A robot for picking up bricks and a method of using the same

Abstract

This invention belongs to the field of robotic arms, specifically disclosing a robotic arm for picking up bricks and its usage method, including a main robotic arm component, a side-gripping and picking mechanism, a scissor-type gripping and retracting mechanism, and a dispensing and retracting mechanism. This invention utilizes the synchronous extension and retraction characteristic of the scissor-type structure to eliminate gaps between bricks in the same row while gripping from the side. Furthermore, because the force driving the brick movement acts on each brick, the cumulative force prevents outer bricks from breaking, thus greatly increasing the maximum number of bricks that can be gripped in a single row. In addition, this invention uses a dispensing and retracting mechanism to automatically tighten the distance between adjacent rows of bricks while releasing one row, significantly reducing the difficulty and workload of the next stacking process.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a manipulator for picking up bricks and a method for using the manipulator. Background Art

[0002] After the bricks are fired, the temperature is still high, so the red bricks need to be taken out by a robot. In order to ensure uniform heat during firing, adjacent bricks cannot be placed close together.

[0003] Therefore, when picking up in batches, the bricks first need to be squeezed together to eliminate the adjacent gaps between bricks in the same row. This process is generally carried out by pushing the baffles at both ends. This means that the number of bricks in a single row cannot be too large, otherwise the pushing devices at both ends will have a large friction resistance. Although this resistance will not break through the mechanical strength of the equipment, it may very likely cause the outermost bricks to break and be damaged.

[0004] Most current robots first clamp from both ends of a row to eliminate gaps between bricks, and then clamp from the side to ensure stability during the picking process. The steps are cumbersome, and because the picking part is designed for two axial movements, it will have a certain negative impact on the total weight, motor specifications, linkage control, etc.

[0005] If the bricks are clamped directly from the side with a gap, it will take up a lot of space and further increase the weight of the equipment. On the other hand, the bricks will be suspended in the air on both sides, resulting in unstable clamping. In addition, the bricks will need to be concentrated again in the next process after being picked up and put down. Summary of the invention

[0006] In view of the above situation, in order to overcome the defects of the prior art, the present invention proposes a robot arm for picking up bricks and a method of using the robot arm, which can eliminate gaps between bricks while clamping through a side deformable clamping mechanism; in order to simplify the process steps, the present invention utilizes the characteristics of the scissor-type structure that can be synchronously extended and retracted, and can eliminate gaps between bricks in the same row while clamping on the side, and because the force driving the movement of the bricks acts on each brick, the outer bricks will not break due to the superposition of forces, thereby greatly increasing the upper limit of the number of single-row clamping; not only that, the present invention also uses a material discharge and retraction mechanism to automatically tighten the distance between adjacent rows of bricks while releasing a row of bricks, greatly reducing the difficulty and workload of the next stacking process.

[0007] The technical solution adopted by the present invention is as follows: the present invention proposes a manipulator for picking up bricks, including a manipulator main body component, the manipulator main body component includes a manipulator column, a manipulator cantilever part, a manipulator picking part and a hanging frame component, the manipulator cantilever part is arranged on the manipulator column, the manipulator picking part is arranged on the manipulator cantilever part, and the hanging frame component is arranged on the manipulator picking part, and through the movement of the manipulator main body component, the bricks can be clamped and picked up and then transferred from the firing position to the storage position; it also includes a side clamping and picking mechanism, a scissor-type clamping and shrinking mechanism and a material discharge shrinking mechanism, the side clamping and picking mechanism, the scissor-type clamping and shrinking mechanism and the material discharge shrinking mechanism are arranged on the hanging frame component; the side clamping and picking mechanism is arranged on the manipulator main body component, the scissor-type clamping and shrinking mechanism array is arranged on both sides of the side clamping and picking mechanism, and the material discharge shrinking mechanism is arranged between two groups of side clamping and picking mechanisms;

[0008] The multiple sets of side clamping and picking mechanisms, scissor-type clamping and retracting mechanisms and material release and retracting mechanisms arranged in an array can, on the one hand, eliminate the gaps between bricks in the same column when picking up, making the clamping and handling process more stable; on the other hand, they can shorten the distance between bricks in each column when releasing the bricks, thereby reducing the difficulty and workload in the subsequent stacking process.

[0009] Further, the side clamping and picking mechanism comprises a picking frame assembly and a clamping drive assembly, the picking frame assembly is arranged on the hanging frame assembly, and the clamping drive assembly is arranged on the picking frame assembly;

[0010] Preferably, the picking frame assembly comprises a picking frame, a sliding clamping plate and a guide rail, the picking frame is arranged on the hanging frame assembly, the sliding clamping plate is slidably engaged on both sides of the picking frame, and a guide rail is arranged on the inner side of the sliding clamping plate.

[0011] By means of sliding clamping plates located on both sides of the bricks, which can be synchronously retracted towards the middle, a whole row of bricks can be synchronously clamped from both ends of the bricks, thereby transferring them from the firing station.

