A clamp, a flip manipulator and a bricklaying robot

Abstract

The present application relates to a clamp, a flipping manipulator and a bricklaying robot, and belongs to the technical field of construction machinery. The clamp includes a base plate, two first clamping parts and two second clamping parts; the two first clamping parts are arranged on both sides of the base plate in a first direction, and at least one of the two first clamping parts is movably arranged on the base plate along the first direction; the first clamping part clamps the target part through the second clamping part; a guide assembly is arranged between the first clamping part and the second clamping part, and the guide assembly is used to guide the second clamping part to move relative to the corresponding first clamping part along the first direction in a direction away from the other first clamping part when the two first clamping parts approach each other along the first direction after the second clamping part clamps the target part, and the second clamping part moves toward the base plate along the second direction. When clamping the target part, this clamp can use the clamping force to clamp the target part while guiding the target part to move upward, thereby improving the transfer efficiency of the target part.

Description

Technical Field

[0001] The present application relates to the technical field of construction machinery, and in particular to a clamp, a turning manipulator and a bricklaying robot. Background Art

[0002] At present, in the process of picking up bricks on the supporting platform, the clamp in the bricklaying robot generally clamps the bricks before triggering the clamp to move the bricks away from the supporting platform. When the clamp switches to the clamping state by driving the clamping plate to move back, it takes a certain amount of time for the clamp to switch from the initial state to the clamping state. That is, the supporting platform has to wait until the clamp clamps the bricks and moves the bricks away before the supporting platform can proceed to the next round of brick delivery process. This leads to a slow brick delivery rhythm of the bricklaying robot, affecting the production efficiency of the bricklaying robot. Summary of the Invention

[0003] The purpose of this application is to provide a clamp to address the above problems and improve them.

[0004] In the first aspect, an embodiment of the present application provides a clamp, which is used to clamp a target part, and the clamp includes a substrate, two first clamping parts and two second clamping parts; the two first clamping parts are arranged on both sides of the substrate in a first direction, and at least one of the two first clamping parts is movably arranged on the substrate along the first direction; the two second clamping parts correspond one-to-one to the two first clamping parts, and the second clamping parts are arranged on the corresponding first clamping parts, and the first clamping parts clamp the target part through the second clamping parts; wherein a guide component is provided between the first clamping part and the second clamping part, and the guide component is used to guide the second clamping part to move relative to the corresponding first clamping part along the first direction in a direction away from the other first clamping part when the two first clamping parts approach each other along the first direction after the second clamping part clamps the target part, and the second clamping part moves toward the substrate along the second direction, and the second direction is perpendicular to the first direction and the substrate.

[0005] In this solution, the target part is a brick. When the target part is transported to the picking position for the clamp to pick up by the carrying platform, a second clamping part is provided on the first clamping part, and the second clamping part contacts the target part instead of the first clamping part. Since a guide component is provided between the first clamping part and the second clamping part, when the clamp clamps the target part, the guide component can guide the second clamping part to move obliquely toward one side of the substrate to drive the target part to move toward one side of the substrate, that is: the second clamping part can move the target part toward one side of the substrate (the second direction) while clamping the target part, that is, the target part is lifted, so that the target part can leave the carrying platform while being clamped. Then, after the carrying platform senses that the target part has left, it can proceed to the next round of brick delivery process. Therefore, by setting up the second clamping part and the guide assembly on the clamp, when the clamp clamps the target part, the clamping force can enable the second clamping part to clamp and guide the target part to move to one side (upward) of the substrate to away from the supporting platform, thereby saving the waiting time of the supporting platform, achieving a compact brick supply cycle, and improving production efficiency.

[0006] In addition, the clamp provided in the embodiment of the present application also has the following additional technical features:

[0007] In some embodiments, a gap is provided between the first clamping portion and the second clamping portion, so that the second clamping portion can drive the target part to move along the first direction and the second direction after clamping the target part.

[0008] In the above technical solution, there is a gap between the first clamping part and the second clamping part. When the clamp clamps the target part, the gap constitutes a space for the second clamping part to move toward the first clamping part, so that the second clamping part can drive the target part to move toward the side close to the substrate.

[0009] In some embodiments, the guide assembly includes a guide portion and a guide rod, the guide portion is arranged on the first clamping portion, and the guide portion is arranged at an angle toward one side of the substrate; the guide rod is arranged on the second clamping portion, and the guide rod slides with the guide portion to guide the second clamping portion to move at an angle toward one side of the substrate when the second clamping portion clamps the target part.

[0010] In the above technical solution, a guide portion is provided on the first clamping portion, and the guide portion is inclined toward one side of the substrate, and a guide rod is provided on the second clamping portion, and the guide rod and the guide portion are slidably matched, so that when the clamp uses the second clamping portion to clamp the target part, the guide rod will move toward the side of the substrate along the direction of the guide portion, so that the second clamping portion is inclined to move toward the side of the substrate, so as to drive the target part clamped by the second clamping portion to move toward the side of the substrate, thereby realizing the inclined upward movement of the target part.

