Brick-laying robot for rising masonry

The invention relates to a robot for brick setting for a robot A masonry comprising a gripping arm which carries a gripping arm Support device is provided, on which the entire robot can be statically supported.

So far, the building of a masonry was done manually, the individual Bricks were connected with mortar. A qualified specialist put the According to the geometrical differences between the individual Bricks and the usually not absolutely flat mortar layers between the brickwork Horizontal planicity of each tile before setting the next tile Had to ensure. To avoid the bumps caused by the individual mortar layers The bricks are glued together. This procedure finds Also applies to this invention.

Furthermore, the "bricks supply" and the preparation of the Connection of the bricks used mortar.

From these circumstances, the following two disadvantages arise: Building A wall of this familiar kind takes a lot of time, Construction of the masonry work entails costs to the client.

Through the <b>DE-A-36 04 224</b> A robot was known with whose help Large-scale masonry stones to form a rising masonry can. This robot consists of a small vehicle, comprising a vehicle frame, On the underside of which a drivable axle as well as a steering axle is fixed and engages The upper side of which is a column-like mast extending vertically to the vehicle frame Rotatably. This mast carries one parallel to the vehicle frame , At the end of which a gripping arm for handling the masonry blocks Is established. Said carrier is slidably mounted along the mast frame and is movable in the longitudinal direction Of its length is designed such that the one carrier part is displaceable in the second Carrier part.

In addition, <b>FR-A-2 553 368</b> A device for transport Of loads, which is moved by a kind of walking.

This device comprises a base plate which has a central, Breakthrough. In this breakthrough, a carriage is arranged, which runs along Of two sliding guides attached to the base plate. Furthermore Hydraulic cylinders are provided, the first ends of which are fixed to the base plate and the second Ends on the slide.

Both the base plate and the carriage have their bottoms Feet, which are held height-adjustable by means of hydraulic cylinders. At the top The carriage has a rotary table mounted on balls for accommodating the feed Transporting load.

The further movement of this device is achieved in that the Entire device by extending the slide feet and pulling the base feet Is supported on the carriage in this position by means of the hydraulic cylinders The base plate is displaced in the direction of travel relative to the carriage and subsequently The entire device can be removed by pulling in the slide feet and extending the slide feet Base plate feet is supported on the base plate. Finally, the carriage is moved over The hydraulic cylinders are displaced in the direction of travel.

It is therefore an object of the present invention to provide a robot of the initially described type Mentioned way, with which it is possible, even large-scale masonry works automatically .

According to the invention, this is achieved by providing a peripheral A support device having a retracted and an extended position Height adjustable support feet, in which retracted position the whole Robot is statically supported with the central support device on the foundation and is supported in the support structure The extended position of the entire robot with the support feet on the Wherein the central support device is supported by a support member, Exclusively immovable parts immovable on the gripping arm And that the peripheral support device is arranged in the direction parallel To the set of tiles to be set up against the central supporting device by one Predeterminable step width.

As a result, the robot can easily "move" , Thus moving independently, and thus with any length of masonry Course.

In this connection, it can be provided that the central Supporting device is formed from a hollow cylinder which is fixedly connected to a base plate And is provided with lateral support wings.

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

It can also be provided that the support legs of the peripheral Support means are arranged on a horizontal base plate, and in that the central support plate, Supporting device by a pivot bearing and by the horizontal base plate The pivot bearing being connected, on the one hand, to the central, And on the other hand is connected to a horizontal traversing platform, Which displacement platform is displaceable with respect to the horizontal base plate.

This allows a simple and convenient construction of the peripheral As well as a good mobility of the central support device and thus of the Gripping arm with respect to pivoting movements.

In a preferred embodiment of the invention, Characterized in that the pivot bearing is formed by a ball bearing, the inner roll of which is fixed on the one page Is rigidly connected to the central support device and the outer roller is connected to the other Side is fixedly connected 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 pivotability themselves.

Another type of embodiment of the invention may be that the inner roller Of the ball bearing with the central support device via a first plate and, if appropriate, Is connected via a second plate.

This detail allows for a good transfer of the weighting force from the The vertical column and the swing arm, onto the support legs.

Furthermore, provision may be made for the outer roller of the ball bearing Toothed toothing is provided which is provided with a pinion of a third, arranged on the plate Gear motor.

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

A wide variety of embodiments of this invention may be that the Traversing platform along two guides through two, preferably pistons and pistons Cylinder is displaceable opposite the base plate which is connected to the base plate Its one ends with the base plate and with its other ends with the horizontal Traverse platform.

