CN113700322A

CN113700322A - Anchor clamps and bricklaying robot

Info

Publication number: CN113700322A
Application number: CN202111259163.8A
Authority: CN
Inventors: 谢军; 何文操; 阳跃武
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2021-11-26
Anticipated expiration: 2041-10-28
Also published as: CN113700322B

Abstract

The application relates to an anchor clamps and bricklaying robot belongs to the construction field. The application provides a clamp, including base, hand mechanism and extrusion mechanism, hand mechanism installs in the base for snatch or release the work piece. The pressing mechanism is mounted on the base, and is configured to apply a pressing force to the workpiece after the hand mechanism releases the workpiece at a target position, the pressing direction being configured to face a placement surface of the target position. The brick laying robot comprises a walking chassis, a mechanical arm and the clamp, wherein the mechanical arm is arranged on the walking chassis, and the clamp is arranged at the tail end of the mechanical arm and used for grabbing and extruding bricks. The clamp can carry bricks and extrude the bricks, and has good masonry precision. The application also provides a bricklaying robot, including this anchor clamps.

Description

Anchor clamps and bricklaying robot

Technical Field

The application relates to the field of building construction, in particular to an anchor clamps and bricklaying robot.

Background

In the construction process of building a wall body, the surface of a brick is firstly plastered, the brick is placed in place, and then the brick is extruded to the placing plane so as to be firmly bonded with the placing plane. At present, the existing brick laying robot can automatically execute the masonry actions, but the defect of poor masonry precision still exists, so that bricks are not built neatly, and the overall construction quality is poor.

Fig. 1 shows a schematic structural view of a conventional brick laying robot.

Referring to fig. 1, the brick laying robot includes a traveling chassis (not shown), a linear driving mechanism (not shown), a robot arm 11a and a jig, the linear driving mechanism is mounted on the traveling chassis, and the robot arm 11a is mounted on an output end of the linear driving mechanism. The gripper comprises a pair of jaws 12 attached to the end of a robotic arm 11a, the pair of jaws 12 being capable of gripping a brick 13 and moving the brick 13 under the action of the robotic arm 11 a. After the mechanical arm 11a transfers the brick 13 to the target position, the mechanical arm 11a moves along the extrusion direction, the clamping jaw 12 clamps the brick 13 and drives the brick 13 to move towards the direction close to the placing plane and extrude the slurry layer 14, so that the brick 13 is firmly bonded with the placing plane. In the above scheme, one end of the mechanical arm 11a is connected to the output end of the linear driving mechanism, the other end of the mechanical arm is connected to the clamp, the linear driving mechanism drives the clamp to descend through the mechanical arm 11a, and the pair of clamping jaws 12 of the clamp clamps the bricks to extrude the placing surface. During the process of pressing the brick on the placing surface, the brick clamped by the clamping jaw 12 is subjected to the reaction force from the placing surface, so that the tail end of the mechanical arm 11a tilts upwards, and the brick clamped by the clamping jaw 12 is inclined. Further, since the linear driving mechanism continues to drive the robot arm 11a to move in the pressing direction, the skew of the brick 13 held by the pair of gripping claws 12 is intensified.

Disclosure of Invention

Therefore, the application provides an anchor clamps and bricklaying robot, can carry the fragment of brick and extrude the fragment of brick, has better building precision.

In a first aspect, embodiments of the present application provide a clamp, which includes a base, a hand mechanism and a pressing mechanism, wherein the hand mechanism is mounted on the base and is used for clamping or releasing a workpiece. The pressing mechanism is mounted on the base, and is configured to apply a pressing force to the workpiece after the hand mechanism releases the workpiece at a target position, the pressing direction being configured to face a placement surface of the target position.

In above-mentioned technical scheme, the hand mechanism of anchor clamps can the centre gripping work piece, is convenient for accomplish the transfer to the work piece, and the work piece can be squeezed to extrusion mechanism to it is tight with the work piece pressfitting, guarantees that the work piece has sufficient adhesive force. In addition, the squeezing mechanism squeezes after the hand mechanism releases the workpiece, so that even if the position of the hand mechanism changes, the squeezing effect of the squeezing mechanism on the workpiece is not influenced. The fixture can grab and extrude a workpiece, completes masonry of the workpiece, and has good masonry precision and high masonry quality.

According to some embodiments of the present application, the pressing mechanism comprises a fulcrum portion configured as a fulcrum of the lever movement of the base and its hand mechanism along the pressing direction.

In the above technical solution, by providing the fulcrum portion, if the position of the base changes, for example, when the base deflects, the fulcrum portion can abut against the surface of the workpiece to make the base and the hand mechanism thereof perform lever motion relative to the fulcrum, so as to adapt to the deflection of the base. Because the extrusion force applied to the workpiece by the extrusion mechanism is always parallel to the extrusion direction, the position of the workpiece is not easy to change, and the masonry precision and the bonding force are ensured.

According to some embodiments of the application, the pressing mechanism further comprises a main body mounted to the base and disposed toward the workpiece, a side of the main body toward the workpiece is provided with a fulcrum portion, the main body follows the base for leverage movement relative to the fulcrum portion, and the fulcrum portion is configured to abut against the workpiece.

In the technical scheme, the fulcrum part is always abutted against the surface of the workpiece, the fulcrum part always applies extrusion force along the extrusion direction to the workpiece, the position of the workpiece is not easy to change, and the masonry precision and the bonding force are ensured.

According to some embodiments of the present application, the fulcrum portion is a cylinder, a semi-cylinder, a sphere, or a hemisphere, the arcuate surface of the cylinder, semi-cylinder, sphere, or hemisphere being for abutting the workpiece.

In the technical scheme, the fulcrum part with the arc surface is abutted against the workpiece, so that when the position of the base changes, the contact part of the stopping part and the workpiece is in smooth transition, the clamp and the workpiece cannot impact, the extrusion force applied to the workpiece cannot change suddenly before and after the position of the base changes, and the extrusion effect on the workpiece is better.

According to some embodiments of the present application, the fulcrum portion is an elastically deformable material, and one side of the fulcrum portion can be elastically deformed correspondingly to yield the lever motion of the base, the hand mechanism, and the main body.