[0011] In some embodiments, on the first clamping portion, the number of guide portions is set to multiple, and the multiple guide portions are spaced apart along the third direction on the first clamping portion, and the third direction, the second direction and the first direction are perpendicular to each other; on the second clamping portion, the number and positions of the guide rods correspond one-to-one to the number and positions of the guide portions.

[0012] In the above technical solution, multiple guide parts are provided on the first clamping part, and the multiple guide parts cooperate with each other, so that the second clamping part has multiple guide points relative to the first clamping part, so that the movement of the second clamping part relative to the first clamping part is more stable and reliable, thereby realizing the clamping of the clamp while guiding the target part to move upward to achieve the lifting of the target part away from the supporting platform.

[0013] In some embodiments, an elastic member is further provided between the second clamping portion and the first clamping portion, and the elastic member is used to apply elastic force to the second clamping portion so that the second clamping portion is maintained in an initial position, which is the position of the second clamping portion when it does not clamp the target part on the first clamping portion.

[0014] In the above technical solution, an elastic member is provided between the second clamping portion and the first clamping portion. The elastic member can enable the second clamping portion to accumulate elastic force in the process of grasping the target member and tilting it toward the side of the substrate. This elastic force can enable the second clamping portion to press against the target member when the clamp clamps the target member, thereby driving the target member to move upward, that is, toward the side of the substrate. In addition, this elastic force can also drive the second clamping portion to automatically move back to its initial position after the clamp releases the target member, thereby facilitating the next grasping of the clamp and avoiding affecting the normal grasping of the clamp due to obstruction of the guide component.

[0015] In some embodiments, the side of the second clamping portion away from the first clamping portion is a clamping surface, and an anti-slip portion is provided on the clamping surface, which is used to increase the static friction force when the second clamping portion clamps the target part.

[0016] In the above technical solution, an anti-slip portion is provided on one side of the clamping surface of the second clamping portion. The anti-slip portion can increase the static friction of the clamp when clamping the target part, thereby increasing the stability and reliability of the clamp in grasping the target part, and avoiding the phenomenon of the target part falling and being damaged due to unstable grasping of the target part.

[0017] In some embodiments, the anti-slip portion includes an elastic layer and a plurality of anti-slip grooves on the elastic layer, and the plurality of anti-slip grooves are spaced apart and distributed along the second direction on the elastic layer.

[0018] In the above technical solution, by providing multiple anti-slip grooves on the elastic layer, when the clamp grasps the target part, the clamping force of the clamp can be used to squeeze and deform the elastic layer, thereby causing the anti-slip grooves to deform accordingly. This increases the contact area between the anti-slip grooves and the target part, thereby increasing the static friction force when the clamp grasps the target part, making the clamp's grasping work more stable and reliable.

[0019] In some embodiments, the two first clamping portions are movably disposed on the substrate, so that the two first clamping portions can move closer to or farther from each other along the first direction on the substrate.

[0020] In the above technical solution, since both clamping parts are movably disposed on the substrate, the time required for the two first clamping parts to move closer or further apart during the clamping or opening process is shorter than with a single movably disposed first clamping part, thereby improving the clamp's operating efficiency. Furthermore, since both first clamping parts are movably disposed on the substrate, even if one of the two first clamping parts mechanically malfunctions, the clamp can maintain its grip, preventing the target object from falling.

[0021] In some embodiments, the clamp also includes a screw, two threaded seats and a driving member. The screw is rotatably installed on the base plate, and the screw extends along the first direction. The screw has a positive thread segment and a negative thread segment with opposite thread segments on both sides in the first direction; the two nut seats are respectively threadedly engaged with the positive thread segment and the negative thread segment of the screw, and the two nut seats are respectively connected to the two first clamping parts; the driving member is arranged on the base plate, and the driving member is used to drive the screw to rotate, so as to drive the two first clamping parts to approach or move away from each other in the first direction.

[0022] In the above technical solution, a screw-nut pair transmission mechanism is used to achieve directional drive of the first clamping portion on the base plate. Compared to using an electric push rod, the movement of the first clamping portion on the base is more stable and reliable. Furthermore, by providing the screw with two sections of oppositely threaded positive and negative threads, which respectively cooperate with two nut seats, a single drive element can be used to move the two first clamping portions closer together or farther apart, thereby achieving the clamping operation. This saves the need for a set of drive devices and is more conducive to the spatial layout of the clamp.

[0023] In some embodiments, a slide rail extending along the first direction is provided on the base plate, a connecting plate is provided between the nut seat and the first clamping portion, and a slider is provided on the side of the connecting plate close to the slide rail, and the slider slides in cooperation with the slide rail.