Using these elements, the horizontal shift of the Traversing platform very precise, play-free and still powerful.

A further embodiment of the invention may also provide that the Base plate square with a supporting foot at its corner points and with one Preferably circular, aperture is formed in the middle thereof, by which The central support device is carried out.

This results in an easy and rapid manufacturability of the described Part, which contributes to the minimization of the manufacturing costs of the robot. Furthermore, the use of four supporting feet ensures a sufficient stability of the Robots.

A preferred embodiment of the invention can be that the Gripping arm is formed by a horizontal swivel arm, which is connected to a clamping device Which can be displaced by means of a pivoting arm axis, for receiving and depositing a brick Of a vertical column, and in that the vertical column is arranged at its end, Lower end in the pivot bearing arranged on the horizontal traversing platform Its longitudinal axis can be pivoted or the pivot bearing can be pivoted with the horizontal Traverse platform can be pivoted about the column.

By such a design of the gripping arm, a good mobility becomes Of the robot.

In this connection, provision can be made for the gripper to be connected with a End of the horizontal pivot arm, and the horizontal pivot arm Along a guide rail horizontally opposite the vertical column.

This results in a nearly play - free and very precise displaceability of the Gripper.

A further type of embodiment of the invention can be that, on the other hand, Horizontal pivot arm has a tooth rod extending over its longitudinal axis , Which is provided with a pinion of a first, arranged on the vertical column Gear motor.

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

Furthermore, the vertical column can be formed from two parallel, Is formed between which is a carriage carrying the horizontal swing arm Height-adjustable.

This results in a relatively play-free and powerful guidance of the swivel arm Is achieved.

In this context, provision can be made for a further development of the invention In that, on the vertical column in the longitudinal direction, there is a longitudinal axis extending over its longitudinal axis Which is provided with a pinion of a toothed wheel mounted on the carriage Arranged second transmission motor.

The use of this possibility provides a backlash - free drive of the Swivel arm height adjustment.

A further preferred embodiment of the invention can consist in the fact that, Characterized in that the gripping arm consists of at least two mutually connected, Pivotable arm elements, in that the first end of the first arm element Is pivotally mounted in a bearing arranged on the plate, in that the other end Of the first arm member is pivotable at the first end of the second arm member , In that the second end of the second arm element is arranged at the first end of the third arm element, Arm element, and in that at the second end of the third Arm element of the grippers.

In such a design of the gripping arm, Robot, ie the area in which parts of the gripper arm must move, is very small kept. As a result, relatively narrow spaces or walls, which are relatively close to Existing masonry structures, by means of the According to the invention.

In a further development of the invention, it can be provided that the gripper comprises a gripper, Two gripping jaws arranged parallel to one another are formed, Baking carrier plate so that their parallel spacing relative to each other By their opposing displacement between an open and a gripping position , In that the baking carrier plate is connected, via a first pressure-pressure coupling member, Which is arranged parallel to the latter and can be displaced in the normal direction Characterized in that the intermediate plate is connected via a second intermediate plate Pressure-pressure-coupling member with a parallel-arranged and displaceable Gripper base plate, and that the gripper base plate is arranged about its vertical axis Is pivotably mounted in the pivoting arm or in the third arm element.

By the manner in which the gripping jaws are movable, one reaches one Simple and safe realization of the gripper function. That is, the access and the Release function. With the aid of the oppositely displaceable plate systems, relatively Simply the necessary pressing of the bricks.

In this connection, according to the invention, Characterized in that the first and second pressure-pressure coupling members are formed by a helical spring Is.

This arrangement permits easy generation of the necessary Brick pressure in both directions.

In a preferred embodiment of the invention, Characterized in that a brick feed unit is provided, by means of which the bricks can be conveyed with adhesive or Mortar, eg with thin-bed mortar, can be wetted on the support side and placed in a Removal position for the gripper.

Thus, a robot according to the invention with only a single person, Which places the bricks on the tile feed unit. Because this person is not a specialist It also causes only small costs.

Further, provision may be made. That the brick feed unit Characterized in that the adhesive is applied to an adhesive layer. Mortar bath, and thereafter a conveying unit Through which a moistened brick enters the removal position for the gripper Is movable.

This arrangement has the advantage that the previously planed bricks Under low mechanical loads and wettable with adhesive or mortar are. The resulting low surface damage has a positive effect The demand for an exact horizontal growth of the wall.

