A mechanical clamp for special-shaped building material paving and a clamping control method

Abstract

The application discloses a mechanical clamp for special-shaped building material paving and a clamping control method, relates to the technical field of special-shaped building material paving construction, and solves the problems of unstable clamping of the special-shaped building material clamp and low adaptability of the special-shaped building material clamp. The application comprises a mounting support and a clamping jaw, the clamping jaw is telescopically mounted on the mounting support and is used for clamping the special-shaped building material, the distance between the two groups of clamping jaws is controlled through telescopic control to clamp and release the special-shaped building material, a suction cup is arranged on the mounting support, a push rod is mounted on one side of the clamping jaw, an image collector is mounted on the mounting support, and the image collector is used for collecting the image of the special-shaped building material to be clamped. The composite grabbing mode of negative pressure adsorption combined with mechanical clamping is adopted to prevent the special-shaped building material from being displaced or rotated at the moment when the clamping jaw is closed. Through the rapid identification of the image collector and the precise cooperation of mechanical action, the full-automatic process from identification, grabbing, carrying to precise placement is realized, and therefore, the paving efficiency of the special-shaped building material is greatly improved.

Description

Technical Field

[0001] This invention relates to the technical field of irregular-shaped building material paving construction, and in particular to a mechanical clamp and clamping control method for irregular-shaped building material paving. Background Technology

[0002] As a type of floor or wall paving material with unique artistic beauty and decorative effect, irregularly shaped building materials are widely used in municipal squares, park walkways, commercial complexes and high-end residences. Unlike traditional rectangular standard building materials, irregularly shaped building materials usually have rich textures, colors and diverse geometric shapes, such as hexagons, fan shapes, wave shapes, interlocking puzzle shapes, etc., which can be spliced ​​to create complex patterns and enhance the visual quality of the environment.

[0003] Currently, paving construction is mainly divided into two methods: manual paving and mechanical assisted paving. In manual paving, workers manually carry irregularly shaped building materials, adjust their direction according to the pattern requirements, and use rubber mallets to tap the surface of the building materials to make them bond tightly with the subbase and achieve the desired paving shape. After paving, the joints are filled and the surface is cleaned. This method is labor-intensive and it is difficult to significantly improve construction efficiency. In large-area operation scenarios, small paving machines or engineering machinery with clamps are usually used. The robotic arm grabs the whole layer or a single piece of building material, moves the robotic arm to the designated coordinates and puts down the building material, and then performs compaction.

[0004] Although mechanized paving has been applied to some extent in the field of standard rectangular building materials, it has many shortcomings when dealing with irregularly shaped building materials. The edge contours of irregularly shaped building materials are not straight, and their physical center of mass often deviates from the geometric center. Traditional two-jaw or four-jaw clamps are usually designed for regular rectangles and rely on parallel clamping surfaces for frictional clamping. When used for irregularly shaped building materials, the contact area between the clamps and the building material block is small, which can easily cause unstable clamping, rotation and slippage of the building material, or even crushing the edges of the building material due to concentrated force. Currently, the common general-purpose simple clamps on the market can usually only adapt to building materials of a single size or shape. Once the shape of the building material changes, it is necessary to replace the entire clamp or make cumbersome mechanical limit adjustments. This low adaptability makes it impossible for the equipment to operate continuously in the complex working conditions of mixed paving of various building materials, which seriously slows down the construction progress.

[0005] Publication number CN221398589U discloses a permeable brick laying robot, which consists of a support frame composed of a mounting plate, a support rod fixed in the middle of the mounting plate, and a connecting plate fixed at the top of the support rod. An image transmission component is installed inside the support rod, and infrared detection components are installed at the top front end and top right side of the mounting plate. Suction cups are fixedly inserted through the four corners of the mounting plate. However, this fixed suction cup structure is ineffective for small bricks due to their small area, and easily fails to pick up large bricks due to their weight. Furthermore, the detection method is limited to distance measurement, making it difficult to effectively grip various complex-shaped bricks. Summary of the Invention

[0006] To address the issues of unstable clamping and low adaptability of irregularly shaped building material clamps, this invention provides a mechanical clamp and clamping control method for paving irregularly shaped building materials.

[0007] On the one hand, the mechanical clamp for paving irregularly shaped building materials provided by the present invention adopts the following technical solution: A mechanical clamp and clamping control method for paving irregularly shaped building materials includes a mounting bracket and clamps. The clamps are telescopically mounted on the mounting bracket and used to clamp irregularly shaped building materials. The mounting bracket is provided with two sets of clamps, and the telescopic paths of the two sets of clamps intersect and are symmetrical. The distance between the two sets of clamps is controlled by telescopic control to clamp and release the irregularly shaped building materials. The mounting bracket is provided with a suction cup, which is connected to a negative pressure device through a pipe. A push rod is installed on one side of the clamps, and the push rod is laterally telescopic towards the middle of the two sets of clamps. An image acquisition device is installed on the mounting bracket to acquire images of the irregularly shaped building materials to be clamped.

[0008] This system employs a composite gripping method combining negative pressure adsorption and mechanical clamping. In the initial gripping stage, suction cups adhere to the surface of irregularly shaped building materials, quickly lifting the material and acting as auxiliary fixing points to prevent displacement or rotation as the grippers close. The two sets of intersecting and symmetrically positioned grippers apply rigid constraints to the material from the side, effectively solving the problem of slippage and deflection caused by single-gripping methods when the center of gravity of irregularly shaped building materials is offset or has irregular edges. This significantly improves safety and stability during handling. The two sets of intersecting and symmetrically positioned grippers allow for greater adjustment of the gripping point, accommodating irregularly shaped building materials of different sizes and geometric features, thus significantly improving the equipment's performance. This versatile technology integrates an image acquisition unit, enabling real-time acquisition of the contour and position information of irregularly shaped building materials to be clamped. Combined with control methods, it calculates the optimal clamping point and center of gravity, achieving intelligent operation. The push rod can extend and retract laterally towards the center of the two sets of grippers, physically pushing and aligning the building material blocks. This eliminates residual deviations after the blocks' posture is adjusted in mid-air. Furthermore, it actively adjusts the gaps between building material joints during installation, ensuring the splicing accuracy and neatness of the paving pattern. Through the rapid recognition of the image acquisition unit and the precise coordination of mechanical actions, a fully automated process from recognition, gripping, and handling to precise placement is achieved, significantly improving the installation efficiency of irregularly shaped building materials and effectively solving the pain points of low efficiency and high labor intensity in existing technologies for irregularly shaped paving.

