Jaw, bricklaying method and bricklaying equipment

Abstract

The present application relates to a gripper, a bricklaying method and a bricklaying device. The gripper is used for laying bricks in the left-right direction, and there are a right reference plane and a left reference plane in the working environment, and the right reference plane and the left reference plane are used to control the laying position of the bricks. The gripper includes: a body for picking up bricks in the front-back direction and laying bricks in the left-right direction; a first distance sensor disposed on the body for detecting the distance between the brick and the right reference plane; a second distance sensor disposed on the body for detecting the distance between the brick and the left reference plane; wherein, the gripper is configured to position the brick in the left-right direction through the first distance sensor when laying the last brick from left to right; the gripper is configured to position the brick in the left-right direction through the second distance sensor when laying the last brick from right to left. The technical solution of the present application can solve the problem that the last brick cannot be automatically laid, and can also lay bricks alternately in two directions, from right to left and from left to right.

Description

Technical Field

[0001] The present application relates to the technical field of masonry, and in particular, to a jaw, a bricklaying method, and a bricklaying device. Background Art

[0002] Brick walls are generally built manually, which requires a lot of labor. The construction work of building brick walls has started to use automated equipment. During bricklaying, generally, the end face of the previous brick is used as a reference to position and lay the next brick, so as to achieve sequential bricklaying. However, when laying the last brick, the last space between the end face of the previous brick and the column surface (or shear wall surface) at the end can only just accommodate one brick. Therefore, the brick must be exactly aligned with the last space before it can be placed downwards to complete the bricklaying. However, when the next brick is higher than the previous one, the end face of the lower previous brick cannot be used as a reference plane, so the last brick cannot be positioned, resulting in the mechanical equipment being unable to automatically lay the last brick. Summary of the Invention

[0003] The present application aims to provide a jaw, a bricklaying method, and a bricklaying device to solve the problem that the last brick cannot be automatically laid.

[0004] The embodiments of the present application are implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a jaw for laying bricks in the left-right direction. In the working environment, there is a right reference plane and a left reference plane, and the right reference plane and the left reference plane are used to control the laying position of the bricks. The jaw includes:

[0006] A body for picking up bricks and laying the bricks in the left-right direction;

[0007] A first distance sensor disposed on the body for detecting the distance between the brick and the right reference plane;

[0008] A second distance sensor disposed on the body for detecting the distance between the brick and the left reference plane;

[0009] Wherein, when the jaw is configured to lay bricks from left to right and reach the last brick, the first distance sensor is used to position the brick in the left-right direction; when the jaw is configured to lay bricks from right to left and reach the last brick, the second distance sensor is used to position the brick in the left-right direction.

[0010] In the technical solution provided by this application, when laying bricks from left to right, the left reference plane is the column surface on the left or the right end surface of the previous brick, the right reference plane is the column surface on the right, and the right reference plane is the reference plane at the end position; when laying bricks from right to left, the right reference plane is the column surface on the right or the left end surface of the previous brick, the left reference plane is the column surface on the left, and the left reference plane is the reference plane at the end position; by setting the first distance sensor and the second distance sensor, the first distance sensor measures the distance to the right, the second distance sensor measures the distance to the left, and when laying bricks to the end position, the distance from the brick to the reference plane at the end position is detected in the end position direction by one of the first distance sensor and the second distance sensor, so as to locate the brick at the end position, and solve the problem that the brick at the end position cannot be automatically laid. In addition, the technical solution provided by this application is applicable not only to laying bricks from right to left, but also to laying bricks from left to right, and can realize alternating laying bricks from right to left and from left to right. Therefore, after a row of bricks is laid, the gripper does not need to return to the starting point without load, effectively improving the laying efficiency.

[0011] In some embodiments of this application, when laying the brick at the first position, the distance from the brick to one side reference plane is detected by one of the first distance sensor and the second distance sensor to locate the brick;

[0012] When laying the brick between the first position and the end position, the distance from the latter brick to the previous brick is detected by one of the first distance sensor and the second distance sensor to locate the latter brick.

[0013] In the above technical solution, when laying bricks from left to right, the left reference plane is the column surface on the left or the right end surface of the previous brick, where the column surface on the left is the reference plane at the first position, and the right end surface of the previous brick is the reference plane for the middle brick; when laying bricks from right to left, the right reference plane is the column surface on the right or the left end surface of the previous brick, where the column surface on the right is the reference plane at the first position, and the left end surface of the previous brick is the reference plane for the middle brick; during the process of laying bricks from the first position to the end position, first, a distance sensor is used with the vertical surface of the column surface at the first position as the reference plane to locate and lay the brick at the first position, then the distance sensor is used with the end surface of the previous brick as the reference plane to locate and lay the brick in the middle position, and then another distance sensor is used with the vertical surface of the vertical member at the end position as the reference plane to lay the brick at the end position, solving the problem of being unable to locate the brick at the end position, and further solving the problem that the brick at the end position cannot be automatically laid, realizing full-automatic laying.

[0014] In some embodiments of this application, the first distance sensor is arranged on the left side of the body, and the second distance sensor is arranged on the right side of the body.

[0015] In the above technical solution, by placing the first distance sensor on the left side of the main body, the distance from the first distance sensor to the right reference plane is increased, and by placing the second distance sensor on the right side of the main body, the distance from the second distance sensor to the left reference plane is increased. On the one hand, this ensures that the distance from the sensor to the reference plane is within the sensor's detection range, avoiding the situation where the sensor is too close to the reference plane and cannot detect. In particular, when laying the first, last, and last bricks of a shorter length, by increasing the distance from the sensor to the reference plane to make it greater than the sensor's starting detection distance, the problem of inaccurate positioning due to the sensor being too close to the reference plane can be effectively avoided.