According to the invention, there is provided a method for automatically setting a With the aid of a robot according to the invention, in that the gripper By pivoting the vertical column and / or by height adjustment of the horizontal column And / or by the horizontal displacement of the gripper along the Axis to the removal position for the next tile to be placed , In that the gripping jaws are subsequently moved into their gripping position, In that the gripper is then moved by pivoting the vertical column and / Height adjustment of the horizontal swivel arm and / or the horizontal swivel arm Displacement of the gripper along the pivot arm axis to the position to which The bricks are to be placed, then the brick is then placed in a horizontal position Direction to the previously set tile by displacement of the traverse platform And thereafter in the vertical direction by height adjustment of the horizontal swivel arm And pressing the gripping jaws back into their open position Position, that after every bricking process, the entire robot can be placed underneath Relieving the central support device by extending the support legs to the latter statically , Then the horizontal traversing platform opposite the base plate by one Step width, preferably a tile width, in the direction of the next setting position The support legs are then moved to their retracted position, The central support device statically supports the robot, then the horizontal base plate Opposite the horizontal traversing platform, and finally the Support feet are moved back to their extended position.

This method has the advantage that the gripper can only move the bricks from one He does not need any additional movements, such as To brick feed or mortar wetting, can therefore be as fast as its Drives allow to place the bricks on the wall.

A further method for automatically setting an uptake Masonry with the aid of a robot according to the invention can consist in the fact that the Gripper by pivoting the plate and / or by pivoting the arm elements in The removal position for the respectively next brick to be placed is brought. that Then the gripping jaws are moved into their gripping position, that afterwards the gripping jaws are moved Gripper is moved by pivoting the arm elements to the position to which the The bricks are to be placed first in the horizontal direction The previously set tile is pressed by displacement of the traverse platform and thereafter In the vertical direction by corresponding pivoting of the arm elements, and , Then the gripping jaws are then brought back into their open position After each brick setting operation, the entire robot, with the aid of the Central support device by statically supporting the support feet thereon, thereafter The horizontal traversing platform is arranged opposite the base plate by a step width, Preferably a tile width, in the direction of the next setting position, Then the support feet are moved to their retracted position, the central Support the robot statically, then the horizontal base plate opposite The horizontal traversing platform, and finally the supporting feet again To their extended position.

When this method is used, a relatively small free area becomes For the robot.

Furthermore, it can be provided in a method according to the invention that When supported by the central supporting device, the horizontal traversing platform Opposite the vertical column and thus opposite the central support device by one Angle, which corresponds to the corner angle, is pivoted.

This possibility allows the user to use the robot also corners, Projections or the like. Into its wall; The robot becomes universal for almost All wall shapes can be used.

A further development of the method according to the invention can provide that A tile to be placed next by a stop of the brick feed in the Withdrawal position for the gripper, in that the gripper removes it from its gripping position The front bricks pushing means releases the next tile, The latter passes over the mortar application rollers to the level of the brick stop; Front bridging device is brought back into its blocking position, The bricks behind the brick bricks, and the bricks are opened Of the front bridging brick device, the rear brick strut device is inserted into the bridging unit Locking 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 carried out automatically and quickly and accurately, so that the working force, Mortar has to be prepared and the one which the mortar has to apply to the bricks has been saved will. All possible dosing errors and positioning errors are very low kept.

In a preferred embodiment of the method, Characterized in that the bricks are picked up by the gripping jaws at their front sides, Bricks with their wide sides are laid side by side.

In this way, compared to the conventional method, the brick face To be installed at the front in a work operation thicker masonry works will.

The invention will now be described with reference to the accompanying drawings, in which: FIG Embodiments of a robot according to the invention. FIG.<sl><li>FIG. 1 is an elevational view of the overall view of a robot according to the invention;</li><li>2 a, b show, on an enlarged scale, the moving unit with the rotational position of the 1 is a top plan view of a robot according to FIG. 1;</li><li>FIGS. 3a, b show, on an enlarged scale, the gripper of the robot according to FIG. 1 in FIG Front and side view;</li><li>FIG. 4 a shows, on an enlarged scale, the brick feeding device of the robot According to FIG. 1, in plan and plan view;</li><li>FIG. 5 shows, on an enlarged scale, the robot according to FIG. 1 in the embodiment Of the process according to the invention in the plan view and FIG </li><li>6 shows a further embodiment of the robot according to the invention in FIG Breakdown.</li></sl>

A robot according to the invention is designed for the independent establishment of a robot Brick wall. The use of such a robot according to the invention is based firstly The presence of a concrete foundation on which the wall is to be built and Secondly, a bottommost one, which serves as a reference, for example, already set completely manually Brick row ahead. To be able to ensure that the brick wall exactly horizontal , All brick used in sequence shall be of the same height and planked, Exactly parallel cover surfaces. The individual bricks are not used as usual with Mortar, but with a thin-bed mortar glued to a level, accurate Horizontal growth of the wall.

