Mechanism for mechanically detecting brick paving precision

Abstract

The invention belongs to the technical field of building machinery, and particularly relates to a mechanism for mechanically detecting brick paving precision, which comprises a suction cup mounting plate, a brick suction mechanism for separating bricks is arranged at the bottom of the suction cup mounting plate, and two bricks are sucked by a suction cup group arranged in the brick suction mechanism. The corresponding movable plates are driven to move through the brick separating air cylinders arranged in the brick separating device, so that two adjacent bricks are separated; a sensor positioning mechanism used for preliminary positioning of the mechanical arm is arranged on one side of the suction cup mounting plate. A lifting cylinder arranged in the sensor positioning mechanism is used for driving a second mounting seat to lift, and an arranged second distance measuring sensor is guided by four second linear guide rails; the air cylinder can be used for controlling the vacuum suction cups for taking the bricks to feed brick joints by hands, the distance measuring sensor is used for primarily positioning the bricks, the plug placing mechanism is used for placing the nail placing pipes in the brick joints, the brick pressing air cylinders are used for pressing the bricks in the front-back direction and the left-right direction, and accurate positioning of brick paving is completed.

Description

Technical Field

[0001] The invention belongs to the technical field of construction machinery, and in particular relates to a mechanism for detecting brick laying accuracy in a mechanical manner. Background Art

[0002] When laying floor tiles in outdoor squares, garden paths, etc., robots are used to lay imitation stone tiles. Currently, most of the tiles on the market are laid using visual recognition, but visual recognition is affected by various factors including light, height, baseline color, etc., resulting in large errors in visual alignment and unstable quality. Summary of the invention

[0003] The purpose of the present invention is to provide a mechanism for mechanically detecting the accuracy of brick laying, which can use a cylinder to control a vacuum suction cup for holding bricks to separate the brick seams, use a distance measuring sensor to initially position the bricks, use a plugging mechanism to place nail tubes in the brick seams, and use a brick pressing cylinder to press the bricks front and back and left and right to complete the precise positioning of brick laying.

[0004] The technical solution adopted by the present invention is as follows: A mechanism for mechanically detecting brick laying accuracy, comprising a suction cup mounting plate, a brick suction mechanism for separating bricks is arranged at the bottom of the suction cup mounting plate, two bricks are sucked by a suction cup group arranged inside the brick suction mechanism, and then a brick separation cylinder arranged inside the mechanism drives the corresponding movable plate to move, so as to separate two adjacent bricks; A sensor positioning mechanism for preliminary positioning of the robot arm is arranged on one side of the suction cup mounting plate; the lifting cylinder arranged inside the sensor positioning mechanism is used to drive the second mounting seat to rise and fall, and the second distance measuring sensor is guided by four second linear guide rails, and a contact block for contacting the side of the brick is arranged at the end thereof; The top of the suction cup mounting plate is provided with a plurality of groups of plugging mechanisms for placing small cylinders in the brick joints; the nail placing tubes are placed in the four brick joints respectively by using the small cylinders arranged inside the plugging mechanisms, with two nail placing tubes placed in each brick joint, and the plugging mechanisms are used to maintain the nail placing tubes in a vertical state after they are placed; A brick pushing mechanism for pressing bricks front and back is arranged at the back of the suction cup mounting plate, and two brick pushing mechanisms for pressing bricks left and right are arranged on its side, and there are three brick pushing mechanisms; a hammering seat arranged inside the brick pushing mechanism is utilized and fixed to the suction cup mounting plate, a third linear guide rail is used for guiding, a third cylinder installed on the hammering seat is used for providing power for the hammering head to push the bricks forward, and a vibrator is used for vibrating the bricks when pushing the bricks.

[0005] The brick suction mechanism includes first linear guide rails arranged on both sides of the top of a suction cup mounting plate, a plurality of movable plates are slidably arranged between the two first linear guide rails, and a limit block for limiting the movement of the movable plate is arranged on the outer wall of the first linear guide rail. Suction cup groups are arranged at both ends of the movable plate and both ends of one side of the suction cup mounting plate, and the suction cup group is located below the suction cup mounting plate. Two brick separating cylinders respectively connected to the first and rear movable plates are arranged on the top of the suction cup mounting plate, and the number of the movable plates is not less than three.