[0024] In the above technical solution, a connecting plate is provided between the nut seat and the first clamping part, and the slider on the connecting plate cooperates with the slide rail guide on the base plate. The slide rail can provide a guiding effect for the slider. Under the rotation of the screw rod, the first clamping part can be guided to move in a directional manner on the base plate, making the movement of the first clamping part more stable and reliable.

[0025] In some embodiments, the number of the slide rails is set to two, and the two slide rails are respectively located on both sides of the third direction on the substrate, and the third direction, the second direction and the first direction are perpendicular to each other.

[0026] In the above technical solution, two slide rails are provided on the base plate, and the two slide rails cooperate with each other to guide the first clamping part, so that the movement accuracy of the clamp is higher.

[0027] In a second aspect, an embodiment of the present application further provides a flipping robot, which includes a mounting seat, a rotating seat, and the aforementioned clamp. The rotating seat is rotatably mounted on the mounting seat, and the clamp is mounted on the rotating seat.

[0028] In the above technical solution, by arranging a clamp on the rotating seat, the target part clamped by the clamp can be turned over under the rotation of the rotating seat, which has stronger functionality.

[0029] On the third aspect, an embodiment of the present application further provides a bricklaying robot, which includes a workbench, a supporting platform and the aforementioned flipping manipulator. The supporting platform is movably arranged on the workbench, and the flipping manipulator is installed on the workbench.

[0030] When applied to a bricklaying robot, the target part is a brick. After the flipping robot picks up the brick on the supporting platform, the flipping robot can flip the mortar surface of the brick from the upper side to the lower side, so that the bricklaying robot in the bricklaying robot can grab the brick flipped by the flipping robot and directly place it in the stacking position of the wall. There is no need for the bricklaying robot to flip the brick during the bricklaying process, and it is convenient for the bricklaying robot to avoid the mortar surface of the brick to grab the brick, which is beneficial to improving the bricklaying efficiency of the wall.

[0031] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A schematic diagram of the structure of a clamp provided in some embodiments of the present application;

[0034] Figure 2 A schematic structural diagram of a clamp provided in some embodiments of the present application from another angle;

[0035] Figure 3 for Figure 2 Cross-sectional view of AA;

[0036] Figure 4 for Figure 2 Cross-sectional view of the middle BB;

[0037] Figure 5 A schematic diagram of a disassembled clamp provided in some embodiments of the present application;

[0038] Figure 6 A schematic diagram of the structure of a flip robot provided in some embodiments of the present application;

[0039] Figure 7 A schematic structural diagram of a bricklaying robot provided in some embodiments of the present application;

[0040] Figure 8 for Figure 7 Schematic diagram of the bricklaying robot after removing the bricklaying manipulator;

[0041] Figure 9 for Figure 8 A schematic diagram of the bricklaying robot from another angle;

[0042] Figure 10 for Figure 7 Schematic diagram of the structure of the middle load platform.

[0043] Icons: 100-bricklaying robot; 10-workbench; 20-flipping manipulator; 21-stand; 22-mounting seat; 23-rotating seat; 30-clamp; 31-base plate; 32-first clamping part; 33-second clamping part; 34-guide assembly; 341-guide part; 342-guide rod; 343-elastic part; 35-anti-slip part; 351-elastic layer; 352-anti-slip groove; 360-screw; 361-nut seat; 362-driving part; 363-slide rail; 364-connecting plate; 365-slider; 40-carrying platform; 41-positioning platform; 42-clamping arm; 50-transverse movement mechanism; 60-slurry mechanism; 61-actuator; 62-slurry head; 70-bricklaying manipulator; 80-base; 200-brick; X-first direction; Z-second direction; Y-third direction. DETAILED DESCRIPTION

[0044] The following detailed description of the embodiments of the present application is provided in conjunction with the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of the present application, but are not intended to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0045] In the description of this application, it should be noted that, unless otherwise specified, "multiple" means more than two; the terms "upper", "lower", "left", "right", "inside", "outside", etc., indicating directions or positional relationships, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly perpendicular, but is within the allowable error range. "Parallel" is not strictly parallel, but is within the allowable error range.

[0046] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of this application. In the description of this application, it should also 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 directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0047] An embodiment of the present application provides a clamp for use in the field of bricklaying robots. The target part is a brick. When the clamp clamps the brick, it can use the clamping force to clamp the brick while guiding it to move upward away from the supporting platform, thereby saving the waiting time of the supporting platform, achieving a compact brick supply cycle, and improving the production efficiency of the bricklaying robot.

[0048] Among them, see Figure 1 and Figure 2The clamp 30 includes a substrate 31, two first clamping parts 32 and two second clamping parts 33; the two first clamping parts 32 are arranged on both sides of the substrate 31 in the first direction X, and at least one of the two first clamping parts 32 is movably arranged on the substrate 31 along the first direction X; the two second clamping parts 33 correspond one-to-one to the two first clamping parts 32, and the second clamping parts 33 are arranged on the corresponding first clamping parts 32, and the first clamping parts 32 clamp the target part through the second clamping parts 33; wherein a guide component 34 is provided between the first clamping parts 32 and the second clamping parts 33, and the guide component 34 is used to guide the second clamping parts 33 to move relative to the corresponding first clamping parts 32 along the first direction X in a direction away from the other first clamping parts 32 when the two first clamping parts 32 approach each other along the first direction after the second clamping parts 33 clamp the target part. The second clamping parts 33 move toward the substrate 31 along the second direction Z, and the second direction Z is perpendicular to the first direction X.