[0009] Furthermore, the mounting bracket is provided with a connecting seat and externally connected to a driving mechanical component. The mounting bracket is provided with a mounting seat, the gripper is mounted on the mounting seat, and the mounting bracket is provided with a support bracket, which is mounted on one side of the gripper's telescopic path and parallel to the gripper's telescopic path.

[0010] As an auxiliary load-bearing structure, the support bracket can effectively share the radial load and bending moment borne by the claw telescopic mechanism, prevent the telescopic components from deforming due to long-term load, and thus extend the service life of the mechanical components. The support bracket provides physical reference and limit guidance for the telescopic movement of the claw, eliminates vibration during the movement, and ensures that the claw always runs accurately along the preset trajectory. Through the design of connecting the external drive mechanical components of the connecting seat, the clamp body and the drive host can be connected, and it can be quickly installed on different types of engineering machinery to adapt to different construction site environments.

[0011] Furthermore, the connecting seat is provided with an expansion chuck, which is extended and retracted outwards from the connecting seat. The expansion chuck is connected to an adjusting bolt, and the extension and retraction of the expansion chuck is controlled by the adjusting bolt. The gripper is fixedly mounted on the mounting seat by mounting bolts. A positioning plate is installed at the front end of the support bracket. The support bracket and the positioning plate are connected and fixed by a combination bolt. The positioning plate has an adjusting bolt hole, which is elongated. The combination bolt passes through the adjusting bolt hole to fix the positioning plate.

[0012] The expansion chuck is driven to extend and retract outward by rotating the adjusting bolt, which allows the connecting seat to be combined and connected with the external drive mechanical components. This improves the accuracy and speed of positioning and installation, and facilitates quick replacement and disassembly. The design of the elongated hole allows the positioning plate to slide and adjust within a certain range along the long axis before the combination bolt is tightened. Technicians can perform millimeter-level fine calibration of the front and rear positions of the positioning plate according to the actual stroke of the gripper and the specific dimensions of the irregular building materials to ensure that the support and limiting functions are appropriate.

[0013] Furthermore, the gripper is installed at the front end of the telescopic arm and moves by being driven by the telescopic arm. The telescopic arm is installed on the telescopic shaft of the telescopic cylinder and its extension and retraction are controlled by the telescopic cylinder. The gripper is oscillatingly installed at the front end of the telescopic arm, and a gripper spring is installed on one side of the gripper.

[0014] When the gripper contacts irregularly shaped building materials, if the surface of the building material block is tilted or angularly deviated, the swing structure allows the gripper to passively rotate slightly around the connection point. This floating effect enables the gripper to automatically adjust its posture to fit the surface of the building material block, maximizing the contact area. This solves the problem of gripping slippage caused by rigid alignment errors. The gripper spring not only plays a reset role but also acts as a key buffer element. For irregularly shaped building materials such as ceramics and cement, this flexible buffer mechanism greatly reduces the risk of edge chipping and cracking of the building material block due to excessive contact force, reducing the material loss rate. The pneumatic control is characterized by rapid response and clean environmental protection, enabling high-frequency rapid extension and retraction movements, significantly improving the work cycle and overall efficiency of irregularly shaped building material paving.

[0015] Furthermore, the telescopic arms of the two sets of grippers are arranged crosswise, and an auxiliary arm is provided on one side of each telescopic arm. One set of telescopic arms slides and interlocks with the other set of telescopic arms through the auxiliary arm. A support block is provided at the telescopic end of the auxiliary arm. The support block is used to guide and support the telescopic sliding of the auxiliary arm. A positioning stop is provided on the elastic damping swing side of the gripper, and a friction pad is provided on the elastic power swing side of the gripper. The swing end of the gripper is set as a wedge-shaped blade.

[0016] The cross-connection and auxiliary arm guide achieve a high-rigidity compact structure, ensuring the smoothness of the synchronous movement of the two arms. The cross arrangement allows the two sets of drive mechanisms to achieve a greater stroke in a limited space, avoiding the space waste caused by parallel arrangement. This makes the overall clamping device compact and lightweight. In the laying of irregular building materials, the building material blocks are often closely arranged. Ordinary flat-headed claws are difficult to insert into the gaps between building material blocks. The wedge-shaped blade can easily insert into the tiny gaps between building material blocks or the bottom edge of the building material blocks to achieve shovel-type gripping and installation. The friction pad installed on the power side not only increases the friction coefficient with the surface of the building material block to prevent slippage, but also plays a buffering and protective role, avoiding the clamping force from acting directly on the brittle building material surface and causing crushing.

[0017] Furthermore, the suction cups are provided in two sets and are respectively located on both sides of the movement path of the two sets of grippers. The suction cups are elastically telescopically mounted on the mounting bracket via support rods. The telescopic end of the support rods is provided with two sets of forked rods. The two sets of forked rods are respectively used to mount the two sets of suction cups. The support rods are elastically telescopically mounted on the mounting bracket via elastic rods, and the elastic rods are equipped with tension springs. The telescopic end of the elastic rods is provided with splines. The suction cups are mounted on the forked rods via universal joints.

[0018] Irregularly shaped building materials may have slight undulations, textures, or be tilted at an angle when placed. The universal joint gives the suction cup end a multi-directional degree of freedom of rotation, allowing it to automatically adjust the angle and ensure that the bottom surface of the suction cup is always parallel to the surface of the building material. The clamping spring ensures that the suction cup maintains a certain downward pressure when in contact with the building material surface. This not only helps the suction cup to expel air and create a vacuum, but also maintains adsorption stability when the equipment vibrates. At the moment of downward suction, the spring absorbs the rigid impact force, preventing the suction cup from hitting the surface of irregularly shaped building materials hard and causing damage or cracking. The spline fit realizes the circumferential locking function, ensuring that the suction cup assembly will not rotate during the extension and retraction process.

