Brick-laying robot for rising masonry

Translation of description of equivalent WO 9702397 A1

Robot for bricks set on a grade masonry

The invention relates to a robot for tile setting for a grade masonry with a gripper arm.

So far, building a masonry was carried out by hand, the individual bricks were joined together with mortar. A trained professional put the brick, which, according to expert geometric differences between the individual bricks and usually not absolutely flat layers of mortar between the bricks crowds had to make sure the horizontal planarity each brick crowd before setting the next brick crowd. In order to avoid the unevenness caused by the individual layers of mortar, the bricks are glued to one another. This method is also applicable in this invention.

Furthermore, "brick supply" were for and how to prepare the mortar used to connect the bricks still needed more people.

The building of a wall to this known type takes a lot of time and the people employed to build the masonry cause the client costs: From these circumstances, the following two disadvantages.

Object of the present invention is therefore to provide a robot of the type mentioned, with which it is possible. to put too expansive masonry automatically.

This is inventively achieved by a bearing the gripping arm central support device is provided, on which the entire robot is statically supportable that a peripheral supporting device between a retracted position and an extended position height-adjustable support legs is provided. in which retracted position the entire robot to the central landing gear on the ground is supported statically and in which extended position the entire robot supported statically with the support feet on the ground. and that the peripheral supporting device is parallel to to be set brick crowd opposite the central supporting device to a predeterminable increment displaced in the direction.

Thus, the robot can easily perform "walking movements", so continue to move independently and thus create arbitrarily long masonry in any pattern.

In this context it can be provided that the central supporting apparatus is formed from a hollow cylinder. which is firmly connected with a base 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 supporting device are arranged on a horizontal base plate, and that the central supporting apparatus is arranged hindurchverlaufend by a pivot bearing and the horizontal base plate, wherein the pivot bearing on the one hand with the central is supporting device and the other hand to a horizontal traversing platform, which is traversing platform to the horizontal base plate slidably.

This allows a simple and expedient construction of the peripheral device support and good mobility of the central support device and thus of the gripper arm which can pivot with respect to motions.

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

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

A further type of embodiment of the invention may be that the inner roller of the ball bearing is connected to the central supporting apparatus via a first plate and, optionally, via a second plate.

This detail provides a good transfer of the weight force exerted by the vertical column and the pivot arm, on the supporting feet.

It can further be provided that on the outer roller of the ball bearing is mounted a toothing which is in engagement with a pinion of a plate arranged on the third geared motor.

This arrangement allows a play-free drive of the pivoting.

A wide type of embodiment of this invention may consist in that the traversing platform along two guides slidably by two preferably formed from the piston and cylinder Verfahrantriebe opposite the base plate, which fixed with their one ends to the base and with their other ends to the horizontal traversing platform are connected.

Using these elements, the horizontal displacement of the traversing platform can very accurately, without play and yet powerfully done.

Another embodiment of the invention may also provide that the base plate is formed square with one support leg at their corners and with a preferably circular opening in its center, through which breakthrough the central landing gear is carried out.

This results in a quick and easy manufacturability of the part described, which fact contributes to keeping down the cost of the robot. Furthermore, a sufficient stability of the robot is ensured by the use of four supporting feet.

A preferred embodiment of the invention can consist in that the gripping arm is formed by a horizontal pivoting arm which is arranged with a displaceable along the Schwenkarmachse gripper for picking up and setting down a brick on a vertical column adjustable in height, and in that the vertical column at its the lower end in the arranged on the horizontal traversing platform pivot about its longitudinal axis can be pivoted and the pivot bearing with the horizontal traversing platform around the column can be pivoted.

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

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

A virtually backlash-free and very precise displacement of the gripper is achieved.

A further type of embodiment of the invention can consist in that the horizontal pivoting arm about the longitudinal axis thereof extending one to the rack is arranged, which is in engagement with a pinion of a arranged on the first vertical column geared motor.

