CN114941445A - Top layer fragment of brick masonry anchor clamps and have its masonry robot - Google Patents
Top layer fragment of brick masonry anchor clamps and have its masonry robot Download PDFInfo
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- CN114941445A CN114941445A CN202210703283.0A CN202210703283A CN114941445A CN 114941445 A CN114941445 A CN 114941445A CN 202210703283 A CN202210703283 A CN 202210703283A CN 114941445 A CN114941445 A CN 114941445A
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- 239000011449 brick Substances 0.000 title claims abstract description 140
- 239000012634 fragment Substances 0.000 title description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 9
- 239000000463 material Substances 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 abstract description 6
- 230000008859 change Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000004570 mortar (masonry) Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- 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
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
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Abstract
The invention discloses a top-layer brick masonry clamp which comprises a supporting frame and a picking mechanism arranged on the supporting frame, wherein the picking mechanism comprises a picking part, and the picking part picks the front side surface of a brick and moves along the front-back direction so as to horizontally place the brick at a position to be masonry; when the pick picks up a brick, the top surface of the pick is lower than the top surface of the brick. The masonry fixture of the invention has the advantages that the pickup part does not enter the wall body during masonry, so that the space of the wall body is not occupied. In addition, the fixture does not need to change masonry materials and forms, namely, the top layer bricks and the non-top layer bricks are the same in brick arrangement mode, and the top layer bricks and the non-top layer bricks are horizontally arranged, so that the wall can be fully covered and masonry can be realized. Therefore, the masonry fixture disclosed by the invention is simple and convenient in masonry process and high in masonry efficiency, and meanwhile, the masonry cost is reduced. In addition, the invention also provides a masonry robot with the masonry robot.
Description
Technical Field
The invention relates to the technical field of brick laying equipment, in particular to a top-layer brick laying clamp and a laying robot with the same.
Background
In the specification of the high-precision aerated block masonry, the clearance between the building block and a ceiling or a beam needs to be less than 30mm, and mortar is adopted for filling after mortar joints of a wall body are settled. When the existing robot is used for building, the clamping jaws are generally used for clamping the top surface or the side surface of a building block for building. Due to the fact that the size of the clamping jaw in the height direction is limited, the clamping jaw needs to be reserved, the clamping jaw is required to withdraw from a space after the building block is loosened, the uppermost building block cannot be completely built, the coverage rate of robot construction is reduced, the top building block building needs to be completed with manual assistance, and construction efficiency and economic benefits are reduced.
For this purpose, patent No. CN107642247A discloses a clamp for laying a top-layer brick, which clamps the side and top surfaces of the top-layer brick and adopts a "slant laying" manner to implement the top-layer laying. However, when the clamp in the patent is used for masonry, masonry materials and masonry materials need to be replaced, so that the processing cost is high, the whole masonry process is troublesome, the construction efficiency is low, the requirement on the control precision is high, and the practicability is poor.
Disclosure of Invention
In order to overcome at least one defect in the prior art, the invention provides a top-layer brick masonry clamp and a masonry robot with the same.
The technical scheme adopted by the invention for solving the problems is as follows:
a top course block masonry fixture, comprising:
a support frame;
a picking mechanism provided on the support frame and including a picking part that picks up a front side of a brick and moves in a front-rear direction to place the brick horizontally at a position to be laid;
wherein when the picking part picks up the brick, the top surface of the picking part is lower than the top surface of the brick.
The masonry fixture has the advantages that the pickup part does not enter the wall body during masonry, so that the space of the wall body is not occupied. In addition, the clamp does not need to change masonry materials and masonry forms, namely, the top layer bricks and the non-top layer bricks are the same in brick arrangement mode, and the top layer bricks and the non-top layer bricks are arranged horizontally, so that the wall can be constructed in a full-coverage mode. Therefore, the masonry fixture disclosed by the invention not only realizes masonry of top-layer bricks, but also has the advantages of simple and convenient masonry process, high masonry efficiency, reduction of masonry cost and greater popularization value.
Further, the picking part comprises a pair of clamping rods, and a pair of clamping holes are formed in the front side surface of the brick;
the picking mechanism further comprises a power assembly, and when the end parts of the pair of clamping rods respectively extend into the pair of clamping holes, the power assembly drives the pair of clamping rods to move and clamp the bricks.