[0012] As a further preferred embodiment of the present invention, the clamping drive assembly includes a driving cylinder seat, a driving hydraulic cylinder, a clamping plate push rod and a synchronization spring. The driving cylinder seat is arranged on the picking frame, the driving hydraulic cylinder is clamped in the driving cylinder seat, and the clamping plate push rod is clamped and slidably arranged in the driving hydraulic cylinder. The clamping plate push rod is symmetrically provided with two ends of the driving hydraulic cylinder, and the interior of the driving hydraulic cylinder is divided by the clamping plate push rod into a driving chamber in the middle and a follower chamber at both ends. The synchronization spring is arranged between the end of the driving hydraulic cylinder and the piston of the clamping plate push rod, and the two clamping plate push rods are synchronously extended and retracted under the action of the synchronization spring.

[0013] The clamping drive assembly enables the sliding clamping plates on both sides to move closer and farther together during hydraulic drive, thereby contracting and clamping the entire row of bricks.

[0014] Furthermore, the scissor-type clamping and retracting mechanism comprises a pre-tightening trigger assembly and a scissor-type tightening assembly, the pre-tightening trigger assembly array is provided with a plurality of groups, and the scissor-type tightening assembly is arranged between the pre-tightening trigger assemblies.

[0015] Preferably, the pre-tensioning trigger assembly includes a sliding vertical plate, a transverse push rod and a hinged connecting rod, the sliding vertical plate is provided with a sliding lock block portion, the sliding vertical plate located in the middle position is fixed to the guide rail by the sliding lock block portion, and the remaining sliding vertical plates are slidably arranged on the guide rail by the sliding lock block portion, a transverse sliding groove and a longitudinal sliding groove are provided on the inner wall of the sliding vertical plate, the transverse push rod is slidably arranged in the transverse sliding groove, and the hinged connecting rod is hinged to the end of the transverse push rod.

[0016] As a further preferred embodiment of the present invention, the scissors-type tightening assembly includes a longitudinal slider, a slider return spring and a scissors-type connecting rod. The longitudinal slider is slidably arranged at both ends of the longitudinal slide groove, the slider return spring is arranged between the inner wall of the longitudinal slide groove and the longitudinal slider, and the longitudinal slider is also provided with a cantilever pin shaft portion. The end of the scissors-type connecting rod is hinged on the cantilever pin shaft portion, and the two crossed scissors-type connecting rods are hinged.

[0017] When the sliding clamping plate contracts, the pre-tensioning trigger assembly can, on the one hand, maintain the extrusion contact between the transverse push rod and the brick, and on the other hand, control the two longitudinal sliders to move away from each other through the hinged connecting rod. According to the characteristics of the scissor-type structure, while the longitudinal sliders move away from each other, the sliding vertical plates will move closer to each other, and the approach range between each group of adjacent sliding vertical plates is the same, thereby avoiding the shrinkage resistance acting on a single brick and causing damage to the brick.

[0018] Furthermore, the material discharge and retraction mechanism includes a hydraulic pipeline, a whole-row retraction component and a mounting seat assembly, the hydraulic pipeline is composed of a converging pipeline, a driving pipeline and a return pipeline, a one-way valve is provided on the return pipeline, the mounting seat assembly is arranged on the picking frame, and the whole-row retraction component is arranged in the mounting seat assembly.

[0019] Preferably, the mounting seat assembly comprises a cylinder mounting seat and a push rod mounting seat, and the cylinder mounting seat and push rod mounting seat of the same group are respectively arranged on two adjacent pickup racks.

[0020] As a further preferred embodiment of the present invention, the entire column contraction assembly includes a contraction cylinder, a contraction rod and a return spring. The contraction cylinder is snap-fitted in a cylinder mounting seat, a tail portion of the contraction cylinder is provided with a pressure equalizing hole, the contraction rod is snap-fitted and slidably provided in the contraction cylinder, a piston portion is provided at the end of the contraction cylinder, resistance reflux holes are evenly distributed in an annular shape on the piston portion, and the return spring is provided between the piston portion and the contraction cylinder.

[0021] The confluence pipe is arranged at both ends of the driving hydraulic cylinder, the driving pipe is arranged at the front end of the contraction cylinder body, and the return pipe is arranged at the bottom of the end of the contraction cylinder body.

[0022] Through the linkage of the hydraulic pipeline, the retraction rod can be retracted into the retraction cylinder when the splint push rod is extended, and then the retraction rod is freely and slowly extended to reset. When the splint push rod is actively retracted, it will not cause the movement of the entire column retraction assembly.

[0023] Furthermore, the lifting frame assembly includes a lifting frame, a guide slide bar and a lifting slide lock plate, the lifting frame is arranged on the robot picking part, the guide slide bar is arranged below the lifting frame, the lifting slide lock plate on a picking frame located at the end is fixed to the guide slide bar, and the lifting slide lock plates on the remaining picking frames are snap-fitted and slidably arranged on the guide slide bar, and the picking frame is fixed to the lifting slide lock plate.