[0049] In this solution, the target part is a brick 200. When the target part is transported to the picking position for the clamp 30 to pick up by the carrying platform 40, a second clamping part 33 is provided on the first clamping part 32. The second clamping part 33 contacts the target part instead of the first clamping part 32, and since a guide component 34 is provided between the first clamping part 32 and the second clamping part 33, when the clamp 30 clamps the target part, the guide component 34 can guide the second clamping part 33 to move obliquely toward one side of the substrate 31 to drive the target part to move toward one side of the substrate 31, that is: the second clamping part 33 can move the target part toward one side of the substrate 31 (upward) while clamping the target part, that is, the target part is lifted, so that the target part can leave the carrying platform 40 while being clamped. Then, after the carrying platform 40 senses that the target part has left, it can proceed to the next round of brick feeding process. Therefore, by setting the second clamping part 33 and the guide assembly 34 on the clamp 30, when the clamp 30 clamps the target part, the clamping force can enable the second clamping part 33 to clamp while guiding the target part to move to one side (upward) of the substrate 31 to away from the supporting platform 40, thereby saving the waiting time of the supporting platform 40, achieving a compact brick supply cycle, and improving production efficiency.

[0050] In addition, the clamp 30 provided in the embodiment of the present application also has the following additional technical features:

[0051] Among them, at least one of the first clamping portion 32 and the second clamping portion 33 is elastic, so that the second clamping portion 33 can move relative to the corresponding first clamping portion 32 along the first direction X in a direction away from the other first clamping portion 32. Of course, there can also be a gap between the second clamping portion 33 and the first clamping portion 32, which can also enable the second clamping portion 33 to move relative to the first clamping portion 32 in the first direction X and the second direction Z.

[0052] In some embodiments, a gap is provided between the first clamping portion 32 and the second clamping portion 33 so that after clamping the target object, the second clamping portion 33 can drive the target object to move along the first direction X and the second direction Z. The gap between the first clamping portion 32 and the second clamping portion 33 allows the second clamping portion 33 to move toward the first clamping portion 32 when the clamp clamps the target object, thereby enabling the second clamping portion 33 to drive the target object to move toward the side closer to the substrate 31.

[0053] The guide assembly 34 can be a variety of guide structures. For example, the guide assembly 34 can be a sliding hole and a sliding column. The sliding groove is provided on the first clamping part 32, and the sliding column is provided on the second clamping part 33. The sliding column is passed through the sliding hole, and the sliding hole is provided at an angle toward the side of the base plate 31, thereby guiding the second clamping part 33 to move upward when clamping the target part. The guide assembly 34 can also be a guide rail and a roller. The first clamping part 32 is provided with a guide rail, and the second clamping part 33 is provided with a roller rod with a roller. The second clamping part 33 and the first clamping part 32 are in rolling cooperation, thereby guiding the second clamping part 33 to move upward when clamping the target part. Of course, the guide assembly 34 can also be other guide structures, which will not be described here.

[0054] In addition, the two second clamping portions 33 are located on the same side of the thickness direction (second direction Z) of the substrate 31, as shown in FIG. Figure 1 As shown in FIG, the two second clamping portions 33 are located below the substrate 31 to avoid interference between the second clamping portions 33 and the first clamping portions 32.

[0055] In some embodiments, see Figure 3 The guide assembly 34 includes a guide portion 341 and a guide rod 342. The guide portion 341 is arranged on the first clamping portion 32, and the guide portion 341 is arranged at an angle toward one side of the substrate 31; the guide rod 342 is arranged on the second clamping portion 33, and the guide rod 342 slides with the guide portion 341 to guide the second clamping portion 33 to move at an angle toward one side of the substrate 31 when the second clamping portion 33 clamps the target part.

[0056] By providing a guide portion 341 on the first clamping portion 32, and the guide portion 341 is inclined toward one side of the substrate 31, a guide rod 342 is provided on the second clamping portion 33, and the guide rod 342 slides with the guide portion 341. When the clamp 30 uses the second clamping portion 33 to clamp the target part, the guide rod 342 will move toward the side of the substrate 31 along the direction of the guide portion 341, so that the second clamping portion 33 is inclined to move toward the side of the substrate 31, so as to drive the target part clamped by the second clamping portion 33 to move toward the side of the substrate 31, thereby realizing the inclined upward movement of the target part.

