, is formed pivotable arm elements, in that the first end of the first arm element is pivotally mounted in a bearing arranged on the plate, the other end of the first armature element is pivotably mounted on the first end of the second arm element, that the second end of the second arm member is pivotally mounted at the first end of the third arm member and that the gripper is arranged at the second end of the third arm member.

With such a design of the gripping arm, the pivoting range of the robot, ie the area in which parts of the gripping arm must move, is kept very small. As a result, even relatively narrow spaces or walls, which are to be constructed relatively closely spaced from existing masonry, are set by the robot according to the invention.

In development of the invention can be provided that the gripper is formed from two mutually parallel gripping jaws, which are mounted on a jaw carrier plate so displaceable, that their parallel distance from one another is changeable by their opposite displacement between an open and a gripping position, that the baking tray plate is connected via a first contact pressure coupling member with a parallel to this and arranged in the normal direction displaceable intermediate plate, that the intermediate plate is connected via a second contact pressure coupling member with a parallel arranged and displaceable sipper base plate and that the gripper base plate about its vertical axis pivotable in the pivot arm or is mounted in the third arm member.

By the way in which the gripping jaws are movable, one achieves a simple and safe realization of the gripper function, that is the access and the release function. With the help of the mutually displaceable plate systems, the necessary Anpreflung the brick is achieved relatively easily.

In this context, it can further be provided according to the invention that the first and the second contact pressure coupling member is formed from a helical spring.

This arrangement allows easy generation of the necessary Ziegelanpreßdrucks in both directions.

In a preferred embodiment of the invention can be provided that a Ziegelzuführeinheit is provided with which the brick conveyed with adhesive or mortar, z. B. wetted with thin-bed mortar on the support side and are movable into a removal position for the gripper.

Thus, an inventive robot with only a single person who puts the bricks on the Ziegelzuführeinheit comes from. Since this person does not have to be a specialist, it also causes only minor

AT 402 085 Β

Costs.

Furthermore, it may be provided that the Ziegelzuführeinheit comprises a congestion conveyor system, then mortar application rollers, which protrude into a cement or mortar bath, are arranged on this and then a conveyor unit is arranged, through which a wetted brick is movable into the removal position for the gripper ,

This arrangement has the advantage that the previously ground flat brick are supplied under low mechanical loads and wetted with adhesive or mortar. The resulting low surface damage has a positive effect on the requirement for exactly horizontal growth of the wall.

According to the invention there is a method for automatically setting a rising masonry with the aid of a robot according to the invention therein, that the gripper is brought by pivoting the vertical column and / or by height adjustment of the horizontal pivot arm and / or by the horizontal displacement of the gripper along the Schwenkarmachse in the removal position for each next brick to be set, that subsequently the gripping jaws are moved into their gripping position, that thereafter the gripper is moved to the position by pivoting the vertical column and / or by height adjustment of the horizontal pivot arm and / or by the horizontal displacement of the gripper along the pivot arm axis, to which the bricks should be placed that then the brick is first pressed in the horizontal direction of the previously set brick by shifting the traversing platform and then discontinued and pressed in the vertical direction by height adjustment of the horizontal pivot arm, that then the jaws are returned to their open position, that after each brick setting process, the entire robot is supported statically on the central supporting device by extending the support feet, then the horizontal positioning platform with respect to the base plate by one step, preferably a brick width, is moved towards the next setting position, then the support feet are moved to their retracted position, the central support device statically supports the robot, then the horizontal base plate is tracked relative to the horizontal positioning platform and finally the support feet are moved back to their extended position.

This method has the advantage that the gripper must take the brick only from a predetermined position, he does not need any additional movements, such as to perform brick feeding or mortar wetting, therefore, as fast as his drives allow him to place the bricks on the wall.