[0024] This scheme also proposes a method for using a manipulator for picking up bricks, which mainly includes the following steps:

[0025] Step 1: Move the hoisting frame assembly to the top of the fired brick through the movement of the robot cantilever part and the robot picking part, and then place the brick under the open side clamping picking mechanism through the descent of the robot column, and at the same time make the horizontal push rod face the end face of the brick;

[0026] Step 2: The splint push rods are controlled to retract by extracting the liquid in the driving chamber. Due to the presence of the synchronous spring, the two splint push rods retract synchronously; at the same time, the scissor-type clamping and retracting mechanisms on both sides move closer to each other along with the sliding clamping plate;

[0027] Step 3: After the transverse push rod contacts the brick, as the sliding clamping plate continues to retract, the transverse push rod will slide along the transverse slot. While sliding in the transverse slot, the transverse push rod can push the two longitudinal sliders on the same sliding vertical plate away from each other through the hinged connecting rod, and then move the scissor-type connecting rod. According to the characteristics of the scissor-type structure, while the longitudinal sliders move away from each other, each sliding vertical plate will bring the bricks closer to each other through the transverse push rod, thereby eliminating the gap between the bricks in the same column, and the approach range between each group of adjacent sliding vertical plates is the same. Since the sliding vertical plate in the middle position is fixed on the guide track, the sliding vertical plates on both sides will move closer to the sliding vertical plate in the middle position;

[0028] Step 4: After the clamping is completed, the brick is transferred to the designated position through the movement of the robot column, the robot cantilever part and the robot picking part, and then the brick is dropped to a distance of 3 to 5 mm from the placement table by the descent of the robot column;

[0029] Step 5: From one end of the fixed position pickup frame, control the extension of each clamping drive assembly in turn, and supply liquid into the drive chamber so that the clamping plate push rods at both ends extend synchronously with the sliding clamping plate. Because the speed at which the lateral push rod is reset under the elastic force of the slider reset spring is lower than the extension speed of the clamping plate push rod, the bricks that lose the clamping of the lateral push rod will fall naturally, completing the release of the materials in this column;

[0030] Step 6: As the clamp push rod continues to extend, the liquid in the follower chamber enters the driving pipe through the confluence pipe, and pushes the piston part to slide. At the same time, the retracting rod pulls the adjacent picking rack close to the retracting cylinder through the push rod mounting seat, reducing the distance between each row of bricks; due to the existence of the one-way valve, the liquid in the confluence pipe cannot flow into the end of the retracting cylinder, while the liquid at the end of the retracting cylinder can flow into the confluence pipe through the return pipe flow channel;

[0031] Step 7: After the retraction rod retracts, the resistance reflux hole allows liquid to pass through, so the retraction rod will slowly reset under the action of the return spring. After all the columns of bricks are released, the picking racks will move away from each other significantly. When the clamping drive assembly retracts in the next cycle, since the retraction rod has been reset, the liquid in the retraction cylinder will return to the follower chamber through the reflux pipe and the confluence pipe.

[0032] The beneficial effects achieved by the present invention using the above structure are as follows:

[0033] (1) Through the movement of the robot main body assembly, it is possible to grip and pick up bricks and then transfer them from the firing position to the storage position.

[0034] (2) The array of multiple sets of side clamping and picking mechanisms, scissor-type clamping and retracting mechanisms, and material release and retracting mechanisms can, on the one hand, eliminate the gaps between bricks in the same column when picking them up, making the clamping and handling process more stable; on the other hand, they can shorten the distance between bricks in each column when releasing the bricks, thereby reducing the difficulty and workload in the subsequent stacking process.

[0035] (3) By means of sliding clamping plates located on both sides of the bricks, which can be synchronously retracted toward the middle, the entire row of bricks can be synchronously clamped from both ends of the bricks, thereby transferring them from the firing station.

[0036] (4) The clamping drive assembly enables the sliding clamping plates on both sides to move closer and farther synchronously when hydraulically driven, thereby contracting and clamping the entire row of bricks.

[0037] (5) When the sliding clamping plate contracts, the preload trigger assembly can, on the one hand, maintain the extrusion contact between the lateral push rod and the brick, and on the other hand, control the two longitudinal sliders to move away from each other through the hinged connecting rod. According to the characteristics of the scissor-type structure, when the longitudinal sliders move away from each other, the sliding vertical plates will move closer to each other, and the approach range between each group of adjacent sliding vertical plates is the same, thereby avoiding the shrinkage resistance acting on a single brick and causing damage to the brick.