[0019] Furthermore, the push rod is mounted on the telescopic end of the push cylinder and its extension and retraction are controlled by the push cylinder. The end of the push rod is provided with a push head. The push rod and the push cylinder are mounted on the mounting bracket through a push rod bracket. The push rod bracket is mounted on the mounting bracket by telescopically extending and retracting the push rod bracket.

[0020] After the irregularly shaped building material is placed on the cement mortar layer, the push rod can continue to extend or maintain pressure, applying a vertical downward thrust to the surface of the building material block. This serves to compact the material, helping to ensure close contact between the building material block and the bonding material, and can assist in fine-tuning the flatness. It replaces the manual hammering and compaction process. The push head can be designed with a soft material or a specific shape, so that it can transmit sufficient force when performing compaction or demolding actions without causing hard impact damage to the fragile building material block.

[0021] Furthermore, the image acquisition device is connected to the processor via a data cable, and a ranging component is installed on the mounting bracket. The ranging component is installed facing the irregularly shaped building material to be clamped and measures the distance.

[0022] Addressing the challenges of irregular shapes and complex textures in irregularly shaped building materials, the image acquisition device can capture the outline and texture of these materials in real time. The processor, through algorithmic analysis, can accurately calculate the center coordinates and deflection angle of the irregularly shaped building materials, guiding the fixture to automatically adjust its gripping posture. This solves the problem that traditional blind gripping cannot adapt to irregular building material blocks. During the fixture's descent, the ranging component monitors the height and position in real time. When encountering situations with inconsistent stacking heights or poor ground flatness, the ranging data can guide the equipment to automatically compensate for Z-axis height differences, adapting to changing working environments without manual intervention.

[0023] On the other hand, the mechanical clamping and control method for paving irregularly shaped building materials provided by the present invention adopts the following technical solution: A method for controlling the gripping of irregularly shaped building materials using a mechanical clamp, comprising the following steps: Image acquisition and preprocessing: The camera takes a vertical overhead shot of the building material blocks placed on the conveyor belt or workbench, uses Gaussian filtering to remove noise, uses adaptive thresholding to separate the building material block image from the background image, generates a binary image, fills the internal holes of the building material blocks and smooths the edges. Contour extraction and fitting: The findContours algorithm is used to extract the outermost edge coordinate set C={p1,p2,...,p...} of the building material block. n}; Centroid calculation involves determining the centroid (C0) by calculating the geometric moments of the irregular building material block using the fitted set of coordinates of its outermost edge contour. x C y ); Clamping line planning involves listing lines connecting the centroids as clamping normals, and then comprehensively judging and selecting the clamping normals based on the placement direction, the smoothness of the clamping point, and the clamping distance. Coordinate transformation and execution: Based on the determined centroid position and clamping normal angle, the transformation matrix T from the pixel coordinate system (u,v) to the robot base coordinate system (X,Y) is obtained through the nine-point calibration method. The value of matrix T is used to control the movement and positioning of the drive mechanical components.

[0024] The centroid locked by the geometric moment algorithm is closer to the physical center of gravity, ensuring that the clamping point line passes through or is close to the center of gravity when the clamp is holding the material. This effectively eliminates the gravitational eccentric torque during the gripping process, preventing the building material block from rotating, slipping, or tilting during high-speed movement. By evaluating the smoothness of the clamping point, the algorithm can automatically avoid sharp protrusions, gaps, or points of abrupt curvature changes on the edges of irregularly shaped building materials, selecting a gentle contact area to avoid stress concentration that could cause the building material block to chip. By judging the gripping distance, the algorithm ensures that the gripping position width is within the effective stroke range of the pneumatic fingers or clamp, avoiding insufficient clamping force due to a gripping position that is too wide or too narrow. Considering the placement direction, the gripping posture is adapted to the subsequent laying angle in advance, reducing the posture adjustment movements of the robotic arm in the air and improving the work cycle.

[0025] Furthermore, the specific steps for planning the clamping line include: With the center of mass (C) x C y Using the origin as the reference point, create a straight line L passing through the centroid at intervals of angle θ. θ θ takes integer values ​​between 1° and 5°. Calculate line L θ The two intersection points P1 and P2 with the contour C; For each angle θ, the straight line L θ Calculate its clamping stability score, Score(θ); Select the angle θ with the highest score(θ) best As the optimal clamping angle, the corresponding (P1, P2) are the theoretical clamping contacts.

[0026] It achieves global optimization based on mechanical equilibrium, which eliminates rotational torque during the grasping process to the greatest extent and effectively eliminates the torque caused by the center of gravity offset. It prevents building material blocks from spinning or slipping when the robotic arm starts, stops or turns at high speed. This mechanism allows the integration of multiple mutually restrictive factors such as the flatness of the contact surface, the appropriateness of the clamping width, and geometric symmetry. The system can automatically weigh the advantages and disadvantages and make the optimal solution under the current conditions, which significantly improves the stability and success rate of grasping.

[0027] In summary, the present invention has the following beneficial technical effects: 1. It adopts a combined gripping method of negative pressure adsorption and mechanical clamping. The suction cup serves as an auxiliary fixing point, which quickly lifts and stabilizes the building material surface in the initial stage of gripping, preventing displacement at the moment the grippers close. The cross-symmetrical grippers provide lateral rigid constraints, effectively solving the problem that irregular building materials are prone to slippage and deflection due to the offset of the center of gravity or irregular edges caused by a single gripping method, and greatly improving the safety of handling.

[0028] 2. The two sets of gripper extension paths intersect and are symmetrical, allowing the grippers to achieve a greater range of stroke adjustment within a limited space, thus adapting to irregular building materials of different sizes and geometric features. At the same time, the auxiliary arm and the sliding guide design ensure the high rigidity and stability of the synchronous movement of the two arms, avoiding the space waste caused by parallel arrangement.

[0029] 3. By extracting the contour through image processing and calculating the geometric moments to lock the center of mass, the clamping connection line passes through the physical center of gravity. This algorithmic innovation fundamentally eliminates the torque caused by the offset of the center of gravity, preventing the building material block from spinning or slipping when the robotic arm starts, stops or turns at high speed, thus ensuring dynamic stability under high-speed operation.