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

It can further be provided that the vertical column is made up of two parallel uprights, between which a horizontal arm supporting slide is arranged adjustable in height.

Herewith a relatively backlash-free and strong leadership of the swing arm is achieved.

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

The use of this possibility is a backlash-free drive of Schwenkarmhöhenverstellung.

A further preferred embodiment of the invention can consist in that the gripping arm consists of at least two connected, mutually pivotable arm members is formed, that the first end of the first arm member is pivotally mounted in an arranged on the disk storage, that the other end of the first Armelelementes is pivotally mounted at the first end of the second arm member, that the second end of the second arm member at the first end of the third arm element is pivotably mounted and in that the gripper disposed at the second end of the third arm element.

With such a design of the gripper arm is the pivoting range of the robot, ie, kept the area in which parts of the gripper arm must move very small. This allows even relatively tight spaces or walls to be constructed relatively scarce distance from existing masonry, are placed by the robot according to the invention. In development of the invention it can be provided that the gripper is formed of two mutually parallel jaws mounted so displaced to a jaw carrier plate that their parallel spacing can be varied to each other by their opposite movement between an open and a cross position that the jaw carrier plate is arranged on a first Anpreßdruckkopplungsgued with a parallel to the latter and connected in normal direction to movable intermediate plate, that the intermediate plate arranged on a second Anpreßdruckkopplungsgued with a parallel and displaced Geifergrundplatte is connected and that the gripper base plate around its vertical axis pivoted in the pivoting arm and the third arm member is mounted.

Due to the manner in which the gripping jaws are movable, one achieves a simple and reliable realization of the gripper function, that is the Zugreif- and Loslaßfunktion. With the help of the mutually sliding panel systems, the necessary contact pressure of the brick is achieved relatively easily.

In this context it can be provided according to the invention is further that the first and the second Anpreßdruckkopplungsgued is formed of a coil spring.

This arrangement allows for easy creation 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 bricks be conveyed, with adhesive or mortar, z. B. with thin-bed mortar on the support page wettable and in a removal position of the gripper can be moved.

Thus, an inventive robot comes with only one person who lays the bricks on the Ziegelzuführeinheit from. Since that person need not be a professional, it causes even a small cost.

It can further be provided that the Ziegelzuführeinheit comprises an accumulation conveyor system, are on this subsequently mortar application rollers, which project into a Kleber¬ or Mörtelbad disposed and subsequently a conveyor unit is arranged, through which a wetted brick can be moved into the removal position for the gripper ,

This arrangement has the advantage that the above-ground brick supplied under low mechanical stress and can be wetted with glue or mortar. The resulting low surface damage have a positive effect on the demand for exact horizontal growth of the wall.

According to the invention a method for automatically setting a rising masonry by means of a robot of the invention is that the gripper to by pivoting of the vertical column and / or by adjusting the height of the horizontal swivel arm and / or by the horizontal displacement of the gripper along the Schwenkarmachse in the removal position for the next to be set brick is brought, that subsequently the jaws are moved to their gripping position that after the gripper is moved by pivoting of the vertical column and / or by adjusting the height of the horizontal swivel arm and / or by the horizontal displacement of the gripper along the Schwenkarmachse at the position at which the brick is to be set so that then the brick is first pressed in the horizontal direction to the bricks previously set by moving the traversing platform and then dropped in the vertical direction by adjusting the height of the horizontal swivel arm and pressed that then brought the jaws back to their open position be that after each tile setting process, the entire robot under load on the central support device by extending the support legs statically supported on this, then the horizontal traversing platform relative to the base plate by a pitch, preferably a brick width, is shifted to the next setting position, then the support legs be moved to its retracted position, the central support device the robot statically supported, then the horizontal base plate is adjusted relative to the horizontal traversing platform, and finally the support legs are moved back into its extended position.

This method has the advantage that the gripper must take the bricks only from a predetermined position, it needs no additional movements such as the brick supply or mortar wetting run, therefore, as soon allow him his drives, place the bricks on the wall.