In this embodiment of the method according to the invention, Bricks are not placed against one another as usual with the end face, but the gripping pliers grip The bricks on the sides of the foreheads and put them together with their wide sides. A A schematic representation of a wall resulting in this way is shown in FIG. By correspondingly changing the control software of the robot according to the invention, it is But it is possible to program it in such a way that the bricks are picked up on the wide side and Face on the front side.

The first brick of each row of bricks laid by the robot is placed on Of the corresponding position simply perpendicularly to the already existing rows. For each further brick, the gripping tongs are additionally oriented on the front tile in the Type that the tile to be set is first pressed horizontally against the front tile and Then vertically. The position of the robot is controlled by two systems. The first system determines and adjusts the distance to the wall to be set, the second System determines the absolute position of the robot on the concrete surface. With the help of Control software of the robot are the "data" of the wall, such as: corners and position Of the windows and / or doors are taken into account during assembly.

The most important detail of the invention is the independent movement, the "Walking" of the robot. FIGS. 2a, b show the base plate of the robot with the latter The drive and the lathe.

On the one hand, a central support device carrying the gripping arm 80 is provided 32, on which the entire robot can be statically supported, and on the other hand a peripheral one A support device having a retracted and an extended position Height-adjustable support feet 7, in which retracted position the whole Robot is statically supported with the central support device 32 on the ground and In which extended position the entire robot with the support feet 7 on the Subsoil is statically supported. The peripheral support is in the direction parallel to the axis To be placed against the central support device 32 by one Predeterminable step width.

In the embodiment of FIG According to the invention, the support legs 7 of the peripheral support device are mounted on a support surface Horizontal base plate 1, and the central support device 32 is made of a A hollow cylinder which is fixedly connected to a base plate and is provided with support wings, educated.

The central support device 32 is supported by a pivot bearing 4 and by the pivot bearing 4, Horizontal base plate 1, wherein the pivot bearing 4, On the one hand with the central support device 32 and, on the other hand, with a horizontal support device Traversing platform 2, which traversing platform 2 is arranged opposite the horizontal Base plate 1 is displaceable.

The displacement of the horizontal traversing platform 2 relative to the horizontal traverse platform 2 Horizontal base plate 1, or of the horizontal base plate 1 opposite the horizontal base plate 1 Traversing platform 2 in the direction parallel to the tile set to be set takes place along two Guides 3 are formed by means of two, preferably two, pistons 62 and cylinders 61 Traversing drives 6, which are connected with their one ends to the base plate 1 and with their base plate 1 To the horizontal traversing platform 2.

The base plate 1 is in the embodiment shown in the drawing Of the invention are square with a supporting foot 7 at their corner points and with a supporting foot 7 Preferably circular breakthrough in their center, through which breakthrough The central support device 32 is performed.

Through this special construction the execution of a movement of the Robots in the form of a "walking" in a simple way possible. During the capture Or the placing of a brick, the robot rests on the supporting feet 7. To the For the purpose of performing a "step", the support feet 7 are pushed into their retracted Position, and the robot thereby moves on its central support device 32 Respectively. Thus, the base plate 1 with the supporting feet 7 arranged thereon can be connected to the base plate 1 Help of the traversing drives 6 in the intended direction of movement will. Subsequently, the support feet 7 are brought back into their extended position. The central support device 32 is thus relieved. With the help of the traversing drives 6, Horizontal traversing platform 2 in the direction of movement, and the "step" be completed.

The above-mentioned pivot bearing 4 is formed by a ball bearing whose On one side, is fixedly connected to the gripping arm 80 and its outer roller On the other side is fixedly connected to the horizontal traversing platform 2. wherein the Connection of the ball bearing with the gripping arm 80 by a first plate 5 and a second plate Plate 34. However, instead of the ball bearing, any other connection can be made. Which causes a pivoting movement of the gripping arm 80 relative to the horizontal Traverse platform 2.