[0057] In some embodiments, the first clamping portion 32 includes a plurality of guide portions 341, which are spaced apart along the third direction Y, with the third direction Y, the second direction Z, and the first direction X being perpendicular to each other. On the second clamping portion 33, the number and positions of the guide rods 342 correspond one-to-one with the number and positions of the guide portions 341. By providing the first clamping portion 32 with multiple guide portions 341, the multiple guide portions 341 cooperate with each other, thereby providing the second clamping portion 33 with multiple guide points relative to the first clamping portion 32. This makes the movement of the second clamping portion 33 relative to the first clamping portion 32 more stable and reliable, thereby enabling the clamp 30 to clamp the target workpiece while guiding it upward and away from the carrier 40.

[0058] Optionally, the number of the guide portions 341 is set to three, and the three guide portions 341 are spaced apart along the third direction Y on the first clamping portion 32 .

[0059] In some embodiments, see Figure 4 An elastic member 343 is further disposed between the second clamping portion 33 and the first clamping portion 32. The elastic member 343 is configured to apply an elastic force to the second clamping portion 33 to maintain the second clamping portion 33 in its initial position, which is the position of the second clamping portion 33 when not gripping a target object on the first clamping portion 32. The elastic member 343 disposed between the second clamping portion 33 and the first clamping portion 32 allows the second clamping portion 33 to accumulate elastic force as it moves obliquely toward the substrate 31 while gripping the target object. This elastic force causes the second clamping portion 33 to press against the target object when the clamp 30 grips the target object, thereby driving the target object upward, i.e., toward the substrate 31. Furthermore, this elastic force can automatically drive the second clamping portion 33 back to its initial position after the clamp 30 releases the target object, facilitating the next gripping of the clamp 30 and preventing the clamp 30 from being obstructed by the guide assembly 34 and affecting its normal gripping.

[0060] The elastic member 343 may be a spring, a rubber column, or a spring. In this embodiment, the elastic member 343 is a spring. Furthermore, a connecting sleeve is provided between the second clamping portion 33 and the second clamping portion 33. The connecting sleeve comprises an inner sleeve and an outer sleeve. The inner sleeve slides within the outer sleeve, and the opposite ends of the inner and outer sleeves are connected to the first clamping portion 32 and the second clamp 30, respectively. The elastic member 343 is sleeved on the connecting sleeve. The connecting sleeve can provide guidance for the elastic member 343, guiding the compression or extension of the elastic member 343.

[0061] In some embodiments, please combine Figure 3 and Figure 4The side of the second gripping portion 33 facing away from the first gripping portion 32 is a gripping surface. This gripping surface is provided with an anti-slip portion 35, which is used to increase the static friction force when the second gripping portion 33 grips the target object. The provision of the anti-slip portion 35 on one side of the gripping surface of the second gripping portion 33 increases the static friction force when the clamp 30 grips the target object, thereby increasing the stability and reliability of the clamp 30 in gripping the target object and preventing the target object from falling or being damaged due to unstable gripping.

[0062] In some embodiments, the anti-slip portion 35 includes an elastic layer 351 and a plurality of anti-slip grooves 352 located on the elastic layer 351. The plurality of anti-slip grooves 352 are spaced apart on the elastic layer 351 along the second direction Z. By providing the plurality of anti-slip grooves 352 on the elastic layer 351, when the clamp 30 grasps the target part, the clamping force of the clamp 30 can cause the elastic layer 351 to be squeezed and deformed, thereby causing the anti-slip grooves 352 to deform accordingly. This increases the contact area between the anti-slip grooves 352 and the target part, thereby increasing the static friction force when the clamp 30 grasps the target part, making the grasping operation of the clamp 30 more stable and reliable.

[0063] The elastic layer 351 can be made of a variety of elastic materials, for example, a rubber pad or a latex pad. The anti-slip groove 352 can be provided on the side of the elastic layer 351 facing away from the second clamping portion 33, that is, the anti-slip groove 352 is provided on the clamping surface. The cross-sectional shape of the anti-slip groove 352 can be various shapes, for example, a triangle, an arc, or a semicircle. In this embodiment, the cross-sectional shape of the anti-slip groove 352 is an arc.

[0064] In some embodiments, one of the two first clamping portions 32 on the substrate 31 can move toward the other first clamping portion 32, thereby achieving the gripping of the target part of the gripper. Alternatively, both first clamping portions 32 can move on the substrate 31, that is, the two first clamping portions 32 can move closer to each other or farther away from each other on the substrate 31.

[0065] Optionally, both first clamping portions 32 are movably disposed on the substrate 31, so that the two first clamping portions 32 can move closer to or further away from each other along the first direction X on the substrate 31. By movably disposing both clamping portions on the substrate 31, the time required for the two first clamping portions 32 to move closer to or further away from each other during the clamping or opening process of the clamp 30 is shortened compared to a single movably disposed first clamping portion 32, thereby improving the operating efficiency of the clamp 30. In addition, both first clamping portions 32 are movably disposed on the substrate 31, so that even if one of the two first clamping portions 32 suffers a mechanical failure, the clamp 30 can maintain its grip, preventing the target object from falling.