From this, set up a pair of centre gripping hole through the leading flank at the fragment of brick to stretch into the tip of clamping bar in the centre gripping hole, drive the clamping bar removal afterwards under power component's drive and make it and centre gripping hole butt can realize pressing from both sides tightly the fragment of brick, whole centre gripping process is simple and convenient, and is lower to the control requirement.
Further, the power assembly drives the pair of clamping rods to move towards each other so as to clamp the part of the brick, which is positioned between the pair of clamping holes;
or the power assembly drives the pair of clamping rods to move back and forth so as to clamp the part, located between the pair of clamping holes and the edge of the brick, of the brick.
Further, defining straight lines respectively connecting the middle points of the top edge and the bottom edge of the front side face of the brick as a first middle line, and defining straight lines respectively connecting the middle points of the two side edges of the front side face of the brick as a second middle line;
the pair of clamping holes are symmetrically arranged along the first center line and/or the second center line.
Therefore, the pair of clamping holes are symmetrically arranged along the first central line and/or the second central line, so that the clamping rod is more stable in clamping, and the stability of clamping bricks is improved.
Furthermore, the pair of clamping holes are square holes, and rectangular surfaces in butt fit with the side walls of the square holes are arranged on two sides of the end portions of the pair of clamping rods.
From this, through setting the centre gripping hole to the square hole to set up the rectangular surface in the both sides of clamping bar tip, thereby increased the butt area between clamping bar and the centre gripping hole, can increase frictional force between the two, and then improved the stability to the fragment of brick centre gripping.
Further, the distance between the centers of the pair of clamping holes is L1, the length distance of the brick is L2, wherein: l1 is 0.3 to 0.6 times L2.
Therefore, when the power assembly drives the pair of clamping rods to move towards each other, the clamping distance is L1 minus the diameter of the clamping hole; if the power assembly drives the pair of clamping rods to move away from each other, the clamping distance is L2 minus L1 and the diameter of the clamping hole, and stable clamping of the brick can be realized at the clamping distance.
Further, the pickup part comprises a suction cup for sucking the front side surface of the brick.
From this, adopt the sucking disc to adsorb the fragment of brick in order to realize the centre gripping to the fragment of brick, simple structure and convenient operation.
Further, the power assembly comprises a driving device and a screw-nut pair, the driving device is in transmission connection with a screw in the screw-nut pair, and the picking part is connected with a nut in the screw-nut pair.
Further, the feed screw nut mechanism further comprises guide rail sliding block pairs which are respectively arranged on two sides of the feed screw nut pair, a guide rail in each guide rail sliding block pair is arranged on the supporting frame, and a sliding block in each guide rail sliding block pair is connected with the picking part.
Therefore, the stability of the movement of the clamping rod can be improved by arranging the guide rail sliding block pair.
In addition, the invention also provides a masonry robot, which comprises the masonry clamp, a movable chassis mechanism, a lifting mechanism and a mechanical arm, wherein:
the masonry fixture is arranged on the mechanical arm;
the mechanical arm is arranged on the lifting mechanism;
the lifting mechanism is arranged on the movable chassis mechanism.
In summary, according to the top-layer brick masonry fixture and the masonry robot provided by the invention, the pickup part of the masonry fixture does not enter the wall body during masonry, so that the space of the wall body is not occupied. In addition, by adopting the clamp, the masonry material and the masonry form do not need to be changed, namely, the bricks adopted by the top layer bricks and the non-top layer bricks are the same, the laying modes of the bricks of the top layer bricks and the non-top layer bricks are also the same, and the bricks are horizontally laid, so that the full-coverage masonry of the wall body can be realized. Therefore, the masonry fixture disclosed by the invention not only realizes the masonry of the top layer bricks, but also has the advantages of simple and convenient masonry process, high masonry efficiency, reduction of masonry cost and greater popularization value.
Drawings
FIG. 1 is a schematic view of the operating condition of a top brick masonry jig according to an embodiment of the invention;
FIG. 2 is a front view of a top brick masonry jig according to an embodiment of the invention;
fig. 3 is a front view of a block of an embodiment of the invention;
FIG. 4 is a schematic view of the working state of a masonry robot according to an embodiment of the present invention;
fig. 5 is a schematic view showing another working state of the masonry robot according to the embodiment of the present invention.