[0006] The sensor positioning mechanism includes a third mounting seat fixed on the top of the suction cup mounting plate and located on one side of the L-shaped mounting seat, a lifting cylinder for controlling the lifting of the third mounting seat is arranged on the outer wall of the third mounting seat, a second mounting seat is fixed to the output shaft of the lifting cylinder, two second linear guide rails perpendicular to each other are arranged at both ends of the second mounting seat, and second ranging sensors for detecting the moving distance of the contact block are arranged at both ends of the second mounting seat.

[0007] Each group of the plugging mechanism includes a plugging mounting plate arranged at the top edge of the suction cup mounting plate, a plugging main seat connected thereto is arranged below the plugging mounting plate, a supporting seat is arranged through the bottom of the plugging main seat, a baffle is arranged at the bottom of the support seat, a small cylinder for controlling the baffle is arranged on one side of the support seat, a positioning plate is arranged on the top of the support seat, a top shaft cooperating with the plugging main seat is arranged through one side of the positioning plate, two second guide shafts are slidingly passed through the top of the plugging mounting plate, a second ball bushing is arranged at the connection between the second guide shaft and the plugging mounting plate, a fixing plate is arranged between the tops of the two second guide shafts, the bottom ends of the two second guide shafts are connected to the plugging main seat, a spring is arranged between the outer walls of the plugging mounting plate and the fixing plate, a nail releasing tube is arranged inside the plugging main seat, and the nail releasing tube extends above the fixing plate.

[0008] The brick pushing mechanism includes third linear guide rails arranged on both inner sides of the hammering seat, a hammering head is slidably installed between the outer walls of the two third linear guide rails, a third cylinder connected to the hammering head is arranged on the outer wall of the hammering seat, a vibrator is arranged on one side of the hammering head, and a buffer block is arranged on the other side of the hammering head.

[0009] An L-shaped mounting seat is arranged on one side of the top of the suction cup mounting plate, and the L-shaped mounting seat is integrally formed by a horizontal rod and a vertical rod. A first ranging sensor is arranged on one end of the horizontal rod and one side of the vertical rod. A square through hole is arranged at the top of the suction cup mounting plate and directly below the first ranging sensor.

[0010] The suction cup group includes a suction head and a support rod, the support rod is connected to the movable plate and the suction cup mounting plate, the top two sides of the suction cup mounting plate are through-opened with limiting grooves that cooperate with the support rod, and the support rods on both ends of the movable plate pass through the limiting grooves.

[0011] A guide shaft is arranged on the top of the second mounting seat and on both sides of the lifting cylinder, and a first ball bushing is arranged on the outer wall of the guide shaft.

[0012] The suction cup assembly can be replaced by a cylinder clamp or a motor clamp.

[0013] The first linear guide, the second linear guide and the third linear guide may be replaced by guide shafts.

[0014] The technical effects achieved by the present invention are: The brick suction mechanism provided by the present invention comprises two first linear guide rails mounted on a suction cup mounting plate, three movable plates mounted on the first linear guide rails, six suction cup groups mounted on the three movable plates, two suction cup groups mounted on the suction cup mounting plate, two brick separating cylinders mounted on the suction cup mounting plate, the movable plates are connected, and the pushing out and retracting of the brick separating cylinders are used to control the advancement and retreat of the movable plates, thereby controlling the movement of the suction cup groups to drive the opening of brick seams.

