Gripper device and bricklaying robot having the same

Abstract

The present invention discloses a clamping device and a bricklaying robot having the same. The clamping device comprises: an end clamping mechanism, an X-axis rotation mechanism, a Y-axis rotation mechanism and a Z-axis rotation mechanism. Specifically, the end clamping mechanism is suitable for grasping an object to be grasped. The X-axis rotation mechanism comprises a first drive motor, which is suitable for driving the end clamping mechanism to rotate around the X-axis. The Y-axis rotation mechanism comprises a second drive motor, which is suitable for driving the end clamping mechanism to rotate around the Y-axis. The Z-axis rotation mechanism comprises a third drive motor, which is suitable for driving the end clamping mechanism to rotate around the Z-axis. In the initial state, the first drive motor, the second drive motor, the third drive motor and the end clamping mechanism are all located in the same plane. The clamping device according to the embodiment of the present invention has a small overall size, is convenient for reaching into a narrow space to grasp and place the object to be grasped, and is applicable to many scenarios.

Description

Technical Field

[0001] The invention relates to the technical field of construction robots, in particular to a gripper device and a bricklaying robot having the same. Background Art

[0002] In the construction field, when laying high-precision bricks, bricks are often taken manually, mortar is applied manually, and then laid manually. However, in some specific bricklaying scenarios, due to the narrow space for brick stacking and bricklaying operation, workers cannot conveniently pick up and place bricks, affecting bricklaying efficiency. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a clamping device with a small overall size, which is convenient for reaching into a narrow space to grasp and place the object to be clamped, and is applicable to many scenarios.

[0004] The present invention also provides a bricklaying robot having the above-mentioned clamping claw device.

[0005] The clamping device according to the embodiment of the present invention comprises: an end clamping mechanism, wherein the end clamping mechanism is suitable for grasping an object to be clamped; an X-axis rotation mechanism, wherein the X-axis rotation mechanism comprises a first drive motor, wherein the first drive motor is suitable for driving the end clamping mechanism to rotate around the X-axis; a Y-axis rotation mechanism, wherein the Y-axis rotation mechanism comprises a second drive motor, wherein the second drive motor is suitable for driving the end clamping mechanism to rotate around the Y-axis; and a Z-axis rotation mechanism, wherein the Z-axis rotation mechanism comprises a third drive motor, wherein the third drive motor is suitable for driving the end clamping mechanism to rotate around the Z-axis, wherein, in an initial state, the first drive motor, the second drive motor, the third drive motor and the end clamping mechanism are all located in the same plane.

[0006] According to the clamping device of the embodiment of the present invention, by setting an X-axis rotation mechanism, a Y-axis rotation mechanism and a Z-axis rotation mechanism, the end clamping mechanism has the flexibility of adjustment at various angles, thereby improving the accuracy of the clamping device in grasping and placing the object to be clamped. By locating the first drive motor, the second drive motor, the third drive motor and the end clamping mechanism in the same plane, the clamping device has a smaller size, which is convenient for reaching into a narrow space to grasp and place the object to be clamped, and is applicable to many scenarios.

[0007] In addition, the clamping device according to the present invention may also have the following additional technical features:

[0008] In some embodiments of the present invention, the end clamp mechanism includes: a fourth drive motor, and the first drive motor, the second drive motor, the third drive motor and the fourth drive motor are all in the same plane.

[0009] Further, the end clamping mechanism includes: a first mounting plate, the first mounting plate includes a first horizontal plate and a first vertical plate, the output shaft of the third drive motor is perpendicular to the first horizontal plate, and the fourth drive motor is arranged on the first vertical plate; a first synchronous belt assembly, a first screw assembly and a clamping jaw assembly, the first synchronous belt assembly is arranged on the first vertical plate, the two ends of the first synchronous belt assembly are respectively connected to the fourth drive motor and the first screw assembly, the fourth drive motor and the first screw assembly are located on the same side of the first vertical plate, and the output shaft of the fourth drive motor is parallel to the screw of the first screw assembly.

[0010] Specifically, the clamping jaw assembly includes: a fixed end, which is arranged at an end of the first horizontal plate away from the first vertical plate; a sliding end, which is slidably arranged on the first horizontal plate, and the sliding end is transmission-connected to the first screw assembly; and a rubber pad, which is arranged on at least one of the fixed end and the sliding end.