[0038] (6) Through the linkage of the hydraulic pipeline, the retraction rod can be retracted into the retraction cylinder when the splint push rod is extended, and then the retraction rod can be freely and slowly extended to reset. When the splint push rod is actively retracted, it will not cause the movement of the entire column retraction assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A three-dimensional diagram of a manipulator for picking up bricks proposed by the present invention;

[0040] Figure 2 A front view of a manipulator for picking up bricks proposed by the present invention;

[0041] Figure 3 A top view of a manipulator for picking up bricks proposed by the present invention;

[0042] Figure 4 for Figure 2 A cross-sectional view along the cutting line AA;

[0043] Figure 5 for Figure 2 A cross-sectional view along the cutting line BB;

[0044] Figure 6 for Figure 5 A cross-sectional view along the cutting line CC;

[0045] Figure 7 for Figure 5 A cross-sectional view along the cutting line DD;

[0046] Figure 8 An exploded view of a robot arm for picking up bricks proposed by the present invention;

[0047] Fig. 9 It is a three-dimensional structural diagram of the main components of the robot;

[0048] Fig.10 for Figure 5 A partial enlarged view of point Ⅰ in the middle;

[0049] Fig.11 for Figure 4 A partial enlarged view of the middle II;

[0050] Fig.12 for Figure 8 A partial enlarged view of the middle part III;

[0051] Fig.13 for Figure 8 A partial enlarged view of the middle IV;

[0052] Fig.14 for Figure 7 A partial enlarged view of point V in the middle.

[0053] Among them, 1. Side clamping and picking mechanism, 2. Scissor-type clamping and retracting mechanism, 3. Material discharge and retracting mechanism, 4. Manipulator main body assembly, 5. Pick-up frame assembly, 6. Clamping drive assembly, 7. Pick-up frame, 8. Sliding clamping plate, 9. Guide rail, 10. Drive cylinder seat, 11. Drive hydraulic cylinder, 12. Clamping plate push rod, 13. Synchronous spring, 14. Drive chamber, 15. Follow-up chamber, 16. Pre-tightening trigger assembly, 17. Scissor-type tightening assembly, 18. Sliding vertical plate, 19. Horizontal push rod, 20. Articulated connecting rod, 21. Longitudinal slider, 22. Slider reset spring, 23. Scissor-type connecting rod, 24. Sliding lock block, 25. Horizontal slide, 26. Longitudinal slide, 27. Cantilever pin shaft part, 28. Hydraulic pipeline, 29. Whole-row retraction assembly, 30. Mounting seat assembly, 31. Converging pipeline, 32. Driving pipeline, 33. Return pipeline, 34. One-way valve, 35. Retraction cylinder, 36. Retraction rod, 37. Return spring, 38. Cylinder mounting seat, 39. Push rod mounting seat, 40. Piston part, 41. Resistance reflux hole, 42. Manipulator column, 43. Manipulator cantilever part, 44. Manipulator picking part, 45. Lifting frame assembly, 46. Lifting frame, 47. Guide slide bar, 48. Lifting slide lock plate, 49. Pressure equalizing hole.

[0054] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0056] In the description of the present invention, it should be understood that terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “top”, “bottom”, “inside” and “outside” indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0057] like Figure 1 to Figure 14 As shown, the present invention proposes a manipulator for picking up bricks and a method for using the same, including a manipulator main body component 4, the manipulator main body component 4 includes a manipulator column 42, a manipulator cantilever part 43, a manipulator picking part 44 and a hanging frame component 45, the manipulator cantilever part 43 is arranged on the manipulator column 42, the manipulator picking part 44 is arranged on the manipulator cantilever part 43, and the hanging frame component 45 is arranged on the manipulator picking part 44, through the movement of the manipulator main body component 4, it can be clamped and picked up After the bricks are fired, they are transferred from the firing position to the storage position; it also includes a side clamping and picking mechanism 1, a scissor-type clamping and shrinking mechanism 2 and a material discharge shrinking mechanism 3, the side clamping and picking mechanism 1, the scissor-type clamping and shrinking mechanism 2 and the material discharge shrinking mechanism 3 are arranged on the hanging frame assembly 45; the side clamping and picking mechanism 1 is arranged on the manipulator main body assembly 4, the scissor-type clamping and shrinking mechanism 2 array is arranged on both sides of the side clamping and picking mechanism 1, and the material discharge shrinking mechanism 3 is arranged between the two sets of side clamping and picking mechanisms 1;

[0058] The multiple sets of side clamping and picking mechanisms 1, scissor-type clamping and retracting mechanisms 2 and material release and retracting mechanisms 3 arranged in an array can, on the one hand, eliminate the gaps between bricks in the same column when picking up, making the clamping and handling process more stable; on the other hand, they can shorten the distance between bricks in each column when releasing the bricks, thereby reducing the difficulty and workload in the subsequent stacking process.

