2.1.1 Wall construction robot
The world’s first prototype robot for wall construction is the TKY·HI
rockpile robot developed by Japan (Zhijie,Sun.,2011). With the
improvement of wall construction quality, the size of bricks becomes
wider, which leads to the difficulty coefficient of construction
personnel. In order to effectively solve these problems, the European
Union put forward the research project of ”computer integrated
manufacturing and assembly robot system” in 1994(Andres,j.,1994). On
this basis, researchers in Germany, Belgium and Spain have collaborated
to develop the ROCCO robot for building walls, which has automatic sonar
navigation control system and uses hydraulic control to complete brick
laying. Compared with the current pure manual masonry, it can greatly
reduce the construction burden of related construction workers, but it
is greatly affected by the height of the building, seasonal weather and
other factors, so it is not favored by construction companies.
In recent years, due to soaring prices, high construction accident rate,
large increase in enterprise labor costs and other reasons, wall
construction robots regain the attention of construction companies.
Typical examples include: motor driven wire rope automatic wall
construction robot (Bruckmann,T.,2018) developed by Essen University in
Duisburg, Germany, and Hadrian X wall construction robot
(Wieckowski,A.,2017).