[0011] In some embodiments of the present invention, the Z-axis rotation mechanism includes: a second mounting plate, the second mounting plate includes: a second horizontal plate, the third drive motor is arranged on the second horizontal plate, and the output shaft of the third drive motor is perpendicular to the second horizontal plate, the end clamping mechanism is arranged on the side of the second horizontal plate away from the third drive motor; a second vertical plate, the second vertical plate is arranged at one end of the horizontal plate, and the X-axis rotation mechanism is rotationally connected to the second vertical plate.

[0012] In some other embodiments of the present invention, the X-axis rotation mechanism includes: a third mounting plate, the first drive motor is arranged on the side of the third mounting plate facing the Z-axis rotation mechanism; a second synchronous belt assembly, the second synchronous belt assembly is arranged on the third mounting plate, and both ends of the second synchronous belt assembly are respectively connected to the first drive motor and the Z-axis rotation mechanism.

[0013] In some embodiments of the present invention, the Y-axis rotation mechanism also includes: a fourth mounting plate, the X-axis rotation mechanism is rotatably disposed on the upper end of the fourth mounting plate, the Z-axis rotation mechanism and the end clamping mechanism are both disposed on the X-axis rotation mechanism, the second drive motor is disposed at the lower end of the fourth mounting plate, and the second drive motor is suitable for driving the X-axis rotation mechanism to rotate around the Y-axis.

[0014] Furthermore, the Y-axis rotation mechanism further includes: a cam assembly, and the second drive motor is suitable for driving the cam assembly so that the cam assembly drives the X-axis rotation mechanism to rotate around the Y-axis.

[0015] Specifically, the Y-axis rotation mechanism also includes: a second screw assembly, the two ends of the second screw assembly are respectively connected to the second drive motor and the cam assembly, the cam assembly includes a cam driving member and a U-shaped block cooperating with the cam driving member, one of the cam driving member and the U-shaped block is connected to the second screw assembly, and the other of the cam driving member and the U-shaped block is arranged on the X-axis rotation mechanism.

[0016] The present invention also provides a bricklaying robot having the above-mentioned clamping claw device.

[0017] The bricklaying robot according to the embodiment of the present invention further comprises: a mechanical arm, and the clamping device is arranged at the free end of the mechanical arm.

[0018] According to the bricklaying robot of the embodiment of the present invention, the bricklaying robot can accurately grasp and place brick panels through the gripper device to ensure the accuracy of bricklaying, and because the gripper device has a small size, the bricklaying robot can better perform bricklaying operations in a smaller area. By setting a mechanical arm, the freedom of movement of the gripper device is greatly improved. Therefore, the bricklaying robot can better save manpower investment in bricklaying, and the bricklaying accuracy is high and it is applicable to many scenarios.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 is a schematic structural diagram of a clamping device according to an embodiment of the present invention;

[0022] Figure 2 is a side view of the clamping device according to an embodiment of the present invention in the Y-axis direction;

[0023] Figure 3 is a side view in the Z-axis direction of the clamping device according to an embodiment of the present invention;

[0024] Figure 4 is a side view in the opposite direction of the X-axis of the clamping device according to an embodiment of the present invention;

[0025] Figure 5is a schematic diagram of the mechanism of the end clamping mechanism of the clamping device according to an embodiment of the present invention;

[0026] Figure 6 is a schematic diagram of a Z-axis rotation mechanism of a clamping device according to an embodiment of the present invention;

[0027] Figure 7 is a schematic diagram of an X-axis rotation mechanism of a gripper device according to an embodiment of the present invention;

[0028] Figure 8 is a schematic diagram of a Y-axis rotation mechanism of a clamping device according to an embodiment of the present invention;

[0029] Fig. 9 yes Figure 8 Side view in the Y-axis direction;

[0030] Fig.10 yes Figure 8 Side view in the X-axis direction;

[0031] Fig.11 yes Figure 8 Side view in the opposite direction of the Z axis.