[0059] The lifting frame assembly 45 includes a lifting frame 46, a guide slide bar 47 and a lifting slide locking plate 48. The lifting frame 46 is arranged on the robot picking part 44, and the guide slide bar 47 is arranged below the lifting frame 46. The lifting slide locking plate 48 on a picking frame 7 located at the end is fixedly connected to the guide slide bar 47, and the lifting slide locking plates 48 on the remaining picking frames 7 are snap-fitted and slidably arranged on the guide slide bar 47, and the picking frame 7 is fixedly connected to the lifting slide locking plate 48.

[0060] The side clamping and picking mechanism 1 comprises a picking frame assembly 5 and a clamping drive assembly 6, wherein the picking frame assembly 5 is arranged on the hanging frame assembly 45, and the clamping drive assembly 6 is arranged on the picking frame assembly 5;

[0061] The picking frame assembly 5 includes a picking frame 7, a sliding clamping plate 8 and a guide rail 9. The picking frame 7 is arranged on the hanging frame assembly 45. The sliding clamping plate 8 is slidably arranged on both sides of the picking frame 7. The inner side of the sliding clamping plate 8 is provided with a guide rail 9.

[0062] By means of the sliding clamping plates 8 located on both sides of the bricks and being able to synchronously retract towards the middle, a whole row of bricks can be synchronously clamped from both ends of the bricks, thereby transferring them out of the firing station.

[0063] The clamping drive assembly 6 includes a driving cylinder seat 10, a driving hydraulic cylinder 11, a clamping plate push rod 12 and a synchronization spring 13. The driving cylinder seat 10 is arranged on the picking frame 7, the driving hydraulic cylinder 11 is clamped and arranged in the driving cylinder seat 10, the clamping plate push rod 12 is clamped and slidably arranged in the driving hydraulic cylinder 11, the clamping plate push rod 12 is symmetrically provided at both ends of the driving hydraulic cylinder 11, and the interior of the driving hydraulic cylinder 11 is divided by the clamping plate push rod 12 into a driving chamber 14 located in the middle and a follower chamber 15 located at both ends. The synchronization spring 13 is arranged between the end of the driving hydraulic cylinder 11 and the piston of the clamping plate push rod 12, and the two clamping plate push rods 12 are synchronously extended and retracted under the action of the synchronization spring 13.

[0064] The clamping drive assembly 6 can make the sliding clamping plates 8 on both sides move closer and farther away synchronously during hydraulic drive, thereby contracting and clamping the entire row of bricks.

[0065] The material discharge and retraction mechanism 3 includes a hydraulic pipeline 28, a whole-row retraction assembly 29 and a mounting seat assembly 30. The hydraulic pipeline 28 is composed of a converging pipeline 31, a driving pipeline 32 and a return pipeline 33. A one-way valve 34 is provided on the return pipeline 33. The mounting seat assembly 30 is arranged on the picking frame 7, and the whole-row retraction assembly 29 is arranged in the mounting seat assembly 30.

[0066] The mounting seat assembly 30 includes a cylinder mounting seat 38 and a push rod mounting seat 39 . The cylinder mounting seat 38 and the push rod mounting seat 39 of the same group are respectively arranged on two adjacent pickup frames 7 .

[0067] The entire shrinking assembly 29 includes a shrinking cylinder 35, a shrinking rod 36 and a return spring 37. The shrinking cylinder 35 is snap-fitted into a cylinder mounting seat 38. A pressure equalizing hole 49 is provided at the tail of the shrinking cylinder 35. The shrinking rod 36 is snap-fitted and slidably provided in the shrinking cylinder 35. A piston portion 40 is provided at the end of the shrinking cylinder 35. Resistance return holes 41 are evenly distributed in an annular shape on the piston portion 40. The return spring 37 is provided between the piston portion 40 and the shrinking cylinder 35.

[0068] The confluence pipe 31 is disposed at both ends of the driving hydraulic cylinder 11 , the driving pipe 32 is disposed at the front end of the retracting cylinder body 35 , and the return pipe 33 is disposed at the bottom end of the retracting cylinder body 35 .

[0069] Through the linkage of the hydraulic pipeline 28, the retraction rod 36 can be retracted into the retraction cylinder 35 when the splint push rod 12 is extended, and then the retraction rod 36 is freely and slowly extended to return to its original position. When the splint push rod 12 actively retracts, it will not cause the movement of the entire column retraction assembly 29.

[0070] The scissor-type clamping and retracting mechanism 2 comprises a pre-tightening trigger assembly 16 and a scissor-type tightening assembly 17 . The pre-tightening trigger assembly 16 is arranged in an array in a plurality of groups, and the scissor-type tightening assembly 17 is arranged between the pre-tightening trigger assemblies 16 .

[0071] The preload trigger assembly 16 includes a sliding vertical plate 18, a transverse push rod 19 and a hinged connecting rod 20. The sliding vertical plate 18 is provided with a sliding block portion 24. The sliding vertical plate 18 located in the middle position is fixed to the guide rail 9 through the sliding block portion 24. The remaining sliding vertical plates 18 are slidably arranged on the guide rail 9 through the sliding block portion 24. A transverse sliding groove 25 and a longitudinal sliding groove 26 are provided on the inner wall of the sliding vertical plate 18. The transverse push rod 19 is slidably arranged in the transverse sliding groove 25. The hinged connecting rod 20 is hinged to the end of the transverse push rod 19.