Another method for automatically setting a rising masonry by means of a robot according to the invention can consist in that the gripper is moved, by pivoting of the plate and / or by pivoting of the arm elements in the removal position for the in each case next to be set tile that subsequently, the gripping jaws in its gripping position to be moved, that after the gripper is moved by pivoting the arm members to the position to which the brick is to be set so that then the brick initially pressed in the horizontal direction to the bricks previously set by moving the traversing platform and then in the vertical is direction deposed and pressed by appropriate pivoting of the arm members, that subsequently the jaws are brought back into its open position, that after each tile setting process, the entire robot under load on the central support device by extending the support legs statically supported on this, then the horizontal traversing platform over the base plate by a pitch, preferably a brick width, is shifted to the next setting position, then the support legs are moved to their retracted position, the central support device the robot statically supported, then the horizontal base plate is adjusted relative to the horizontal traversing platform, and finally the support feet be moved back to its extended position.

Using this method, only a relatively small free area for the robot is required. Can further be provided in a method according to the invention that, when supporting by the central supporting apparatus, the horizontal traversing platform opposite the vertical column and is thus opposite the central support device by an angle corresponding to the angle bracket, pivoted.

This option allows the user by means of the robot also corners, oa incorporate projections in its wall; the robot is therefore universally usable for nearly all wall shapes.

A development of the method may provide that a next to be set brick is held by a stop of Ziegelzufuhrung in the removal position for the gripper, that after the gripper has this taken from his position, the front brick stop device releases the next brick that this passes via the mortar application rollers to the brick stop that then the front Ziegelstopeinrichung is returned to its locking position and that the rear brick stop device, the following brick and frees that if the brick has reached the front brick stop device, put the rear brick stop device in its blocking position becomes.

The procedure for this method has the advantage that the Ziegelzufuhrung to the removal position and the wetting of the tile with adhesive or mortar automatically and carried out quickly and accurately, thus that the work force to prepare the mortar, and those who practice the mortar to the must apply brick, can be saved. There are all possible dosing errors and positioning errors kept very low.

In a preferred embodiment of the method can be provided that the bricks are taken up at their end faces of the gripping jaws and that the bricks are laid with their broad sides aneinanderiiegend.

This correspondingly thicker wall works can be built over the conventional method, laying the bricks end to end side in a single operation.

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

Fig.l is a general view of a robot according to the invention in elevation;

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

3a, b in an enlarged scale the gripper of the robot according to Figure 1 in front and side view.

4a, b in an enlarged scale the Ziegelzuführeinrichtung the robot according to Figure 1 in an up and plan.

Fig. 5 on an enlarged scale the robot shown in FIG. 1 and in the execution of the method in plan 6 shows a further embodiment of the robot according to the invention in

Elevation.

An inventive robot is designed for self-construction of a brick wall. The use of such a robot according to the invention requires, first the presence of a concrete base on which the wall is to be established and, secondly, a manually set as a reference serving already fully z. B. lowermost row of tiles. In order to ensure that the brick wall is built up exactly horizontally, all must have used bricks in a row the same height and surface ground exactly parallel top surfaces. The individual tiles are not as usual connected with mortar, but glued to a thin-bed mortar to ensure a flat, exactly horizontal growth of the wall.

In this embodiment of the inventive method the bricks are not as usual with the face down to each other, but the gripper grips the bricks at the end faces and places them with their broad sides together. A schematic representation of a resulting wall in this way is shown in Fig. 5. By appropriate modification of the control software of the robot according to the invention, it is possible to program it so that the bricks taken up on the wide side and front end are moved to front side.

The first brick of each set by the robot brick row is placed at the corresponding position just perpendicular to the rows already existing. Each additional brick to the gripper is orientated towards the front brick in the way that the to be set brick is first horizontally pressed against the front brick and then dropped vertically. The position of the robot is controlled with two systems. The first system determines and regulates the distance to be releasing wall, 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, observed on installing.