[0016] In some embodiments of the present application, the main body also includes a working area and an avoidance area arranged along the up and down directions, and the first distance sensor and the second distance sensor are respectively movably provided on the main body along the up and down directions to move between the avoidance area and the working area; the first distance sensor detects the distance from the brick to the right reference plane of the main body when in the working area, and avoids the second distance sensor when in the avoidance area, and the second distance sensor detects the distance from the brick to the left reference plane of the main body when in the working area, and avoids the first distance sensor when in the avoidance area.

[0017] In the above technical solution, the first distance sensor and the second distance sensor are movably arranged on the body in the vertical direction respectively, so that when one of the first distance sensor and the second distance sensor is working, the other can be staggered in the vertical direction to make room to avoid obstruction.

[0018] In some embodiments of the present application, the working area is located below the avoidance area.

[0019] In the above technical solution, by setting the working area at the bottom, the position of the first distance sensor or the second distance sensor is prevented from being higher than the front brick when laying the middle brick, thereby avoiding failure to detect the end face of the front brick.

[0020] In some embodiments of the present application, the clamp also includes: a first sliding assembly, including a first guide rail and a first slider, the first guide rail is arranged on the left side of the body and extends in the up and down directions, the first slider is slidably connected to the first guide rail, and the first distance sensor is connected to the first slider; a second sliding assembly, including a second guide rail and a second slider, the second guide rail is arranged on the right side of the body and extends in the up and down directions, the second slider is slidably connected to the second guide rail, and the second distance sensor is connected to the second slider.

[0021] In the above technical solution, by providing the first sliding component and the second sliding component, the moving stability of the first distance sensor and the second distance sensor is ensured, and the detection accuracy is improved. By improving the detection accuracy, it is further ensured that when the last brick is being laid, the brick can be exactly placed in the last space.

[0022] In some embodiments of the present application, the jaw further includes: a first driving member disposed on the body, an output end of the first driving member is connected to the first slider, and is configured to drive the first slider to move along the first guide rail; a second driving member disposed on the body, an output end of the second driving member is connected to the second slider, and is configured to drive the second slider to move along the second guide rail.

[0023] In the above technical solution, the first distance sensor and the second distance sensor are respectively driven by the first driving member and the second driving member to automatically switch positions, and further automatic detection and masonry are realized.

[0024] In some embodiments of the present application, the body includes: a substrate; a first clamping plate and a second clamping plate, the first clamping plate and the second clamping plate are respectively disposed on the substrate and are oppositely disposed in the front-rear direction for clamping and releasing bricks; wherein, the first distance sensor and the second distance sensor are fixedly disposed relative to the substrate.

[0025] In the above technical solution, the substrate, the first clamping plate and the second clamping plate cooperate to facilitate picking up bricks. The first distance sensor and the second distance sensor are fixed relative to the substrate, which can ensure the positions of the first distance sensor and the second distance sensor remain unchanged during masonry, and reduce the risk of misalignment between the first distance sensor and the second distance sensor and the reference plane.

[0026] In some embodiments of the present application, the first clamping plate is fixedly connected to the substrate, the second clamping plate is movably connected to the substrate in the front-rear direction, and the first distance sensor and the second distance sensor are disposed on the first clamping plate.

[0027] In the above technical solution, by fixing the first clamping plate to the substrate and disposing the first distance sensor and the second distance sensor on the first clamping plate, it not only realizes picking up bricks, but also reduces the risk of misalignment between the first distance sensor and the second distance sensor and the reference plane, and there is no need to additionally provide a structure for fixing the first distance sensor and the second distance sensor, effectively simplifying the structure of the jaw.

[0028] In some embodiments of the present application, the first distance sensor and the second distance sensor are disposed on a surface of the first clamping plate facing away from the second clamping plate.

[0029] In the above technical solution, by arranging the first distance sensor and the second distance sensor on the side of the first clamping plate facing away from the second clamping plate, the first distance sensor and the second distance sensor are kept away from the brick, so as to prevent the first distance sensor and the second distance sensor from being damaged by pressure during the process of clamping the brick and masonry.

[0030] In some embodiments of the present application, the substrate is provided with a third guide rail, the second clamping plate is provided with a third slider, and the third slider is connected to the third guide rail; the clamping jaw further includes: a third driving member, the third driving member is arranged on the substrate, and the output end of the third driving member is connected to the third slider.

[0031] In the above technical solution, automatic picking is realized by driving the second clamping plate to move by the third driving member, which is beneficial to realizing automatic masonry.

[0032] In some embodiments of the present application, the clamping jaw further includes: a plane sensor, arranged on the substrate, the plane sensor includes at least three detection ends, any three of the at least three detection ends are not on the same straight line, and each detection end is respectively used to detect the distance from the substrate to the upper surface of the brick to determine the flatness of the upper surface of the brick.

[0033] In the above technical solution, by arranging a positioning sensor with at least three detection ends to detect the distance from the substrate to the upper surface of the brick, the flatness of the upper surface of the brick can be detected, and the substrate and the brick can be ensured to be parallel, so that the postures of the substrate and the brick are consistent.

[0034] In some embodiments of the present application, the clamping jaw further includes: an inclination sensor, arranged on the substrate, for detecting the flatness of the substrate.

[0035] In the above technical solution, by arranging an inclination sensor to detect the flatness of the substrate, the flatness of the brick is detected, so as to prevent the brick picked up by the clamping jaw from tilting and ensure that the brick is laid in a horizontal and stable posture.

[0036] In some embodiments of the present application, the body is configured to lay the brick along a preset path defined by a laser line; the clamping jaw further includes: a vision sensor, arranged on the body, the vision sensor is preset with a reference line; the vision sensor is used to photograph the laser line; the clamping jaw is configured to position the brick in the front-back direction when the laser line and the reference line coincide.

[0037] In the above technical solution, by setting a vision sensor, when the laser line detected by the vision sensor coincides with the reference line set in the vision sensor, the posture of the brick picked up by the gripper is in the left-right direction, and the positioning of the brick picked up by the gripper in the front-back direction is accurate, thereby realizing the positioning of the brick in the front-back direction.

