CN112922366B - Automatic deviation rectifying system and method for wall brick plane - Google Patents
Automatic deviation rectifying system and method for wall brick plane Download PDFInfo
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- CN112922366B CN112922366B CN201911236592.6A CN201911236592A CN112922366B CN 112922366 B CN112922366 B CN 112922366B CN 201911236592 A CN201911236592 A CN 201911236592A CN 112922366 B CN112922366 B CN 112922366B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/18—Adjusting tools; Templates
- E04G21/1808—Holders for bricklayers' lines, bricklayers' bars; Sloping braces
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Abstract
The invention discloses an automatic deviation rectifying system for a wall brick plane, which comprises: the brick laying robot is provided with a movable mechanical arm and a clamp arranged below the mechanical arm; the laser range finders are respectively provided with at least two groups of first laser range finders which are vertically and obliquely arranged and second laser range finders which are horizontally arranged at two sides of the clamp, a laser source of each first laser range finder obliquely irradiates the side surface of the lower-layer wall brick, and each second laser range finder horizontally irradiates the side surface of the adjacent wall brick at the same layer; and the programming control system is used for receiving the data measured by the first laser range finder and the second laser range finder, comparing the data with the pre-stored standard data to generate control data, and controlling the clamp of the brick laying robot to rotate or move so as to realize automatic deviation correction. The invention also discloses a wall brick plane automatic deviation rectifying method, which comprises the following steps: and determining a reference coordinate system, posture correction, X-direction correction and Y-direction correction. The invention has simple deviation correction and high accuracy.
Description
Technical Field
The invention relates to the technical field of building automatic wall building, in particular to an automatic wall brick plane deviation rectifying system and an automatic wall brick plane deviation rectifying method.
Background
In the process of automatically building a wall, due to the influences of the specification error of the wall bricks and the uneven stress of the clamped bricks, the surface unevenness and the inconsistent gap between the two bricks are inevitable during the building process of the wall bricks, and the quality of the built wall body is influenced. Therefore, after the wall bricks are built, the plane of the wall bricks is generally corrected to ensure the integral flatness of the wall.
The literature numbers are: DE4417928a1 discloses a brick laying robot, wherein a fixture of the robot is provided with a positioning coordinate, an inclination tester, a limit switch, a fine adjustment device and the like are arranged on the fixture to judge the inclination state of a wall brick, and further, deviation rectification adjustment is carried out, and the structure is complicated.
Disclosure of Invention
The invention aims to provide an automatic deviation rectifying system and method for a wall brick plane, so as to realize deviation rectification between wall bricks and ensure the quality of a built wall body. In order to achieve the purpose, the invention adopts the following technical scheme:
the invention discloses an automatic deviation rectifying system for a wall brick plane, which comprises: the brick laying robot is provided with a movable mechanical arm and a clamp arranged below the mechanical arm, wherein the clamp is provided with two movable clamping plates for clamping wall bricks; the laser range finders are respectively provided with at least two groups of first laser range finders which are vertically and obliquely arranged and second laser range finders which are horizontally arranged at two sides of the clamp, a laser source of each first laser range finder obliquely irradiates the side surface of the lower-layer wall brick, and each second laser range finder horizontally irradiates the side surface of the adjacent wall brick at the same layer; and the programming control system is used for receiving the data measured by the first laser range finder and the second laser range finder, comparing the data with the pre-stored standard data to generate control data, and controlling the clamp of the brick laying robot to rotate or move so as to realize automatic deviation correction.
Further, still including fixing the support of the vertical setting at the anchor clamps side, first laser range finder install on the support.
Preferably, the included angle beta between the light source emitted by the first laser range finder and the horizontal plane is 45-75 degrees.
The brick-laying robot further comprises a rotating base, a machine body main body arranged on the rotating base and capable of rotating along the rotating base, and a vertical moving module arranged on the machine body main body, wherein the mechanical arm is arranged on the vertical moving module, and the vertical moving module controls the mechanical arm to move up and down.