[0030] 4. The quantitative scoring clamping line planning realizes intelligent protection of fragile edges. By comprehensively evaluating the smoothness of the clamping point, the clamping distance, and the placement direction, the system can automatically avoid sharp protrusions or abruptly changing curvature points on the edges of irregular building materials, select gentle contact areas, avoid stress concentration that could cause the building material block to chip, and transform the gripping decision into a mathematically optimal solution, significantly improving the gripping success rate.

[0031] 5. The grippers have a swing structure and spring buffer, and the suction cup is equipped with a universal joint and a clamping spring. This flexible mechanism allows the actuator to automatically adjust its posture to adapt to the surface tilt or texture undulation when contacting the building material block, and absorb rigid impact force, which greatly reduces the risk of chipping and cracking of brittle and irregularly shaped building materials such as ceramics and cement when gripping them.

[0032] 6. The integrated horizontal push rod can physically push and align the building material blocks. This not only eliminates the residual deviation after the building material blocks are adjusted in the air, but also actively adjusts the spacing between building material joints during paving. This ensures the uniformity of the gaps and the overall neatness when splicing complex patterns, and reduces the amount of manual secondary adjustment work.

[0033] 7. The claw ends are designed with wedge-shaped blades, which can easily insert into the tiny gaps or bottom edges between building material blocks, solving the problem that ordinary flat-head claws are difficult to arrange and lay tightly. Combined with the friction pad on the power side, it not only increases the gripping friction to prevent slippage, but also avoids the clamping force from acting directly on the brittle surface and causing crushing.

[0034] 8. Parallel support brackets are set on the side of the gripper telescopic path. As an auxiliary load-bearing structure, they effectively share the radial load and bending moment borne by the telescopic mechanism, preventing the components from deforming due to long-term load. At the same time, the design of the long strip-shaped adjustment hole allows for fine calibration, ensuring the guiding accuracy of the mechanical movement. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the external structure of the mechanical clamp of the present invention; Figure 2 for Figure 1 Another perspective structural diagram; Figure 3 This is a schematic diagram of the internal structure of the invention in full cross-section at the center plane; Figure 4 This is a schematic diagram of the clamping component structure of the present invention; Figure 5 A schematic diagram illustrating an example of laying irregularly shaped building materials; Figure 6 This is a schematic diagram of the contour extraction and fitting operation for irregularly shaped building materials. Figure 7 This is a schematic diagram of the centroid calculation operation; Figure 8 A schematic diagram illustrating the planning and selection of the optimal clamping line.

[0036] Explanation of reference numerals in the attached figures: 1. Mounting bracket, 11. Connecting seat, 111. Expansion chuck, 112. Adjusting bolt, 113. Positioning groove, 12. Mounting seat, 121. Mounting bolt, 13. Support bracket, 131. Positioning plate, 132. Combination bolt, 133. Adjusting bolt hole, 2. Gripper, 21. Telescopic arm, 211. Auxiliary arm, 212. Support block, 22. Telescopic cylinder, 23. Gripper spring, 231. Positioning stop, 232. Friction pad, 233. Wedge blade, 3. Suction cup, 31. Support rod, 311. Forked rod, 32. Elastic rod, 321. Tightening spring, 322. Spline, 33. Universal joint, 4. Push rod, 41. Push cylinder, 411. Push head, 42. Push rod bracket, 421. Lifting cylinder, 5. Image acquisition unit, 51. Distance measuring component. Detailed Implementation

[0037] The following will be combined with the appendix Figures 1-8 The technical solutions in the embodiments of the present invention are clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0038] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0039] Example 1: This invention discloses a mechanical clamp for laying irregularly shaped building materials. The device mainly consists of a mounting bracket 1, a gripper 2, a suction cup 3, a push rod 4, and an image acquisition device 5. The components work together to achieve automated identification, gripping, and laying of irregularly shaped building materials. Reference Figures 1-4 The device includes a mounting bracket 1 and grippers 2. The grippers 2 are telescopically mounted on the mounting bracket 1 and are used to clamp irregularly shaped building materials. The mounting bracket 1 is provided with two sets of grippers 2, and the telescopic paths of the two sets of grippers 2 intersect and are symmetrical. The distance between the two sets of grippers 2 is controlled by telescopic movement to clamp and release the irregularly shaped building materials. The mounting bracket 1 is provided with a suction cup 3, which is connected to a negative pressure device through a pipe. A push rod 4 is installed on one side of the grippers 2, and the push rod 4 is laterally telescopically extended towards the middle of the two sets of grippers 2. An image acquisition device 5 is installed on the mounting bracket 1, and the image acquisition device 5 is used to acquire images of the irregularly shaped building materials to be clamped.

[0040] The core frame of the device is the mounting bracket 1, which serves as the carrier for all functional components. It is typically connected to the end effector of a robotic arm or automated paving equipment. The grippers 2 are telescopically mounted on the mounting bracket 1 to apply physical constraints to the sides of irregularly shaped building materials. The mounting bracket 1 has two sets of grippers 2, which adopt a special dynamic layout so that their telescopic paths intersect each other in space and remain symmetrical. This cross-symmetric design allows the two sets of grippers 2 to synchronously retract inward or expand outward while keeping their center position unchanged. By precisely controlling the telescopic stroke and adjusting the linear distance between the two sets of grippers 2, the device can tightly grip or loosen irregularly shaped building materials of different sizes.

[0041] A suction cup 3 is provided at the bottom or center of the mounting bracket 1. The suction cup 3 is connected to a negative pressure device, such as a vacuum pump or vacuum generator, through an air pipe. When the gripping action begins, the negative pressure device works to generate a vacuum negative pressure inside the suction cup 3, thereby adsorbing the irregular building material under the mounting bracket 1. This design plays a role in assisting positioning and preventing falling, especially when the gripper 2 is not fully closed or during high-speed movement, it can effectively increase the stability of gripping.

[0042] A push rod 4 is installed on one side of the gripper 2. The push rod 4 moves towards the middle area of ​​the two sets of grippers 2 and is designed to be horizontally retractable. As an active adjustment component, after the irregular building material is adsorbed or initially clamped, the push rod 4 extends and contacts the side of the irregular building material. It makes a fine adjustment to the horizontal position of the irregular building material through lateral thrust, ensuring that the irregular building material is upright in the clamp and facilitating accurate subsequent laying.