In the above technical solution, since the fulcrum portion is elastically deformable, when the base deflects, the acting force received by one side of the fulcrum portion is greater than the acting force received by the other side, and thus the deformation amount of the side having the greater acting force received by the fulcrum portion is greater than that of the other side, so as to maintain the pressing direction unchanged.

According to some embodiments of the present application, the pressing mechanism further includes a main body mounted to the base, a pressing portion for pressing the workpiece, and a fulcrum portion connecting the main body and the pressing portion, the fulcrum portion causing the base, the hand mechanism, and the main body to make a lever motion with respect to the pressing portion.

In the above technical solution, the main body is connected with the base, one end of the fulcrum portion is connected with the main body, and the other end is movably connected with the pressing portion, allowing the pressing portion to make lever motion relative to the fulcrum portion. By providing the pressing portion, the contact area between the pressing mechanism and the workpiece can be increased, so that the pressing force can be uniformly applied to the surface of the workpiece.

According to some embodiments of the present application, the fulcrum portion includes a rotation seat and a rotation portion fitted to each other, the rotation portion being mounted to one of the main body and the pressing portion, and the rotation seat being mounted to the other.

In the above scheme, the main body and the extrusion part are matched through the pair of mutually adaptive rotating seats and the rotating part, so that the extrusion part can reliably rotate relative to the main body, the realization is easy, and the assembly is simple.

According to some embodiments of the present application, the hand mechanism includes a pair of gripping portions configured to be capable of approaching or receding to or from each other in a first direction to grip or release the workpiece; the pressing mechanism is configured to press the workpiece in a pressing direction, the first direction being perpendicular to the pressing direction.

In the technical scheme, the pair of clamping parts move in the first direction to grab or release the workpiece, so that the workpiece is stable and reliable in transferring. Extrusion mechanism exerts the extrusion force to the work piece in the extrusion direction of perpendicular to first direction, and the work piece can realize the horizontal extrusion of laying bricks under the centre gripping of hand mechanism, can exert the extrusion force by extrusion mechanism in the extrusion direction, realizes the vertical extrusion of laying bricks.

According to some embodiments of the present application, the pressing mechanism is disposed between the pair of gripping portions in the first direction.

In the technical scheme, the extrusion mechanism is arranged between the pair of clamping parts, and the pair of clamping parts are extruded by the extrusion mechanism after releasing the workpiece, so that when the position of the base is changed, the pair of clamping parts respectively rotate upwards and/or downwards by taking the extrusion mechanism as a fulcrum, the extrusion mechanism always acts on the workpiece to apply extrusion force to the workpiece, and the position of the workpiece is ensured to be accurate until the workpiece is extruded in place.

According to some embodiments of the application, the pressing mechanism includes a main body and a first elastic restoring member, one end of the first elastic restoring member abuts against the base, and the other end abuts against the main body, and the first elastic restoring member is configured to accumulate an elastic force when the main body abuts against the workpiece.

In above-mentioned technical scheme, the main part can butt the work piece, and when the main part butt work piece, can compress first elasticity piece that resets for first elasticity resets and accumulates the elastic force, and when the main part no longer butt work piece, then first elasticity piece that resets releases the elastic force, makes the reseing of main part.

According to some embodiments of the present application, the base is provided with a mounting hole through which the body is slidably disposed along the pressing direction. The main part is inside to be formed with the cavity, and first elasticity resets and sets up in the cavity, and the both ends that first elasticity resets respectively with the inner wall and the base butt of cavity.

In above-mentioned technical scheme, reset through with first elasticity and set up in the cavity of main part, then the inner wall of cavity can reset for first elasticity and play the guide effect, prevents that first elasticity from resetting off tracking and dislocation. When the main body abuts against the workpiece, the main body slides in the pressing direction relative to the base under the action of force, so that the first elastic restoring member abutting against the main body and the base is deformed to accumulate the elastic force.

According to some embodiments of the present application, the first resilient return member is in a compressed state when the main body is not abutting the workpiece.

In above-mentioned technical scheme, first elasticity resets and is compressed promptly when the main part is in initial position, has exerted predetermined extrusion force for the main part, and when the power of main part extrusion work piece exceeded predetermined extrusion force, the main part can further compress first elasticity and reset. Through giving the main part one and predetermine the extrusion force, when guaranteeing main part and work piece effect steady, the main part moves again, has promoted the stability of extrusion work piece.

According to some embodiments of the present application, the clamp further comprises a first sensing member and a second sensing member, the first sensing member being mounted to the base. The second response piece sets up in the main part, and first response piece sets up on the moving path of second response piece along extrusion direction, and first response piece is configured to judge when detecting the second response piece and extrudees to target in place.

In the technical scheme, when the main body is abutted to the workpiece, the main body moves relative to the base, meanwhile, the second sensing piece moves along with the main body in the extrusion direction, the extrusion force exerted on the workpiece is gradually increased, and when the first sensing piece detects the second sensing piece, the extrusion force reaches the preset value, and the workpiece is extruded in place.

According to some embodiments of the application, one of the pair of clamping parts is a fixed clamping part, the other clamping part is a movable clamping part, and a connecting part used for being connected with the tail end of the mechanical arm is arranged on one side of the fixed clamping part, which is far away from the movable clamping part.

In the technical scheme, the connecting part is arranged on one side of the fixed clamping part, which is away from the movable clamping part, and the connecting part is used for being connected with the tail end of the mechanical arm, so that the size of the clamp in the height direction is reduced, and the coverage range of the top end of the masonry wall body is enlarged.

According to some embodiments of the present application, the base includes a base body provided with an accommodation space and a cover connected with the base body to close the accommodation space. The hand mechanism further comprises a driving assembly, the driving assembly is used for driving the pair of clamping parts to be close to or far away from each other, and the driving assembly is arranged in the accommodating space.

In above-mentioned technical scheme, hide drive assembly in accommodation space, the protection drive assembly does not receive external construction environment to influence, increases the life-span and the stability of using of anchor clamps.

