Concept animations

Functions

Gear

The entire landing gear mount is made from a 3D printed part. The respective components are attached directly to this «base plate».
The 2x DC drive motors of the chassis provide plenty of power to transport the building elements of the house quickly to the desired location.
An additional infrared line detection system also ensures precise maneuvering and exact approach to the respective positions. The sensors are located on a printed circuit board underneath the robot.
A ball caster in the rear part of the chassis ensures the necessary contact with the playing field and prevents the stacking fork from tipping over.

Lifting system

The lifting system consists of a fork with an integrated electromagnet. This ensures that the components do not slip off the fork during transport. In order to approach the desired height of the fork, the stacker has a DC motor with a gear wheel that drives a toothed rack. A limit switch with reference positions is installed to read out the height.

Centering unit

Since the distances between the various positions vary, a spindle that can be adjusted vertically is connected to the centering unit. This centering unit ensures that the robot is pressed to the desired position. A limit switch on the centering unit ensures contact with the respective elements and thus guarantees smooth penetration of the stacker forks.

 

Gripper

To make the transport of the roof safe and stable, a gripper is used to support the magnet. This gripper is designed in such a way that the chimneys of the two roofs are optimally fixed despite the different distance.

 

 

 

Camera

A powerful camera reads the microcode of the wall elements. This makes it possible to ensure which wall element is where. The evaluation of the high-quality image material is analyzed and handled by a Raspberry Pi.

 

 

 

Removable housing

To make access to the internal components as easy as possible, the housing can be removed by means of a magnetic connection. This not only facilitates assembly, but also the replacement of components considerably.

 

 

Communication module

Since a robot is not supposed to build the house alone, it must be able to communicate with a partner robot. For this purpose, the robots use a W-Lan module, which exchange information via a laptop.

 

Userinterface

In order to be able to operate the robot ideally, the StapelGabler has a circuit board on the top of the removable housing. This has indicator LEDs for the power supplies and status indicator lamps. For easy operation, 3 pushbuttons and 6 toggle switches are installed.

To enable the robot to move autonomously, it has the Main PCB at the back. On this are:
The power supplies for the sensors, actuators and the PCBs.
The W-LAN module, so that it can receive the construction plan and communicate with the partner robot.
The motor drivers, so that the motors can be controlled as required by the build status and position.
The MicroZED for the necessary computing power.