[0015] The sensor positioning mechanism provided by the present invention has a lifting cylinder connected to a suction cup mounting plate and a second mounting seat, controls the lifting of the entire second distance measuring sensor, is guided by two guide shafts and a first ball bushing guide shaft, four second distance measuring sensors are mounted on the second mounting seat, are guided by four second linear guide rails, and a contact block is mounted at the end. During measurement, the robot arm is lowered to a fixed height, the sensor positioning mechanism is lowered, and the robot arm is moved in the X-axis direction so that the side contact blocks contact the side edges of bricks laid on the ground, and then the robot arm is moved in the Y-axis direction so that the front two contact blocks contact the side edges of the bricks on the ground in front. The relative positions of the bricks on the robot arm and the bricks on the ground can be obtained according to the data of the second distance measuring sensor, and the sensor positioning mechanism is retracted; the distance from the bricks on the robot hand to the bricks on the ground is measured, and the bricks are initially positioned and placed.

[0016] The plugging mechanism provided in the present invention includes a plugging main seat and a positioning plate, a supporting seat, a small cylinder and a top shaft, which can ensure that only one nail placing tube falls into a brick joint each time, and two second guide shafts and two second ball bushings can ensure that the nail placing tubes are at the same height from the brick surface when the nail placing tubes are released. After the bricks are initially positioned and placed, the nail placing tubes are placed in each brick joint, and then the bricks are pushed to compress the nail placing tubes, so that the brick joints are accurately positioned to the size of the nail placing tubes.

[0017] The brick pushing mechanism of the present invention has a hammering seat installed on a suction cup mounting plate, a third linear guide rail plays a guiding role, a third cylinder is installed on the hammering seat to provide power for the hammering head to push the bricks forward, and a vibrator is responsible for vibrating the bricks when pushing the bricks to reduce the resistance of pushing the bricks. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a general diagram of the brick-laying terminal mechanism of the present invention; Figure 2 It is a diagram of a brick suction mechanism of the present invention; Figure 3 is a diagram of a sensor positioning mechanism of the present invention; Figure 4 This is a diagram of a small cylindrical plugging mechanism of the present invention; Figure 5 It is a diagram of a brick pushing mechanism of the present invention.

[0019] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1. Suction cup mounting plate; 21. L-shaped mounting seat; 22. First distance measuring sensor; 23. First linear guide rail; 24. Movable plate; 25. Brick-separating cylinder; 26. Limit block; 27. Suction cup assembly; 31. Second mounting seat; 32. Third mounting seat; 33. Lifting cylinder; 34. First ball bearing sleeve; 35. Second linear guide rail; 36. Contact block; 37. Second distance measuring sensor; 41. Plug mounting plate; 42. Nail tube; 43. Fixed plate; 44. Second guide shaft; 45. Top shaft; 46. Positioning plate; 47. Small cylinder; 48. Baffle; 49. Spring; 410. Plug main seat; 411. Support seat; 51. Hammer seat; 52. Third cylinder; 53. Third linear guide rail; 54. Hammer head; 55. Buffer block; 56. Vibrator. DETAILED DESCRIPTION

[0020] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0021] like Figure 1-Figure 2The structure shown is a mechanical mechanism for detecting brick laying accuracy, comprising a suction cup mounting plate 1, a brick suction mechanism for separating bricks is arranged at the bottom of the suction cup mounting plate 1, two bricks are sucked by a suction cup group 27 arranged inside the brick suction mechanism, and then the corresponding movable plate 24 is driven to move by a brick separation cylinder 25 arranged inside the mechanism, so as to separate two adjacent bricks; the brick suction mechanism comprises first linear guide rails 23 arranged on both sides of the top of the suction cup mounting plate 1, a plurality of movable plates 24 are slidably arranged between the two first linear guide rails 23, a limit block 26 for limiting the movement of the movable plate 24 is arranged on the outer wall of the first linear guide rail 23, suction cup groups 27 are arranged at both ends of the movable plate 24 and both ends of one side of the suction cup mounting plate 1, and the suction cup group 27 is located below the suction cup mounting plate 1, and two brick separation cylinders 25 respectively connected to the first and last movable plates 24 are arranged on the top of the suction cup mounting plate 1, and the number of movable plates 24 is not less than three; The suction cup assembly 27 includes a suction head and a support rod, the support rod is connected to the movable plate 24 and the suction cup mounting plate 1, and the top two sides of the suction cup mounting plate 1 are provided with limit slots that match the support rods, and the support rods on both ends of the movable plate 24 pass through the limit slots. The suction cup assembly 27 can be replaced by a cylinder clamp or a motor clamp; An L-shaped mounting seat 21 is arranged on one side of the top of the suction cup mounting plate 1. The L-shaped mounting seat 21 is integrally formed by a horizontal bar and a vertical bar. A first ranging sensor 22 is arranged on one end of the horizontal bar and one side of the vertical bar. A square through hole is opened at the top of the suction cup mounting plate 1 and directly below the first ranging sensor 22.