According to some embodiments of the present application, the drive assembly includes a motor, a lead screw, a nut, and a connector. The motor is installed in the base. The lead screw rotates along the first direction and is installed in the base, and the motor can drive the lead screw and rotate. The nut is in threaded fit with the lead screw. One end of the connecting piece is connected with the nut, and the other end of the connecting piece penetrates through the base body to be connected with the movable clamping part.

In the technical scheme, the screw rod and the nut form a screw rod nut pair, and the rotary motion output by the motor is converted into the linear motion of the connecting piece. When the motor drives the connecting piece to move along the first direction, the connecting piece simultaneously drives the movable clamping part to move along the first direction so as to be matched with the fixed clamping part to clamp the workpiece.

In a second aspect, the embodiment of the application further provides a brick laying robot, which comprises a walking chassis, a mechanical arm and a clamp in any one of the above. The mechanical arm is arranged on the walking chassis, and the clamp is arranged at the tail end of the mechanical arm and used for grabbing and extruding bricks. The brick laying robot has the advantages of good brick laying effect, high precision and uniform and stable adhesive force between bricks.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

Fig. 1 is a schematic working diagram of a brick laying robot in the prior art;

fig. 2 is an exploded view of a clamp according to an embodiment of the present disclosure;

fig. 3 is an exploded view of a clamp according to an embodiment of the present disclosure from a second perspective;

fig. 4 is an exploded view of a clamp according to an embodiment of the present disclosure from a third perspective;

fig. 5 is a schematic structural view of a movable clamping portion provided in an embodiment of the present application;

FIG. 6 is a half-sectional view from one perspective of a clamping mechanism of a first form of clamp provided by an embodiment of the present application;

FIG. 7 is a half-sectional view from another perspective of a clamping mechanism of the first form of clamp provided by an embodiment of the present application;

FIGS. 8 and 9 are half-sectional views showing two states of a clamping mechanism of a second form of clamp provided by an embodiment of the present application;

FIGS. 10 and 11 are half-sectional views showing two states of a clamping mechanism of a clamp according to a third form provided by an embodiment of the present application;

FIG. 12 is a schematic view of a clamp according to an embodiment of the present disclosure clamping a workpiece;

FIG. 13 is a schematic view of a fixture pressing a workpiece (the base is not shifted) according to an embodiment of the present disclosure;

FIG. 14 is a schematic view of a fixture pressing a workpiece (with a base offset) according to an embodiment of the present disclosure;

fig. 15 is a schematic structural diagram of a brick laying robot provided in an embodiment of the present application.

Icon: 10-a clamp; 11a, 11 b-a robotic arm; 12-a clamping jaw; 13-bricks; 14-a pulp layer; 15-a walking chassis; 20-a brick laying robot; 110-a cover; 120-a base body; 121-a slide rail; 122-avoidance holes; 123-a holding part; 1231-spring stop; 200-a hand mechanism; 210-a fixed clamp; 211-a connecting portion; 2111-connecting hole; 220-a movable clamping part; 221-a clamping plate; 222-a connecting plate; 223-fixing plate; 224-a second resilient return member; 225-guide bar; 226-a slider; 231-a motor; 232-speed reducer; 233-driving wheel; 234-a drive belt; 235-driven wheel; 236-a lead screw; 237-nut; 238-connecting piece; 300-an extrusion mechanism; 310-a body; 311-a compression plate; 3111-a fulcrum section; 312-a limiting cylinder; 3121-elongate holes; 320-a first elastic reset member; 330-a connecting seat; 340-an extrusion part; 400-tilt angle sensor; 510-a first sensing member; 511-a mount; 520-a second sensing element; 800-workpiece.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when using, and are only used for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Example (b):

fig. 2, fig. 3 and fig. 4 are exploded views of three views of the clamp provided by the embodiment of the present application.

Referring to fig. 2, 3 and 4, the present embodiment provides a clamp 10, the clamp 10 includes a base (not shown), a hand mechanism 200 and a pressing mechanism 300, the hand mechanism 200 is mounted on the base for gripping or releasing a workpiece 800 (see fig. 7). The pressing mechanism 300 is mounted on the base, and the pressing mechanism 300 is configured to apply a pressing force to the workpiece 800 after the hand mechanism 200 releases the workpiece 800 at the target position, the pressing direction being configured to face the placement surface of the target position (as indicated by arrow B in fig. 2).

The hand mechanism 200 of the fixture 10 can clamp the workpiece 800, so as to facilitate the transfer of the workpiece 800, and the pressing mechanism 300 can press the workpiece 800 to press and compact the workpiece 800, thereby ensuring that the workpiece 800 has sufficient adhesive force. In addition, since the squeezing mechanism 300 squeezes the workpiece 800 after the hand mechanism 200 releases the workpiece 800, even if the base drives the hand mechanism 200 to be inclined, the position of the workpiece 800 is not changed, and the squeezing effect of the squeezing mechanism 300 on the workpiece 800 is not affected. The fixture 10 can grab and extrude the workpiece 800 to finish the masonry of the workpiece 800, and has better masonry precision and higher masonry quality.

In some embodiments of the present application, the fixture 10 is applied to a brick laying robot 20 (please refer to fig. 15) provided in the embodiments of the present application, and a base is mounted at an execution end of the mechanical arm 11b to move under the driving of the mechanical arm 11b, so as to implement actions such as transferring, clamping, and squeezing the workpiece 800. In other embodiments, the jig 10 may be applied to other types of automated bricklaying devices, and is not limited herein. In some embodiments of the present application, the workpiece 800 is a conventional sintered brick, the sintered brick is bonded using mortar, and the jig 10 is used for bricklaying work. In other embodiments, the workpiece 800 may be other types of workpieces to be bonded, such as glass bricks bonded by glue, and the like, which is not limited herein.

As shown in fig. 2 and 3, in some embodiments, the base includes a base body 120 and a cover 110, the base body 120 is provided with a receiving space, and the cover 110 is connected with the base body 120 to close the receiving space. The hand mechanism 200 and the pressing mechanism 300 are both mounted on the base body 120. The hand mechanism 200 includes a pair of grip portions and a driving assembly mounted to the base body 120, at least one of the pair of grip portions being connected with the driving assembly. The pair of gripping portions are configured to be capable of moving toward and away from each other in a first direction (as indicated by arrow a in fig. 2) under the driving of the driving assembly to achieve gripping or releasing of the workpiece 800. Optionally, the driving assembly is disposed in the accommodating space to protect the driving assembly from the external construction environment, so as to increase the service life and the stability of the fixture 10.