[0043] An image acquisition device 5, such as an industrial camera or a depth camera, is fixedly installed on the mounting bracket 1. The image acquisition device 5 is used to acquire image data of the irregular building material to be clamped in real time. This image data includes information such as the shape, position, angle and surface texture of the irregular building material, which provides a basis for the subsequent control system to plan the gripping point and adjust the clamp posture.

[0044] The specific application process of this mechanical clamp in the installation of irregularly shaped building materials is as follows: Move the mechanical clamp above the area to be gripped, start the image acquisition device 5 to acquire images of the irregular building material below, and control the system to analyze the images to determine the center position and edge contour of the irregular building material.

[0045] Based on the position information from the image feedback, the moving mounting bracket 1 is aligned with the suction cup 3 at the center of the irregular building material surface. The bracket is lowered, the negative pressure device is activated, and the irregular building material is initially adsorbed and lifted by the suction cup 3.

[0046] After the suction cup 3 firmly holds the irregular building material, the two sets of grippers 2 are controlled to extend and retract inward synchronously along a cross-symmetrical path. The grippers 2 contact the side of the irregular building material and apply clamping force to complete a firm physical lock.

[0047] If the image acquisition shows that the irregular building material has a positional deviation in the fixture, or in order to adapt to specific paving gap requirements, the control push rod 4 extends laterally and pushes against the side of the irregular building material to adjust it to the predetermined precise position.

[0048] The clamped irregular building material is transported to the paving station. After reaching the designated position, the push rod 4 is retracted, the gripper 2 extends outward to release the irregular building material, and finally the negative pressure equipment is turned off to release the suction cup 3, thus completing the paving of the irregular building material.

[0049] To achieve the above motion control, the extension and retraction of the gripper 2 and the lateral extension and retraction of the push rod 4 are usually driven by conventional drive actuators such as cylinders, electric push rods or servo motor lead screw modules. The image acquisition unit 5 is electrically connected to an external image processing and control unit. The mounting bracket 1 is connected to an external robotic arm through a flange or quick-change interface. These drive and control components are conventional technical means for those skilled in the art. To keep the description concise, the specific models and circuit connections will not be described in detail here.

[0050] Example 2: Based on Example 1, the following is added: The following will further elaborate on the specific structure and implementation of the mounting bracket 1 and its connecting components in the embodiments of the present invention, based on the foregoing content.

[0051] Reference Figures 1-3The mounting bracket 1 is provided with a connecting seat 11 and externally connected to a driving mechanical component. The mounting bracket 1 is provided with a mounting seat 12, and the gripper 2 is mounted on the mounting seat 12. The mounting bracket 1 is provided with a support bracket 13, which is mounted on one side of the extension path of the gripper 2 and parallel to the extension path of the gripper 2.

[0052] Reference Figures 1-3 An expansion chuck 111 is provided on the connecting seat 11. The expansion chuck 111 is extended and retracted to the outside of the connecting seat 11. The expansion chuck 111 is connected to the adjusting bolt 112, and the extension and retraction of the expansion chuck 111 is controlled by the adjusting bolt 112. The gripper 2 is fixedly installed on the mounting seat 12 by the mounting bolt 121. A positioning plate 131 is installed at the front end of the support bracket 13. The support bracket 13 and the positioning plate 131 are connected and fixed by the combination bolt 132. The positioning plate 131 has an adjusting bolt hole 133. The adjusting bolt hole 133 is elongated. The combination bolt 132 passes through the adjusting bolt hole 133 to fix the positioning plate 131.

[0053] The mounting bracket 1 integrates a connecting seat 11, which serves as the physical interface between the entire fixture and the external drive mechanical components. An expansion chuck 111 is provided on the connecting seat 11. The expansion chuck 111 is designed to expand and contract outwards from the connecting seat 11. The expansion chuck 111 is connected to the adjusting bolt 112. By rotating the adjusting bolt 112, the expansion chuck 111 is driven to expand or contract radially. This internal expansion or external support fixing method can eliminate connection gaps, achieve high rigidity and zero clearance fit between the fixture and the drive equipment, and ensure connection stability under high-speed movement.

[0054] The mounting bracket 1 is equipped with a dedicated mounting seat 12 for supporting the clamping mechanism. The gripper 2 is not directly fixed to the plane of the bracket, but is fastened to the mounting seat 12 by mounting bolts 121. This modular design facilitates quick disassembly and maintenance when the gripper wears or needs to be replaced with grippers of different specifications. The mounting bracket 1 is also equipped with a support bracket 13. The installation position of the support bracket 13 is located on one side of the extension path of the gripper 2, and its extension direction is parallel to the extension path of the gripper 2. This provides a lateral reference or auxiliary support frame for the clamp.

[0055] A positioning plate 131 is installed at the front end of the support bracket 13. The positioning plate 131 is connected and fixed to the support bracket 13 by a combination bolt 132. The positioning plate 131 has an adjustment bolt hole 133. The hole is an elongated slotted hole. The combination bolt 132 passes through the adjustment bolt hole 133 and is locked. Since the adjustment bolt hole 133 is elongated, before tightening the combination bolt 132, the operator can slide the positioning plate 131 along the long axis of the hole to finely adjust the front and rear position of the positioning plate 131 relative to the support bracket 13.

[0056] Insert the connecting seat 11 into the interface hole of the external drive mechanical component or sleeve it on the interface shaft. Use a tool to rotate the adjusting bolt 112 to drive the expansion chuck 111 to expand outward until the chuck tightly supports the inner wall of the external interface, completing the rigid mounting of the mechanical clamp. Align the selected jaw 2 with the mounting seat 12, insert the mounting bolt 121 and tighten it to ensure the jaw is stable. Based on the size and specifications of the irregular building material to be gripped, preliminarily determine the required contact position of the positioning plate 131. Loosen the combination bolt 132 to make the positioning plate 131 movable. Use the elongated adjusting bolt hole 133 to slide the positioning plate 131 in a direction parallel to the jaw path. When the positioning plate 131 reaches the preset limit or reference position, retighten the combination bolt 132 to lock the position of the positioning plate 131.