An icon: 1, building a clamp; 11-a support frame; 12-a clamping bar; 13-a drive device; 131-a motor; 132-a pulley transfer mechanism; 1321-driving wheel; 1322-driven wheel; 1323-a belt; 14-a feed screw nut pair; 141-a screw rod; 15-guide rail slide block pair; 151-guide rails; 152-a slide block; 16-a slide plate; 17-a fixed flange; 2, a mechanical arm; 3-a lifting mechanism; 4-moving the chassis mechanism; 5-bricks; 51-a clamping hole; 52-first centerline; 53-second median line.
Detailed Description
For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Example one
In the existing masonry wall structure, a certain gap is required to be reserved between a masonry wall and a top beam (or a ceiling), and a top layer brick is built after the masonry wall is contracted stably. The gap between the masonry wall and the top beam (or the ceiling) is the top layer brick masonry area. To this end, the first embodiment of the present invention provides a topping brick masonry jig 1, and the masonry jig 1 can pick up and place a topping brick into a topping brick masonry area, thereby completing the masonry of the topping brick. Meanwhile, in order to solve the problem that when the top surface or the side surface of the brick 5 is clamped by the common clamping jaw, the clamp is arranged in the wall after the clamping jaw is built, the clamp needs to reserve a space for non-building when the clamp is withdrawn, and the clamping jaw can be withdrawn smoothly, so that the last layer below the beam or the ceiling can not be built completely, the top-layer brick building clamp 1 provided by the invention can pick up the front surface of the brick 5, so that the clamp does not need to enter the wall during building, thereby realizing full-coverage building, and the specific structure can refer to fig. 1-3.
Fig. 1 shows a schematic view of the operating condition of a top brick masonry jig 1 of the present invention, fig. 2 shows a front view of the top brick masonry jig 1 of the present invention, and fig. 3 shows a front view of the bricks of the present invention. With reference to fig. 1 to 3, the top layer brick masonry fixture 1 provided by the invention comprises a rectangular support frame 11 and a picking mechanism arranged on the support frame 11, wherein the picking mechanism comprises a picking part which is used for picking up the front side surface of a brick 5 and moves in the front-back direction to horizontally place the brick 5 at a position to be masonry; wherein the upper surface of the pick up is lower than the top surface of the brick 5 when the pick up picks up the front side of the brick 5.
It should be noted that the brick 5 mentioned in the present application has a rectangular parallelepiped structure, and includes a front side surface, a rear side surface, a left side surface, a right side surface, a top surface, and a bottom surface. The pick-up portion is used to pick up the front side of a brick 5, with the other sides of the brick 5 exposed.
Thus, when the masonry jig 1 is used for masonry, the pickup portion does not enter the wall, and the space of the wall does not need to be occupied. In addition, the clamp does not need to change masonry materials and masonry forms, namely, the bricks 5 adopted by the topping bricks and the non-topping bricks are the same, the placing modes of the bricks 5 for laying the topping bricks and the non-topping bricks are also the same, and the bricks 5 are all horizontally placed, so that the full-coverage masonry of the wall body can be realized. Therefore, the masonry fixture 1 can be used for masonry of the top-layer bricks 5, the masonry process is simple and convenient, the masonry efficiency is high, meanwhile, the masonry cost is reduced, and the popularization value is high.
Specifically, referring to fig. 1 to 3, the picking part includes a pair of clamping bars 12 horizontally spaced, and the clamping bars 12 are finger-shaped; the front side surface of the brick 5 is provided with a pair of clamping holes 51 matched with the clamping rod 12, the clamping holes 51 are round holes, and the arrangement mode of the clamping holes 51 is the same as that of the clamping rod 12. In addition, the picking mechanism further comprises a power assembly for driving the pair of clamping rods 12 to move, and when the ends of the pair of clamping rods 12 respectively extend into the pair of clamping holes 51, the power assembly drives the pair of clamping rods 12 to move and abut against the clamping holes 51 so as to clamp the brick 5.
In this embodiment, the power assembly drives a pair of clamping bars 12 to move closer together to clamp a portion of the brick 5 between a pair of clamping holes 51, thereby effecting clamping of the brick 5. Of course, in other embodiments, the power assembly may also drive the pair of clamping bars 12 to move away from each other to clamp the portion of the brick 5 between the pair of clamping holes 51 and the edge of the brick 5, which also enables clamping of the brick 5, without limitation.