As shown in fig. 4, alternatively, one of the pair of clamping portions is fixedly connected to the base body 120, and the other is movably connected to the base body 120 along the first direction. For convenience of description, the clamping portion fixed to the base body 120 is referred to as a fixed clamping portion 210, and the clamping portion movably connected to the base body 120 in the first direction is referred to as a movable clamping portion 220. The driving assembly is connected to the movable clamping portion 220 for driving the movable clamping portion 220 to move relative to the base body 120, so that the movable clamping portion 220 approaches or moves away from the fixed clamping portion 210.

As shown in fig. 3 and 4, in some embodiments, the drive assembly includes a motor 231, a lead screw 236, a nut 237, and a coupling 238. The motor 231 is mounted to the base body 120. The lead screw 236 is rotatably mounted to the base body 120 in a first direction (the lead screw 236 is rotatably connected to the base body 120, and the lead screw 236 extends in the first direction), and the motor 231 can drive the lead screw 236 to rotate. Nut 237 is threadably engaged with lead screw 236. The connecting member 238 has one end connected to the nut 237 and the other end penetrating the base body 120 to be connected to the movable clamping portion 220. The base body 120 is provided with an avoiding hole 122, the avoiding hole 122 extends along a first direction, one end of the connecting member 238 is connected to the nut 237, and the other end of the connecting member 238 passes through the avoiding hole 122 to be connected to the movable clamping portion 220. The lead screw 236 and the nut 237 form a lead screw nut pair, which converts the rotational motion output by the motor 231 into a linear motion of the connecting member 238. When the motor 231 drives the connecting member 238 to move along the first direction, the connecting member 238 simultaneously drives the movable clamping portion 220 to move along the first direction, so as to cooperate with the fixed clamping portion 210 to clamp the workpiece 800. Alternatively, the motor 231 can directly drive the lead screw 236 to rotate, or can indirectly drive the lead screw 236 to rotate. Referring to fig. 2 and 3, an embodiment is shown in which the motor 231 indirectly drives the lead screw 236 to rotate. The driving assembly further comprises a speed reducer 232, a driving wheel 233, a transmission belt 234 and a driven wheel 235, wherein the speed reducer 232 is connected to the output end of the motor 231, the driving wheel 233 is connected to the output end of the speed reducer 232, the driven wheel 235 is connected with a lead screw 236, and the transmission belt 234 is matched with the driving wheel 233 and the driven wheel 235, so that the parallel arrangement of the motor 231 and the lead screw 236 is realized. When the motor 231 rotates, the speed reducer 232 reduces the speed and increases the torque to drive the driving wheel 233 to rotate, and under the action of the transmission belt 234, the driving wheel 233 drives the driven wheel 235 to rotate, so as to drive the screw 236 to rotate, thereby realizing that the motor 231 indirectly drives the screw 236 to rotate. By adopting the indirect driving mode, the size of the driving assembly in the first direction is reduced, the size of the clamp 10 in the first direction is favorably reduced, and the structure of the clamp 10 is compact.

In other embodiments, the driving assembly includes a linear driving member mounted on the base body 120 and located in the accommodating space, and a connecting member 238 connected to an output end of the linear driving member and extending through the base body 120 to connect with the movable clamping portion 220. The linear driving member is used for driving the connecting member 238 to move along the first direction relative to the base body 120 so as to drive the movable clamping portion 220 to approach or depart from the fixed clamping portion 210. The linear driving piece can be a linear air cylinder, a linear oil cylinder, a linear electric cylinder and the like.

Referring to fig. 4, in order to make the movement between the movable clamping portion 220 and the base body 120 smoother, a slide rail 121 is further disposed on a side of the base body 120 away from the cover 110, a slider 226 is slidably connected to the slide rail 121, and the movable clamping portion 220 is mounted on the slider 226. In other words, the movable clamping portion 220 is slidably engaged with the slide rail 121 of the base body 120 through the slide block 226, so that the movable clamping portion 220 is movably connected with the base body 120. In addition, the slide rail 121 also has a guiding function, which can guide the movable clamping portion 220 to move along the first direction.

Fig. 5 is a schematic structural diagram of a movable clamping portion provided in an embodiment of the present application.

Referring to fig. 5, in some embodiments, the movable clamping portion 220 includes a clamping plate 221, a connecting plate 222 and a fixing plate 223, wherein the fixing plate 223 is fixedly connected to the sliding block 226, a guide rod 225 is disposed on one side of the fixing plate 223, the connecting plate 222 is disposed on the guide rod 225, and the connecting plate 222 can slide along the guide rod 225 in a third direction (as indicated by an arrow C in fig. 2), which is perpendicular to the first direction. In addition, a second elastic restoring member 224 is further provided on the guide bar 225, the second elastic restoring member 224 acts on the link plate 222 and the fixing plate 223, and the second elastic restoring member 224 serves to accumulate an elastic force for restoring the link plate 222 when the link plate 222 moves in the third direction. Optionally, the second elastic restoring element 224 is a spring, the spring is sleeved on the guide rod 225, one end of the spring abuts against the connecting plate 222, and the other end of the spring abuts against the fixing plate 223. The clamping plate 221 is fixedly connected to a side of the connecting plate 222 away from the fixing plate 223, and the clamping plate 221 is used for contacting with the workpiece 800 to clamp the workpiece 800. Referring to fig. 5, a plurality of anti-slip bosses are formed on a side of the clamping plate 221 away from the connecting plate 222, and the anti-slip bosses are in a rectangular array to increase stability of the clamping plate 221 when clamping the workpiece 800.

Referring to fig. 5, in some embodiments, two sets of the second elastic restoring members 224 are provided, and in the third direction, the connecting plate 222 is located between the two sets of the second elastic restoring members 224, so that the connecting plate 222 can be restored no matter the connecting plate moves in the forward direction or the reverse direction of the third direction, thereby increasing the flexibility of the clamp 10.