[0057] The transmission connection between the adjusting bolt 112 and the expansion chuck 111 can adopt the principle of conical extrusion or the principle of wedge block transmission. That is, the bolt is screwed in to push the internal cone and force the chuck flaps to open. The combined bolt 132 usually includes a bolt body, a flat washer and a spring washer to prevent the connection from loosening due to equipment vibration. The length of the elongated adjusting bolt hole 133 determines the maximum adjustable stroke of the positioning plate 131. These design details ensure that the fixture has sufficient mechanical flexibility and adaptability when dealing with irregularly shaped building materials of different batches and small tolerances.

[0058] Example 3: Based on Example 1, the following is added: Reference Figure 3 and Figure 4 The gripper 2 is installed at the front end of the telescopic arm 21 and moves by being driven by the telescopic arm 21. The telescopic arm 21 is installed on the telescopic shaft of the telescopic cylinder 22 and is controlled to extend and retract by the telescopic cylinder 22. The gripper 2 is oscillatingly installed at the front end of the telescopic arm 21, and a gripper spring 23 is installed on one side of the gripper 2.

[0059] Reference Figure 3 and Figure 4The telescopic arms 21 of the two sets of grippers 2 are arranged crosswise. An auxiliary arm 211 is provided on one side of each telescopic arm 21. One set of telescopic arms 21 is inserted and slidably connected to the other set of telescopic arms 21 through the auxiliary arm 211. A support block 212 is provided at the telescopic end of the auxiliary arm 211. The support block 212 is used to guide and support the telescopic sliding of the auxiliary arm 211. A positioning block 231 is provided on the elastic damping swing side of the gripper 2. A friction pad 232 is provided on the elastic power swing side of the gripper 2. The swing end of the gripper 2 is configured as a wedge-shaped blade 233.

[0060] The core drive source is the telescopic cylinder 22. The telescopic arm 21 is directly mounted on the output telescopic shaft of the telescopic cylinder 22. The piston movement of the cylinder is directly converted into the linear reciprocating motion of the telescopic arm 21. The gripper 2 is located at the front end of the telescopic arm 21. The key point is that the gripper 2 is not rigidly fixed, but is oscillatingly mounted. This means that the gripper 2 can rotate or open and close around the connection point at a certain angle. A gripper spring 23 is installed on one side of the gripper 2. The function of the spring is to provide preload or reset force for the swing of the gripper, so that the gripper maintains a specific posture in its natural state, or provides flexible buffering when clamping.

[0061] In this embodiment, two sets of opposing gripper assemblies 2 are used, and their corresponding telescopic arms 21 are designed to be arranged in a cross manner. This X-shaped or cross-shaped layout can achieve a larger stroke ratio in a limited space, while having a greater gripping force.

[0062] To address the stability issues caused by excessive cantilever length, an auxiliary arm 211 extends from the side of the telescopic arm 21. The design employs the principle of interlocking sliding, where one set of telescopic arms 21 cooperates with another set of telescopic arms 21 through its auxiliary arm 211. A support block 212 is provided at the telescopic end of the auxiliary arm 211, which acts as a slider. It slides on the other component, guiding the telescopic path and providing vertical support to prevent the telescopic arm from sagging or swaying during long-stroke extension.

[0063] The swing end of the gripper 2 is machined into a thin, pointed wedge-shaped blade 233. This design is intended to facilitate the insertion of the gripper into narrow gaps or into the bottom of the object being gripped. A friction pad 232 is provided on the elastic power swing side of the gripper 2, which is the side where the spring force is mainly used to clamp the object. This pad is usually made of rubber or a material with a high coefficient of friction. It is used to increase the gripping force when in contact with the object and prevent slippage. A positioning block 231 is provided on the elastic damping swing side of the gripper 2, which is the rebound or limiting direction. This block is used to limit the swing amplitude of the gripper and prevent the gripper from rotating excessively due to the spring force when no object is being gripped.

[0064] When the telescopic cylinder 22 is in the retracted state, the two sets of telescopic arms 21 cross and retract, and the auxiliary arm 211 is in the retracted position within the slide rail via the support block 212. The gripper 2, under the action of the gripper spring 23, remains open or in a ready position against the positioning stop block 231. The telescopic cylinder 22 is activated, driving the telescopic arms 21 to extend outwards. During this process, the support block 212 at the front end of the auxiliary arm 211 slides along the other set of arms to ensure smooth movement. The telescopic arms drive the gripper 2 at the front end to move, using the tip of the wedge-shaped blade 233 to insert into the edge or bottom gap of the target object. When the blade 233 contacts and presses against the object, as the telescopic arm 21 continues to move slightly or the cylinder applies pressure, the gripper 2 will overcome the resistance of the gripper spring 23 and swing around the hinge point. At this time, the friction pad 232 located on the elastic power swing side is tightly attached to the surface of the object. By using the thrust of the cylinder and the elastic force of the gripper spring 23, combined with the high friction of the friction pad 232, the object is stably clamped or pushed. When the cylinder moves in the opposite direction, the telescopic arm 21 retracts, the gripper 2 is separated from the object, and under the action of the gripper spring 23, the gripper rebounds until it is stopped by the positioning block 231 and returns to the initial angle.

[0065] Elastic dynamic oscillation and elastic damped oscillation are descriptions of the force states on both sides of the gripper's oscillation. The dynamic side refers to the side that relies on spring force or external force to press the object when the gripping action occurs, while the damped side refers to the side that relies on mechanical limit to stop the oscillation and absorb the rebound energy.

[0066] The support block 212 should be made of a wear-resistant material with good self-lubricating properties to reduce frictional resistance during interlocking and sliding, and ensure smooth cylinder drive.

[0067] The wedge blade 233 is not only used for insertion, but its beveled structure can also convert the horizontal thrust into a normal component force that opens or closes the gripper when it contacts an object, thereby achieving a passive trigger action that automatically adapts to the object's contour.

[0068] Example 4: Based on Example 1, the following is added: This embodiment mainly describes the specific structural configuration and working logic of the auxiliary adsorption system, the material pushing mechanism, and the sensing and detection components on the mounting bracket 1.