[0032] Reference numerals:

[0033] 100: clamping device;

[0034] 1: end clamp mechanism; 11: fourth drive motor; 12: first mounting plate; 121: first horizontal plate; 122: first vertical plate; 13: first synchronous belt assembly; 14: first screw rod assembly; 15: clamp assembly; 151: fixed end; 152: sliding end; 153: rubber pad;

[0035] 2: X-axis rotation mechanism; 21: first drive motor; 22: third mounting plate; 23: second synchronous belt assembly;

[0036] 3: Y-axis rotation mechanism; 31: second drive motor; 32: fourth mounting plate; 33: cam assembly; 331: cam drive member; 332: U-shaped block; 34: second screw rod assembly; 35: connecting block; 36: coupling; 37: slide rail;

[0037] 4: Z-axis rotation mechanism; 41: third drive motor; 42: second mounting plate; 421: second horizontal plate; 422: second vertical plate; 43: reinforcing rib; 44: limit block;

[0038] 5: Reducer. DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0040] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] Reference below Figure 1-Figure 11 A gripper device 100 according to an embodiment of the present invention is described.

[0043] like Figure 1-Figure 11 As shown, the clamping device 100 according to the embodiment of the present invention includes: an end clamping mechanism 1, an X-axis rotation mechanism 2, a Y-axis rotation mechanism 3 and a Z-axis rotation mechanism 4.

[0044] Specifically, the end clamping mechanism 1 is suitable for grasping the object to be clamped. Therefore, after the end clamping mechanism 1 grasps the object to be clamped, the clamping device 100 can better fix the object to be clamped to perform operations such as moving and placing the object to be clamped, thereby ensuring the stability of the object to be clamped during movement.

[0045] Among them, the X-axis rotation mechanism 2 includes a first drive motor 21, and the first drive motor 21 is suitable for driving the end clamping mechanism 1 to rotate around the X-axis. The Y-axis rotation mechanism 3 includes a second drive motor 31, and the second drive motor 31 is suitable for driving the end clamping mechanism 1 to rotate around the Y-axis. The Z-axis rotation mechanism 4 includes a third drive motor 41, and the third drive motor 41 is suitable for driving the end clamping mechanism 1 to rotate around the Z-axis. That is to say, the angle of the end clamping mechanism 1 can be better adjusted from three directions through the X-axis rotation mechanism 2, the Y-axis rotation mechanism 3 and the Z-axis rotation mechanism 4, so that the end clamping mechanism 1 has a higher angle adjustment flexibility. Therefore, the clamping device 100 can better flexibly adjust the angle of the end clamping mechanism 1 according to the orientation of the object to be clamped, so as to ensure that the end clamping mechanism 1 accurately grasps the object to be clamped.

[0046] On the other hand, the clamping device 100 can better place the object to be clamped at the specified position according to the requirements. Taking the clamping device 100 carrying brick panels for bricklaying as an example, the clamping device 100 can better grasp the brick panels in the stacking position, thereby improving the stability of the brick panel clamping device 100 during the movement of the brick panels. When the brick panels are used for wall stacking, the placement accuracy of the brick panels is required to be higher. Therefore, by adjusting the angle of the end clamping mechanism 1, the brick panels can be accurately placed at the bricklaying position on the wall, thereby ensuring the stacking strength of the wall.

[0047] Further, in the initial state, the first drive motor 21, the second drive motor 31, the third drive motor 41 and the end clamping mechanism 1 are all located in the same plane. The initial state here refers to when the clamping device 100 is in Figure 1 In the state shown, the layout of the first drive motor 21, the second drive motor 31, the third drive motor 41 and the end clamp mechanism 1. Specifically, refer to Figure 1-Figure 3 As shown, taking the example that the first drive motor 21, the second drive motor 31, the third drive motor 41 and the end clamping mechanism 1 are all in the plane formed by the X-axis and the Z-axis in the initial state, that is, the straight line where the first drive motor 21, the second drive motor 31, the third drive motor 41 and the end clamping mechanism 1 extend is all in the plane formed by the X-axis and the Z-axis, so the first drive motor 21, the second drive motor 31, the third drive motor 41 and the end clamping mechanism 1 can be arranged on the plane along the straight line direction where the X-axis is located or the straight line direction where the Z-axis is located, so that the first drive motor 21, the second drive motor 3, the third drive motor 41 and the end clamping mechanism 1 occupy a smaller space on the Y-axis, thereby better controlling the width of the clamping device 100 in the straight line direction where the Y-axis is located, so that the clamping device 100 can better extend into a narrow space to grasp and place the object to be clamped, and is applicable to many scenarios.