[0038] In a second aspect, an embodiment of the present application provides a bricklaying method, which includes: picking up a brick using a gripper, the gripper being provided with a first distance sensor and a second distance sensor; laying the brick along a preset path from the head to the end, wherein when laying the brick at the head, detecting the distance from the brick to the head end of the preset path by one of the first distance sensor and the second distance sensor to position the brick; when laying the brick between the head and the end, detecting the distance from the latter brick to the former brick by one of the first distance sensor and the second distance sensor to position the latter brick; when laying the brick at the end, detecting the distance from the brick to the end of the preset path by the other of the first distance sensor and the second distance sensor to position the brick.

[0039] In the bricklaying method provided by the present application, first, a distance sensor is used to take the vertical surface of the vertical member at the head as a reference surface to position and lay the brick at the head. Then, the distance sensor is used to take the end surface of the previous brick as a reference surface to position and lay the subsequent brick in the middle position. Finally, another distance sensor is used to take the vertical surface of the vertical member at the end as a reference surface to lay the brick at the end, solving the problem of being unable to position the brick at the end, and further solving the problem that the brick at the end cannot be automatically laid, realizing full-automatic bricklaying.

[0040] In a third aspect, an embodiment of the present application provides a bricklaying device, which includes: a device main body; a gripper as described in any item of the first aspect; a robotic arm, arranged on the device main body and connected to the gripper, for driving the gripper to lay bricks along a preset path.

[0041] The bricklaying device provided by the present application can lay bricks at the head, in the middle, and at the end along a preset path, realizing full-automatic bricklaying with high laying efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0043] Figure 1Stereogram of the bricklaying equipment provided by the embodiment of the present application;

[0044] Figure 2 Stereogram of the robotic arm of the bricklaying equipment provided by the embodiment of the present application;

[0045] Figure 3 Exploded view of the jaw provided by the embodiment of the present application;

[0046] Figure 4 Exploded view of the substrate and the second clamping plate provided by the embodiment of the present application;

[0047] Figure 5 Stereogram of the first clamping plate provided by the embodiment of the present application;

[0048] Figure 6 Front view of the first clamping plate provided by the embodiment of the present application;

[0049] Figure 7 Operating state diagram of the second distance sensor provided by the embodiment of the present application;

[0050] Figure 8 Operating state diagram of the first distance sensor provided by the embodiment of the present application;

[0051] Figure 9 State diagrams of the jaw when laying bricks at the first, middle, and last positions provided by the embodiment of the present application.

[0052] Icons: 1000 - Equipment main body; 1001 - Brick storage position; 2000 - Lifting mechanism; 3000 - Robotic arm; 3001 - First part; 3002 - Second part; 3003 - Third part; 3004 - Fourth part; 3005 - Fifth part; 4000 - Jaw; 11 - Substrate; 111 - Third guide rail; 112 - Third slider; 113 - Third driving member; 114 - Linear track; 1131 - Servo motor; 1132 - Driving wheel; 1133 - Driven wheel; 1134 - Transmission belt; 1135 - Lead screw; 1136 - Nut; 12 - First clamping plate; 121 - Working area; 122 - Avoidance area; 13 - Second clamping plate; 14 - Cover body; 15 - Rubber pad; 2 - First distance sensor; 21 - First guide rail; 22 - First slider; 23 - First driving member; 3 - Second distance sensor; 31 - Second guide rail; 32 - Second slider; 24 - Second driving member; 4 - Fixed surface sensor; 41 - Detection end; 5 - Inclination sensor; 6 - Vision sensor; 5000 - Laser emitter; A - First position; B - Middle position; C - Last position. Detailed implementation manners

[0053] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are some, but not all, of the embodiments of this application. The components of the embodiments of this application usually described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0054] Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts belong to the scope of protection of this application.

[0055] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0056] In the description of this application, it should be noted that if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the product of this application is usually placed during use. It is only for the convenience of describing this application 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 construed as a limitation to this application. In addition, in the description of this application, if terms such as "first", "second", etc. are used only for distinguishing descriptions, they cannot be understood as indicating or implying relative importance.

[0057] In addition, in the description of this application, if terms such as "horizontal" and "vertical" are used, it does not mean that the components are required to be absolutely horizontal or hanging vertically, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0058] In the description of this application, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "connected to" are used, they 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0059] At present, brick walls are generally built manually, which consumes a lot of labor. To reduce the labor load and improve the construction efficiency, using automated equipment for bricklaying is the development direction in the construction field. During bricklaying, generally, the end face of the previous brick (referred to as the front brick) is used as a reference to position and lay the subsequent brick (referred to as the rear brick), so as to realize laying a row of bricks in sequence. However, when laying bricks to the end of a row, the end space between the end face of the front brick and the column surface (or shear wall surface) at the end can only just accommodate one brick. Therefore, the brick at the end must be completely aligned with the end space before it can be placed downward to complete the bricklaying.

[0060] For mechanical equipment, when the rear brick is higher than the front brick, it is impossible to use the end face of the lower front brick as a reference plane, so it is impossible to position the brick at the end, resulting in the inability to automatically lay the brick at the end, and further making it inconvenient to lay the next row of bricks. It is necessary to manually assist in laying the brick at the end, and full-automatic bricklaying cannot be achieved, and the bricklaying efficiency is relatively low.

[0061] To solve the problem that full-automatic bricklaying cannot be achieved due to the inability to automatically lay the brick at the end, the embodiment of the present application provides a solution. Two distance sensors that measure respectively to both sides are arranged on the gripper. During the process of laying bricks from the first to the last along a preset path, when laying the first brick and when laying bricks between the first and the last, the distance from the brick to the first end (i.e., the column surface or shear wall surface at the first position) or the distance from the brick to the front brick is detected by one of the two distance sensors to position the brick and realize sequential bricklaying; and when laying the brick at the end, the distance from the brick to the column surface or shear wall surface at the end is detected by the other of the two distance sensors to position the brick, solving the problem of being unable to position and lay the brick at the end, so that the whole row can be laid without manual assistance, and further solving the problem of being unable to achieve full-automatic bricklaying.