The invention also discloses an automatic deviation rectifying method for the plane of the wall brick, which adopts the automatic deviation rectifying system for the wall brick to rectify the deviation according to the following steps:
s1, determining a reference coordinate system, wherein a central line of a wall to be built is taken as an X axis, a central line perpendicular to the wall is taken as a Y axis, the height direction of the wall is taken as a Z axis, and the intersection point of the bottom end X, Y, Z at one side of the wall is taken as an origin; the programming control system calculates the standard vertical seam width A between the wall bricks when the center of the wall bricks is positioned at the standard position 0 When the light source of the first laser range finder irradiates the lower-layer wall brick or the ground, the irradiated standard distance M 0 And calculating to obtain standard coordinates (x) of each wall brick at the standard position n ，0，z n ) Calculating initial coordinates (x) for placing each wall brick according to the standard coordinates n ，D，z n ) H is more than or equal to | D | and less than 0.5W, H is the thickness of the movable clamping plate, and W is the width of the wall brick. The initial position is deviated from the standard coordinate by a distance in the Y-axis direction, so that the light source of the second laser range finder arranged on the movable clamping plate can irradiate to the adjacent wall brick, and the subsequent steps can be conveniently calculated.
S2, posture correction: wall brick is got to anchor clamps clamp of bricklaying robot to place wall brick in initial position according to initial coordinate, first laser range finder's light source shines to lower floor's wall brick on, judges whether the distance that each first laser range finder shines equals, if the inequality, rotatory bricklaying anchor clamps, the distance that until each first laser range finder shines equals, is M n The brick is now parallel to the X-axis.
S3, correcting the deviation in the X direction: irradiating the light source of the second laser range finder on the adjacent wall brick at the same layer, measuring the distance L between the light source and the adjacent wall brick, and calculating the width A of the vertical joint between the wall brick and the adjacent wall brick n By adjusting the bricklaying fixture to move in the X direction until A n ＝A 0 。
S4. Y-direction deviation correction: the equal distances M irradiated by the respective laser rangefinders in step S2 n And M 0 Comparing, moving in Y direction until M by adjusting the bricklaying fixture n ＝M 0 。
Wherein, the first laser range finders are arranged in two groups, and in step S2, the irradiation distances of the two groups of first laser range finders are respectively M 1 、M 2 And if the horizontal distance between the two groups of first laser distance measuring instruments is S, calculating the rotation angle alpha of the clamp according to the following formula:
preferably, the light source of the second laser range finder is arranged at the central position of the clamp plate, the clamp is clamped in the middle of the brick during brick clamping, and the vertical seam width A between the wall brick and the adjacent brick is adjusted in the X direction during correction n ＝L-0.5C n ，C n Calculating the difference value T as A for the length of the current wall brick n -A 0 When T is greater than 0, the brick laying clamp is adjusted to move a distance T in the direction from X to the adjacent brick, and when T is less than 0, the brick laying clamp is adjusted to move a distance | T | in the direction from X to the opposite direction of the adjacent brick.
Wherein the standard distance M of irradiation 0 Calculated according to the following formula:
When the Y direction is corrected, the distance B of the bricklaying fixture moving in the Y direction is adjusted to be calculated according to the following formula:
B＝(M 0 -Mn)cosβ。
due to the adoption of the technical scheme, the invention has the following beneficial effects: the data measured by at least two groups of first laser range finders are transmitted to a programming control system, the programming control system judges whether the vertical surface of a brick to be built and the vertical surface of a built brick are parallel or not, a clamp performs posture correction according to the judgment result, then the data measured by a second laser range finder is transmitted to the programming control system, the programming control system performs X-direction and Y-direction correction, and the clamp transfers the brick to the place. The whole system can realize deviation correction only by adding the laser range finder, and has the advantages of simple deviation correction and high accuracy.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Fig. 2 is a schematic structural diagram of the laser range finder mounted on a fixture.
FIG. 3 is a state diagram of the attitude deviation rectifying process according to the present invention.
Fig. 4 is a schematic top view of fig. 3.
Fig. 5 is a side view schematic of fig. 3.
FIG. 6 is a schematic diagram illustrating the X-direction deviation rectifying process according to the present invention.
Fig. 7 is a top schematic view of fig. 6.
FIG. 8 is a schematic diagram of the Y-direction deviation rectifying process according to the present invention.
Figure 9 is a schematic view of the invention in a standard position with the tiles in place.
Description of the main component symbols:
1: brick laying robot, 2: first laser range finder, 3: second laser rangefinder, 4: rotating base, 5: fuselage main part, 6: vertical movement module, 7: mechanical arm, 8: a clamp, 9: support, 10: wall brick, 11: a movable splint.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in FIG. 1, the invention discloses an automatic deviation rectifying system for the plane of a wall brick, comprising: a brick laying robot 1, a first laser distance measuring instrument 2, a second laser distance measuring instrument 3 and a programming control system (not shown in the figure).