[0048] According to the clamping device 100 of the embodiment of the present invention, by setting the X-axis rotation mechanism 2, the Y-axis rotation mechanism 3 and the Z-axis rotation mechanism 4, the end clamping mechanism 1 has the flexibility of adjustment at various angles, thereby improving the accuracy of the clamping device 100 in grasping and placing the object to be clamped. By locating the first drive motor 21, the second drive motor 31, the third drive motor 41 and the end clamping mechanism 1 in the same plane, the clamping device 100 has a smaller size, which is convenient for reaching into a narrow space to grasp and place the object to be clamped, and is applicable to many scenarios.

[0049] In some embodiments of the present invention, reference Figure 1 and Figure 5 The end clamping mechanism 1 includes: a fourth drive motor 11, thereby, the fourth drive motor 11 can better drive the opening and closing of the end clamping mechanism 1, so that the clamping device 100 can better perform the grasping and placing operations of the object to be clamped, and the degree of automation is high.

[0050] Among them, Figure 1-Figure 3 As shown, the first drive motor 21, the second drive motor 31, the third drive motor 41 and the fourth drive motor 11 are all in the same plane, thereby ensuring the consistency of the layout of the first drive motor 21, the second drive motor 31, the third drive motor 41 and the fourth drive motor 11, making it easy to control the width of the end clamping mechanism 1, thereby better reducing the size of the clamping device 100.

[0051] Furthermore, if Figure 5 As shown, the end clamp mechanism 1 includes: a first mounting plate 12, a first synchronous belt assembly 13, a first screw assembly 14 and a clamp assembly 15. Specifically, the first mounting plate 12 includes a first horizontal plate 121 and a first vertical plate 122. The output shaft of the third drive motor 41 is perpendicular to the first horizontal plate 121. Therefore, the third drive motor 41 can be well connected to the first horizontal plate 121 to drive the first horizontal plate 121 to rotate clockwise or counterclockwise around the Z axis through the output shaft of the third drive motor 41, thereby improving the flexibility of the end clamp mechanism 1 to rotate around the Z axis. On the other hand, the third drive motor 41 is installed along the Z axis, which can effectively reduce the space occupied by the third drive motor 41 in the X-axis and Y-axis directions, and the layout is reasonable.

[0052] Furthermore, the fourth drive motor 11 is arranged on the first vertical plate 122, and the first synchronous belt assembly 13 is arranged on the first vertical plate 122. The two ends of the first synchronous belt assembly 13 are respectively connected to the fourth drive motor 11 and the first screw rod assembly 14 for transmission. Therefore, the output torque of the fourth drive motor 11 can be better transmitted to the first screw rod assembly 14 through the first synchronous belt assembly 13, and the first synchronous belt assembly 13 can better eliminate the jitter of the fourth drive motor 11 during the rotation process, thereby improving the stability of the transmission of the fourth drive motor 11 to the first screw rod assembly 14.

[0053] In a specific example, a reducer 5 is provided at the output end of the fourth drive motor 11, and is connected to the first synchronous belt assembly 13 through the output end of the reducer 5. Therefore, the output torque of the fourth drive motor 11 can be better improved through the reducer 5, thereby improving the driving capacity of the fourth drive motor 11, so as to better drive the rotation of the first screw assembly 14.

[0054] The fourth drive motor 11 and the first screw assembly 14 are located on the same side of the first vertical plate 122. In a specific example, Figure 5 As shown, the fourth drive motor 11 and the first screw assembly 14 are located on the side of the first vertical plate 122 close to the third drive motor 41, thereby, the size of the end clamping mechanism 1 on the X-axis can be better reduced, the overall structure is compact, and the risk of collision of the fourth drive motor 11 during the movement of the end clamping mechanism 1 can be better avoided, thereby improving the stability of the clamping device 100 during operation.

[0055] Of course, the fourth drive motor 11 and the first screw rod assembly 14 can also be installed on the side of the first vertical plate 122 away from the third drive motor 41. It is a better solution to arrange the fourth drive motor 11 and the first screw rod assembly 14 on the side of the first vertical plate 122 close to the third drive motor 41, but it is not a restriction on the setting position of the fourth drive motor 11 and the first screw rod assembly 14.