The most important detail of the invention provides the independent movement that is "walking" of the robot. The Fig. 2a, b shows the base plate of the robot with the thereon displacement and rotation unit.

Here a seites other hand, a peripheral supporting device between a retracted position and an extended position height-adjustable support legs 7 is a gripper arm 80 bearing central support device 32, on which the entire robot is statically supportable, and provided, in which retracted position the entire robot to the central supporting apparatus 32 supported statically on the ground and in which extended position the entire robot supported statically with the supporting feet 7 on the ground. The peripheral support device is displaced in the direction parallel to the to be set brick crowd opposite the central supporting apparatus 32 to a predeterminable increment. In the embodiment of the robot according to the invention shown in the drawing, the supporting foot 7 of the peripheral supporting device are arranged on a horizontal base plate 1, the central support device 32 is formed of a hollow cylinder which is fixedly connected to a base plate and is provided with support wings.

The central support device 32 is disposed hindurchverlaufend by a pivot bearing 4 and through the horizontal base plate 1, wherein the pivot bearing 4 is connected on the one hand with the central support device 32 and the other hand to a horizontal traversing platform 2, which traversing platform 2 relative to the horizontal base plate 1 slidably.

The displacement of the horizontal traversing platform 2 relative to the horizontal base plate 1, and the horizontal base plate 1 with respect to the horizontal traversing platform 2 in the direction parallel to the to be set brick crowd carried along two guides 3 by two preferably from piston 62 and cylinder 61 formed Verfahrantriebe 6, which with their one ends to the base plate 1 and with their other ends to the horizontal traversing platform 2 are firmly attached.

The base plate 1 is formed in the illustrated in the drawings embodiment of the invention, square, each with a supporting foot 7 at its vertices and with a preferably circular opening in its center, through which breakthrough the central support device 32 is performed.

This special construction is the execution of a movement of the robot in the form of a "walking" possible in a simple manner. During the apprehension or the discontinuation of a tile, the robot based on the Stützf from ust. 7 For the purpose of carrying out a "step" of the support legs 7 are brought to their retracted position and the robot thereby supported on its central support device 32nd Thus, the base plate 1 with the thereon supporting feet 7 can now be moved using the Verfahrantriebe 6 in the intended travel direction. Subsequently, the support legs 7 are brought back to its extended position, the central support device 32 so relieved. Using the Verfahrantriebe 6 can now download the horizontal traversing platform 2 are moved in the direction of advance and the "step" to be completed.

The above-mentioned pivot bearing 4 is formed by a ball bearing whose inner roller on one side firmly connected to the gripper arm 80 and the outer roller on the other side fixed to the horizontal traversing platform 2 is connected, the connection of the ball bearing with the gripping arm 80 by a first plate 5 and a second plate 34 can be effected. Instead of the ball bearing but may also be any other connection that allows a swiveling movement of the gripping arm 80 to the horizontal traversing platform 2, can be used.

In the embodiments of an inventive robot shown in the drawings is on the outer roller of the ball bearing a toothing 54 attached, which is in engagement with a pinion 55 of a to the plate 5 arranged third geared motor. With this arrangement, the pivoting movements of the gripper arm 80 can be performed.

An embodiment according to the invention of the robot shown in Fig.1. In this case, the gripping arm 80 is formed of a horizontal arm 10 to which a gripper 101 is positioned horizontally displaceable for receiving and setting down of a tile along the Schwenkarmachse relative to a vertical column eighth This horizontal movement along the axis of pivot arms is shown in an inventive robot as shown in the drawing, realized by the gripper 101 is 10 connected at one end of the horizontal swivel arm by a shaft 36 to the pivot 10th The shaft 36 passes through a provided with ball bearings 38 bore 37 and is secured by a securing element 39 against falling even below. The horizontal arm 10 is horizontal relative to the vertical column along a guide rail 8 slidably eleventh Another possibility would be to fix to locate the arm 10 on the carriage 12 and only to mount the gripper 101 along the swing arm slidably.