[0062] The gripper provided by the present application is not only applicable to bricklaying equipment, but also can be used in equipment for floor laying, tile laying, etc., which are used for sequentially laying fixed materials. The embodiment of the present application takes bricklaying equipment as an example for illustration.

[0063] As Figure 1 shown, the embodiment of the present application provides a bricklaying equipment, which includes an equipment main body 1000, a robotic arm 3000, and a gripper 4000. The robotic arm 3000 is connected to the equipment main body 1000, and the gripper 4000 is connected to the robotic arm 3000. The robotic arm 3000 is used to drive the gripper 4000 to lay bricks along a preset path.

[0064] As Figure 1 and Figure 2 shown, the bricklaying equipment further includes a lifting mechanism 2000. One end of the robotic arm 3000 is connected to the output end of the lifting mechanism 2000, and the other end of the robotic arm 3000 is connected to the gripper 4000.

[0065] The robotic arm 3000 includes a first part 3001, a second part 3002, a third part 3003, a fourth part 3004, and a fifth part 3005. The second part 3002 is rotatably connected to the first part 3001, the third part 3003 is rotatably connected to the second part 3002, the fourth part 3004 is rotatably connected to the third part 3003, and the fifth part 3005 is rotatably connected to the fourth part 3004. Among them, the rotation axes of the second part 3002, the third part 3003, and the fourth part 3004 are along the vertical direction, and the rotation axis of the fifth part 3005 is along the left - right direction. The gripper 4000 is rotatably connected to the fifth part 3005, and the rotation axis of the gripper 4000 is along the front - back direction.

[0066] By rotating the second part 3002, the third part 3003, and the fourth part 3004, the gripper 4000 can be driven to extend forward and retract.

[0067] Optionally, the device main body 1000 further includes a brick storage position 1001, which is arranged on the side of the lifting mechanism 2000 facing away from the robotic arm 3000 for storing bricks to be laid. By rotating the second part 3002, the third part 3003, and the fourth part 3004, the gripper 4000 can also be driven to rotate to the side of the lifting mechanism 2000 facing away from the robotic arm 3000, so as to be lowered and pick up bricks from the brick storage position 1001 under the drive of the lifting mechanism 2000.

[0068] By rotating the fifth part 3005, the flatness of the gripper 4000 in the front - back direction can be adjusted, and by rotating the gripper 4000 relative to the fifth part 3005, the flatness of the gripper 4000 in the left - right direction can be adjusted.

[0069] Thus, through the robotic arm 3000, it is possible to pick up bricks, keep the bricks horizontal, and use the bricks to build a brick wall.

[0070] A brick wall is generally arranged between two vertical members. The vertical members generally refer to columns or shear walls, and the distance between the two vertical members is the length of the brick wall. The brick - laying device further includes a control system, which plans a preset path according to the set length and height of the brick wall and plans the preset position of each brick according to the specifications of the bricks.

[0071] During brick - laying, the robotic arm 3000 drives the gripper 4000 to move to the brick storage position 1001 to pick up bricks, then drives the gripper 4000 to move to the preset path, determines the position of the rear brick by referring to the end face of the front brick, makes the rear brick correspond to its preset position, and then drives the gripper 4000 to place the brick at the preset position.

[0072] When laying the last C of a row of bricks, the space between the end face of the previous brick and the vertical surface of the vertical member at the last C can only accommodate one brick. Therefore, the brick at the last C must be completely aligned with the space before it can be lowered into the last C position for laying. However, when the rear brick is higher than the front brick, existing equipment cannot use the end face of the lower front brick as a reference surface, thus failing to position the brick at the last C position. This results in an inability to automatically lay the brick at the last C position, which in turn affects the construction progress. The clamp 4000 provided in this application and the bricklaying equipment equipped with the clamp 4000 can solve the problem of automatically positioning the brick at the last C position, thereby achieving automatic laying of the brick at the last C position.

[0073] like Figure 2 and Figure 3 As shown, the gripper 4000 includes a body, which is used to connect to the robot arm 3000 to pick up bricks in the front-to-back direction and lay bricks in the left-to-right direction.

[0074] In some embodiments, the body may be an adsorption mechanism for adsorbing on the surface of bricks to pick up bricks.

[0075] In other embodiments, the body can be a clamping mechanism for clamping bricks to facilitate picking up bricks. For example, the body includes a base plate 11, a first clamping plate 12, and a second clamping plate 13. The first clamping plate 12 and the second clamping plate 13 are disposed on the base plate 11 and face each other in a front-to-back direction for picking up and releasing bricks.

[0076] Optionally, the first clamping plate 12 and the second clamping plate 13 are both movably disposed on the base plate 11 along the front-rear direction.

[0077] Alternatively, one of the first clamping plate 12 and the second clamping plate 13 is fixed to the base plate 11, and the other is movably arranged on the base plate 11 along the front-back direction. Figure 3 and Figure 4 As shown, a third guide rail 111 is provided on the base plate 11, and a third slider 112 is connected to the second clamping plate 13. The third slider 112 is connected to the third guide rail 111. The clamping jaw 4000 also includes a third driving member 113. The third driving member 113 is provided on the base plate 11, and the output end of the third driving member 113 is connected to the third slider 112 to drive the second clamping plate 13 toward or away from the first clamping plate 12.

[0078] Exemplarily, the third guide rail 111 includes a strip hole formed on the base plate 11, the third slider 112 is passed through the strip hole, and the third slider 112 is movable along the extension direction of the strip hole, and the third driving member 113 is arranged on the side of the base plate 11 facing away from the second clamping plate 13 (that is, the side of the base plate 11 facing away from the brick).

[0079] Optionally, two parallel linear tracks 114 are further provided on the side of the substrate 11 facing the bricks, and both sides of the second clamping plate 13 are movably connected between the two parallel linear tracks 114.