[0069] Reference Figures 1-3 The suction cups 3 are provided in two sets and are respectively located on both sides of the moving path of the two sets of grippers 2. The suction cups 3 are elastically and telescopically mounted on the mounting bracket 1 via support rods 31. The telescopic end of the support rods 31 is provided with two sets of forked rods 311. The two sets of forked rods 311 are respectively used to mount the two sets of suction cups 3. The support rods 31 are elastically and telescopically mounted on the mounting bracket 1 via elastic rods 32, and the elastic rods 32 are equipped with a tensioning spring 321. The telescopic end of the elastic rods 32 is provided with a spline 322. The suction cups 3 are mounted on the forked rods 311 via universal joints 33.

[0070] Reference Figures 1-3 The push rod 4 is mounted on the telescopic end of the push cylinder 41 and its extension and retraction are controlled by the push cylinder 41. The end of the push rod 4 is provided with a push head 411. The push rod 4 and the push cylinder 41 are mounted on the mounting bracket 1 through the push rod bracket 42. The push rod bracket 42 is mounted on the mounting bracket 1 by telescopic lifting cylinder 421.

[0071] Reference Figure 1 The image acquisition device 5 is connected to the processor via a data cable, and a ranging component 51 is installed on the mounting bracket 1. The ranging component 51 is installed facing the irregular building material to be clamped and measures the distance.

[0072] Two sets of suction cups 3 are symmetrically distributed on both sides of the gripper's movement path to assist in fixing or lifting objects. The suction cups 3 are not rigidly connected, but are installed on the mounting bracket 1 through a multi-stage suspension system. The telescopic end of the support rod 31 is designed as a "Y" or "U" shaped forked rod 311. Each forked end is connected to a suction cup 3 through a universal joint 33. The universal joint 33 gives the suction cup 3 a degree of freedom to rotate at multiple angles, enabling it to automatically adhere to uneven or angled irregular building materials. The forked rod 311 realizes single-rod drive of dual suction cups, expanding the adsorption area.

[0073] The support rod 31 is connected to the mounting bracket 1 via the elastic rod 32. The elastic rod 32 is fitted with a tension spring 321, and the telescopic end of the elastic rod 32 is machined with a spline 322. The tension spring 321 is compressed when the suction cup contacts the object, providing flexible cushioning to prevent crushing of fragile irregular building materials, and providing continuous downward pressure to ensure vacuum sealing. The spline 322 cooperates with the bracket to play a circumferential limiting role, ensuring that the elastic rod 32 will not rotate during vertical telescopic cushioning, thereby ensuring that the orientation of the forked rod 311 always remains correct.

[0074] The push rod bracket 42 is mounted on the mounting bracket 1 via the lifting cylinder 421. The lifting cylinder 421 controls the height of the pushing mechanism in the vertical direction (Z-axis) so that it can avoid obstacles or be adjusted to the optimal pushing height. The push rod 4 is connected to the telescopic end of the push cylinder 41, and the front end is provided with a push head 411. The push cylinder 41 drives the push rod 4 to perform horizontal linear motion. The push head 411 directly contacts the object and is used to push out irregular building materials, correct their position, or remove waste materials.

[0075] The mounting bracket 1 integrates an image acquisition device 5 and a ranging component 51. The image acquisition device 5 captures the texture and shape images of the irregular building material and transmits them to the processor for analysis. The ranging component 51 monitors the distance between the device and the irregular building material to be clamped in real time, providing data feedback for the downward pressure depth of the robotic arm.

[0076] The device moves above the work area, the ranging component 51 provides real-time height data, the image acquisition unit 5 acquires images of the irregular building materials below, and the processor adjusts the device position based on the data.

[0077] When the suction cup 3 contacts the surface of the irregular building material, the universal joint 33 automatically deflects and aligns itself according to the surface slope. As the device continues to descend slightly, the elastic rod 32 retracts and compresses the top spring 321. The spline 322 ensures that the component does not rotate. Under the action of the spring force, the suction cup 3 fits tightly against the surface of the irregular building material. Then, the vacuum generator (not shown in the figure, but implicit in the suction cup function) is activated to perform adsorption and fixation.

[0078] First, start the lifting cylinder 421 to lower the push rod bracket 42 to the working height. Then, start the pushing cylinder 41 to drive the push rod 4 to extend. The push head 411 pushes the irregular building material to move it to the designated position or push it out of the fixture. After the action is completed, the pushing cylinder 41 retracts and the lifting cylinder 421 drives the component to rise and reset, so as to avoid interfering with subsequent actions.

[0079] In this structure, the spline 322 is not only a guide but also a torque transmission component to prevent rotation. Without the spline 322, the elastic rod 32 with single-point support is prone to rotation when subjected to uneven external force, causing the two sets of fork rods 311 to deviate from the predetermined adsorption point, resulting in adsorption failure.

[0080] For pushers 411, it is generally recommended to use soft materials, such as polyurethane or rubber wrapping, to prevent scratching the surface glaze of irregularly shaped building materials during the pushing process.

[0081] The ranging component 51 should be installed slightly tilted or vertically to ensure that its detection beam can accurately fall on the gap area between the two sets of grippers, that is, the center position of the irregular building material to be clamped, so as to obtain the most accurate height data.

[0082] Example 5: In automated construction or logistics handling scenarios, traditional mechanical grippers are typically designed for regular objects. When faced with irregularly shaped building materials, such as broken building materials, non-standard customized building materials, and artistic building materials, their geometric center does not coincide with their physical center of mass, and their edges are irregular. Blindly gripping them can easily lead to them falling or being unstable.

[0083] This solution aims to design an intelligent system that uses machine vision to identify the outline of irregularly shaped building material blocks, calculate their geometric centroid, and use algorithms to plan the optimal clamping axis passing through the centroid, guiding the two-jaw robotic arm to achieve stable clamping.

[0084] The system mainly consists of three parts: a visual perception subsystem, an algorithm processing subsystem, and a motion control subsystem.

[0085] The actuators include a six-axis industrial robot and a servo-electric two-jaw parallel gripper with force control feedback.

[0086] Vision sensors include industrial cameras, such as Hikvision / Dahua with 5 megapixels or higher, telecentric lenses to reduce distortion, and ring or backlights to enhance contour contrast.

[0087] The computing unit includes an industrial PC (IPC) and a high-performance GPU for image processing.

[0088] Image processing library: OpenCV / Halcon.

[0089] Robot communication: TCP / IP Socket communication or Modbus.