The drive of the Schwenkarmverschiebung is generated in the shown in the drawings embodiment of the invention in that the horizontal pivoting arm 10 a about its longitudinal axis extending rack 50 is arranged which is in engagement with a pinion 51 of a first gear motor.

The Geriebemotor must in the first case in the slide 12, be so therefore mounted on the vertical column 8, or in the second case on the gripper one hundred and first

The swing arm 10 is arranged vertically adjustable on the vertical column. 8 In the embodiment illustrated in the drawing, this vertical column is formed from two parallel uprights eighth Between these a horizontal arm 10 supporting slide 12 is arranged.

The adjustment will happen in the embodiment along a guide 9. On the vertical column 8 shown in the drawing is located on the longitudinal axis extending rack 52, which is engaged with a pinion 53 a arranged on the carriage 12 second gearmotor.

Another embodiment of the robot is shown in Fig.6. just as in the embodiment described above, constructed of "walking", that is, the central support device 32, the base plate 1 and the vertical traversing platform 2 and are connected to each other. The gripping arm 80 of the robot is here, however, of three interconnected, mutually pivotable arm members 70, 71, 72 is formed. The first end of the first arm member 70 is held in an arranged on the plate 5 bearing 73 pivotable relative to the base plate 1, the other end of the first Armelelementes 70 is mounted on the first end of the second arm member 71 with respect to this pivot, and the second end of the second the arm member 71 is pivotally mounted on the first end of the third arm member 72nd The implementation of the Operation necessary pivoting movements of the individual arm members 70, 71 and 72, as shown in the drawing, done by hydraulic cylinders 74, 75th However, also other suitable actuators such as pneumatic cylinders, rack-and-gear Kominationen od. like. be used.

At the second end of the third arm member 72, a gripper 101 is arranged. This is similar as the grippers of the previously described embodiment is constructed and described in the following.

Fig. 3a, b represents such a gripper 101 in detail. The gripper 101 comprises two mutually parallel gripper jaws 13, which are arranged slidably on a back support plate 19 that their parallel spacing cross each other by their opposite movement between an open and a position is changeable. The opposite displacement of the gripping jaws 13, in the embodiment shown in the drawing achieved by a cylinder 16, on whose piston rod a rack 17 is mounted, a shoe driving unit 18 rotates about a first gear 181 and that this rotary movement about a second gear 182 and the two jaw-moving racks 15 which engage at opposite points of the gear wheel 182 in this, is converted into horizontal rectilinear movements of the jaws. The back support plate 19 is arranged on a first Anpreßdruckkopplungsgued 22 with a parallel to the latter and in the normal direction to sliding intermediate plate 20 is connected, which is realized in the inventive robot shown in the drawing by. that 19 hollow cylinder are attached to the four corners of the rectangular back support plate, that in this hollow cylinder rods mounted on the intermediate plate 20, protrude and thus act 19 and 20 as a guide in changes in distance of the two plates. The intermediate plate 20 is arranged in parallel via a second Anpreßdruckkopplungsgued 25 with a movable gripper and base plate 23. As a leader of this displacement possibility, the guides 24 are provided in the inventive robot shown in the drawing, the Anpreßdruckkopplungsgued 25 is the same as the coupling to the jaw carrier plate 19 with the intermediate plate 20 used Anpreßdruckkopplungsgued 22 formed of a coil spring. In the inventive robot shown in the drawing is only a Anpreßdruckkopplungsgued 25, which is centrally located on the gripper base plate 23, available.