[0080] The third driving member 113 is any linear driving mechanism, such as a cylinder, an electric cylinder, a hydraulic cylinder, etc. In this embodiment, the third driving member 113 includes a servo motor 1131, a driving wheel 1132, a transmission belt 1134, a driven wheel 1133, a lead screw 1135 and a nut 1136. The servo motor 1131 is fixed to the substrate 11, the lead screw 1135 is connected to the substrate 11 through a bearing block, the driving wheel 1132 is arranged at the output end of the servo motor 1131, the driven wheel 1133 is arranged at one end of the lead screw 1135, the transmission belt 1134 is wound around the driving wheel 1132 and the driven wheel 1133, and the nut 1136 is fitted on the lead screw 1135 and connected to the third slider 112. Thus, when the servo motor 1131 rotates, the third slider 112 is driven to move along the third guide rail 111 through the driving wheel 1132, the transmission belt 1134, the driven wheel 1133, the lead screw 1135 and the nut 1136, and then the second clamping plate 13 is driven to move.

[0081] When picking up a brick, the second clamping plate 13 first moves away from the first clamping plate 12 to increase the accommodating space, facilitating the brick to enter between the second clamping plate 13 and the first clamping plate 12. After the brick enters the accommodating space, the second clamping plate 13 moves towards the first clamping plate 12 to clamp the brick.

[0082] To improve the clamping force, a rubber pad 15 is provided on the side of the second clamping plate 13 facing the first clamping plate 12, and a rubber pad 15 is also provided on the side of the first clamping plate 12 facing the second clamping plate 13. When the rubber pad 15 is squeezed, it deforms to ensure complete contact with the surface of the brick, increasing the friction force and avoiding the situation that the contact area is reduced due to the uneven surface of the brick, resulting in unstable clamping.

[0083] Optionally, the surface of each rubber pad 15 is provided with patterns to further increase the friction force.

[0084] Optionally, the body further includes a cover 14, and the cover 14 covers the side of the substrate 11 facing away from the second clamping plate 13 to shield the third driving member 113.

[0085] In addition, the lengths of the bricks in the brick wall are sometimes inconsistent (the dimension in the left - right direction), especially the first A - brick and the last C - brick are prone to have shorter lengths. Optionally, to facilitate the laying of the last C - brick, the width of the jaw 4000 in the left - right direction is less than the length of the shortest brick in the wall it lays, that is, the widths of the first clamping plate 12, the substrate 11, and the second clamping plate 13 in the left - right direction are less than the length of the shortest brick.

[0086] Such as Figure 5As shown, the jaw 4000 further includes a first distance sensor 2 and a second distance sensor 3. The first distance sensor 2 is disposed on the body, and the first distance sensor 2 is used to detect the distance from the brick to the right reference plane of the body. The second distance sensor 3 is disposed on the body, and the second distance sensor 3 is used to detect the distance from the brick to the left reference plane of the body.

[0087] The jaw 4000 is configured to position the brick in the left-right direction by the first distance sensor 2 when the brick is being laid and built up to the last brick C. That is to say, during the process of laying bricks from left to right along the preset path, the first brick A is at the leftmost side and the last brick C is at the rightmost side:

[0088] When laying the brick at the first position A, the distance from the brick to the head end of the preset path is detected by the second distance sensor 3 to position the brick at the first position A. At this time, the head end of the preset path refers to the vertical member facade located on the left side of the first position A.

[0089] When laying bricks between the first position A and the last position C (hereinafter referred to as the middle position B), at this time the front brick is on the left side of the rear brick, and the second distance sensor 3 is used to detect the distance from the rear brick to the front brick to the left to position the rear brick.

[0090] When laying the brick at the last position C, the distance from the brick to the end of the preset path is detected by the first distance sensor 2 to the right to position the brick at the last position C. At this time, the end of the preset path refers to the vertical member facade located on the right side of the last position C.

[0091] Meanwhile, the jaw 4000 is configured to position the brick in the left-right direction by the second distance sensor 3 when laying bricks from right to left and building up to the last brick C. That is to say, during the process of laying bricks from right to left along the preset path, the first brick A is at the rightmost side and the last brick C is at the leftmost side:

[0092] When laying the brick at the first position A, the distance from the brick to the head end of the preset path is detected by the first distance sensor 2 to position the brick at the first position A. At this time, the head end of the preset path refers to the vertical member facade located on the right side of the first position A.

[0093] When laying bricks at the middle position B, at this time the front brick is on the right side of the rear brick, and the first distance sensor 2 is used to detect the distance from the rear brick to the front brick to the right to position the rear brick.

[0094] When laying the brick at the last position C, the distance from the brick to the end of the preset path is detected by the second distance sensor 3 to the left to position the brick at the last position C. At this time, the end of the preset path refers to the vertical member facade located on the left side of the last position C.

[0095] Therefore, by respectively arranging the first distance sensor 2 and the second distance sensor 3 on the left and right sides of the gripper 4000, with the first distance sensor 2 measuring the distance to the right and the second distance sensor 3 measuring the distance to the left. On the one hand, during masonry, first, one distance sensor is used to take the vertical member's facade at the first position A as the reference plane to achieve positioning and masonry of the brick at the first position A. Then, the distance sensor is used to take the end face of the previous brick as the reference plane to position and masonry the subsequent brick at the middle position B. Finally, the other distance sensor is used to take the vertical member's facade at the last position C as the reference plane to achieve masonry of the brick at the last position C, solving the problem of being unable to position the brick at the last position C, and further solving the problem that the brick at the last position C cannot be automatically masoned, thus realizing full-automatic masonry.

[0096] In addition, the technical solution provided by this application is not only applicable to masonry from right to left but also applicable to masonry from left to right, and can realize alternating masonry from right to left and from left to right. Thus, after a row of bricks is masoned, the gripper 4000 does not need to return to the starting point without load, which can effectively improve the masonry efficiency.