[0022] According to the above structure, the first distance measuring sensor 22 is set, according to the data it detects, and after the data is in place, the suction cup group 27 is opened to suck two bricks, and the robot arm controls the bricks to be lifted and transported to the predetermined paving position, and the push-out and retraction of the brick-separating cylinder 25 is used to control the forward and backward movement of the movable plate 24, thereby controlling the movement of the suction cup group 27, driving the opening of the bricks, and separating the rear brick from the front brick by 8-10mm, and then, the robot arm transports the bricks to the initial position for paving.

[0023] like Figure 1 and Figure 3As shown, a sensor positioning mechanism for preliminary positioning of the robot arm is provided on one side of the suction cup mounting plate 1; the lifting cylinder 33 provided inside the sensor positioning mechanism is used to drive the second mounting seat 31 to rise and fall, and the second distance measuring sensor 37 provided is guided by four second linear guide rails 35, and a contact block 36 for contacting the side of the brick is installed at the end thereof; the sensor positioning mechanism includes a third mounting seat 32 fixed at the top of the suction cup mounting plate 1 and located on one side of the L-shaped mounting seat 21, a lifting cylinder 33 for controlling the lifting of the third mounting seat 32 is provided on the outer wall, the second mounting seat 31 is fixed on the output shaft of the lifting cylinder 33, two second linear guide rails 35 perpendicular to each other are provided at both ends of the second mounting seat 31, and a second distance measuring sensor 37 for detecting the moving distance of the contact block 36 is provided at both ends of the second mounting seat 31; a guide shaft is provided at the top of the second mounting seat 31 and located on both sides of the lifting cylinder 33, and a first ball bushing 34 is provided on the outer wall of the guide shaft.

[0024] According to the above structure, the lifting cylinder 33 is connected to the suction cup mounting plate 1 through the third mounting seat 32. The lifting cylinder 33 controls the lifting and lowering of the second mounting seat 31. The two guide shafts and the first ball bushing 34 are used for guidance. Four second distance measuring sensors 37 are installed on the distance measuring mounting seat and guided by four second linear guide rails 35. A contact block 36 is installed at the end. When measuring, the robot arm is lowered to a fixed height, the sensor positioning mechanism is lowered, and the robot arm moves in the X-axis direction until the side contact block 36 contacts the side of the brick laid on the ground and the second distance measuring sensor 37 is compressed by about 10 mm. The robot arm continues to move in the Y-axis direction until the two front contact blocks 36 contact the side of the brick laid on the ground and compress the second distance measuring sensor 37. At this moment, the robot arm stops moving, and the software system records the accurate distance that the three second distance measuring sensors 37 are compressed, and automatically calculates the distance that the robot arm needs to move for seam paving. Then the sensor positioning mechanism rises and retracts, and the robot arm moves to place the brick in the positioned position, releases the suction cup group 27, and puts the brick down.