[0072] The scissors-type tightening assembly 17 includes a longitudinal slider 21, a slider return spring 22 and a scissors-type connecting rod 23. The longitudinal slider 21 is slidably arranged at both ends of the longitudinal slide groove 26. The slider return spring 22 is arranged between the inner wall of the longitudinal slide groove 26 and the longitudinal slider 21. The longitudinal slider 21 is also provided with a cantilever pin shaft portion 27. The end of the scissors-type connecting rod 23 is hinged on the cantilever pin shaft portion 27, and the two crossed scissors-type connecting rods 23 are hinged.

[0073] When the sliding clamping plate 8 contracts, the pre-tightening trigger assembly 16 can, on the one hand, maintain the extrusion contact between the transverse push rod 19 and the brick, and on the other hand, can control the two longitudinal sliders 21 to move away from each other through the hinged connecting rod 20. According to the characteristics of the scissor-type structure, while the longitudinal sliders 21 move away from each other, the sliding vertical plates 18 will move closer to each other, and the approach range between each group of adjacent sliding vertical plates 18 is the same, thereby avoiding the shrinkage resistance acting on a single brick and causing damage to the brick.

[0074] When in use, the user first needs to move the hoisting frame assembly 45 to the top of the fired brick by the movement of the robot cantilever part 43 and the robot picking part 44, and then place the brick under the opened side clamping picking mechanism 1 by descending the robot column 42, and at the same time make the transverse push rod 19 face the end face of the brick;

[0075] Then, the clamping plate push rod 12 is controlled to retract by extracting the liquid in the driving chamber 14. Due to the existence of the synchronous spring 13, the two clamping plate push rods 12 retract synchronously; at the same time, the scissor-type clamping and retracting mechanisms 2 on both sides move closer to each other along with the sliding clamping plate 8;

[0076] After the transverse push rod 19 contacts the brick, as the sliding clamping plate 8 continues to retract, the transverse push rod 19 will slide along the transverse slide groove 25. While sliding in the transverse slide groove 25, the transverse push rod 19 can push the two longitudinal sliders 21 on the same sliding vertical plate 18 away from each other through the hinged connecting rod 20, and then move with the scissor-type connecting rod 23. According to the characteristics of the scissor-type structure, while the longitudinal sliders 21 move away from each other, each sliding vertical plate 18 will bring the bricks closer to each other through the transverse push rod 19, thereby eliminating the gap between the bricks in the same row, and the approach range between each group of adjacent sliding vertical plates 18 is the same. Since the sliding vertical plate 18 at the middle position is fixed on the guide track 9, the sliding vertical plates 18 on both sides will move closer to the sliding vertical plate 18 at the middle position.

[0077] After the clamping is completed, the brick is transferred to the designated position through the movement of the robot column 42, the robot cantilever part 43 and the robot picking part 44, and then the brick is dropped to a distance of 3 to 5 mm from the placement table by the descent of the robot column 42;

[0078] From one end where the fixed position pickup frame 7 is located, the extension of each clamping drive assembly 6 is controlled in turn, and the clamping plate push rods 12 at both ends are synchronously extended with the sliding clamping plate 8 by supplying liquid into the driving chamber 14. Since the speed at which the transverse push rod 19 is reset under the elastic force of the slider reset spring 22 is less than the extension speed of the clamping plate push rod 12, the bricks that lose the clamping of the transverse push rod 19 will fall naturally, completing the release of the materials in this column;

[0079] As the clamp push rod 12 continues to extend, the liquid in the follower chamber 15 enters the driving pipe 32 through the confluence pipe 31, and pushes the piston part 40 to slide. At the same time, the retracting rod 36 pulls the adjacent picking frame 7 to approach the retracting cylinder 35 through the push rod mounting seat 39, reducing the distance between each row of bricks; due to the existence of the one-way valve 34, the liquid in the confluence pipe 31 cannot flow into the end of the retracting cylinder 35, while the liquid at the end of the retracting cylinder 35 can flow into the confluence pipe 31 through the return pipe 33;

[0080] After the retraction rod 36 retracts, the resistance reflux hole 41 allows liquid to pass through, so the retraction rod 36 will slowly reset under the action of the return spring 37. After all rows of bricks are released, the picking racks 7 will move away from each other significantly. When the clamping drive assembly 6 retracts in the next cycle, since the retraction rod 36 has been reset, the liquid in the retraction cylinder 35 will return to the follower chamber 15 through the reflux pipe 33 and the confluence pipe 31.