[0056] Further, the output shaft of the fourth drive motor 11 is parallel to the screw of the first screw assembly 14. In a specific example, refer to Figure 1 and Figure 5 , the fourth drive motor 11 and the first screw assembly 14 are located on one side of the first vertical plate 122 close to the third drive motor 41, and the first synchronous belt assembly 13 is arranged on the other side of the first vertical plate 122, thereby reducing the difficulty of installing the first synchronous belt assembly 13, thereby ensuring stable transmission of the fourth drive motor 11 and the first screw assembly 14. On the other hand, by arranging the fourth drive motor 11 and the first screw assembly 14 along the Z-axis direction, the span of the end clamp mechanism 1 in the Y-axis direction can be reduced, so that the structure of the end clamp mechanism 1 is more compact.

[0057] Specifically, the clamping jaw assembly 15 includes: a fixed end 151, a sliding end 152 and a rubber pad 153. The fixed end 151 is arranged at one end of the first horizontal plate 121 away from the first vertical plate 122, and the sliding end 152 is slidably arranged on the first horizontal plate 121. The sliding end 152 is transmission-connected to the first screw rod assembly 14. Therefore, when the clamping jaw device 100 grasps the object to be clamped, the fourth drive motor 11 drives the sliding end 152 to slide in the opposite direction of the X-axis through the first screw rod assembly 14, thereby reducing the distance between the sliding end 152 and the fixed end 151, until the side walls opposite to the sliding end 152 and the fixed end 151 are tightly fitted on the object to be clamped, completing the grasping operation of the end clamping jaw mechanism 1; and when the object to be clamped needs to be placed, the fourth drive motor 11 drives the sliding end 152 to slide in the X-axis direction through the first screw rod assembly 14, thereby eliminating the clamping force of the end clamping jaw mechanism 1 on the object to be clamped, so as to place the object to be clamped in the specified position.

[0058] The rubber pad 153 is disposed on at least one of the fixed end 151 and the sliding end 152. Figure 2 and Figure 5 As shown, the rubber pad 153 is arranged on the side walls opposite to the fixed end 151 and the sliding end 152. Therefore, when the object to be clamped is being grasped, on the one hand, the rubber pad 153 can better avoid friction damage between the object to be clamped and the sliding end 152 or the fixed end 151. On the other hand, the rubber pad 153 is relatively soft. After clamping the object to be clamped, the pressure of the sliding end 152 when sliding causes the rubber pad 153 to deform so as to better fit on the clamping surface of the object to be clamped, thereby increasing the friction between the sliding end 152 and the fixed end 151 and the object to be clamped, so as to ensure the stability of the end clamping mechanism 1 in grasping the object to be clamped.

[0059] In some examples, the Z-axis rotation mechanism 4 includes: a second mounting plate 42, specifically, the second mounting plate 42 includes a second horizontal plate 421 and a second vertical plate 422, the third drive motor 41 is arranged on the second horizontal plate 421, and the output shaft of the third drive motor 41 is perpendicular to the second horizontal plate 421, that is, the second horizontal plate 421 and the first horizontal plate 121 are arranged in parallel, thereby, the risk of interference with the second horizontal plate 421 when the third drive motor 41 drives the first horizontal plate 121 to rotate can be better avoided, so as to ensure the safety of the angle adjustment process of the end clamping mechanism 1.

[0060] Furthermore, the end clamping mechanism 1 is arranged on a side of the second horizontal plate 421 away from the third drive motor 41, that is, the third drive motor 41 and the end clamping mechanism 1 are respectively arranged on both sides of the second horizontal plate 421 in the Z-axis direction, so that the output shaft of the third drive motor 41 can be better connected to the end clamping mechanism 1, thereby improving the transmission efficiency of the third drive motor 41 and the end clamping mechanism 1, and can better save the space occupied by the connecting device between the third drive motor 41 and the end clamping mechanism 1, and the layout is reasonable.

[0061] In a specific example, a harmonic reducer 5 is provided on the output end of the third drive motor 41, so that the harmonic reducer 5 can better improve the output torque of the third drive motor 41, thereby improving the strength of the third drive motor 41 to drive the end clamping mechanism 1 to rotate around the Z axis.