[0097] In the embodiment where both the first clamping plate 12 and the second clamping plate 13 are movably arranged along the front-rear direction on the substrate 11, the first distance sensor 2 and the second distance sensor 3 can be directly arranged on the substrate 11, or a fixing plate is arranged on the substrate 11, and then the first distance sensor 2 and the second distance sensor 3 are installed on the fixing plate. During the masonry process, by fixing the first distance sensor 2 and the second distance sensor 3 relative to the substrate 11, it can ensure that the positions of the first distance sensor and the second distance sensor remain unchanged during masonry, reducing the risk of misalignment between the first distance sensor and the second distance sensor and the reference plane.

[0098] In the embodiment where the first clamping plate 12 is fixedly connected to the substrate 11 and the second clamping plate 13 is movably connected to the substrate 11 along the front-rear direction, the first distance sensor 2 and the second distance sensor 3 are arranged on the first clamping plate 12. During the masonry process, the thicknesses of the bricks at different preset positions may be different, which makes the position of the second clamping plate 13 not fixed. By arranging the first distance sensor 2 and the second distance sensor 3 on the first clamping plate 12, it can ensure that the positions of the first distance sensor 2 and the second distance sensor 3 remain unchanged, reducing the risk of misalignment between the first distance sensor 2 and the second distance sensor 3 and the reference plane.

[0099] Optionally, as Figure 5 shown, the first distance sensor 2 and the second distance sensor 3 are arranged on the side of the first clamping plate 12 facing away from the second clamping plate 13. By arranging the first distance sensor 2 and the second distance sensor 3 on the side of the first clamping plate 12 facing away from the second clamping plate 13, it can also keep the first distance sensor 2 and the second distance sensor 3 away from the bricks, so as to prevent the first distance sensor 2 and the second distance sensor 3 from being damaged by pressure during the process of gripping the bricks and masonry.

[0100] Optionally, the body is connected to the fifth part 3005 of the robotic arm 3000 through the first clamping plate 12, so that the first distance sensor 2 and the second distance sensor 3 are located between the first clamping plate 12 and the fifth part 3005 of the robotic arm 3000, playing a role in shielding and protecting the first distance sensor 2 and the second distance sensor 3 and reducing space occupation.

[0101] Optionally, the first distance sensor 2 is arranged on the left side of the body, and the second distance sensor 3 is arranged on the right side of the body.

[0102] As Figure 6 shown, the first distance sensor is arranged in the left area of the first clamping plate 12, and the detection part of the first distance sensor 2 faces right; the second distance sensor 3 is arranged in the right area of the first clamping plate 12, and the detection part of the second distance sensor 3 faces left.

[0103] In the embodiment of the present application, the first distance sensor 2 and the second distance sensor 3 can be selected as laser distance sensors. Generally, a laser distance sensor has a certain detection range, and the reference plane must be located between the starting detection distance and the farthest detection distance of the laser distance sensor. If it exceeds this range, the detection will be inaccurate.

[0104] By arranging the first distance sensor 2 on the left side of the body, the distance from the first distance sensor 2 to the right reference plane is increased. By arranging the second distance sensor 3 on the right side of the body, the distance from the second distance sensor 3 to the left reference plane is increased. Thus, on the one hand, it can ensure that the distance from the sensor to the reference plane is within the detection range of the sensor, avoiding the situation that the sensor is too close to the reference plane to detect. Especially when laying the first and last bricks and the last C brick with a short laying length, by increasing the distance from the sensor to the reference plane so that it is greater than the starting detection distance of the sensor, the problem of inaccurate positioning due to the sensor being too close to the reference plane can be effectively avoided.

[0105] In some embodiments, the first distance sensor 2 and the second distance sensor 3 can also be selected with a smaller starting detection distance and higher precision in the detection range to meet the needs of close-range detection. In the present application, by arranging the first distance sensor 2 on the left side of the body and the second distance sensor 3 on the right side of the body, the sensor can be selected with a relatively larger starting detection distance and lower cost in the detection range, thereby reducing the cost.

[0106] Furthermore, the first distance sensor 2 and the second distance sensor 3 are respectively movably arranged on the body in the vertical direction, so that when one of the first distance sensor 2 and the second distance sensor 3 is working, the other can be staggered in the vertical direction to make room and avoid occlusion.

[0107] As Figure 6 shown, the main body further includes a working area 121 and an avoidance area 122 arranged in the up-down direction. The first distance sensor 2 and the second distance sensor 3 are respectively movably arranged on the main body in the up-down direction so as to move between the avoidance area 122 and the working area 121. Combining Figure 7 and Figure 8 shown, when the first distance sensor 2 is in the working area 121, it detects the distance from the brick to the right reference plane of the main body, and when in the avoidance area 122, it avoids the second distance sensor 3. When the second distance sensor 3 is in the working area 121, it detects the distance from the brick to the left reference plane of the main body, and when in the avoidance area 122, it avoids the first distance sensor 2.

[0108] Among them, the working area 121 is located below the avoidance area 122. The brick should be higher than its preset position during the movement process. When the gripper 4000 picks up the brick at the middle position B and moves, it will be slightly higher than the previous brick. By setting the working area 121 below, it is avoided that when laying the brick at the middle position B, the first distance sensor 2 or the second distance sensor 3 cannot detect the end face of the previous brick due to being too high.

[0109] The gripper 4000 further includes a first sliding assembly and a second sliding assembly. The first distance sensor 2 is connected to the main body through the first sliding assembly, and the second distance sensor 3 is connected to the main body through the second sliding assembly, so that the first distance sensor 2 and the second distance sensor 3 can move between the avoidance area 122 and the working area 121, and ensure the movement stability of the first distance sensor 2 and the second distance sensor 3, and improve the detection accuracy. By improving the detection accuracy, it is further ensured that when laying the brick at the last position C, the brick can be exactly placed into the last position C space.

[0110] The first sliding assembly includes a first guide rail 21 and a first slider 22. The first guide rail 21 is arranged on the left side of the main body and extends in the up-down direction. The first guide rail 21 straddles the avoidance area 122 and the working area 121. The first slider 22 is slidably connected to the first guide rail 21, and the first distance sensor 2 is connected to the first slider 22.