[0081] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0082] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. A manipulator for picking up bricks, comprising a manipulator main body assembly (4), the manipulator main body assembly (4) comprising a manipulator column (42), a manipulator cantilever portion (43), a manipulator picking portion (44) and a hanging frame assembly (45), the manipulator cantilever portion (43) being arranged on the manipulator column (42), the manipulator picking portion (44) being arranged on the manipulator cantilever portion (43), and the hanging frame assembly (45) being arranged on the manipulator picking portion (44), characterized in that: It also comprises a side clamping and picking mechanism (1), a scissor-type clamping and shrinking mechanism (2) and a material releasing and shrinking mechanism (3), wherein the side clamping and picking mechanism (1), the scissor-type clamping and shrinking mechanism (2) and the material releasing and shrinking mechanism (3) are arranged on a hanging frame assembly (45); the side clamping and picking mechanism (1) is arranged on a manipulator main body assembly (4), the scissor-type clamping and shrinking mechanism (2) array is arranged on both sides of the side clamping and picking mechanism (1), and the material releasing and shrinking mechanism (3) is arranged between two groups of side clamping and picking mechanisms (1); The side clamping and picking mechanism (1) comprises a picking frame assembly (5) and a clamping drive assembly (6), wherein the picking frame assembly (5) is arranged on a hanging frame assembly (45), and the clamping drive assembly (6) is arranged on the picking frame assembly (5); The pick-up frame assembly (5) comprises a pick-up frame (7), a sliding clamping plate (8) and a guide rail (9); the pick-up frame (7) is arranged on the hanging frame assembly (45); the sliding clamping plate (8) is slidably engaged on both sides of the pick-up frame (7); and the inner side of the sliding clamping plate (8) is provided with a guide rail (9); The clamping drive assembly (6) comprises a driving cylinder seat (10), a driving hydraulic cylinder (11), a clamping plate push rod (12) and a synchronous spring (13); the driving cylinder seat (10) is arranged on the picking frame (7); the driving hydraulic cylinder (11) is clamped and arranged in the driving cylinder seat (10); the clamping plate push rod (12) is clamped and slidably arranged in the driving hydraulic cylinder (11); the clamping plate push rod (12) is symmetrically provided at two ends of the driving hydraulic cylinder (11); the interior of the driving hydraulic cylinder (11) is divided by the clamping plate push rod (12) into a driving chamber (14) located in the middle and a follower chamber (15) located at two ends; the synchronous spring (13) is arranged between the end of the driving hydraulic cylinder (11) and the piston of the clamping plate push rod (12); the two clamping plate push rods (12) are synchronously extended and retracted under the action of the synchronous spring (13); The scissor-type clamping and retracting mechanism (2) comprises a pre-tightening trigger assembly (16) and a scissor-type tightening assembly (17); the pre-tightening trigger assembly (16) is provided in an array in a plurality of groups, and the scissor-type tightening assembly (17) is provided between the pre-tightening trigger assemblies (16); The preload trigger assembly (16) comprises a sliding vertical plate (18), a transverse push rod (19) and a hinged connecting rod (20); the sliding vertical plate (18) is provided with a sliding block portion (24); the sliding vertical plate (18) located in the middle position is fixed to the guide rail (9) through the sliding block portion (24); the remaining sliding vertical plates (18) are slidably arranged on the guide rail (9) through the sliding block portion (24); the inner wall of the sliding vertical plate (18) is provided with a transverse sliding groove (25) and a longitudinal sliding groove (26); the transverse push rod (19) is slidably arranged in the transverse sliding groove (25); and the hinged connecting rod (20) is hinged to the end of the transverse push rod (19); The scissor-type tightening assembly (17) comprises a longitudinal slider (21), a slider return spring (22) and a scissor-type connecting rod (23), wherein the longitudinal slider (21) is slidably engaged at both ends of the longitudinal slide groove (26), the slider return spring (22) is arranged between the inner wall of the longitudinal slide groove (26) and the longitudinal slider (21), and the longitudinal slider (21) is also provided with a cantilever pin shaft portion (27), the end of the scissor-type connecting rod (23) is hinged on the cantilever pin shaft portion (27), and the two crossed scissor-type connecting rods (23) are hingedly connected; The material discharge and retraction mechanism (3) comprises a hydraulic pipeline (28), a row-wide retraction assembly (29) and a mounting seat assembly (30); the hydraulic pipeline (28) comprises a converging pipeline (31), a driving pipeline (32) and a return pipeline (33); a one-way valve (34) is provided on the return pipeline (33); the mounting seat assembly (30) is arranged on a picking frame (7); and the row-wide retraction assembly (29) is arranged in the mounting seat assembly (30); The mounting seat assembly (30) comprises a cylinder mounting seat (38) and a push rod mounting seat (39), and the cylinder mounting seat (38) and the push rod mounting seat (39) of the same group are respectively arranged on two adjacent picking racks (7).