It should be noted that in other embodiments, the pair of clamping bars 12 may be vertically spaced on the supporting frame 11, and the pair of clamping holes 51 on the front side of the brick 5 are also vertically spaced. Of course, in order to further improve the clamping stability, the picking part may also include three clamping bars 12 or more than three clamping bars 12, and when the picking part includes three clamping bars 12, the three clamping bars 12 are uniformly arranged along the circumferential direction and are in the shape of an equilateral triangle or an isosceles triangle; when the picking part comprises four clamping rods 12, the four clamping rods 12 are uniformly arranged along the circumferential direction to be in a diamond shape, or are arranged in parallel in pairs at intervals to be in a rectangular shape; also, the clamping holes 51 corresponding to the front side of the brick 5 are provided in three or more in the same manner as the arrangement of the clamping bars 12.
From this, set up a pair of centre gripping hole 51 through the leading flank at fragment of brick 5 to stretch into centre gripping hole 51 with the tip of clamping bar 12 in, drive clamping bar 12 and remove and make it and centre gripping hole 51 looks butt can realize pressing from both sides tightly fragment of brick 5 under power component's drive afterwards, whole centre gripping process is simple and convenient, and is lower to the control accuracy requirement.
In this embodiment, the end of the clamping rod 12 is further provided with a truncated cone protrusion matching with the clamping hole 51, and the truncated cone protrusion is provided to facilitate the end of the clamping rod 12 to extend into the circular hole. Of course, in other embodiments, in order to further improve the clamping stability, the clamping hole 51 may be a square hole, and rectangular surfaces which are in contact fit with the side walls of the square hole are provided on two sides of the end of the clamping rod 12. Therefore, when the end of the clamping rod 12 abuts against the clamping hole 51, the rectangular surface of the end of the clamping rod 12 is matched with the side wall of the square hole, so that the abutting area between the clamping rod 12 and the clamping hole 51 can be increased, the friction force between the clamping rod 12 and the clamping hole is increased, and the stability of clamping the brick 5 is improved.
Referring to fig. 3, the front side of the brick 3 includes a top side, a bottom side, and two spaced sides connecting the top side and the bottom side respectively; the straight lines respectively connecting the middle points of the top edge and the bottom edge of the front side surface of the brick 5 are defined as a first central line 52, the straight lines respectively connecting the middle points of the two side edges of the front side surface of the brick 5 are defined as a second central line 53, and the pair of clamping holes 51 are symmetrically arranged along the first central line 52 or the second central line 53.
Of course, in other embodiments, the pair of clamping holes 51 may be symmetrically disposed along both the first and second center lines 52 and 53, which is not limited herein.
Thus, the pair of clamping holes 51 are symmetrically arranged along the first central line 52 and/or the second central line 53, so that the clamping rod 12 is more stably clamped, thereby improving the stability of clamping the brick 5.
Referring again to fig. 3, the distance between the centers of the pair of holding holes 51 is defined as L1, and the length distance of the block 5 is defined as L2, wherein: l1 is 0.3 to 0.6 times of L2. Thus, when the power assembly drives the pair of clamping bars 12 to move toward each other, the clamping distance is L1 minus the diameter of the clamping hole 51; if the power assembly drives the pair of clamping bars 12 to move away from each other, the clamping distance is L2 minus L1 and the diameter of the clamping hole 51, and stable clamping of the brick 5 can be achieved at the clamping distance.
Referring to fig. 1-3 again, in detail, the power assembly includes a driving device 13 and a lead screw nut pair 14, the lead screw nut pair 14 includes a horizontally disposed lead screw 141 and two nuts (not shown in the drawings) slidably disposed on the lead screw 141; the driving device 13 includes a motor 131 and a belt pulley transmission mechanism 132, wherein the belt pulley transmission mechanism 132 includes a driving wheel 1321 sleeved on an output shaft of the motor 131, a driven wheel 1322 sleeved on the screw 141 in the screw nut pair 14, and a belt 1323 respectively wound on the driving wheel 1321 and the driven wheel 1322. The pair of clamping bars 12 are respectively connected with two nuts in the feed screw nut pair 14.
Therefore, when the motor 131 rotates, the driving wheel 1321 is driven to rotate, and the driven wheel 1322 is driven to rotate through the transmission of the belt 1323, so as to drive the screw rod 141 to rotate, thereby realizing the opposite movement or the back movement of the pair of clamping rods 12.