Another method for automatically setting a rising masonry with the aid of a robot according to the invention may consist in that the gripper is brought by pivoting the plate and / or by pivoting the arm elements in the removal position for the next brick to be set, that subsequently the gripping jaws are moved into their gripping position, that thereafter the gripper is moved by pivoting the arm members to the position, to which the bricks should be placed that then the brick is first pressed in the horizontal direction of the previously set brick by shifting the traversing platform and then discontinued and pressed in the vertical direction by pivoting the arm members accordingly, that then the jaws are returned to their open position, that after each brick setting process, the entire robot is supported statically on the central supporting device by extending the support feet, then the horizontal positioning platform with respect to the base plate by one step, preferably a brick width, is moved towards the next setting position, then the support feet are moved to their retracted position, the central support device statically supports the robot, then the horizontal base plate is tracked relative to the horizontal positioning platform and finally the support feet are moved back to their extended position.

Using this method, only a relatively small free area is needed for the robot.

Furthermore, it can be provided in a method according to the invention that when supported by the central support device, the horizontal positioning platform with respect to the vertical column and thus with respect to the central support device by an angle corresponding to the corner angle is pivoted.

This possibility also allows the user with the help of the robot corners, projections or the like. to build in his wall; The robot can thus be used universally for almost all wall forms.

A development of the method according to the invention can provide that a brick to be set next is held in the picking position for the gripper by a stop of the brick feed, that after the gripper has taken it from its position, the front brick stop device releases the next tile, that this passes through the mortar rollers to the brick stop, that then the front Ziegelstopeinrichung is brought back into its locking position and that the rear brick stopper releases the following brick and that if the brick on

AT 402 085 Β of the front brick stop means, the rear brick stop means is brought into its blocking position.

The procedure according to this method has the advantage that the brick feed to the removal position and the wetting of the bricks with adhesive or mortar is done automatically and quickly and accurately, so that the worker who has to prepare the mortar and those who the mortar on the Brick must apply, can be saved. All conceivable dosing errors and positioning errors are kept very low.

In a preferred embodiment of the method can be provided that the bricks are picked up at their end faces of the gripping jaws and that the bricks are laid with their broads side by side.

This can be compared to the conventional method to move the brick face to face in one operation corresponding thicker masonry can be built.

The invention will now be explained with reference to the embodiments of a robot according to the invention shown in the drawings. Showing:

1 shows the overall view of a robot according to the invention in elevation;

2a, b on an enlarged scale, the track unit with rotary unit of the robot according to Figure 1 in plan and plan view.

3a, b on an enlarged scale the gripper of the robot of Figure 1 in front and side view ..; 4a, b on an enlarged scale, the brick feed of the robot of Figure 1 in plan and plan view.

Fig. 5 on an enlarged scale the robot of FIG. 1 in the execution of the method according to the invention in plan and

6 shows a further embodiment of the robot according to the invention in elevation.

A robot according to the invention is designed for the independent erection of a brick wall. The use of such a robot according to the invention first, the presence of a concrete base on which the wall is to be built and secondly serving as a reference already completely z. B. manually set bottom row of bricks ahead. In order to ensure that the brick wall is built exactly horizontally, all tiles used in succession must have the same height and flat, exactly parallel top surfaces. The individual bricks are not connected as usual with mortar, but glued with a thin-bed mortar to ensure a level, exactly horizontal growth of the wall.

In this embodiment of the method according to the invention, the bricks are not laid as usual with the end face to each other, but the gripping tongs attacks the brick on the end faces and puts them with their broad sides together. A schematic representation of a wall resulting in this way is shown in FIG. 5 shown. By appropriate modification of the control software of the robot according to the invention, however, it is possible to program it so that the bricks are picked up on the broad side and moved face to face.

The first brick of each row of tiles laid by the robot is simply placed perpendicular to the existing rows at the corresponding position. For each additional brick, the gripping tongs are additionally oriented on the front brick in such a way that the brick to be set is first pressed horizontally against the front brick and then lowered vertically. The position of the robot is controlled by two systems. The first system determines and regulates the distance to the wall to be set, the second system determines the absolute position of the robot on the concrete floor. With the help of the control software of the robot, the data of the wall, such as: corners and position of the windows or Doors, taken into account in the construction.

