Hydraulic Modules of Mobile Robotic Bricklaying System

This article deals with the evaluation of the hydraulic modules used in the ZSM (Zrobotyzowany System Murarski) mobile robotic bricklaying system. This robotics bricklaying system was developed as a research project in cooperation between a scientific leader, the research and development partner, and the industry partner. Mobile ZSM is the first robotic brickwork system in Poland, designed primarily for the construction of facades and partitions in office and residential buildings, as well as in industrial buildings. A mobile ZSM has been designed and developed as an innovative demonstration solution for the construction industry to automate heavy, labour-intensive and burdensome masonry work traditionally done manually by masons. The ZSM mobile set was made up of an ABB industrial robot with six degrees of freedom (6DoF), a Hinowa tracked undercarriage, a robot support frame, a hydraulic lifting-levelling unit, a brick warehouse, a brick feeder, a mortar applicator, a control cabinet, an operator panel, and a hydraulic gripper. The evaluation involved the specified hydraulic modules of the mobile ZSM, such as the hydraulic power and control unit, the hydraulic drive of the tracked undercarriage, hydraulic control of the lifting-levelling unit, and the hydraulic robot gripper. The human-machine interface (HMI) operator touch panel was presented with the start screen and control screens for the individual hydraulic modules of the mobile ZSM. The HMI touch panel was visually programmed to manage the mobile ZSM.