[0062] like Figure 6 As shown, the second vertical plate 422 is disposed at one end of the first horizontal plate 421, thereby the span of the Z-axis rotating mechanism 4 on the X-axis can be shortened, so that the Z-axis rotating mechanism 4 has a smaller size and the overall structure of the clamping device 100 is more compact.

[0063] Among them, the X-axis rotation mechanism 2 is rotationally connected to the second vertical plate 422, that is, the X-axis rotation mechanism 2 can better drive the second vertical plate 422 to rotate clockwise or counterclockwise around the X-axis, thereby driving the end clamping mechanism 1 connected to the second mounting plate 42 to rotate clockwise or counterclockwise around the X-axis, so as to improve the adjustment flexibility of the angle of the end clamping mechanism.

[0064] In a specific example, if Figure 1 and Figure 6 As shown, reinforcing ribs 43 are provided at the angle between the second vertical plate 422 and the second horizontal plate 421, which can better maintain the angle relationship between the second vertical plate 422 and the second horizontal plate 421, thereby improving the overall structural strength of the second mounting plate 42. In addition, stoppers 44 extending toward the X-axis rotating mechanism 2 are provided on both sides of the second vertical plate 422, thereby better limiting the rotation angle of the Z-axis rotating mechanism 4 around the X-axis, thereby better avoiding the second mounting plate 42 from colliding with the X-axis rotating mechanism 2 when the rotation angle is large.

[0065] In some examples, the X-axis rotation mechanism 2 includes: a third mounting plate 22 and a second synchronous belt assembly 23, wherein the first drive motor 21 is arranged on the side of the third mounting plate 22 facing the Z-axis rotation mechanism 4, so that after the clamping device 100 is assembled, Figure 1 , Figure 2 and Figure 7As shown, the first drive motor 21 can be well located in the space formed by the third mounting plate 22 and the second horizontal plate 421 , and the layout is ingenious, which improves the compactness of the overall structure of the clamping device 100 .

[0066] Furthermore, the second synchronous belt assembly 23 is arranged on the third mounting plate 22, and the two ends of the second synchronous belt assembly 23 are respectively connected to the first drive motor 21 and the Z-axis rotation mechanism 4 for transmission. Therefore, the output torque of the first drive motor 21 can be better transmitted to the Z-axis rotation mechanism 4 through the second synchronous belt assembly 23, thereby driving the Z-axis rotation mechanism 4 to rotate around the X-axis, so as to drive the end clamping mechanism 1 to rotate around the X-axis, thereby ensuring the angle adjustment flexibility of the end clamping mechanism 1 on the X-axis, and the second synchronous belt assembly 23 can better eliminate the jitter of the first drive motor 21 during the process, thereby improving the stability of the first drive motor 21 transmitted to the Z-axis rotation mechanism 4.

[0067] In a specific example, the second synchronous belt assembly 23 is connected to the Z-axis rotation mechanism 4 through the harmonic reducer 5, thereby better increasing the output torque of the first drive motor 21, thereby ensuring that the output of the first drive motor 21 meets the torque requirement for driving the Z-axis rotation mechanism 4 to rotate.

[0068] There are also examples such as Figure 2 and Figure 8 As shown, the Y-axis rotation mechanism 3 also includes: a fourth mounting plate 32, the X-axis rotation mechanism 2 is rotatably arranged on the upper end of the fourth mounting plate 32, the Z-axis rotation mechanism 4 and the end clamping mechanism 1 are both arranged on the X-axis rotation mechanism 2, and the second drive motor 31 is arranged at the lower end of the fourth mounting plate 32, and the second drive motor 31 is suitable for driving the X-axis rotation mechanism 2 to rotate around the Y-axis, thereby realizing the rotation of the end clamping mechanism 1 around the Y-axis. Specifically, the second drive motor 31 drives the X-axis rotation mechanism 2 to rotate counterclockwise around the Y-axis, so that the end clamping mechanism 1 rotates counterclockwise around the Y-axis at the same time, that is, the end clamping mechanism 1 is lifted up a certain angle in the opposite direction of the Z-axis, and when the second drive motor 31 drives the X-axis rotation mechanism 2 to rotate clockwise around the Y-axis, the end clamping mechanism 1 rotates counterclockwise around the Y-axis at the same time, that is, the end clamping mechanism 1 is lowered a certain angle toward the Z-axis direction.