[0025] like Figure 1 and Figure 4As shown, a plurality of groups of plugging mechanisms for placing small cylinders in the brick joints are arranged on the top of the suction cup mounting plate 1; the nail placing tubes 42 are placed in the four brick joints respectively by means of the small cylinders 47 arranged inside the plugging mechanism, with two nail placing tubes 42 placed in each brick joint, and the plugging mechanism is used to maintain the vertical state of the nail placing tubes 42 after they are placed; each group of plugging mechanisms includes a plugging mounting plate 41 arranged at the top edge of the suction cup mounting plate 1, a plugging main seat 410 connected thereto is arranged below the plugging mounting plate 41, a supporting seat 411 is arranged through the bottom of the plugging main seat 410, a baffle 48 is arranged at the bottom of the supporting seat 411, and a control baffle 48 is arranged on one side of the supporting seat 411. A small cylinder 47 is provided on the top of the support seat 411, and a positioning plate 46 is provided on one side of the positioning plate 46, and a top shaft 45 cooperating with the plug main seat 410 is provided through the top of the plug mounting plate 41, and two second guide shafts 44 are slidably provided through the top of the plug mounting plate 41, and a second ball bushing is provided at the connection between the second guide shaft 44 and the plug mounting plate 41, and a fixing plate 43 is provided between the tops of the two second guide shafts 44, and the bottom ends of the two second guide shafts 44 are connected with the plug main seat 410, and a spring 49 is provided between the outer walls of the plug mounting plate 41 and the fixing plate 43, and a nail placing tube 42 is provided inside the plug main seat 410, and the nail placing tube 42 extends to above the fixing plate 43.

[0026] According to the above structure, the plug release mounting plate 41 is used to fix and position the entire plug release mechanism. The plug release main seat 410 and the positioning plate 46, the support seat 411, the small cylinder 47, and the top shaft 45 can ensure that only one nail release tube 42 falls into the brick gap at a time. The two second guide shafts 44 and the two second ball bushings can ensure that the nail release tube 42 is at the same height from the brick surface when the nail release tube 42 is released.

[0027] like Figure 1 and Figure 5 As shown, a brick pushing mechanism for pressing bricks forward and backward is arranged at the back of the suction cup mounting plate 1, and two brick pushing mechanisms for pressing bricks left and right are arranged on its side, and there are three brick pushing mechanisms; a hammering seat 51 arranged inside the brick pushing mechanism is used and fixed to the suction cup mounting plate 1, a third linear guide 53 is used for guiding, a third cylinder 52 installed on the hammering seat 51 is used to provide power for the hammering head 54 to push the bricks forward, and a vibrator 56 is used to vibrate the bricks when pushing the bricks. The brick pushing mechanism includes a third linear guide rail 53 provided on both inner sides of a beating seat 51, a beating head 54 is slidably mounted between the outer walls of the two third linear guide rails 53, a third cylinder 52 connected to the beating head 54 is provided on the outer wall of the beating seat 51, a vibrator 56 is provided on one side of the beating head 54, and a buffer block 55 is provided on the other side of the beating head 54.

[0028] According to the above structure, the mechanical arm remains stationary, and the third cylinder 52 is first started. The third cylinder 52 pushes the hammer head 54 to move and pushes the two bricks just placed on the ground forward. During the pushing process, the vibrator 56 is turned on to reduce the resistance of pushing the bricks, and the bricks are pushed to the nail placing tube 42 that presses the front brick seam. The front brick seam is fixed to be exactly the same size as the nail placing tube 42; the third cylinder 52 at the back is retracted, and the two third cylinders 52 on the side are started again according to the same principle, and the bricks are pushed to the small cylinder that presses the side brick seam, and then the three third cylinders 52 are started at the same time to press once, and the bricks are laid. The mechanical arm is retracted to lay the next brick.

[0029] The first linear guide rail 23 , the second linear guide rail 35 and the third linear guide rail 53 can be replaced by guide shafts, which increases the flexibility and practicality of the equipment.