The most important detail of the invention represents the autonomous locomotion, the walking of the robot. The Fig. 2a, b shows the base plate of the robot with the movement and rotation unit mounted thereon.

One side is a central support device 32 carrying the gripper arm 80, on which the entire robot is statically supportable, and on the other hand provided a peripheral support device with support feet 7 height-adjustable between a retracted and an extended position, in which retracted position the entire robot with the central support device 32 is statically supported on the ground and in which extended position the entire robot with the support legs 7 is statically supported on the ground. The peripheral support device is displaceable in the direction parallel to the bricks to be set relative to the central support device 32 by a predeterminable increment.

In the embodiment of the robot according to the invention shown in the drawing, the support legs 7 of the peripheral support device are arranged on a horizontal base plate 1, the central support device 32 is a hollow cylinder which is fixedly connected to a bottom plate and with

AT 402 085 Β

Supporting wings is formed.

The central support device 32 is arranged to run through a pivot bearing 4 and through the horizontal base plate 1, wherein the pivot bearing 4 is connected on the one hand to the central support device 32 and on the other hand with a horizontal positioning platform 2, which positioning platform 2 relative to the horizontal base plate 1 is displaceable.

The displacement of the horizontal positioning platform 2 with respect to the horizontal base plate 1, or the horizontal base plate 1 with respect to the horizontal positioning platform 2 in the direction parallel to the set of bricks to be set along two guides 3 by two travel drives 6 preferably formed of pistons 62 and cylinder 61, which with their one ends to the base plate 1 and with its other ends with the horizontal positioning platform 2 are firmly connected.

The base plate 1 is formed in the embodiment of the invention shown in the drawing square with one Stutzuß 7 at their vertices and with a preferred circular aperture in its center, through which the central support device 32 is performed.

By this special construction, the execution of a movement of the robot in the form of walking in a simple manner possible. While picking up or the settling of a brick, the robot is supported on the support legs 7. For the purpose of performing a step, the support feet 7 are brought into their retracted position and thereby the robot is supported on its central support device 32. Thus, now the base plate 1 can be moved with the support legs 7 arranged thereon by means of the travel drives 6 in the intended direction of travel. Subsequently, the support legs 7 are brought back into their extended position, the central support device 32 so relieved. With the help of the travel drives 6, the horizontal positioning platform 2 can now be moved in the direction of travel and the step can be completed.

The above-mentioned pivot bearing 4 is formed by a ball bearing, the inner roller on one side firmly connected to the gripping arm 80 and the outer roller is connected at the other side fixed to the horizontal travel platform 2, wherein the connection of the ball bearing with the gripping arm 80 by a first plate 5 and a second plate 34 can be made. Instead of the ball bearing, however, any other connection that allows a movement of the gripper arm 80 relative to the horizontal positioning platform 2 can be used.

In the embodiments of a robot according to the invention shown in the drawings, a toothing 54 is mounted on the outer roller of the ball bearing, which is in engagement with a pinion 55 of a third geared motor arranged on the plate 5. By means of this arrangement, the pivoting movements of the Greifames 80 can be performed.

An embodiment of the robot according to the invention is shown in FIG. In this case, the gripper arm 80 is formed from a horizontal pivot arm 10, on which a gripper 101 for receiving and depositing a brick along the Schwenkarmachse opposite a vertical column 8 is arranged horizontally displaceable. This horizontal movement along the Schwenkarmeachse is in a robot according to the invention, as shown in the drawing, realized in that the gripper 101 is connected at one end of the horizontal Schwerkarmes 10 by a shaft 36 with the pivot arm 10. The shaft 36 extends through a bore 37 provided with ball bearings 37 and is secured with a securing element 39 against falling out even below. The horizontal pivot arm 10 is displaceable along a guide rail 11 horizontally relative to the vertical column 8. Another possibility would be to arrange the swivel arm 10 fixedly on the carriage 12 and only to mount the gripper 101 slidably along the scissor arm.