The brick laying robot comprises a rotating base 4, a machine body main body 5 which is arranged on the rotating base 4 and can rotate along the rotating base, a vertical moving module 6 which is arranged on the machine body main body 5, a mechanical arm 7 which is arranged on the vertical moving module 6, and a clamp 8 which is arranged under the mechanical arm 7, wherein two movable clamp plates 11 which are used for clamping wall bricks are arranged on the clamp 8. The vertical moving module 6 controls the mechanical arm 7 to move up and down. The clamp 8 can adopt the publication number: CN209620639U, CN208545981U, CN208594758U, CN206693650U, CN 206690127U and the like.
At least two sets of first laser range finders 2 installed in a vertical inclined mode (three sets of first laser range finders are arranged in fig. 2) and at least two sets of second laser range finders 3 installed in a horizontal direction are arranged on two sides of the clamp 8 respectively, the second laser range finders 3 can be arranged in one set, or two sets of the second laser range finders 3 are arranged in fig. 2, and the laser light sources of the two sets of the second laser range finders 3 are opposite in irradiation direction. A support 9 is vertically arranged at one side end of the clamp 8, and the first laser range finder 2 is installed on the support 9. The laser source of the first laser range finder 2 irradiates the side surface of the lower-layer wall brick 10 in an inclined mode, and the second laser range finder 3 irradiates the side surface of the adjacent wall brick 10 on the same layer in a horizontal mode. The included angle beta between the light source emitted by the first laser range finder 2 and the horizontal plane is adjusted according to the length of the clamping plate of the clamp 8 and the height of the wall brick 10, and can be generally set to be 45-75 degrees, so that the light source emitted by the first laser range finder 2 can basically irradiate in the range of the lower two layers of wall bricks 10 and does not interfere with the two clamping plates of the clamp 8.
The programming control system is used for receiving data measured by the first laser range finder 2 and the second laser range finder 3, comparing the data with pre-stored standard data to generate control data, and controlling the clamp 8 of the brick laying robot 1 to rotate or move, so that the wall brick 10 clamped below the clamp 8 is adjusted, the wall brick below the clamp 8 is aligned with the wall brick adjacent to the same layer and the wall brick of the lower layer, and automatic deviation correction is realized.
The invention discloses a wall brick plane automatic deviation rectifying method by adopting the wall brick plane automatic deviation rectifying system, which comprises the following steps of:
s1, determining a reference coordinate system.
As shown in fig. 3, the center line of the wall to be built is taken as the X axis, the center line perpendicular to the wall is taken as the Y axis, the height direction of the wall is taken as the Z axis, and the intersection point of the bottom end X, Y, Z at one side of the wall is taken as the origin. The programming control system calculates the standard vertical seam width A between the wall bricks when the center of the wall brick is positioned at the standard position 0 When the light source of the first laser range finder irradiates the lower-layer wall brick or the ground, the standard irradiation distance M is 0 And calculating to obtain standard coordinates (x) of each wall brick at the standard position n ，0，z n ) Calculating initial coordinates (x) for placing each wall brick according to the standard coordinates n ，D，z n ) H is more than or equal to | D | and less than 0.5W, H is the thickness of the movable clamping plate, and W is the width of the wall brick.
For the same wall to be built (such as A type of wall, the height of the wall is 2.6m, the specification of the wall brick is odd rows of whole bricks, even rows of whole bricks and half bricks are staggered, and the specification and the size of the wall brick are D specifications), a programming control system calculates the coordinate of each wall brick at the standard position to form the standard coordinate of each wall brick, then the initial coordinate is calculated through the standard coordinate, the initial coordinate of one wall brick is directly called to determine the initial position of the wall brick during wall building, and real-time calculation is not needed. The standard coordinates of each wall brick can be calculated by the following public numbers: the calculation method disclosed in CN107357294A or CN 107654077A. Initial position coordinate sets up, and the fragment of brick skew Y axle certain distance when making the brick laying to ensure that the light source of second laser range finder can shine adjacent brick surface, like this embodiment, supposing H10 mm, W115 mm, can get D20 mm, place the fragment of brick in the initial position of fig. 3.
The method of the invention calculates the standard data M formed in the wall brick building process in advance by a programming control system for the same clamp and a wall brick (such as A type brick building robot clamp and the wall brick, the distance between the position of a light source of a first laser range finder and the center of the clamp is N, the included angle between the light source emitted by the first laser range finder and the horizontal plane is beta, and the width of the wall brick is W) 0 Storing the standard vertical seam width A, and presetting the standard vertical seam width A between the wall bricks according to the wall masonry standard programming control system 0 The subsequent deviation rectifying step of the invention can directly call the fixture and the standard value adopted during wall brick building without real-time calculation.