The gripper base plate 23 is supported around its vertical axis pivoted in the pivoting arm 10 and the third arm member 72nd The invention robots shown in the drawings this pivotable mounting is attached through a hole 37 in the arm 10 and the third arm member 72, at the top and bottom of two ball bearings 38, which ball bearings 38 receive the axis 35, reaches. The actual pivoting of the gripper base plate 23 is disposed through a gear 36. The uppermost end of the shaft 35 and engaged with a rack 28 which is fixedly connected to the piston 29 of a cylinder 27, is, reached. The cylinder 27 itself is disposed at the top of the swing arm 10 and the third arm member 72nd

Fig. 4a, b shows a brick feeder invention, with which the tiles 200, 201, 202, 203 be conveyed, with adhesive or mortar, for example with thin-bed mortar on the support page wettable and in a removal position of the gripper 101 can be moved. The brick supply comprises a power and free conveyor system 40, which is adjoined mortar application rollers 46 which project into an adhesive or Mörtelbad 41, and a conveyor unit through a wetted brick can be moved to the removal position of the gripper 101 connect. In the embodiment shown in the drawing, the accumulation conveyor system 40 consists of two parallel spaced a brick width arranged rows of rollers 47th

Below the tile setting process is described with a robot of the embodiment of Fig.l.

The robot according to the invention is supported statically on its support feet. 7 By pivoting of the vertical column 8 and / or by adjusting the height of the horizontal pivoting arm 10 and / or by the horizontal displacement of the hook 101 along the Schwenkarmachse the gripper 101 is brought into the removal position for the in each case next to sets ends brick 200th The jaws 13 are then moved from its open border into position. The gripper 101 is moved by pivoting the vertical column 8 and / or by adjusting the height of the horizontal pivot arm 10 and / or by the horizontal displacement of the gripper 101 along the Schwenkarmachse in the position at which the next brick to be placed 200th There, the brick 200 is initially pressed against the previously set brick in the horizontal direction by moving the traversing platform 2 and then dropped in the vertical direction by adjusting the height of the horizontal swivel arm 10 and pressed. Subsequently, the gripping jaws 13 are brought again to its open position. The gripper 101 is now again shifted and pivoted so that it can pick up on the next to be set bricks.

After each tile setting process, the entire robot 7 is supported under load on the central support device 32 by extending the support legs in this static from, then the horizontal traversing platform 2 is moved relative to the base plate 1 by a pitch, preferably a brick width, toward the next setting position. Subsequently, the support legs 7 are moved to their retracted position, so that the central supporting apparatus 32 robot statically supported, then the horizontal base plate 1 with respect to the horizontal traversing platform 2 tracked and finally 7 brought the support feet again in its extended position.

The brick setting process with a robot of the embodiment of Fig. 6 is basically the same as just described, the gripper 101 is in this case, however, by corresponding swiveling of the individual arm members 70, 71, 72 in the Removal position for the respective brick to be set as the next 200 and to the position at which the brick is to be sent 200, brought.

If the phase of the movement, in which the robot is on its central support device 32, 5 and thus pivots the horizontal traversing platform 2 relative to the plate opposite the central support device 32 at an angle, it is a robot according to the invention also possible non-rectilinear, z. B .: to build provided with edges rising masonry.

The brick feeder works as follows. The next to be set brick is held by a stop 45 of the brick feed in the pick up position for the gripper one hundred and first After the gripper has taken as a neighbor to be set tile 200 from its position, is the second in brick feed direction brick stop device 44 the next brick 201 free, which passes through the mortar application rollers 46 to the brick abutment 45th The second Ziegelstopeinrichung 44 is returned to its locking position, and the first brick in brick feed direction Stop means 43 are the following tiles 202 and 203 free. If the brick 202 reached the second brick stop device 44, the first brick stop device 43 is brought into its blocking position.

A special feature of the two methods described above is that the bricks are taken up at their end faces of the jaws and are laid aneinanderiiegend with their broad sides, so do not build a brick wall as in the conventional method, front side are moved to front side. As already indicated at the outset, but also laying the bricks can be achieved by the conventional laying method by amending the control software of the robot.