In some embodiments, the structure of the fixed clamp 210 is substantially the same as that of the movable clamp 220, except that a connection portion 211 for connecting with the tip of the robot arm 11b is further provided on a side of the fixing plate 223 of the fixed clamp 210 away from the connection plate 222. It will also be appreciated that the side of the fixed clamp 210 facing away from the movable clamp 220 is provided with a connection 211 for connection with the end of the robot arm 11 b. Optionally, the connecting portion 211 has a connecting hole 2111 formed therein, and the connecting hole 2111 is used for matching with the tail end output shaft of the mechanical arm 11 b. By arranging the connecting part 211 on the side of the fixed clamping part 210, which is far away from the movable clamping part 220, the connecting part 211 is used for being connected with the tail end of the mechanical arm 11b, so that the size of the clamp 10 in the height direction is reduced, and the coverage of the top end of the masonry wall is enlarged.

In some embodiments, the pressing mechanism 300 is disposed between a pair of clamping portions in a first direction. The extrusion mechanism 300 is arranged between the pair of clamping parts, and the pair of clamping parts is extruded by the extrusion mechanism 300 after releasing the workpiece 800, so that when the position of the base is changed (the mechanical arm 11b is deformed due to overlarge stress, so that the position of the base is changed), the pair of clamping parts respectively rotate upwards and/or downwards by taking the extrusion mechanism 300 as a fulcrum, the extrusion mechanism 300 always acts on the workpiece 800 to apply extrusion force to the workpiece 800, and the position of the workpiece 800 is ensured to be accurate until the workpiece 800 is extruded in place.

In other embodiments, the pressing mechanism 300 is disposed outside of the pair of gripping portions in the first direction. In this way, after the workpiece 800 is released to the target position, the pressing mechanism 300 can act on the workpiece 800 by adjusting the position of the base, and a good pressing effect can be achieved.

In some embodiments, the pressing mechanism 300 is configured to press the workpiece 800 in a pressing direction (a direction indicated by an arrow B in fig. 2) configured to face the placement surface of the target position, the first direction, the pressing direction, and the third direction being perpendicular to each other two by two. The pair of clamping parts move in the first direction to grab or release the workpiece 800, so that the workpiece 800 is stable and reliable in transferring. The pressing mechanism 300 applies a pressing force to the workpiece 800 in a pressing direction perpendicular to the first direction. The workpiece 800 can be clamped by the hand mechanism 200 in the third direction to realize transverse extrusion of bricklaying, and extrusion force can be applied by the extrusion mechanism 300 in the extrusion direction to realize vertical extrusion of bricklaying.

Fig. 6 and 7 are half sectional views of two viewing angles of a clamping mechanism of a first form of clamp provided by an embodiment of the present application.

Referring to fig. 6 and 7, in some embodiments, the pressing mechanism 300 includes a main body 310 and a first elastic restoring member 320, and the main body 310 is slidably mounted on the base along a pressing direction. The first elastic restoring member 320 abuts between the base and the main body 310, and the first elastic restoring member 320 is configured to accumulate an elastic force for restoring the main body 310 when the main body 310 abuts on the workpiece 800. The main body 310 can abut against the workpiece 800, and when the main body 310 abuts against the workpiece 800, the first elastic resetting member 320 is compressed, so that the elastic force is accumulated by the first elastic resetting member 320, and when the main body 310 no longer abuts against the workpiece 800, the elastic force is released by the first elastic resetting member 320, so that the main body 310 is reset.

Optionally, a mounting hole is provided on the base, and the main body 310 is slidably disposed through the mounting hole along the pressing direction. The main part 310 is internally provided with a cavity, the first elastic resetting piece 320 is arranged in the cavity, and two ends of the first elastic resetting piece 320 are respectively abutted against the inner wall and the base of the cavity. Specifically, the main body 310 includes a pressing plate 311 and a limiting cylinder 312, the limiting cylinder 312 is inserted into the mounting hole, the pressing plate 311 is connected to one end of the limiting cylinder 312, and the pressing plate 311 is used for abutting against the workpiece 800. The end of the limiting cylinder 312 far from the extrusion plate 311 is open, the cavity is formed in the limiting cylinder 312, the first elastic reset piece 320 is arranged in the cavity of the limiting cylinder 312, one end of the first elastic reset piece 320 is abutted against the extrusion plate 311, and the other end of the first elastic reset piece 320 is abutted against the base body 120. For example, the base body 120 is connected with a supporting portion 123, the supporting portion 123 is a "U" shaped structure, and an opening end of the supporting portion 123 faces the pressing plate 311. The abutting portion 123 includes a first arm, a second arm and a connecting arm, the first arm and the second arm are disposed opposite to each other, and the connecting arm connects the first arm and the second arm. Wherein the first and second arms are both connected with the base body 120. The limiting cylinder 312 is located between the first arm and the second arm, and one end of the first elastic resetting piece 320, which is far away from the pressing plate 311, is abutted against the connecting arm.

In some embodiments, a spring stop 1231 is further connected to a side of the connecting arm close to the pressing plate 311, the first elastic restoring member 320 indirectly abuts against the connecting arm through the spring stop 1231, and a length of the spring stop 1231 in the first direction is greater than a length of the connecting arm in the first direction. Through setting up the butt area that spring dog 1231 increases first elasticity piece 320 that resets, avoid first elasticity piece 320 that resets to stagger mutually with the linking arm when warping, lead to first elasticity piece 320 that resets no longer to offset with the linking arm to make extrusion mechanism 300 effect worsen.

It should be noted that in some embodiments, the first elastic restoring member 320 is in a compressed state when the main body 310 is not abutting against the workpiece 800. The first elastic restoring member 320 is compressed when the main body 310 is at the initial position, a predetermined pressing force is applied to the main body 310, and when the force of the main body 310 pressing the workpiece 800 exceeds the predetermined pressing force, the main body 310 further compresses the first elastic restoring member 320. By giving a preset extrusion force to the main body 310, the main body 310 can act again when the main body 310 and the workpiece 800 act stably, and the stability of extruding the workpiece 800 is improved. The first elastic restoring member 320 may be a spring, a reed, rubber, etc., as long as it can have an elastic restoring effect.