As shown in fig. 9, the standard distance M of irradiation 0 Calculated according to the following equation (1):
(N: the distance between the position of the light source of the first laser range finder and the center of the clamp, beta: the included angle between the light source emitted by the first laser range finder and the horizontal plane, and W: the width of the wall brick).
And S2, correcting the posture.
As shown in fig. 3, 4 and 5, the purpose of this step is to adjust the bricks to make the long sides of the bricks parallel to the X-axis, i.e. to correct the posture. The clamp of the brick laying robot clamps the wall bricks (in fig. 3 to 9, the clamped wall bricks to be rectified are indicated by dot-shaped shadows), and places the wall bricks at initial positions according to initial coordinates. The light source of first laser range finder shines to lower floor's wall brick on, judges whether the distance that each first laser range finder shines equals, if the inequality, rotatory bricklaying anchor clamps, until the distance that each first laser range finder shines equals, be M n At this timeThe blocks are parallel to the X-axis.
If the first laser distance measuring instruments are arranged into two groups, the irradiation distances of the two groups of the first laser distance measuring instruments in the step are M respectively 1 、M 2 And the horizontal distance between the two groups of first laser range finders is S, the rotation angle alpha of the clamp is calculated according to the following formula (2):
and S3, correcting the deviation in the X direction.
The correction in the X direction is performed as shown in fig. 6 and 7: the second laser range finder measures the distance L between the second laser range finder and the adjacent wall brick, and calculates the vertical seam width A between the wall brick and the adjacent wall brick n Moving in X direction until A by adjusting the bricklaying fixture n ＝A 0 。
The light source of the second laser range finder is arranged at the central position of the clamp clamping plate, the clamp is clamped in the middle of the brick block during brick clamping, and the vertical seam width A between the wall brick and the adjacent brick is formed during X-direction deviation correction n ＝L-0.5C n ，C n Calculating the difference value T as A for the length of the current wall brick n -A 0 ＝L-0.5C n -A 0 ，A 0 Is the standard perps width between the wall tiles. When T is 0, the moving is not needed, when T is more than 0, the brick laying clamp is adjusted to move a distance T in the direction from X to the adjacent brick, and when T is less than 0, the brick laying clamp is adjusted to move a distance | T | in the direction from X to the opposite direction of the adjacent brick.
And S4, correcting the Y direction.
The Y-direction rectification is performed as shown in fig. 8: the equal distances M irradiated by the respective laser rangefinders in step S2 n And M 0 Comparing, moving B in Y direction by adjusting the bricklaying fixture until M n ＝M 0 . The distance B for adjusting the bricklaying fixture to move in the Y direction is calculated according to the following formula (3):
B＝(M 0 mn) cos β (equation 3).
The deviation rectifying method of the invention carries out deviation rectifying adjustment by referring to the position of the lower layer brick body, so the flatness of the building of the lowermost layer wall brick needs to be ensured in the wall building process, and after the first layer of wall brick is built, the flatness of the first layer of wall brick is firstly checked by a machine (such as visual inspection equipment) or manually, and then the plane deviation rectifying of the building of the second layer and above wall bricks is carried out by the method of the invention.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. The automatic deviation rectifying method for the plane of the wall brick is characterized in that: adopt wall brick plane automatic deviation rectification system to rectify, wall brick plane automatic deviation rectification system include:
the brick laying robot is provided with a movable mechanical arm and a clamp arranged below the mechanical arm, and the clamp is provided with two movable clamping plates for clamping wall bricks;
the laser range finders are respectively provided with at least two groups of first laser range finders which are vertically and obliquely arranged and at least one group of second laser range finders which are horizontally arranged at two sides of the clamp, a laser source of each first laser range finder obliquely irradiates the side surface of the lower-layer wall brick, and each second laser range finder horizontally irradiates the side surface of the adjacent wall brick at the same layer;
the programming control system is used for receiving the data measured by the first laser range finder and the second laser range finder, comparing the data with the pre-stored standard data to generate control data, and controlling the clamp of the brick laying robot to rotate or move so as to realize automatic deviation correction;
correcting the deviation according to the following steps:
s1, determining a reference coordinate system, wherein a central line of a wall to be built is taken as an X axis, a central line perpendicular to the wall is taken as a Y axis, the height direction of the wall is taken as a Z axis, and the intersection point of the bottom end X, Y, Z at one side of the wall is taken as an origin; the programming control system calculates the standard vertical seam width A between the wall bricks when the center of the wall bricks is positioned at the standard position 0 When the light source of the first laser range finder irradiates the lower-layer wall brick or the ground, the standard irradiation distance M is 0 And calculating to obtain standard coordinates (x) of each wall brick at the standard position n ，0，z n ) Calculating initial coordinates (x) for placing each wall brick according to the standard coordinates n ，D，z n ) H is more than or equal to | D | and less than 0.5W, H is the thickness of the movable clamping plate, and W is the width of the wall brick;
s2, posture correction: wall brick is got to anchor clamps clamp of bricklaying robot to place wall brick in initial position according to initial coordinate, first laser range finder's light source shines to lower floor's wall brick on, judges whether the distance that each first laser range finder shines equals, if the inequality, rotatory bricklaying anchor clamps, the distance that until each first laser range finder shines equals, is M n When the brick is parallel to the X axis;
s3, correcting the deviation in the X direction: irradiating the light source of the second laser range finder on the adjacent wall brick at the same layer, measuring the distance L between the light source and the adjacent wall brick, and calculating the width A of the vertical joint between the wall brick and the adjacent wall brick n Moving in X direction until A by adjusting the bricklaying fixture n ＝A 0 ；
S4, correcting the Y direction: the equal distances M irradiated by the respective laser rangefinders in step S2 n And M 0 Comparing, moving in the Y direction until M by adjusting the bricklaying fixture n ＝M 0 。
2. An automatic deviation rectifying method for the plane of a wall brick as claimed in claim 1, characterized in that: the automatic deviation rectifying system for the plane of the wall brick further comprises a vertically arranged support fixed at the side end of the clamp, and the first laser range finder is installed on the support.
3. An automatic deviation rectifying method for the plane of a wall brick as claimed in claim 1 or 2, characterized in that: the included angle beta between the light source emitted by the first laser range finder and the horizontal plane is 45-75 degrees.
4. An automatic deviation rectifying method for the plane of a wall brick as claimed in claim 1, characterized in that: the brick laying robot further comprises a rotating base, a machine body main body which is arranged on the rotating base and can rotate along the rotating base, and a vertical moving module arranged on the machine body main body, wherein the mechanical arm is arranged on the vertical moving module, and the vertical moving module controls the mechanical arm to move up and down.
5. An automatic deviation rectifying method for the plane of a wall brick as claimed in claim 1, characterized in that: two sets of first laser range finders are arranged, in step S2, the distance irradiated by the two sets of first laser range finders is M respectively 1 、M 2 And if the horizontal distance between the two groups of first laser distance measuring instruments is S, calculating the rotation angle alpha of the clamp according to the following formula:
6. an automatic deviation rectifying method for the plane of a wall brick as claimed in claim 1, characterized in that: the light source of the second laser range finder is arranged at the central position of the clamp clamping plate, the clamp is clamped in the middle of the brick block during brick clamping, and the vertical seam width A between the wall brick and the adjacent brick is increased during X-direction deviation correction n ＝L-0.5C n ，C n Calculating the difference value T ═ A for the length of the current wall brick n -A 0 When T is greater than 0, the brick laying clamp is adjusted to move a distance T in the direction from X to the adjacent brick, and when T is less than 0, the brick laying clamp is adjusted to move a distance | T | in the direction from X to the opposite direction of the adjacent brick.
7. The method for automatically correcting the deviation of the plane of the wall brick as claimed in claim 1, wherein: standard distance of irradiation M 0 Calculated according to the following formula:
wherein beta is an included angle between a light source emitted by the first laser range finder and the horizontal plane, N is a distance between the light source position of the first laser range finder and the center of the clamp, and W is the width of the wall brick.
8. The method for automatically correcting the deviation of the plane of the wall brick as claimed in claim 7, wherein: when the Y-direction deviation is corrected, the distance B of the bricklaying fixture in the Y-direction movement is adjusted to be calculated according to the following formula:
B＝(M 0 -Mn)cosβ。
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| CN116696093A (en) * | 2022-04-29 | 2023-09-05 | 广东博智林机器人有限公司 | Brick clamping mechanism and bricklaying robot |
| CN114961304B (en) * | 2022-06-17 | 2024-02-27 | 贵州建工集团有限公司 | Automatic wall building machine for building construction |
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