The drive of the Schwerkarmverschiebung is generated in the embodiment of the invention shown in the drawing, characterized in that the horizontal pivot arm 10 a extending over its longitudinal axis rack 50 is arranged, which is in engagement with a pinion 51 of a first geared motor.

The geriebemotor must be mounted in the first case in the carriage 12, thus on the vertical column 8, or in the second case on the gripper 101.

The pivot arm 10 is arranged vertically adjustable on the vertical column 8. In the embodiment shown in the drawing, this vertical column of two parallel stators 8 is formed. Between these, a horizontal pivot arm 10 carrying carriage 12 is arranged.

The height adjustment takes place in the embodiment shown in the drawing along a guide 9. On the vertical column 8 is a extending over the longitudinal axis rack 52 is arranged, which is in engagement with a pinion 53 of a slide 12 arranged on the second geared motor.

Another embodiment of the robot is shown in FIG. The foot, ie the central support device 32, the base plate 1 and the vertical travel platform 2 are the same as in the previous

AT 402 085 Β described variant constructed and interconnected. However, the gripping arm 80 of the robot is here formed of three interconnected, mutually pivotable arm members 70, 71, 72. The first end of the first arm member 70 is held in a rotatably mounted on the plate 5 storage 73 relative to the base plate 1, the other end of the first arm member 70 is pivotally mounted at the first end of the second arm member 71 relative thereto, and the second end of the second Arm element 71 is pivotally mounted at the first end of the third arm member 72. The implementation of the necessary during operation pivoting movements of the individual arm members 70, 71 and 72, as shown in the drawing, by hydraulic cylinders 74, 75 occur. However, other suitable drives, such as Pneumatic cylinders, rack and pinion combinations od. like. be used.

At the second end of the third arm member 72, a gripper 101 is arranged. This is similar to the gripper of the previously described embodiment and will be described below.

FIG. 3a, b illustrates such a gripper 101 in detail. The gripper 101 consists of two mutually parallel gripping jaws 13 which are arranged displaceably on a jaw carrier plate 19 so that their parallel distance from one another by their opposite displacement between an open and a gripping position can be changed. The opposite displacement of the jaws 13 is achieved in the embodiment shown in the drawing, that a cylinder 16, on whose piston rod a rack 17 is mounted, a jaw drive unit 18 rotates via a first gear 181 and that this rotational movement via a second gear 182 and the two jaw movement racks 15, which engage at opposite points of the gear 182 in this, in horizontal, rectilinear movements of the jaws is converted. The jaw carrier plate 19 is connected via a first contact pressure coupling member 22 with a parallel to this and in the normal direction to be displaced intermediate plate 20, which is realized in the robot according to the invention shown in the drawing, that 19 hollow cylinders are attached to the four corners of the rectangular jaw carrier plate, that in these hollow cylinder rods, which are mounted on the intermediate plate 20, protrude and thus act in distance changes of the two plates 19 and 20 as a guide. The intermediate plate 20 is connected via a second Anpreßdruckkopplungsglied 25 with a parallel arranged and movable gripper base plate 23. As a guide this displacement possibility, the guides 24 are provided in the robot according to the invention shown in the drawing, the contact pressure coupling member 25 is just like the coupling plate used for the back support plate 19 with the intermediate plate 20 is applied Anpreßdruckkopplungsglied 22 formed of a helical spring. In the robot according to the invention shown in the drawing, only one Anpreßdruckkopplungsglied 25, which is arranged centrally on the gripper base plate 23, is present.