In the embodiments shown in the drawings, According to the invention, a toothing 54 is provided on the outer roller of the ball bearing Which are provided with a pinion 55 of a third, arranged on the plate 5 Gear motor. With this arrangement, the Pivoting movements of the gripping arm 80.

An embodiment of the robot according to the invention is shown in FIG. In this case, the gripping arm 80 is formed from a horizontal swivel arm 10, on which a Gripper 101 for receiving and depositing a brick along the axis of the arm Is horizontally displaceable against a vertical column 8. This horizontal Movement along the pivot arm axis is possible with a robot according to the invention, as in FIG Of the drawing is realized in that the gripper 101 is arranged at one end of the Horizontal pivot arm 10 is connected to the pivot arm 10 by a shaft 36. The shaft 36 extends through a bore 37 provided with ball bearings 38 and is connected to the ball bearing 38 A securing element 39 against falling out still below. The horizontal The pivot arm 10 is arranged along a guide rail 11 horizontally opposite the vertical axis Column 8 is displaceable. Another possibility would be for the pivot arm 10 to be fixed The carriage 12 and only the gripper 101 along the pivot arm Slidably.

The drive of the swivel-arm shifting is as shown in the drawing Is produced by the fact that on the horizontal A toothed rack 50 extending over the longitudinal axis thereof is arranged Which engages with a pinion 51 of a first geared motor.

In the first case, the drive motor must be mounted in the slide 12, thus on the Vertical column 8, or in the second case on the gripper 101.

The pivot arm 10 is vertically adjustable on the vertical column 8 Respectively. In the embodiment shown in the drawing, this vertical column is Is formed from two parallel uprights 8. Between them is a horizontal swing arm 10 is arranged.

The height adjustment is effected in the manner shown in the drawing 9. The vertical column 8 is provided with a guide rail which extends above the guide rail Which is provided with a pinion 53 of a toothed wheel Which is arranged on the slide 12.

Another embodiment of the robot is shown in FIG. The foot". Ie the central support device 32, the base plate 1 and the vertical traversing platform 2 Are constructed in the same way as in the embodiment variant described above, and connected with each other. The gripping arm 80 of the robot is, however, three Which are connected to one another, can be pivoted relative to one another, 70, 71, 72. The first end of the first arm member 70 is arranged in a position on the plate 5 Mount 73 is pivotally supported against the base plate 1, the other end of the first Arm member 70 is at the first end of the second arm member 71 opposite thereto And the second end of the second arm member 71 is at the first End of the third arm member 72. The implementation of the The pivotal movements of the individual arm elements 70, 71 and 72, As shown in the drawing, by hydraulic cylinders 74, 75. However, Also other suitable drives, such as pneumatic cylinders, rack and pinion gear combinations Or the like.

A gripper 101 is arranged at the second end of the third arm element 72. This is constructed in the same way as the gripper of the previously described embodiment And is described below.

FIGS. 3a, b show such a gripper 101 in detail. The gripper 101 Consists of two gripping jaws 13 arranged parallel to one another, Baking carrier plate 19 are displaceable such that their parallel spacing To each other by their opposing displacement between an open and a Gripping position. The opposing displacement of the gripping jaws 13 In the embodiment shown in the drawing is achieved by the fact that a cylinder 16, on the piston rod of which a toothed rack 17 is mounted, a jaw drive unit 18 Via a first gear wheel 181, and that this rotary movement takes place via a second gear wheel 182 and the two jaw-moving rack bars 15 located at opposite points Of the gear wheel 182 engage in it, into horizontal, rectilinear movements of the jaws Is converted. The backing carrier plate 19 is connected via a first pressure-pressure coupling member 22 with a guide element which is arranged parallel to the latter and can be displaced in the normal direction Intermediate plate 20, as shown in the drawing According to the invention, is realized by the fact that at the four corners of the Rectangular jaw carrier plate 19 hollow cylinders are mounted, Hollow cylinder rods mounted on the intermediate plate 20, and thus In the case of spacing changes of the two plates 19 and 20, act as guides. The Intermediate plate 20 is connected in parallel to a second pressure-pressure coupling member 25 Arranged and displaceable gripper base plate 23. As a guide to this In the case of the invention shown in the drawing, The guides 24 are provided, the pressure-pressure coupling member 25 is the same as Which was used to couple the jaw carrier plate 19 to the intermediate plate 20 Pressure-pressure-coupling member 22 is formed from a helical spring. In the embodiment shown in FIG Is only a pressure-pressure coupling member 25, which is arranged centrally on the gripper base plate 23, is provided.

