# US 2017/0254102 A1 · Brick Laying System > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0254102 A1 - Document ID: US20170254102A1 - Status: Published application - Kind: A1 - Application number: 15/484,729 - Filed: 2017-04-11 - Published: 2017-09-07 - Earliest claimed: 2010-08-12 - Assignees: Construction Robotics, LLC - Applicants: Construction Robotics, LLC - Inventors: Scott Lawrence Peters; Nathan Podkaminer; Thomas Charles Coller - Web page: https://patentgrep.com/patent/US20170254102A1 ## CPC - E04G 21/22: for setting building elements with mortar, e.g. bricklaying machines - B25J 11/00: Manipulators not otherwise provided for - B25J 15/0019: {End effectors other than grippers} - B66F 11/04: for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations ({Working platforms on fork-lift trucks B66F9/127; } vehicle aspects of service vehicles B60P3/14; platforms for cleaning windows A47L3/02; devices for rescuing persons from buildings A62B1/02; liftable or lowerable platforms for use on ladders E06C7/16; maintenance travellers for bridges E01D19/10; scaffolds on an extensible sub-structure E04G1/22) - E04G 1/04: the members being exclusively poles, rods, beams, or other members of similar form and simple cross-section - E04G 1/18: adjustable in height {(lifting devices for movable platforms, e.g. on vehicles B66F11/04)} - G05B 2219/45086: Brick laying, masonry robot - Y10S 901/02: Arm motion controller - Y10S 901/30: End effector - Y10S 901/41: Tool - 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 - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A brick laying system where an operator such as a mason works proximate a moveable platform having a robotic arm assembly, a mortar applicator with a mortar transfer device, and a brick transfer device to build structures. The robotically assisted brick laying system may also contain a stabilizer having a disturbance sensing and a disturbance correcting component that provides compensation for disturbances caused by load shifting, movement of the platform, wind, operator movement, and the like. In addition, the robotically assisted brick laying system has a sensing and positioning component for controlling placement of the moveable platform and robotic arm assembly. The interoperability of the system with a mason or skilled operator removes much of the manual labor component of brick laying, allowing the mason more time to focus on craftsmanship and quality, thus improving the end product and the overall working conditions of the mason. ## Claims ### Claim 1 A robotically assisted brick laying system, comprising: a gantry having a moveable platform; a robotic arm assembly mounted to the moveable platform; a vibratory brick bedding toolhead operatively coupled to the robotic arm assembly; a master controller having a processor and memory and containing control software; said master controller operatively coupled to a robot controller; to said robot controller providing instructions to said robotic arm assembly; a mortar applicator connected to the moveable platform; a mortar transfer device operatively coupled to said mortar applicator; and a brick transfer device. ### Claim 2 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, further comprising an end-effector operatively coupled to said robotic arm assembly. ### Claim 3 (depends on 2) A robotically assisted brick laying system in accordance with claim 2, further comprising a locking mechanism mechanically coupled to said end-effector. ### Claim 4 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, wherein in use said mortar applicator moves in reference to a brick placed by the robotic arm assembly. ### Claim 5 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, wherein in use said mortar applicator is stationary in reference to the moveable platform and a brick moves across the mortar applicator by the robotic arm assembly to receive mortar. ### Claim 6 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, further comprising a computer aided design (CAD) drawing to stack plan converter. ### Claim 7 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, further comprising a stack plan input to said master controller. ### Claim 8 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, further comprising a laser configured to generate a laser plane and a sensor for receiving said laser plane. ### Claim 9 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, wherein the robotic arm assembly is mounted on a moveable base on the moveable platform. ### Claim 10 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, further comprising an end-effector operatively coupled to said robotic arm assembly and a vibratory actuator in mechanical communication with said end-effector. ### Claim 11 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, further comprising site measurement input to said master controller. ### Claim 12 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, wherein the mortar applicator is selected from the group consisting of a progressive cavity pump, a screw pump, a nozzle, a flexible nozzle, a continuous mortar mixer, a mortar pre-form mold, a pre-made mortar package, a conveyor, a vibratory applicator, an adjustable nozzle, and a stationary nozzle. ### Claim 13 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, wherein the mortar transfer device is selected from the group consisting of a premixed wet mortar transfer device, a dry mortar transfer device, an in line additive mortar transfer device, and a continuous mix mortar transfer device. ### Claim 14 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, wherein the brick transfer device is selected from the group consisting of a transfer station, a cartridge feed system, and a conveyor. ### Claim 15 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, further comprising a laser ranging device. ### Claim 16 (depends on 1) A robotically assisted brick laying system in accordance with claim 1, further comprising a first rail for moving the gantry. ### Claim 17 (depends on 16) A robotically assisted brick laying system in accordance with claim 16, further comprising a second rail for moving the gantry. ### Claim 18 A robotic arm assembly for assisting with the task of bricklaying, the robotic arm assembly comprising: a mounting structure for attaching the robotic arm assembly to a moveable platform; a brick grasping appendage; a vibrator mechanically coupled to the robotic arm assembly for improving adhesion of mortar to a brick; an operator control station; an electrical coupling coupled to a controller; a sensor for determining placement position of the brick; and to an interface to a controller for the moveable platform. ### Claim 19 A method for laying bricks, the method comprising the steps of: operating a robotic arm assembly attached to a moveable platform; placing an operator proximate the moveable platform to work with the robotic arm assembly; providing bricks to the robotic arm assembly; holding the bricks with an end effector of the robotic arm assembly; providing mortar to a mortar applicator in proximity to the robotic arm assembly; applying mortar to each brick; using the robotic arm assembly to place bricks and mortar in a predetermined arrangement; vibrating the bricks and mortar with a vibrator attached to the end effector; and moving the moveable platform as brick laying progresses. ### Claim 20 (depends on 19) The method of claim 19, further comprising the step of moving the moveable platform along a rail.