In addition, in order to further improve the stability of the movement of the clamping bars 12, the masonry fixture 1 further comprises guide rail slider pairs 15 respectively arranged at two sides of the screw nut pair 14, the guide rail slider pairs 15 comprise guide rails 151 horizontally arranged and arranged on the support frame 11 and sliders 152 slidably arranged on the guide rails 151, the guide rails 151 in the guide rail slider pairs 15 are arranged in parallel with the screw rods 141, the guide rails 151 are arranged on the support frame 11, and the sliders 152 in the guide rail slider pairs 15 are connected with the clamping bars 12.
In this embodiment, the end of the clamping rod 12 is connected with a rectangular sliding plate 16, and the sliding plate 16 is perpendicular to the screw rod 141 and the guide rail 151; the nut of the screw-nut pair 14 is connected to the middle of the slide plate 16, and the sliders 152 of the two-side guide rail slider pair 15 are respectively connected to the two sides of the slide plate 16.
Example two
In this embodiment, the pick in the masonry jig is also used to place the bricks 5 horizontally in the position to be laid by picking up the face of the brick 5 and moving in the front-to-back direction, but differs from the embodiment in the manner in which it is picked up. In this embodiment, the pickup portion is a suction cup, so that the clamping of the brick 5 can be understood as the suction of the suction cup on the brick 5, the suction cup acts on the front side surface of the brick 5, and other surfaces of the brick 5 are exposed.
From this, adopt sucking disc absorption fragment of brick 5 in order to realize picking up simple structure and convenient operation to the fragment of brick.
In this embodiment, the suction cup may be purchased from the market, and the specific structure thereof does not belong to the technical content to be protected in this application, and those skilled in the art can know from the prior art, and details thereof are not described herein.
EXAMPLE III
With reference to fig. 4-5, the present invention further provides a masonry robot, including a masonry fixture 1, a moving chassis mechanism 4, a lifting mechanism 3 and a robot arm 2 in the first embodiment or the second embodiment, wherein a fixing flange 17 is arranged on a support frame 11 of the masonry fixture 1, and the masonry fixture 1 is fixed at the end of the robot arm 2 through the fixing flange 17; the robot arm 2 is mounted on a lifting mechanism 3, and the lifting mechanism 3 is mounted on a moving chassis mechanism 4.
The working process of the masonry fixture 1 is as follows:
before the brick 5 is clamped by the masonry clamp 1, a pair of clamping holes 51 is formed in the front side face of the brick 5, then under the guide of the mechanical arm 2, a pair of clamping rods 12 respectively extend into the pair of clamping holes 51 of the brick 5, after the clamping rods extend in place, the driving device 13 drives the screw-nut pair 14 and enables the clamping rods 12 to simultaneously move towards the middle to clamp the brick 5, and then the mechanical arm 2 drives the brick 5 to perform masonry. The clamping rods 12 do not invade the wall body during masonry, and the clamping rods 12 do not occupy the space of the wall body when withdrawing, so that full-coverage masonry is realized.
In summary, according to the top brick masonry fixture 1 and the brick laying robot provided by the invention, the pickup part of the masonry fixture 1 does not enter the wall body during masonry, so that the space of the wall body is not occupied. In addition, the fixture does not need to change masonry materials and forms, namely, the top layer bricks and the non-top layer bricks are the same in brick arrangement mode, and the bricks 5 are horizontally arranged, so that the full-coverage masonry of the wall body can be realized. Therefore, the masonry fixture 1 disclosed by the invention not only realizes masonry of top-layer bricks, but also has the advantages of simple and convenient masonry process, high masonry efficiency, reduction of masonry cost and greater popularization value.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operative in a particular orientation, and are not to be construed as limiting the present invention.
In addition, in the description of the present invention, "a plurality" or "a plurality" means two or more unless specifically defined otherwise.
The technical means disclosed in the scheme of the invention are not limited to the technical means disclosed in the above embodiments, but also include the technical means formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (10)
1. A top course brick masonry fixture (1), comprising:
a support frame (11);
a pick-up mechanism provided on the support frame (11) and including a pick-up portion for picking up a front side of a brick (5) and moving in a front-to-rear direction to place the brick (5) horizontally at a position to be laid;
wherein the top surface of the pick up is lower than the top surface of the brick (5) when the pick up picks up the brick (5).
2. A topping brick masonry clamp (1) according to claim 1, characterized in that: the picking part comprises a pair of clamping rods (12), and a pair of clamping holes (51) are formed in the front side surface of the brick (5);
the picking mechanism further comprises a power assembly, and when the ends of the pair of clamping rods (12) respectively extend into the pair of clamping holes (51), the power assembly drives the pair of clamping rods (12) to move and clamp the brick (5).