Referring to fig. 6 and 7, in some embodiments, an end of the limiting cylinder 312 far away from the pressing plate 311 is formed with an outward turned flange, and the flange is used for abutting against the base body 120 to prevent the limiting cylinder 312 from being separated from the mounting hole. Optionally, an elongated hole 3121 is further formed in the limiting cylinder 312 in the axial direction, the base body 120 is further connected to a connecting seat 330, and the connecting seat 330 is connected to one side of the base body 120 close to the pressing plate 311. The connecting seat 330 is sleeved outside the limiting cylinder 312, and a convex portion is formed on the connecting seat 330, and the convex portion is matched with the elongated hole 3121. On one hand, the limiting cylinder 312 can be guided, and on the other hand, the stroke of the limiting cylinder 312 can be limited according to the length of the elongated hole 3121. Further, the size of the convex portion in the circumferential direction of the limiting cylinder 312 is matched with the size of the elongated hole 3121 in the circumferential direction of the limiting cylinder 312 to restrict the circumferential rotation of the limiting cylinder 312.

The pressing mechanism 300 includes a fulcrum portion 3111, and the fulcrum portion 3111 is configured as a fulcrum at which the base and hand mechanism 200 performs a lever movement in the pressing direction. There are various embodiments for realizing the above-described function of the fulcrum portion 3111. The fulcrum portion 3111 may be made of a rigid material, a surface of the fulcrum portion 3111 may be a curved surface, and the fulcrum portion 3111 may directly abut against a surface of the workpiece 800 to serve as a fulcrum for the lever movement of the base body 120; the fulcrum portion 3111 may be made of an elastic material, the fulcrum portion 3111 directly abuts against the surface of the workpiece 800, and the fulcrum portion 3111 deforms by itself to serve as a fulcrum for the lever movement of the base body 120; the fulcrum portion 3111 is configured to be brought into contact with the surface of the workpiece 800 by one pressing portion 340 described below, and the fulcrum portion 3111 is movably connected to the pressing portion 340 and serves as a fulcrum for the lever movement of the base main body 120 by the fulcrum portion 3111 rotating with respect to the pressing portion 340.

The pressing mechanism 300 further includes a main body 310 mounted on the base body 120 and disposed toward the workpiece 800, a fulcrum portion 3111 is disposed on a side of the main body 310 toward the workpiece 800, the main body 310 performs a lever motion relative to the fulcrum portion 3111 following the base body 120, and the fulcrum portion 3111 is disposed to abut against a surface of the workpiece 800.

Referring to fig. 6 and 7, the fulcrum portion 3111 is connected to a side of the pressing plate 311 away from the limiting cylinder 312.

It can be understood that when the base body 120 of the base is tilted about the direction C, the fulcrum portion 3111 directly or indirectly abuts against the surface of the workpiece 800, and by allowing the base body 120 to perform the lever motion on the AB plane, the main body 310 follows the base body 120 to perform the lever motion relative to the fulcrum portion 3111, so as to maintain the base body 120 moving along the extrusion direction all the time, and thus maintain the direction of the extrusion force applied to the surface of the workpiece 800 unchanged. As shown in fig. 6 and 7, the pressing mechanism 300 includes a fulcrum portion 3111, and the fulcrum portion 3111 is used to abut against the workpiece 800 to apply the pressing force to the workpiece 800.

In some embodiments, the fulcrum portion 3111 is configured to make point or line contact with the workpiece 800 when abutting the workpiece 800. The fulcrum portion 3111 and the workpiece 800 are in point contact or line contact, so that the fulcrum portion 3111 has higher interference resistance. For example, when the fulcrum portion 3111 is in point contact with the workpiece 800, the pedestal can be allowed to deflect in a plurality of directions without affecting the action between the fulcrum portion 3111 and the workpiece 800, the fulcrum portion 3111 always applies a pressing force to the workpiece 800, the position of the workpiece 800 is not easily changed, and masonry accuracy and bonding strength are ensured. For example, the fulcrum portion 3111 is a cylinder, a semi-cylinder, a sphere, or a hemisphere, an arc-shaped surface of which is used to abut the workpiece 800. The fulcrum portion 3111 with the arc surface is abutted against the workpiece 800, so that when the position of the base changes, the contact portion between the stopping portion and the workpiece 800 is in smooth transition, the clamp 10 and the workpiece 800 do not impact each other, and the extrusion force applied to the workpiece 800 does not change suddenly before and after the position of the base changes, so that the extrusion effect on the workpiece 800 is good.

In other embodiments, the fulcrum portion 3111 is in surface contact with the workpiece 800. For example, the fulcrum portion 3111 is a prism, and the peripheral surface of the prism is used to abut against the workpiece 800, so that when the position of the pedestal changes, the fulcrum portion 3111 always applies a pressing force to the workpiece 800, the position of the workpiece 800 is not easily changed, and the masonry accuracy and the bonding strength are ensured.

Referring to fig. 7, the fixture 10 further includes a first sensing member 510 and a second sensing member 520, wherein the first sensing member 510 is mounted on the base. The second sensing member 520 is disposed on the body 310, the first sensing member 510 is disposed on a moving path of the second sensing member 520 along the pressing direction, and the first sensing member 510 is configured to determine that the pressing is in place when detecting the second sensing member 520. Optionally, a mounting seat 511 is further connected to a side of the base body 120 close to the pressing plate 311, and the first sensing member 510 is mounted on the mounting seat 511. The second sensing member 520 is mounted to the pressing plate 311. When the main body 310 abuts against the workpiece 800, the main body 310 moves relative to the base, and simultaneously the second sensing member 520 moves along with the main body 310 along the pressing direction, the pressing force applied to the workpiece 800 gradually increases, and when the first sensing member 510 detects the second sensing member 520, the pressing force reaches a predetermined value, and the workpiece 800 is pressed in place.

In some embodiments, the first sensing member 510 is an electromagnetic switch, and the second sensing member 520 is a signal blocking plate. When the main body 310 abuts against the workpiece 800, the main body 310 moves relative to the base, and simultaneously the second sensing member 520 moves along with the main body 310 along the pressing direction, the second sensing member 520 shields the first sensing member 510, and triggers the first sensing member 510, which indicates that the pressing force reaches a predetermined value, and the workpiece 800 is pressed in place. In other embodiments, the first sensing member 510 may also be an optoelectronic switch, a mechanical switch, or the like.