[0066] In some embodiments, see Figure 5 The clamp 30 also includes a screw rod 360, two threaded seats and a driving member 362. The screw rod 360 is rotatably installed on the base plate 31. The screw rod 360 extends along the first direction X. The screw rod 360 has a positive thread segment and a negative thread segment with opposite thread segments on both sides in the first direction X; the two nut seats 361 are respectively threadedly engaged with the positive thread segment and the negative thread segment of the screw rod 360, and the two nut seats 361 are respectively connected to the two first clamping parts 32; the driving member 362 is set on the base plate 31, and the driving member 362 is used to drive the screw rod 360 to rotate, so as to drive the two first clamping parts 32 to move closer to or away from each other in the first direction X.

[0067] By employing a screw-nut transmission mechanism to achieve directional drive of the first clamping portion 32 on the base plate 31, the movement of the first clamping portion 32 on the base 80 is more stable and reliable than using an electric push rod. Furthermore, by providing the screw 360 with two oppositely threaded sections, positive and negative threaded sections, which respectively cooperate with two nut seats 361, a single drive member 362 can be used to move the two first clamping portions 32 closer together or further apart, thereby achieving the clamping operation of the clamp 30. This saves the need for a set of drive devices and facilitates the spatial layout of the clamp 30.

[0068] The drive member 362 can be a variety of drive mechanisms, such as a motor coupled with a pulley mechanism. The motor is mounted on one side of the base plate 31, connected to the driving pulley of the pulley mechanism, and the screw 360 is connected to the driven pulley, with a transmission belt connecting the driving pulley and the driven pulley. When the motor is activated, the drive member 362 drives the driving pulley of the pulley mechanism to rotate. The driving pulley and the transmission belt cooperate to rotate the driven pulley, thereby rotating the screw 360.

[0069] In some embodiments, a slide rail 363 extending along the first direction X is provided on the base plate 31. A connecting plate 364 is provided between the nut seat 361 and the first clamping portion 32. A slider 365 is provided on the connecting plate 364 on a side adjacent to the slide rail 363. The slider 365 slidably engages with the slide rail 363. By providing the connecting plate 364 between the nut seat 361 and the first clamping portion 32, the slider 365 on the connecting plate 364 guides and engages with the slide rail 363 on the base plate 31. The slide rail 363 can provide a guide for the slider 365. Under the rotation of the screw rod 360, the first clamping portion 32 can be guided to move in a directional manner on the base plate 31, making the movement of the first clamping portion 32 more stable and reliable.

[0070] In some embodiments, two slide rails 363 are provided, one on each side of the base plate 31 in the third direction Y. The third direction Y, the second direction Z, and the first direction X are perpendicular to each other. By providing two slide rails 363 on the base plate 31, the two slide rails 363 work together to guide the first clamping portion 32, thereby improving the movement accuracy of the clamp 30.

[0071] In the second aspect, the present application embodiment also provides a flip robot, see Figure 6 The flip robot 20 includes a mounting base 22, a rotating base 23, and the aforementioned clamp 30. The rotating base 23 is rotatably mounted on the mounting base 22, and the clamp 30 is mounted on the rotating base 23. By arranging the clamp 30 on the rotating base 23, the target part clamped by the clamp 30 can be flipped under the rotation of the rotating base 23, which enhances functionality.

[0072] In a third aspect, the present application also provides a bricklaying robot, see Figure 7 and Figure 8 The bricklaying robot 100 includes a workbench 10 , a carrying platform 40 and the aforementioned flipping manipulator 20 . The carrying platform 40 is movably disposed on the workbench 10 , and the flipping manipulator 20 is installed on the workbench 10 .

[0073] When applied to the bricklaying robot 100, when the target part is a brick 200, the clamped brick 200 is transported to the picking position through the supporting platform 40 for the clamp 30 to pick up. After the flipping manipulator 20 picks up the brick 200 on the supporting platform 40, the flipping manipulator 20 can flip the mortar surface of the brick 200 from the upper side to the lower side, so that the bricklaying manipulator 70 in the bricklaying robot 100 can grab the brick 200 flipped by the flipping manipulator 20 and directly place it in the stacking position of the wall. There is no need for the bricklaying manipulator 70 to flip the brick 200 during the bricklaying process, and it is convenient for the bricklaying manipulator 70 to avoid the mortar surface of the brick 200 to grab the brick 200, which is beneficial to improving the bricklaying efficiency of the wall.

[0074] In some embodiments, please combine Figures 6 to 9 The bricklaying robot 100 also includes a stand 21, and a mounting seat 22 is mounted on the supporting platform 40 so as to be liftable along a second direction Z, wherein the second direction Z is perpendicular to the first direction X and the third direction Y. In this way, the mounting seat 22 is lifted up and down along the stand 21, so that the flipping manipulator 20 can be close to or away from the supporting platform 40, so that the flipping manipulator 20 can easily pick up the bricks 200 on the supporting platform 40.