3. A topping brick masonry clamp (1) according to claim 2, characterized in that: the power assembly driving the pair of clamping bars (12) to move towards each other to clamp a portion of the brick (5) between the pair of clamping holes (51);
or the power assembly drives the pair of clamping rods (12) to move back and forth so as to clamp the part of the brick (5) between the pair of clamping holes (51) and the edge of the brick (5).
4. A topping brick masonry clamp (1) according to claim 2 or 3, characterized in that: defining straight lines respectively connecting the middle points of the top edges and the middle points of the bottom edges of the front side surfaces of the bricks (5) as first middle lines (52), and defining straight lines respectively connecting the middle points of the two side edges of the front side surfaces of the bricks (5) as second middle lines (53);
the pair of clamping holes (51) are symmetrically arranged along the first midline (52) and/or the second midline (53).
5. A topping brick masonry clamp (1) according to claim 2 or 3, characterized in that: the pair of clamping holes (51) are square holes, and rectangular surfaces in butt fit with the side walls of the square holes are arranged on two sides of the end portions of the pair of clamping rods (12).
6. A top course block masonry clamp (1) according to claim 2 or 3, characterised in that: the distance between the centers of the pair of clamping holes (51) is L1, the length distance of the brick is L2, wherein: l1 is 0.3 to 0.6 times of L2.
7. A topping brick masonry clamp (1) according to claim 1, characterized in that: the pickup part comprises a suction cup for sucking the front side surface of the brick (5).
8. A topping brick masonry clamp (1) according to claim 2, characterized in that: the power assembly comprises a driving device (13) and a screw-nut pair (14), the driving device (13) is in transmission connection with a screw (141) in the screw-nut pair (14), and the picking part is connected with a nut in the screw-nut pair (14).
9. A top course block masonry clamp (1) according to claim 8 characterised in that: the lead screw nut picking device is characterized by further comprising guide rail sliding block pairs (15) respectively arranged on two sides of the lead screw nut pair (14), guide rails (151) in the guide rail sliding block pairs (15) are arranged on the supporting frame (11), and sliding blocks (152) in the guide rail sliding block pairs (15) are connected with the picking portion.
10. A masonry robot is characterized in that: comprising a masonry clamp (1) according to any one of claims 1-9, a moving chassis mechanism (4), a lifting mechanism (3) and a robot arm (2), wherein:
the masonry fixture (1) is arranged on the mechanical arm (2);
the mechanical arm (2) is arranged on the lifting mechanism (3);
the lifting mechanism (3) is arranged on the movable chassis mechanism (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210703283.0A CN114941445A (en) | 2022-06-21 | 2022-06-21 | Top layer fragment of brick masonry anchor clamps and have its masonry robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210703283.0A CN114941445A (en) | 2022-06-21 | 2022-06-21 | Top layer fragment of brick masonry anchor clamps and have its masonry robot |
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| CN114941445A true CN114941445A (en) | 2022-08-26 |
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| CN202210703283.0A Pending CN114941445A (en) | 2022-06-21 | 2022-06-21 | Top layer fragment of brick masonry anchor clamps and have its masonry robot |
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| CN (1) | CN114941445A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111088895A (en) * | 2020-03-20 | 2020-05-01 | 广东博智林机器人有限公司 | Bricklaying device and bricklaying robot |
| CN111519920A (en) * | 2020-05-11 | 2020-08-11 | 广东博智林机器人有限公司 | Plastering device and wall building equipment |
| CN212103576U (en) * | 2020-02-14 | 2020-12-08 | 天津科技大学 | Paving brick centre gripping oil pressure gripper |
| CN212406180U (en) * | 2020-05-12 | 2021-01-26 | 同济大学建筑设计研究院(集团)有限公司 | Mechanical arm |
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2022
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212103576U (en) * | 2020-02-14 | 2020-12-08 | 天津科技大学 | Paving brick centre gripping oil pressure gripper |
| CN111088895A (en) * | 2020-03-20 | 2020-05-01 | 广东博智林机器人有限公司 | Bricklaying device and bricklaying robot |
| CN111519920A (en) * | 2020-05-11 | 2020-08-11 | 广东博智林机器人有限公司 | Plastering device and wall building equipment |
| CN212406180U (en) * | 2020-05-12 | 2021-01-26 | 同济大学建筑设计研究院(集团)有限公司 | Mechanical arm |
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