In some embodiments, a tilt sensor 400 is further disposed on the base body 120, the tilt sensor 400 is located in the accommodating space, and the tilt sensor 400 is used for detecting a tilt angle of the base body 120.

Fig. 8 and 9 are half sectional views showing two states of a clamping mechanism of a second form of clamp provided by an embodiment of the present application.

As shown in fig. 8 and 9, the fulcrum portion 3111 is made of an elastically deformable material, and one side of the fulcrum portion 3111 is elastically deformable to allow the lever motion of the base body 120, the hand mechanism 200, and the main body 310.

For example, the fulcrum portion 3111 may be made of rubber, silicone, or the like, and the fulcrum portion 3111 may be an elastic pad extending in the direction B in the thickness direction. The fulcrum portion 3111 may be bonded to the surface of the main body 310 close to the workpiece 800, or may be fixed to the main body 310 by another member.

Since the fulcrum portion 3111 is elastically deformable, when the base body 120 is deflected, the force received by one side of the fulcrum portion 3111 in the direction a is greater than the force received by the other side, and therefore the amount of deformation of the side of the fulcrum portion 3111 that receives the greater force is greater than the other side, so that the pressing direction is maintained.

Fig. 10 and 11 are half sectional views showing two states of a clamping mechanism of a clamp according to a third form provided by an embodiment of the present application.

As shown in fig. 10 and 11, in some embodiments of the present application, the pressing mechanism 300 further includes a main body 310 mounted to the base body 120, a pressing portion 340 for pressing the workpiece 800, and a fulcrum portion 3111 connecting the main body 310 and the pressing portion 340, wherein the fulcrum portion 3111 enables the base body 120, the hand mechanism 200, and the main body 310 to perform a lever motion with respect to the pressing portion 340.

The pressing portion 340 directly contacts the surface of the workpiece 800, and the fulcrum portion 3111 is movably connected to the pressing portion 340 to allow the base body 120 and the hand mechanism 200 to perform a lever motion with the fulcrum portion 3111 as a fulcrum.

There are various embodiments of the movable connection between the fulcrum portion 3111 and the pressing portion 340. For example, the fulcrum portion 3111 and the pressing portion 340 may be hinged; for another example, the pressing portion 340 may have a recess on a surface thereof, and the fulcrum portion 3111 may be inserted into the recess to limit the position of the fulcrum portion 3111.

The main body 310 is connected to the base body 120, and one end of the fulcrum portion 3111 is connected to the main body 310 and the other end is movably connected to the pressing portion 340, allowing the pressing portion 340 to make a lever movement with respect to the fulcrum portion 3111. By providing the pressing portion 340, the contact area between the pressing mechanism 300 and the workpiece 800 can be increased, so that the pressing force can be uniformly applied to the surface of the workpiece 800.

In some embodiments of the present application, the fulcrum portion 3111 includes a rotation seat and a rotation portion fitted to each other, the rotation portion being mounted to one of the main body 310 and the pressing portion 340, and the rotation seat being mounted to the other.

For example, the rotating seat and the rotating part are a pair of ball joints or a rotating pin assembly with the direction C as an axis. The rotating base is attached to the pressing portion 340, and the rotating portion is formed at an end portion of the fulcrum portion 3111.

In the above solution, the main body 310 and the pressing portion 340 are matched through a pair of mutually adaptive rotating seats and rotating portions, so as to realize reliable rotation of the pressing portion 340 relative to the main body 310, which is easy to realize and simple to assemble.

FIG. 12 is a schematic view of a clamp provided in an embodiment of the present application for clamping a workpiece; fig. 13 and 14 are schematic diagrams illustrating that the clamp provided by the embodiment of the application presses the workpiece under the conditions that the base is not shifted and the base is shifted.

The present embodiment provides a jig 10 that operates as follows:

referring to fig. 12, the motor 231 rotates forward, and drives the movable clamping portion 220 to approach the fixed clamping portion 210 along a first direction through the lead screw 236, the nut 237 and the connecting member 238, so as to capture the workpiece 800 and transfer the workpiece to a target position.

Referring to fig. 13, the motor 231 rotates in a reverse direction, and drives the movable clamping portion 220 to move away from the fixed clamping portion 210 along a first direction through the lead screw 236, the nut 237 and the connecting member 238, so as to release the workpiece 800 at a target position.

Thereafter, referring to fig. 14, the arc-shaped surface of the fulcrum portion 3111 is applied to the workpiece 800, and a pressing force is applied to the workpiece 800. Due to the reaction force of the extrusion force applied to the extrusion plate 311, the limiting cylinder 312 is pushed to move upwards and compress the first elastic resetting piece 320, so that the elastic force is accumulated for the first elastic resetting piece 320. The second sensing member 520 moves upward together with the pressing plate 311 until the first sensing member 510 detects the second sensing member 520, which indicates that the pressing is in place, at which time the pressing force stops being applied. In this process, even if the position of the base (or the base body 120) is changed (as shown in fig. 10, the base body 120 is tilted), the fixed clamping portion 210 and the movable clamping portion 220 only make a lever motion relative to the fulcrum portion 3111, or the fulcrum portion 3111 always abuts against the workpiece 800 along the extrusion direction as the base rotates up and down, and the extrusion force along the extrusion direction is continuously applied to the workpiece 800, so that the position of the workpiece 800 is not affected by the change of the position of the base, thereby ensuring the uniform thickness of the grout layer 14 and meeting the construction requirements. Finally, when the fulcrum portion 3111 is separated from the workpiece 800, the first elastic resetting member 320 releases the elastic force, so that the pressing plate 311 and the limiting cylinder 312 are reset.

The jig 10 provided in this embodiment does not transmit the deformation of the robot arm 11b to the workpiece 800 even when the robot arm 11b is deformed by a force, and does not affect the masonry accuracy.

Fig. 15 shows a schematic structural diagram of the brick laying robot provided by the embodiment of the application.