[0111] The second sliding assembly includes a second guide rail 31 and a second slider 32. The second guide rail 31 is arranged on the right side of the main body and extends in the up-down direction. The second guide rail 31 straddles the avoidance area 122 and the working area 121. The second slider 32 is slidably connected to the second guide rail 31, and the second distance sensor 3 is connected to the second slider 32.

[0112] The jaw 4000 further includes a first driving member 23 and a second driving member 24. The first driving member 23 is disposed on the body, and the output end of the first driving member 23 is connected to the first slider 22 for driving the first slider 22 to move along the first guide rail 21; the second driving member 24 is disposed on the body, and the output end of the second driving member 24 is connected to the second slider 32 for driving the second slider 32 to move along the second guide rail 31.

[0113] The first driving member 23 and the second driving member 24 may be one of a motor lead screw 1135-nut 1136 assembly, a cylinder, and an electric cylinder. In the embodiment of the present application, both the first driving member 23 and the second driving member 24 are electric cylinders, and the electric cylinder has a compact structure, so that the space occupied by the first driving member 23 and the second driving member 24 is small.

[0114] By driving the first distance sensor 2 and the second distance sensor 3 respectively through the first driving member 23 and the second driving member 24, the position is automatically switched, and further automatic detection and masonry are realized.

[0115] Optionally, the jaw 4000 further includes a fixed surface sensor 4. As Figure 4 shown, the fixed surface sensor 4 is disposed on the substrate 11. The fixed surface sensor 4 includes at least three detection ends 41, and any three of the at least three detection ends 41 are not on the same straight line. Each detection end 41 is respectively used to detect the distance from the substrate 11 to the upper surface of the brick to determine the flatness of the upper surface of the brick.

[0116] It should be noted that flatness refers to the inclination of the detected object relative to the horizontal plane. For example, the flatness of the upper surface of the brick refers to the inclination of the upper surface of the brick relative to the horizontal plane. According to the principle of three points determining a plane (there is one and only one plane passing through three points not on a straight line), therefore, when and only when the distances detected by the three detection ends 41 are equal, the substrate 11 is parallel to the upper surface of the brick.

[0117] By providing a positioning sensor with at least three detection ends 41 to detect the distance from the substrate 11 to the upper surface of the brick, and adjusting the posture of the substrate 11 according to the flatness of the upper surface of the brick, it is ensured that the substrate 11 picks up the brick in a state parallel to the upper surface of the brick, so as to ensure that the jaw 4000 picks up the brick smoothly, and at this time, the postures of the substrate 11 and the brick are consistent, which is convenient for adjusting the posture of the brick by adjusting the posture of the jaw 4000 through the robotic arm 3000.

[0118] Optionally, the jaw 4000 further includes an inclination sensor 5. As Figure 4As shown, the inclination sensor 5 is disposed on the substrate 11. By providing the inclination sensor 5, the flatness of the substrate 11 is detected to achieve the detection of the flatness of the brick, thereby preventing the brick picked up by the gripper 4000 from tilting and ensuring that the brick is laid in a horizontal and stable posture.

[0119] Further, the fifth part 3005 of the robotic arm 3000 and the body of the gripper 4000 rotate respectively in response to the detection result of the inclination sensor 5 to adjust the flatness of the gripper 4000 and the brick picked up by it in the front-back direction and the left-right direction.

[0120] Optionally, the gripper 4000 further includes a vision sensor, and the vision sensor is disposed on the body. As Figure 2 and Figure 3 shown, the vision sensor is connected to the substrate 11 and is located on the side of the second clamping plate 13 away from the first clamping plate 12.

[0121] When laying a brick wall, generally a horizontal laser line is projected on the site by a laser emitter 5000 to determine the preset path for bricklaying, facilitating the observation of whether the path of the brick deviates from the laying path.

[0122] In the embodiment of the present application, the body is configured to lay bricks along the preset path defined by the laser line.

[0123] The vision sensor 6 is used to photograph the laser line, and a reference line is preset in the vision sensor 6. When the laser line photographed by the vision sensor 6 coincides with the reference line, the positioning of the brick picked up by the body in the front-back direction is accurate. At this time, by positioning the left-right distance of the brick with the first distance sensor 2 or the second distance sensor 3, the brick can be made to correspond to its preset position.

[0124] By providing the vision sensor 6, when the laser line detected by the vision sensor 6 coincides with the preset reference line in the vision sensor 6, the posture of the brick picked up by the gripper 4000 is along the left-right direction, and the positioning of the brick picked up by the gripper 4000 in the front-back direction is accurate, thereby achieving the positioning of the brick in the front-back direction.

[0125] Further, the second part 3002, the third part 3003, and the fourth part 3004 of the robotic arm 3000 rotate in response to the detection result of the vision sensor 6 to adjust the position and posture of the gripper 4000 and the brick picked up by it in the front-back direction.

[0126] The embodiment of the present application also provides a bricklaying method. Combining Figure 7 、 Figure 8 and Figure 9 shown, the bricklaying method includes using the aforementioned gripper 4000 to pick up bricks and laying the bricks along the preset path from the first position A to the last position C, wherein:

[0127] When laying bricks at the first position A, the distance from the brick to the head end of the preset path is detected by one of the first distance sensor 2 and the second distance sensor 3 to position the brick at the first position A.

[0128] When laying bricks between the first position A and the last position C, the distance from the latter brick to the former brick is detected by one of the first distance sensor 2 and the second distance sensor 3 to position the latter brick.

[0129] When laying bricks at the last position C, the distance from the brick to the end of the preset path is detected by the other of the first distance sensor 2 and the second distance sensor 3 to position the brick at the last position C.

[0130] Exemplarily, as Figure 9 shown, the gripper 4000 lays bricks from left to right along the preset path, with the first position A at the leftmost and the last position C at the rightmost.

[0131] When laying the brick at the first position A at the leftmost, the first distance sensor 2 moves to the avoidance area 122 and the second distance sensor 3 moves to the working area 121 (refer to Figure 7 ), and the distance from the brick to the vertical surface of the left vertical member is detected by the second distance sensor 3 to position the brick at the first position A.