The gripper base plate 23 is pivotable about its vertical axis Pivot arm 10 or in the third arm element 72. Referring to the drawings Illustrated robots according to the invention, this pivotable bearing is supported by a Hole 37 in the swivel arm 10 or in the third arm element 72, on the upper and lower arms thereof Two ball bearings 38 are mounted on the lower end. Which ball bearings 38 the axis 35 Are reached. The actual pivoting of the gripper base plate 23 is achieved by A gear 36 which is arranged at the uppermost end of the axle 35 and is engaged with a gear wheel Toothed rack 28, which is fixedly connected to the piston 29 of a cylinder 27, reached. The cylinder 27 itself is arranged on the upper side of the swivel arm 10 and the third swivel arm 10, respectively Arm member 72.

FIGS. 4a, b show a brick feeding device according to the invention, with which The bricks 200, 201, 202, 203 can be conveyed with adhesive or mortar, eg with thin-bed mortar Can be wetted on the support side and moved into a removal position for the gripper 101 are. The brick feed includes a conveyor belt system 40, to which Mortar application rollers 46 which protrude into an adhesive or mortar bath 41, Transport unit, through which a wetted brick enters the removal position for the gripper 101 Is movable. In the embodiment shown in the drawing The conveyor system 40 consists of two parallel blocks spaced apart by a tile width Rolling rows 47.

The following is the brickwork process with a robot of the Embodiment according to FIG.

The robot according to the invention is statically supported on its supporting feet 7. By pivoting the vertical column 8 and / or by adjusting the height of the column Horizontal pivot arm 10 and / or by the horizontal displacement of the gripper 101 Along the pivot arm axis, the gripper 101 is moved into the removal position for the respectively Next tile 200 to be placed. The gripping jaws 13 are then removed from Their open position into their gripping position. Subsequently, the gripper 101 is moved through Pivoting the vertical column 8 and / or by adjusting the height of the horizontal column Pivot arm 10 and / or by the horizontal displacement of the gripper 101 along the axis Axis arm pivot axis to the position to which the next brick 200 is to be placed. There, the brick 200 is first placed against the previously set brick in the horizontal direction Is displaced by displacement of the traversing platform 2 and thereafter in the vertical direction By height adjustment of the horizontal pivot arm 10 and pressed. Subsequently, the gripping jaws 13 are brought back into their open position. Of the Gripper 101 is now again displaced and pivoted so as to move the next one Setting bricks.

After every brickwork process, the entire robot is supported Relieving the central support device 32 by extending the support legs 7 therefrom Statically. Thereafter, the horizontal traversing platform 2 is inverted against the base plate 1 A step width, preferably a tile width, in the direction of the next setting position Moved. Subsequently, the support legs 7 are moved to their retracted position, So that the central support device 32 statically supports the robot, then the horizontal support device Base plate 1 following the horizontal traversing platform 2, and finally The support legs 7 are brought back into their extended position.

The brick setting operation with a robot of the embodiment according to FIG. 6 Is performed in principle as described above, but the gripper 101 is, Corresponding pivoting of the individual arm elements 70, 71, 72 into the Removal position for the tile 200 to be placed next as well as to the position, At which the brick 200 is to be deposited.

Will be in the phase of movement in which the robot is at its central The horizontal traversing platform 2 is arranged opposite the plate 5 and Thus pivoted by an angle with respect to the central support device 32, it is A robot according to the invention also possible, non-linear, eg: with corners To-date erected masonry works.

The brick feed works as follows. The next to Placing bricks is caused by a stop 45 of the brick feed in the removal position For the gripper 101. After the gripper has set the tile 200 to be placed next Has taken away from its position, the second in brick feed direction Brick turf device 44, the next tile 201, which passes over the Mortar application rollers 46 to the brick stop 45. The second Bricks device 44 is returned to its blocking position and the Tile feed direction first bridging device 43 supplies the following bricks 202 and 203 is free. When the brick 202 is at the second brick-trussing device 44, the first brick- Brick pusher means 43 into their locking position.

A special feature of the two methods described above is that, Characterized in that the bricks are picked up by the gripping jaws at their end faces and, with their Wide sides, ie not as in the conventional one Method to build a brick wall, be laid at the front side at the end. How nice Is indicated by a corresponding change of the control software of the Robots but also a laying of the bricks according to the conventional laying method Can be achieved.