[0069] In a specific example, if Figure 2 and Figure 8 As shown, the X-axis rotation mechanism 2 is connected to the upper end of the fourth mounting plate 32 via a connecting block 35, thereby further improving the angular flexibility of the X-axis rotation mechanism 2 relative to the Y-axis rotation mechanism 3, and the connecting block 35 can effectively reduce the difficulty of assembling the fourth mounting plate 32 and the X-axis rotation mechanism 2.

[0070] Furthermore, the Y-axis rotation mechanism 3 includes a second screw rod assembly 34, both ends of which are respectively connected to the second drive motor 31 and the cam assembly 33, and the cam assembly 33 includes a cam driving member 331 and a U-shaped block 332 cooperating with the cam driving member 331. One of the cam driving member 331 and the U-shaped block 332 is connected to the second screw rod assembly 34, and the other of the cam driving member 331 and the U-shaped block 332 is arranged on the X-axis rotation mechanism 2. Thus, the second drive motor 31 drives the second screw rod assembly 34 to rotate, so as to push the cam assembly 33 to move along the X-axis direction or the opposite direction of the X-axis, so as to better realize the X-axis rotation mechanism 2 to rotate clockwise or counterclockwise around the Y-axis by a certain angle.

[0071] Specifically, Figure 8-Figure 11 As shown, the cam drive 331 is connected to the second screw rod transmission, and the U-shaped block 332 is fixedly connected to the X-axis rotation mechanism 2. Therefore, the second drive motor 31 drives the second screw rod assembly 34 to rotate, so that the cam drive 331 slides along the X-axis direction, that is, the cam drive 331 slides in the direction close to the X-axis rotation mechanism 2, thereby pushing the X-axis rotation mechanism 2 to rotate counterclockwise relative to the fourth mounting plate 32, so as to achieve the counterclockwise rotation of the end clamp mechanism 1 around the Y-axis. When the second drive motor 31 drives the second screw rod assembly 34 to rotate in the opposite direction, the cam drive 331 slides in the opposite direction of the X-axis, that is, the cam drive 331 slides in the direction close to the fourth mounting plate 32, thereby pulling the X-axis rotation mechanism 2 to rotate clockwise relative to the fourth mounting plate 32, so as to achieve the clockwise rotation of the end clamp mechanism 1 around the Y-axis.

[0072] In a specific example, if Fig. 9 As shown, the second drive motor 31 is connected to the second screw assembly 34 through the reducer 5 and the coupling 36. Therefore, the output torque of the second drive motor 31 can be better improved through the reducer 5, and the coupling 36 facilitates the connection between the reducer 5 and the second screw assembly 34, and the assembly difficulty is low.

[0073] In another example, a long through hole is formed in the middle of the U-shaped block 332, and the cam driving member 331 can be slidably disposed in the long through hole. Therefore, it can better avoid jamming during the angle adjustment of the X-axis rotation mechanism 2, and the bottom of the cam driving member 331 can be slidably connected to the slide rail 37 at the bottom of the fourth mounting plate 32, thereby improving the stability of the cam driving member 331 during the sliding process.

[0074] The present invention also proposes a bricklaying robot having the above-mentioned gripper device 100.

[0075] The bricklaying robot according to an embodiment of the present invention further includes: a robotic arm, wherein the gripper device 100 is arranged at the free end of the robotic arm, thereby the robotic arm improves the freedom of movement of the gripper device 100, so that the gripper device 100 can better grasp and place bricks in different areas according to the bricklaying needs of the bricklaying robot, with high flexibility.

[0076] According to the bricklaying robot of the embodiment of the present invention, the bricklaying robot can accurately grasp and place brick panels through the clamping device 100 to ensure the accuracy of bricklaying, and because the clamping device 100 has a small size, the bricklaying robot can better perform bricklaying operations in a small space area. By setting a mechanical arm, the freedom of movement of the clamping device 100 is greatly improved. Therefore, the bricklaying robot can better save manpower investment in bricklaying, and the bricklaying accuracy is high and it is applicable to many scenarios.