2. A robot for picking up bricks according to claim 1, characterized in that: The whole-row contraction assembly (29) comprises a contraction cylinder (35), a contraction rod (36) and a return spring (37); the contraction cylinder (35) is snap-fitted into a cylinder mounting seat (38); a pressure equalizing hole (49) is provided at the tail of the contraction cylinder (35); the contraction rod (36) is snap-fitted and slidably provided in the contraction cylinder (35); a piston (40) is provided at the end of the contraction cylinder (35); resistance return holes (41) are evenly distributed in an annular pattern on the piston (40); and the return spring (37) is provided between the piston (40) and the contraction cylinder (35).

3. A robot for picking up bricks according to claim 2, characterized in that: The confluence pipe (31) is arranged at both ends of the driving hydraulic cylinder (11), the driving pipe (32) is arranged at the front end of the retracting cylinder body (35), and the return pipe (33) is arranged at the bottom end of the retracting cylinder body (35).

4. A robot for picking up bricks according to claim 3, characterized in that: The hoisting frame assembly (45) includes a hoisting frame (46), a guide slide bar (47) and a hoisting slide lock plate (48), wherein the hoisting frame (46) is arranged on the robot picking part (44), the guide slide bar (47) is arranged below the hoisting frame (46), the hoisting slide lock plate (48) on a picking frame (7) at the end is fixedly connected to the guide slide bar (47), and the hoisting slide lock plates (48) on the remaining picking frames (7) are slidably engaged on the guide slide bar (47), and the picking frames (7) are fixedly connected to the hoisting slide lock plates (48).

5. A method for using the manipulator for picking up bricks according to claim 4, characterized in that: The steps include: Step 1: The lifting frame assembly (45) is moved to the top of the fired brick by the movement of the robot cantilever part (43) and the robot picking part (44), and then the brick is placed under the opened side clamping picking mechanism (1) by the descent of the robot column (42), and the lateral push rod (19) is facing the end face of the brick; Step 2: The retraction of the clamping plate push rod (12) is controlled by extracting the liquid in the driving chamber (14). Due to the presence of the synchronization spring (13), the two clamping plate push rods (12) are retracted synchronously; at the same time, the scissor-type clamping and retracting mechanisms (2) on both sides move closer to each other along with the sliding clamping plate (8); Step 3: After the transverse push rod (19) contacts the bricks, as the sliding clamping plate (8) continues to retract, the transverse push rod (19) will slide along the transverse slot (25). While the transverse push rod (19) slides in the transverse slot (25), it can push the two longitudinal sliders (21) located on the same sliding vertical plate (18) away from each other through the hinged connecting rod (20), thereby moving the scissor-type connecting rod (23). According to the characteristics of the scissor-type structure, while the longitudinal sliders (21) move away from each other, each sliding vertical plate (18) will move the bricks closer to each other through the transverse push rod (19), thereby eliminating the gap between the bricks in the same row, and the approach range between each group of adjacent sliding vertical plates (18) is the same. Since the sliding vertical plate (18) located in the middle position is fixed on the guide track (9), the sliding vertical plates (18) on both sides will move closer to each other based on the sliding vertical plate (18) in the middle position; Step 4: After the clamping is completed, the brick is transferred to the designated position through the movement of the robot column (42), the robot cantilever part (43) and the robot picking part (44), and then the brick is dropped to a position 3 to 5 mm away from the placement table by the descent of the robot column (42); Step 5: From one end where the fixed position pickup frame (7) is located, the extension of each clamping drive assembly (6) is controlled in turn, and the clamping plate push rods (12) at both ends are synchronously extended with the sliding clamping plate (8) by supplying liquid into the driving chamber (14). Since the speed at which the transverse push rod (19) is reset under the elastic force of the slider reset spring (22) is less than the extension speed of the clamping plate push rod (12), the bricks that lose the clamping of the transverse push rod (19) will fall naturally, completing the release of the materials in this column; Step 6: As the clamp push rod (12) continues to extend, the liquid in the follower chamber (15) enters the drive pipe (32) through the confluence pipe (31), and at the same time pushes the piston part (40) to slide. At the same time, the retracting rod (36) pulls the adjacent picking rack (7) closer to the retracting cylinder (35) through the push rod mounting seat (39), reducing the distance between each row of bricks; due to the presence of the one-way valve (34), the liquid in the confluence pipe (31) cannot flow into the end of the retracting cylinder (35), while the liquid at the end of the retracting cylinder (35) can flow into the confluence pipe (31) through the return pipe (33); Step 7: After the retracting rod (36) is retracted, the retracting rod (36) will be reset under the action of the return spring (37) because the resistance return hole (41) can allow liquid to pass through. After all the bricks in all columns are released, the picking racks (7) will move away from each other significantly. When the clamping drive assembly (6) retracts in the next cycle, since the retracting rod (36) has been reset, the liquid in the retracting cylinder (35) will return to the follower chamber (15) through the return pipe (33) and the confluence pipe (31).

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