[0030] The working principle of the present invention is as follows: the robot arm controls the brick-laying end mechanism to return to the silo position, the brick-laying end mechanism is pressed down onto the brick surface of the silo, and after the data of the first distance measuring sensor 22 is in place, the suction cup group 27 is opened to suck two bricks; After the brick-laying end mechanism sucks the brick, the robot arm controls to lift the brick and transport it to the predetermined paving position. The brick separation cylinder 25 opens to separate the rear brick from the front brick with a gap of 8-10mm. The robot arm transports the brick to the initial paving position. The sensor positioning mechanism starts to press down, and the robot moves in the X-axis direction until the side contact block 36 contacts the side of the brick laid on the ground and the second distance sensor 37 is compressed by about 10 mm. The robot continues to move in the Y-axis direction until the two front contact blocks 36 contact the side of the brick laid on the ground and compress the second distance sensor 37. At this moment, the robot stops moving, and the software system records the exact distance that the three second distance sensors 37 are compressed, and automatically calculates the distance that the robot needs to move for seam paving. Then the lifting cylinder 33 drives the second distance sensor 37 to rise and retract through the second mounting seat 31, and the robot moves to put the brick into the positioning position, releases the suction cup group 27, and puts the brick down; After the bricks are put down, the gap between the bricks just put on the ground and the laid bricks is about 8mm, the robot arm remains motionless, the eight plugging mechanisms are aligned with the brick gap positions, the small cylinder 47 is started, and the eight nail placing tubes 42 are respectively placed in the four brick gaps, two nail placing tubes 42 are placed in each brick gap, and after the nail placing tubes 42 are put down, the plugging mechanisms will keep the nail placing tubes 42 in an upright state; The robot arm remains stationary, first starts the brick pushing mechanism behind the end of the brick laying, pushes the two bricks just placed on the ground forward, turns on the vibrator 56 during the pushing process, pushes the bricks to the nail placing tube 42 that compresses the front brick joint, and the front brick joint is fixed to be exactly the same size as the nail placing tube 42; retracts the rear brick pushing mechanism, and starts the two side brick pushing mechanisms in the same principle, pushes the bricks to the nail placing tube 42 that compresses the side brick joint, and then starts the three brick pushing mechanisms at the same time to compress once, and the bricks are laid. The robot arm is retracted to lay the next brick.

[0031] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A mechanism for mechanically detecting the accuracy of brick laying, comprising a suction cup mounting plate (1), characterized in that: The bottom of the suction cup mounting plate (1) is provided with a brick suction mechanism for separating bricks. The suction cup group (27) provided inside the brick suction mechanism is used to suck two bricks, and then the brick separation cylinder (25) provided inside the mechanism drives the corresponding movable plate (24) to move, so as to separate two adjacent bricks. A sensor positioning mechanism for preliminary positioning of the robot arm is arranged on one side of the suction cup mounting plate (1); a lifting cylinder (33) arranged inside the sensor positioning mechanism is used to drive the second mounting seat (31) to rise and fall, and a second distance measuring sensor (37) is guided by four second linear guide rails (35), and a contact block (36) for contacting the side surface of a brick is arranged at the end thereof; The top of the suction cup mounting plate (1) is provided with a plurality of groups of plugging mechanisms for placing small cylinders in brick joints; a small cylinder (47) provided inside the plugging mechanisms is used to place nail placing tubes (42) in four brick joints respectively, with two nail placing tubes (42) being placed in each brick joint; the plugging mechanisms are used to maintain the nail placing tubes (42) in an upright position after they are placed; A brick-pushing mechanism for pressing bricks forward and backward is arranged at the rear of the suction cup mounting plate (1), and two brick-pushing mechanisms for pressing bricks left and right are arranged on the side thereof, and the number of the brick-pushing mechanisms is three; a hammering seat (51) arranged inside the brick-pushing mechanism is utilized and fixed to the suction cup mounting plate (1), a third linear guide rail (53) is used for guiding, a third cylinder (52) installed on the hammering seat (51) is used for providing power for the hammering head (54) to push the bricks forward, and a vibrator (56) is used for vibrating the bricks when pushing the bricks.

2. The mechanism for mechanically detecting the brick laying accuracy according to claim 1, characterized in that: The brick suction mechanism comprises first linear guide rails (23) arranged on both sides of the top of a suction cup mounting plate (1); a plurality of movable plates (24) are slidably arranged between two of the first linear guide rails (23); a limit block (26) for limiting the movement of the movable plate (24) is arranged on the outer wall of the first linear guide rail (23); suction cup groups (27) are arranged at both ends of the movable plate (24) and at both ends of one side of the suction cup mounting plate (1); and the suction cup groups (27) are located below the suction cup mounting plate (1); two brick separating cylinders (25) connected to the first and last movable plates (24) are arranged on the top of the suction cup mounting plate (1); and the number of the movable plates (24) is not less than three.