[0132] When laying bricks at the middle position B, the first distance sensor 2 remains in the avoidance area 122 and the second distance sensor 3 remains in the working area 121 (refer to Figure 7 ), and the distance from the latter brick to the end face of the former brick is detected by the second distance sensor 3 to the left to position the latter brick.

[0133] When laying bricks at the last position C, the first distance sensor 2 moves to the working area 121 and the second distance sensor 3 moves to the avoidance area 122 (refer to Figure 8 ), and the distance from the brick to the vertical surface of the right vertical member is detected by the first distance sensor 2 to position the brick at the last position C. After the brick at the last position C is positioned, it is vertically placed into the space at the last position C in the vertical direction to complete the bricklaying.

[0134] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A clamping jaw for laying bricks in the left - right direction. There are a right reference plane and a left reference plane in the working environment, and the right reference plane and the left reference plane are used to control the laying position of the bricks. It is characterized in that, The gripper includes: a body for picking up bricks and laying the bricks in the left - right direction; a first distance sensor disposed on the body for detecting the distance between the brick and the right reference plane; a second distance sensor disposed on the body for detecting the distance between the brick and the left reference plane; wherein, when the gripper is configured to lay bricks from left to right and reaches the last brick, the first distance sensor is used to position the brick in the left - right direction; when the gripper is configured to lay bricks from right to left and reaches the last brick, the second distance sensor is used to position the brick in the left - right direction; The gripper further includes: a first sliding assembly including a first guide rail and a first slider, the first guide rail is disposed on the left side of the body and extends in the up - down direction, the first slider is slidably connected to the first guide rail, and the first distance sensor is connected to the first slider; a second sliding assembly including a second guide rail and a second slider, the second guide rail is disposed on the right side of the body and extends in the up - down direction, the second slider is slidably connected to the second guide rail, and the second distance sensor is connected to the second slider.

2. The jaw according to claim 1, characterized in that, When laying the first brick, the distance between the brick and one side reference plane is detected by one of the first distance sensor and the second distance sensor to position the brick; When laying bricks between the first and the last bricks, the distance between the latter brick and the former brick is detected by one of the first distance sensor and the second distance sensor to position the latter brick.

3. The jaw according to claim 1, characterized in that, The body further includes a working area and an avoidance area arranged in the up - down direction. The first distance sensor and the second distance sensor are respectively movably arranged on the body in the up - down direction to move between the avoidance area and the working area; when the first distance sensor is in the working area, it detects the distance between the brick and the right reference plane of the body, and when in the avoidance area, it avoids the second distance sensor; when the second distance sensor is in the working area, it detects the distance between the brick and the left reference plane of the body, and when in the avoidance area, it avoids the first distance sensor.

4. The jaw according to claim 3, characterized in that, The working area is located below the avoidance area.

5. The jaw according to claim 1, characterized in that, The gripper further includes: a first driving member disposed on the body, the output end of the first driving member is connected to the first slider for driving the first slider to move along the first guide rail; a second driving member disposed on the body, the output end of the second driving member is connected to the second slider for driving the second slider to move along the second guide rail.

6. The jaw according to any one of claims 1-5, characterized in that, The body includes: a substrate; a first clamping plate and a second clamping plate, the first clamping plate and the second clamping plate are respectively disposed on the substrate and are oppositely arranged in the front - back direction for clamping and releasing bricks; wherein, the first distance sensor and the second distance sensor are fixedly arranged relative to the substrate.

7. The jaw according to claim 6, wherein The first clamping plate is fixedly connected to the substrate, the second clamping plate is movably connected to the substrate in the front-rear direction, and the first distance sensor and the second distance sensor are arranged on the first clamping plate.

8. The jaw according to claim 7, characterized in that, The first distance sensor and the second distance sensor are arranged on a surface of the first clamping plate facing away from the second clamping plate.

9. The jaw according to claim 7, wherein, The substrate is provided with a third guide rail, the second clamping plate is provided with a third slider, and the third slider is connected to the third guide rail; The clamping jaw further includes: A third driving member, the third driving member is arranged on the substrate, and an output end of the third driving member is connected to the third slider.

10. The jaw according to claim 6, characterized in that, The clamping jaw further includes: A flat surface sensor, arranged on the substrate, the flat surface sensor includes at least three detection ends, any three of the at least three detection ends are not on the same straight line, and each detection end is respectively used to detect the distance from the substrate to the upper surface of the brick to determine the flatness of the upper surface of the brick.

11. The jaw according to claim 6, wherein The clamping jaw further includes: An inclination sensor, arranged on the substrate, for detecting the flatness of the substrate.

12. The jaw according to claim 1, wherein The clamping jaw is configured to lay the bricks along a preset path defined by the laser line; The clamping jaw further includes: A vision sensor, arranged on the body, the vision sensor is preset with a reference line; the vision sensor is used to photograph the laser line; the clamping jaw is configured to position the brick in the front-rear direction when the laser line coincides with the reference line.

13. A bricklaying method using the gripper according to any one of claims 1-12, characterized in that, Including: Picking up the bricks with the clamping jaw, the clamping jaw is provided with a first distance sensor and a second distance sensor; Laying the bricks from the first position to the last position along the preset path, wherein, When laying the brick at the first position, detecting the distance from the brick to the first end of the preset path by one of the first distance sensor and the second distance sensor to position the brick; When laying the bricks between the first position and the last position, detecting the distance from the latter brick to the former brick by one of the first distance sensor and the second distance sensor to position the latter brick; When laying the brick at the last position, detecting the distance from the brick to the end of the preset path by the other of the first distance sensor and the second distance sensor to position the brick.

14. A bricklaying device, characterized in that, Including: The device main body; The clamping jaw according to any one of claims 1-12; A robotic arm, arranged on the device main body and connected to the clamping jaw, for driving the clamping jaw to lay bricks along a preset path.

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