[0077] Other structures and operations of the clamping device 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0078] In the description of this specification, the description with reference to the terms "some embodiments", "optionally", "further" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0079] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A clamping device, characterized in that: include: An end clamping jaw mechanism, wherein the end clamping jaw mechanism is suitable for grasping an object to be clamped; An X-axis rotation mechanism, wherein the X-axis rotation mechanism comprises a first drive motor, wherein the first drive motor is adapted to drive the end clamp mechanism to rotate around the X-axis; A Y-axis rotation mechanism, the Y-axis rotation mechanism comprising a second drive motor, the second drive motor is suitable for driving the end gripper mechanism to rotate around the Y-axis; A Z-axis rotation mechanism, wherein the Z-axis rotation mechanism comprises a third drive motor, and the third drive motor is suitable for driving the end clamp mechanism to rotate around the Z-axis, wherein in an initial state, the first drive motor, the second drive motor, the third drive motor and the end clamp mechanism are all located in the same plane; The Z-axis rotation mechanism includes: a second mounting plate, and the second mounting plate includes: a second horizontal plate, the third drive motor is arranged on the second horizontal plate, and the output shaft of the third drive motor is perpendicular to the second horizontal plate, and the end clamp mechanism is arranged on a side of the second horizontal plate away from the third drive motor; a second vertical plate, the second vertical plate being disposed at one end of the horizontal plate, the X-axis rotation mechanism being rotationally connected to the second vertical plate; The X-axis rotation mechanism comprises: a third mounting plate, wherein the first driving motor is arranged on a side of the third mounting plate facing the Z-axis rotating mechanism; A second synchronous belt assembly, wherein the second synchronous belt assembly is arranged on the third mounting plate, and two ends of the second synchronous belt assembly are respectively connected to the first driving motor and the Z-axis rotating mechanism; The Y-axis rotation mechanism also includes: a fourth mounting plate, the X-axis rotating mechanism being rotatably disposed on the upper end of the fourth mounting plate, the Z-axis rotating mechanism and the end clamping mechanism being both disposed on the X-axis rotating mechanism, the second driving motor being disposed at the lower end of the fourth mounting plate, the second driving motor being adapted to drive the X-axis rotating mechanism to rotate around the Y-axis; A cam assembly, wherein the second drive motor is suitable for driving the cam assembly so that the cam assembly drives the X-axis rotating mechanism to rotate around the Y-axis; A second screw assembly, both ends of the second screw assembly are respectively connected to the second drive motor and the cam assembly, the cam assembly includes a cam drive and a U-shaped block cooperating with the cam drive, one of the cam drive and the U-shaped block is connected to the second screw assembly, and the other of the cam drive and the U-shaped block is arranged on the X-axis rotation mechanism.

2. The clamping device according to claim 1, characterized in that: The end clamp mechanism comprises: a fourth drive motor, and the first drive motor, the second drive motor, the third drive motor and the fourth drive motor are all in the same plane.

3. The clamping device according to claim 2, characterized in that: The end clamp mechanism comprises: A first mounting plate, wherein the first mounting plate comprises a first horizontal plate and a first vertical plate, the output shaft of the third driving motor is perpendicular to the first horizontal plate, and the fourth driving motor is arranged on the first vertical plate; A first synchronous belt assembly, a first screw assembly and a clamping claw assembly, wherein the first synchronous belt assembly is arranged on the first vertical plate, and both ends of the first synchronous belt assembly are respectively connected to the fourth drive motor and the first screw assembly for transmission, the fourth drive motor and the first screw assembly are located on the same side of the first vertical plate, and the output shaft of the fourth drive motor is parallel to the screw of the first screw assembly.

4. The clamping device according to claim 3, characterized in that: The clamping jaw assembly comprises: A fixed end, the fixed end being arranged at an end of the first horizontal plate away from the first vertical plate; A sliding end, the sliding end is slidably disposed on the first horizontal plate, and the sliding end is drivingly connected to the first lead screw assembly; A rubber pad is provided on at least one of the fixed end and the sliding end.

5. A bricklaying robot, characterized in that: include: A mechanical arm and a gripper device as claimed in any one of claims 1 to 4, wherein the gripper device is arranged at the free end of the mechanical arm.

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