3. The mechanism for mechanically detecting the brick laying accuracy according to claim 1, characterized in that: The sensor positioning mechanism comprises a third mounting seat (32) which is fixed on the top of the suction cup mounting plate (1) and located on one side of the L-shaped mounting seat (21); a lifting cylinder (33) for controlling the lifting of the third mounting seat (32) is arranged on the outer wall of the third mounting seat (32); the output shaft of the lifting cylinder (33) is fixed to the second mounting seat (31); two second linear guide rails (35) perpendicular to each other are arranged at both ends of the second mounting seat (31); and second distance measuring sensors (37) for detecting the moving distance of the contact block (36) are arranged at both ends of the second mounting seat (31).

4. The mechanism for mechanically detecting the brick laying accuracy according to claim 1, characterized in that: Each group of the plugging mechanism comprises a plugging mounting plate (41) arranged at the top edge of the suction cup mounting plate (1); a plugging main seat (410) connected thereto is arranged below the plugging mounting plate (41); a support seat (411) is arranged through the bottom of the plugging main seat (410); a baffle (48) is arranged at the bottom of the support seat (411); a small cylinder (47) for controlling the baffle (48) is arranged on one side of the support seat (411); a positioning plate (46) is arranged on the top of the support seat (411); a top shaft cooperating with the plugging main seat (410) is arranged through one side of the positioning plate (46); (45), two second guide shafts (44) are slidably passed through the top of the plug release mounting plate (41), a second ball bearing sleeve is provided at the connection between the second guide shaft (44) and the plug release mounting plate (41), a fixing plate (43) is provided between the tops of the two second guide shafts (44), the bottom ends of the two second guide shafts (44) are connected to the plug release main seat (410), a spring (49) is provided between the outer walls of the plug release mounting plate (41) and the fixing plate (43), a nail release tube (42) is provided inside the plug release main seat (410), and the nail release tube (42) extends above the fixing plate (43).

5. The mechanism for mechanically detecting the brick laying accuracy according to claim 1, characterized in that: The brick pushing mechanism comprises third linear guide rails (53) arranged on both inner sides of a hammering seat (51); a hammering head (54) is slidably mounted between the outer walls of the two third linear guide rails (53); a third cylinder (52) connected to the hammering head (54) is arranged on the outer wall of the hammering seat (51); a vibrator (56) is arranged on one side of the hammering head (54); and a buffer block (55) is arranged on the other side of the hammering head (54).

6. The mechanism for mechanically detecting the brick laying accuracy according to claim 1, characterized in that: An L-shaped mounting seat (21) is provided on one side of the top of the suction cup mounting plate (1); the L-shaped mounting seat (21) is integrally formed of a cross bar and a vertical bar; a first distance measuring sensor (22) is provided on one end of the cross bar and one side of the vertical bar; a square through hole is provided on the top of the suction cup mounting plate (1) and directly below the first distance measuring sensor (22).

7. The mechanism for mechanically detecting the brick laying accuracy according to claim 1, characterized in that: The suction cup group (27) comprises a suction head and a support rod, wherein the support rod is connected to the movable plate (24) and the suction cup mounting plate (1), and the top two sides of the suction cup mounting plate (1) are provided with limit slots that cooperate with the support rod, and the support rods on both ends of the movable plate (24) pass through the inside of the limit slots.

8. The mechanism for mechanically detecting the brick laying accuracy according to claim 1, characterized in that: A guide shaft is provided at the top of the second mounting seat (31) and on both sides of the lifting cylinder (33), and a first ball bearing sleeve (34) is provided on the outer wall of the guide shaft.

9. The mechanism for mechanically detecting the brick laying accuracy according to claim 1, characterized in that: The suction cup group (27) can be replaced by one of cylinder clamping and motor clamping.

10. The mechanism for mechanically detecting the brick laying accuracy according to claim 2, characterized in that: The first linear guide rail (23), the second linear guide rail (35) and the third linear guide rail (53) may be replaced by guide shafts.

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