The gripper base plate 23 is pivotable about its vertical axis in the pivot arm 10 or stored in the third arm member 72. In the robots according to the invention shown in the drawings, this pivotable mounting through a bore 37 in the pivot arm 10 and in the third arm member 72, at the upper and lower end of each two ball bearings 38 are mounted, which ball bearings 38 receive the axis 35 reaches. The actual pivoting of the gripper base plate 23 is achieved by a gear 36, which is arranged at the uppermost end of the axis 35 and in engagement with a rack 28 which is fixedly connected to the piston 29 of a cylinder 27, is reached. The cylinder 27 itself is at the top of the pivot arm 10 and of the third arm member 72 is arranged.

FIG. 4a, b shows a Ziegelzuführeinrichtung according to the invention, with which the bricks 200, 201, 202, 203 transported, with adhesive or mortar, eg be wetted with thin-bed mortar on the support side and in a removal position for the gripper 101 are movable. The brick feed comprises a congestion conveyor system 40, to which mortar application rollers 46, which in an adhesive or Mortar bath 41 protrude, and a conveyor unit, through which a wetted brick in the removal position for the gripper 101 is movable, connect. In the embodiment shown in the drawing, the accumulation conveyor system 40 consists of two parallel arranged at a distance of a brick width rows of rollers 47th

Next, the brick setting operation with a robot of the embodiment of Fig. 1 will be described.

The robot according to the invention is statically supported on its support feet 7. By pivoting the vertical column 8 and / or by height adjustment of the horizontal pivot arm 10 and / or by the horizontal displacement of the gripper 101 along the Schwenkarmachse the gripper 101 is brought into the removal position for each next to be set brick 200. The jaws 13 are then moved from their open into their gripping position. Subsequently, the gripper 101 is moved by pivoting the vertical column 8 and / or by height adjustment of the horizontal Schwerkarms 10 and / or by the horizontal displacement of the gripper 101 along the Schwenkarmachse in the position to which the next brick 200 is to be set. There, the brick 200 initially

AT 402 085 angep the previously set bricks in the horizontal direction by displacement of the positioning platform 2 pressed and then discontinued and pressed in the vertical direction by height adjustment of the horizontal pivot arm 10. Subsequently, the gripping jaws 13 are returned to their open position. The gripper 101 is now again shifted and pivoted so that he can pick up the next tile to be set.

After each brick setting process, the entire robot relies on relieving the central

Support device 32 by extending the support legs 7 on this statically, then the horizontal positioning platform 2 relative to the base plate 1 by a step size, preferably by a brick width, moved in the direction of the next setting position. Subsequently, the support legs 7 are moved to their retracted position, so that the central support device 32 statically supports the robot, then tracked the horizontal base plate 1 relative to the horizontal positioning platform 2 and finally brought the support legs 7 back to its extended position.

The brick setting process with a robot of the embodiment of FIG. 6 is in principle the same as just described, the gripper 101 is, however, by appropriate pivoting of the individual arm members 70, 71, 72 in the removal position for each next to be set brick 200 and to the position at which the brick 200 is to be discontinued brought.

If in the phase of the movement in which the robot stands on its central support device 32, the horizontal positioning platform 2 is pivoted relative to the plate 5 and thus with respect to the central support device 32 by an angle, it is also possible for a robot according to the invention, nichtgeradlinige, z. For example: to erect edged masonry.

The brick feed works as follows. The brick to be set next is held in the picking position for the gripper 101 by a stopper 45 of the brick feed. After the gripper has removed the brick 200 to be set next from its position, the second brick stopper 44 in the brick feed direction releases the next brick 201, which passes over the mortar applicator rolls 46 to the brick stop 45. The second Ziegelstopeinrichung 44 is brought back into its blocking position and the first Ziegelstopeinrichtung in brick feed direction 43 releases the following brick 202 and 203. When the brick 202 has arrived at the second brick stop 44, the first brick stop 43 is brought into its blocking position.

A peculiarity of the two methods described above is that the bricks are picked up on their front sides of the gripping jaws and laid with their broad sides adjacent to each other, so not as in the conventional method to build a brick wall, front side are moved to the front. As already indicated, however, can be achieved by changing the control software of the robot but also a laying of the brick according to the conventional Verlegungsart.