Referring to fig. 15, the present embodiment further provides a brick laying robot 20, and the brick laying robot 20 includes a walking chassis 15, a mechanical arm 11b, and the above-mentioned clamp 10. The robot arm 11b is mounted to the traveling chassis 15, and the jig 10 is mounted to the end of the robot arm 11b for grasping and pressing the brick 13. The brick laying robot 20 has the advantages of good brick laying effect, high precision and uniform and stable adhesive force among the bricks 13.

Alternatively, the tilt sensor 400 is electrically connected to the robot arm 11b, and the first sensing member 510 is electrically connected to the robot arm 11 b.

The brick laying robot 20 provided in the present embodiment operates as follows:

first, the robot arm 11b adjusts the position of the jig 10 to grasp the workpiece 800 by the hand mechanism 200, and then the robot arm 11b adjusts the position again to bring the base above the target position. After that, the tilt angle of the base is detected by the tilt sensor 400, and the robot arm 11b adjusts the base to be horizontal according to the tilt angle. Then, the placing position of the base can be adjusted again by the mechanical arm 11b through visual measurement, and the correct placing position of the base is ensured. And then the mechanical arm 11b drives the base to move along the third direction, so that the transverse extrusion of bricklaying is realized. After the transverse extrusion is completed, the mechanical arm 11b drives the base to move along the extrusion direction, and the workpiece 800 is preliminarily placed and extruded at the target position. The movable clamp 220 is then moved away from the fixed clamp 210 to release the workpiece 800. Then, the mechanical arm 11b continues to drive the base to move along the extrusion direction, so that the fulcrum portion 3111 abuts against the workpiece 800, and the extrusion force is applied to the workpiece 800 through the fulcrum portion 3111 until the first sensing member 510 detects the second sensing member 520, which indicates that the extrusion is in place, and the mechanical arm 11b stops moving along the extrusion direction. And finally, retracting the mechanical arm 11b, and continuing the steps until the masonry is completed.

It should be noted that the features of the embodiments in the present application may be combined with each other without conflict.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A clamp, comprising:

a base;

the hand mechanism is arranged on the base and used for clamping or releasing a workpiece;

a pressing mechanism mounted to the base, the pressing mechanism being configured to apply a pressing force to the workpiece after the hand mechanism releases the workpiece to a target position, the pressing direction being configured to face a placement surface of the target position.

2. The clamp of claim 1, wherein the pressing mechanism includes a fulcrum portion configured as a fulcrum for the lever movement of the base and the hand mechanism along the pressing direction.

3. A clamp as claimed in claim 2, wherein the pressing mechanism further comprises a body mounted to the base and disposed towards the workpiece, a side of the body facing the workpiece being provided with the fulcrum portion, the body levering with the base relative to the fulcrum portion, the fulcrum portion being configured to abut the workpiece.

4. The clamp of claim 3, wherein the fulcrum portion is a cylinder, a semi-cylinder, a sphere, or a hemisphere, the arcuate surface of the cylinder, the semi-cylinder, the sphere, or the hemisphere configured to abut the workpiece.

5. The clamp of claim 3, wherein the fulcrum portion is made of an elastically deformable material, and one side of the fulcrum portion is elastically deformable to allow the lever motion of the base, the hand mechanism and the body.

6. The clamp of claim 2, wherein the pressing mechanism further comprises a main body mounted to the base, a pressing portion for pressing the workpiece, and a fulcrum portion connecting the main body and the pressing portion, the fulcrum portion causing the base, the hand mechanism, and the main body to make a lever motion with respect to the pressing portion.

7. The clamp of claim 6, wherein the fulcrum portion includes a rotation seat and a rotation portion fitted to each other, the rotation portion being mounted to one of the main body and the pressing portion, the rotation seat being mounted to the other.

8. The clamp of claim 1, wherein the hand mechanism includes a pair of gripping portions configured to be able to approach or move away from each other in a first direction to grip or release the workpiece, the first direction being perpendicular to the pressing direction.

9. The clamp of claim 8, wherein the pressing mechanism is disposed between the pair of clamping portions in the first direction.

10. The clamp of claim 8, wherein the pressing mechanism comprises:

a main body slidably mounted to the base in the pressing direction;

the first elastic resetting piece is abutted to the base at one end and abutted to the main body at the other end, and the first elastic resetting piece is configured to accumulate elastic force when the main body is abutted to the workpiece.

11. The clamp according to claim 10, wherein a mounting hole is formed in the base, the main body is slidably inserted into the mounting hole along the extrusion direction, a cavity is formed in the main body, the first elastic resetting member is disposed in the cavity, and two ends of the first elastic resetting member are respectively abutted to the inner wall of the cavity and the base.

12. The clamp of claim 10, wherein said first resilient return member is in a compressed state when said body is not abutting said workpiece.

13. The clamp of claim 10, further comprising:

the first induction piece is arranged on the base;

the second sensing piece is arranged on the main body, the first sensing piece is arranged on a moving path of the second sensing piece along the extrusion direction, and the first sensing piece is configured to judge that the extrusion is in place when the second sensing piece is detected.

14. The clamp of claim 8, wherein one of the pair of clamping portions is a fixed clamping portion and the other clamping portion is a movable clamping portion, and a connecting portion for connecting with the tail end of the mechanical arm is arranged on one side of the fixed clamping portion, which is far away from the movable clamping portion.

15. The clamp of claim 14, wherein the base includes a base body provided with an accommodation space and a cover connected with the base body to close the accommodation space;

the hand mechanism further comprises a driving assembly, the driving assembly is used for driving the pair of clamping parts to be close to or far away from each other, and the driving assembly is arranged in the accommodating space.

16. The clamp of claim 15, wherein the drive assembly comprises:

a motor mounted to the base;

the screw rod is rotatably arranged on the base along the first direction, and the motor can drive the screw rod to rotate;

the nut is in threaded fit with the lead screw;

and one end of the connecting piece is connected with the nut, and the other end of the connecting piece penetrates through the base body to be connected with the movable clamping part.

17. A brick laying robot, comprising:

a walking chassis;

the mechanical arm is arranged on the walking chassis;

a gripper as claimed in any one of claims 1 to 16, mounted at the end of the robotic arm for gripping and pressing a brick.