[0075] In some embodiments, the bricklaying robot 100 may further include a workbench 10 and a transverse movement mechanism 50. The carrying platform 40 is movably provided on the workbench 10 along the third direction Y. The transverse movement mechanism 50 is used to drive the carrying platform 40 to reciprocate along the third direction Y on the workbench 10. By providing the transverse movement mechanism 50 on the workbench 10, the transverse movement mechanism 50 can drive the carrying platform 40 to reciprocate along the third direction Y on the workbench 10, so that the carrying platform 40 can have multiple work stations on the workbench 10, and the multiple work stations can be relatively independent.

[0076] The traverse mechanism 50 may be a variety of drive structures, including a synchronous belt drive structure. The synchronous belt drive structure may include a drive motor, a driving wheel, and a pulley mechanism. The carrier 40 is connected to the pulley mechanism. The drive motor drives the driving wheel to rotate, thereby driving the pulley mechanism to move, thereby achieving movement of the carrier 40 in the third direction Y on the workbench 10. Of course, the traverse mechanism 50 may also be a screw-nut pair drive mechanism, or a gear rack or electric push rod drive mechanism. The specific structure of the traverse mechanism 50 will not be detailed here.

[0077] In some embodiments, see Figure 8 The supporting platform 40 includes a positioning platform 41, two clamping arms 42 and a driving mechanism. The positioning platform 41 is connected to the transverse movement mechanism 50. The positioning platform 41 is used to receive the brick 200; the two clamping arms 42 are movably arranged on the positioning platform 41, and the two clamping arms 42 are spaced apart on both sides of the first direction X of the positioning platform 41. The two clamping arms 42 are used to clamp the brick 200. The driving mechanism is arranged on the positioning platform 41, and the driving mechanism is used to drive the two clamping arms 42 to move closer to or away from each other on the positioning platform 41. By arranging two clamping arms 42 on the positioning platform 41, when the brick loading robot places the brick 200 on the positioning platform 41, the two clamping arms 42 can move along the first direction X on the positioning platform 41 under the action of the driving mechanism, thereby clamping both sides of the first direction X of the brick 200 located on the positioning platform 41, avoiding displacement of the brick 200 during the transfer process, and also facilitating the subsequent slurrying mechanism 60 to slurry the brick 200 on the supporting platform 40, preventing the brick 200 from moving during the slurrying process and affecting the slurrying quality of the brick 200.

[0078] The driving mechanism may be a bidirectional cylinder, the two output ends of which are respectively connected to the two clamping arms 42, thereby being able to drive the two clamping arms 42 toward or away from each other along the first direction X. In other embodiments, the driving mechanism may also be other structures. For example, a motor, a rack, and two gears may be provided on the positioning platform 41. The motor is mounted on the positioning platform 41, and the gear is connected to the output end of the motor. The motor is used to drive the gear to rotate. The two racks are respectively connected to the two clamping arms. The gear is located between the two racks and meshes with the two racks, so that the motor drives the two clamping arms toward or away from each other along the first direction X.

[0079] In some embodiments, the bricklaying robot 100 also includes a slurry spreading mechanism 60, a bricklaying manipulator 70 and a base 80. The slurry spreading mechanism 60 and the flipping manipulator 20 are arranged on the workbench 10, the workbench 10 is arranged on the base 80, and the bricklaying manipulator 70 is arranged on the base 80. The slurry spreading mechanism 60 and the flipping manipulator 20 are located on the moving path of the supporting platform 40 on the workbench 10. The slurry spreading mechanism 60 is used to apply slurry to the surface of the brick 200 located on the supporting platform 40; the flipping manipulator 20 flips the brick 200 after being slurried by the slurry spreading mechanism 60, and the bricklaying manipulator 70 is used to grab the brick 200 after being flipped by the flipping manipulator 20, and move the brick 200 to the laying position for bricklaying.

[0080] By providing a screed mechanism 60 on the carrier 40, the screed mechanism 60 can screed the bricks 200 clamped on the carrier 40, and under the action of the transverse movement mechanism 50, the screeded bricks 200 on the carrier 40 can be driven forward along the third direction Y to the transfer position, so that the bricklaying robot 70 can transfer the bricks 200 located on the flipping robot 20 to the laying position, thereby achieving the wall stacking. Therefore, by providing the screed mechanism 60 on the moving path of the carrier 40, the bricks 200 are transported linearly along the third direction Y on the carrier 40, and under the action of the bricklaying robot 70, the bricks 200 are directly placed on the wall for laying, which helps to save the bricklaying time of placing the bricks 200 on the wall and improve the bricklaying efficiency of the bricklaying robot.

[0081] The bricklaying robot 70 is mounted on a base 80 and may be a four-axis robot arm. A gripper is mounted at the end of the four-axis robot arm to grip bricks 200, thereby transferring the bricks 200 from the flipping robot 20 to the wall's bricklaying position to perform the bricklaying operation. The specific structure of the bricklaying robot 70 can be found in related art and will not be described in detail here.

