公开(公告)号：US5284000A

公开(公告)日：1994-02-08

申请号：US983221

申请日：1992-11-30

申请人： W. Warren Milne ,  Jacek A Wiercienski ,  Pawel Kuzan

发明人： W. Warren Milne ,  Jacek A Wiercienski ,  Pawel Kuzan

IPC分类号： E04G21/22 ,  E04G21/14

CPC分类号： E04G21/22

摘要： Bricklaying equipment includes a guideway extending along brick masonry being erected. A bricklaying machine displaces along the guideway. It has a robotic arm with an upper arm and a forearm. The upper arm pivots about a shoulder joint, and the forearm pivots relative to the upper arm at an elbow joint. A wrist joint permits a tool assembly, including a mortar-dispensing mechanism and a brick-gripping mechanism, to pivot relative to the forearm. The mortar-dispensing mechanism includes a form that receives and shapes a mortar charge, and a sliding gate mechanism that discharges the shaped charge. The arm is operated with a single motor that pivots the upper arm. Linkage constrains the tool assembly to move along a horizontal axis as the upper arm pivots and to remain in a fixed angular orientation relative to vertical. The arm is operated in response to sensors that detect vertical and horizontal distances to a mason's line. Brick and mortar carriers are also mounted to the guideway, and travel between loading areas and brick-and mortar-transferring positions relative to the bricklaying machine.

摘要翻译： 砌砖设备包括沿竖立的砖石延伸的导轨。 砌砖机沿导轨移动。 它有一个机械臂与上臂和前臂。 上臂围绕肩关节枢转，并且前臂相对于上臂在肘关节处枢转。 手腕关节允许包括砂浆分配机构和砖抓握机构的工具组件相对于前臂枢转。 砂浆分配机构包括接收和形成砂浆装料的形式，以及排出成形装料的滑动门机构。 手臂用一个使上臂枢转的电动机操作。 当上臂枢转并且相对于垂直方向保持固定的角度方向时，连杆限制工具组件沿着水平轴线移动。 手臂响应于检测到梅森线的垂直和水平距离的传感器操作。 砖和砂浆载体也安装在导轨上，并且在装载区域和相对于砌砖机的砖和砂浆转移位置之间行进。