[0082] In some embodiments, see Figure 9The slurry mechanism 60 includes an actuator 61 and a slurry head 62. The slurry head 62 is installed on the workbench 10 through the actuator 61. The slurry head 62 has a first position and a second position in the first direction X, and the brick 200 is located between the first position and the second position in the first direction X; the actuator 61 is used to drive the slurry head 62 to move between the first position and the second position. The actuator 61 is also used to drive the slurry head 62 to rotate around an axis extending along the first direction X, so that the slurry end of the slurry head 62 can abut against the upper surface of the brick 200 located on the supporting platform 40 and the two end faces of the brick 200 in the first direction X.

[0083] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and components may be substituted with equivalents without departing from the scope of the present application. In particular, the various technical features described in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions within the scope of the claims.

Claims

1. A clamp for clamping a target part, characterized in that: include: substrate; Two first clamping portions are provided on both sides of the substrate in a first direction, and at least one of the two first clamping portions is movably provided on the substrate along the first direction; Two second clamping parts, corresponding to the two first clamping parts one by one, the second clamping parts being arranged on the corresponding first clamping parts, and the first clamping parts clamping the target part through the second clamping parts; wherein a guide assembly is provided between the first clamping portion and the second clamping portion, the guide assembly being configured to guide the second clamping portion to move relative to the corresponding first clamping portion along the first direction in a direction away from the other first clamping portion when the two first clamping portions approach each other along the first direction after the second clamping portion clamps the target object, and the second clamping portion to move toward the substrate along the second direction, the second direction being perpendicular to the first direction and the substrate; An elastic member is further provided between the second clamping portion and the first clamping portion, and the elastic member is used to apply an elastic force to the second clamping portion; the elastic member enables the second clamping portion to accumulate elastic force in the process of grasping the target part and moving it obliquely toward the side of the substrate, and the elastic force enables the second clamping portion to press against the target part when the clamp clamps the target part, thereby driving the target part to move upward.

2. The clamp according to claim 1, characterized in that The guide assembly comprises: a guide portion, disposed on the first clamping portion, the guide portion being inclined toward one side of the substrate; A guide rod is provided on the second clamping portion, and the guide rod is slidably matched with the guide portion to guide the second clamping portion to move obliquely toward one side of the substrate when the second clamping portion clamps the target piece.

3. The clamp according to claim 2, characterized in that On the first clamping part, the number of the guide parts is set to be multiple, and the multiple guide parts are distributed at intervals along the third direction on the first clamping part, and the third direction, the second direction and the first direction are perpendicular to each other; on the second clamping part, the number and position of the guide rods correspond one-to-one to the number and position of the guide parts.

4. The clamp according to claim 1, wherein: A side of the second clamping portion away from the first clamping portion is a clamping surface, and an anti-slip portion is provided on the clamping surface. The anti-slip portion is used to increase the static friction force when the second clamping portion clamps the target part.

5. The clamp according to claim 4, characterized in that The anti-slip portion includes an elastic layer and a plurality of anti-slip grooves on the elastic layer, wherein the plurality of anti-slip grooves are spaced apart and distributed along the second direction on the elastic layer.

6. The clamp according to claim 1, wherein: The two first clamping portions are both movably disposed on the substrate, so that the two first clamping portions can move closer to or farther from each other along the first direction on the substrate.

7. The clamp according to claim 6, characterized in that The fixture further comprises: a screw rod rotatably mounted on the base plate, the screw rod extending along the first direction, and having a positive thread segment and a negative thread segment with opposite thread segments on both sides of the screw rod in the first direction; Two nut seats, respectively threadedly engaged with the positive thread segment and the negative thread segment of the screw rod, and the two nut seats are respectively connected to the two first clamping parts; A driving member is provided on the base plate, and is used for driving the screw rod to rotate, so as to drive the two first clamping parts to move closer to or away from each other in the first direction.

8. The clamp according to claim 7, characterized in that A slide rail extending along the first direction is provided on the base plate, a connecting plate is provided between the nut seat and the first clamping portion, a slider is provided on the side of the connecting plate close to the slide rail, and the slider is slidably matched with the slide rail.

9. The clamp according to claim 8, characterized in that The number of the slide rails is set to two, and the two slide rails are respectively located on both sides of the third direction on the substrate, and the third direction, the second direction and the first direction are perpendicular to each other.

10. A turning robot, characterized in that: It comprises a mounting seat, a rotating seat and a clamp according to any one of claims 1 to 9, wherein the rotating seat is rotatably mounted on the mounting seat, and the clamp is mounted on the rotating seat.

11. A bricklaying robot, characterized in that: It comprises a workbench, a carrying platform and the flip robot according to claim 10, wherein the carrying platform is movably arranged on the workbench, and the flip robot is installed on the workbench.

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