[0090] This invention discloses a method for controlling the gripping of irregularly shaped building materials using a mechanical clamp, referring to... Figures 5-8 It includes the following methods and steps: Image acquisition and preprocessing: The camera takes a vertical overhead shot of the building material block placed on the conveyor belt or workbench. Gaussian filtering is used to remove noise. Adaptive threshold segmentation is used to separate the building material block image from the background image to generate a binary image. Morphological operations (opening / closing operations) are performed to fill the internal holes of the building material block and smooth the edges.

[0091] This embodiment uses irregularly shaped decorative tiles as an example.

[0092] Reference Figure 6 Contour extraction and fitting: The findContours algorithm is used to extract the outermost edge coordinate set C={p1,p2,...,p...} of the bricks. n}

[0093] Reference Figure 7 Centroid calculation involves determining the centroid (C0) by calculating the geometric moments of the irregular brick using the fitted set of coordinates of the outermost edge contour of the brick. x C y ); Although the irregularly shaped bricks have uniform density, their shapes are irregular. We assume that the surface density is uniform and determine the centroid by calculating the geometric moments of the image, as shown in the following formula: ; , ; in, For pixel values ​​in a binary image, That is, the area of ​​the brick.

[0094] Reference Figure 8 Clamping line planning involves listing lines connecting the centroids as clamping normals, and then comprehensively judging and selecting clamping normals based on the placement direction, the smoothness of the clamping point, and the clamping distance. The most stable state of two-claw clamping generally satisfies two conditions: Moment balance: The clamping connection line must pass through the centroid to prevent the brick from rotating; Maximized contact area or perpendicular normal: The normal at the contact point between the jaw and the brick edge should be as parallel as possible to the clamping direction; that is, the jaw surface should fit the brick surface, and the distance between the two contact points is appropriate, within the jaw stroke.

[0095] Coordinate transformation and execution. According to the determined centroid position and clamping normal angle, through the nine-point calibration method, obtain the transformation matrix T from the pixel coordinate system (u, v) to the robot base coordinate system (X, Y), and control the movement and positioning of the driving mechanical components according to the value of the matrix T; Target position (X target , Y target ) = The machine coordinates after the centroid coordinates are transformed, and the target rotation angle RZ = θ best + Compensation angle; Jaw opening and closing width = |P1P2| + Safety margin, and the safety margin is about 5 - 10 mm.

[0096] If the brick is severely broken and the area is too small, the system will alarm and refuse to execute.

[0097] If after scanning all angles, all clamping widths exceed the jaw stroke, or the contact surface is too sharp, that is, the normal score is too low, the system will prompt for manual intervention.

[0098] The electric jaw sets the maximum clamping force threshold to prevent the brick from being crushed; sets the minimum force threshold to prevent slipping.

[0099] Refer to Figure 8 , The specific steps of the clamping line planning include: Taking the centroid (C x , C y ) as the origin, create a straight line L passing through the centroid every angle θ θ , and θ takes integer values from 1° to 5°; Calculate the two intersection points P1 and P2 of the straight line L θ and the contour C; For each straight line L at an angle θ θ , calculate its clamping stability score Score(θ); Score(θ)=ω1·D(P1,P2)+ω2·N(P1,P2)+ω3·S(P1,P2); D(P1,P2) - Clamping width score: Check whether the distance |P1P2| is within the effective stroke range of the jaw (Min < Dist < Max). If it is within the range, the score is 1, otherwise it is 0 and it is directly excluded.

[0100] N(P1,P2) - Surface smoothness / normal score: Calculate the slope of the tangents at P1 and P2. Ideally, the tangents at the two points should be parallel to each other and perpendicular to the line connecting P1 and P2. Calculate the dot product of the tangent normal vector and the clamping vector. The closer to 1, the better.

[0101] S(P1,P2) - Local Straightness Score: Checks whether the small neighborhoods near P1 and P2 are approximately straight, facilitating contact between the flat-finger grippers; Select the angle θ with the highest score(θ) best As the optimal clamping angle, the corresponding (P1, P2) are the theoretical clamping contacts.

[0102] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the scope defined by the structure of the invention, and all such modifications and additions should fall within the protection scope of the present invention.

Claims

1. A mechanical clamp for paving irregularly shaped building materials, comprising a mounting bracket (1) and grippers (2), wherein the grippers (2) are telescopically mounted on the mounting bracket (1) and used to clamp irregularly shaped building materials, characterized in that: The mounting bracket (1) is provided with two sets of grippers (2), and the extension paths of the two sets of grippers (2) intersect and are symmetrical. The distance between the two sets of grippers (2) is controlled by extension to clamp and release the irregular building material. The mounting bracket (1) is provided with a suction cup (3), which is connected to a negative pressure device through a pipe. A push rod (4) is installed on one side of the gripper (2), and the push rod (4) is extended laterally toward the middle of the two sets of grippers (2). An image acquisition device (5) is installed on the mounting bracket (1), which is used to acquire images of the irregular building material to be clamped.

2. The mechanical clamp for paving irregularly shaped building materials according to claim 1, characterized in that: The mounting bracket (1) is provided with a connecting seat (11) and externally connected to a driving mechanical component through the connecting seat (11). The mounting bracket (1) is provided with a mounting seat (12). The gripper (2) is mounted on the mounting seat (12). The mounting bracket (1) is provided with a support bracket (13). The support bracket (13) is mounted on one side of the extension path of the gripper (2) and parallel to the extension path of the gripper (2).

3. The mechanical clamp for paving irregularly shaped building materials according to claim 2, characterized in that: An expansion chuck (111) is provided on the connecting seat (11). The expansion chuck (111) is extended and expanded to the outside of the connecting seat (11). The expansion chuck (111) is connected to the adjusting bolt (112) and the expansion chuck (111) is controlled to extend and expand by the adjusting bolt (112). The gripper (2) is fixedly installed on the mounting seat (12) by the mounting bolt (121). A positioning plate (131) is installed at the front end of the support bracket (13). The support bracket (13) and the positioning plate (131) are connected and fixed by the combination bolt (132). The positioning plate (131) has an adjusting bolt hole (133). The adjusting bolt hole (133) is elongated. The combination bolt (132) passes through the adjusting bolt hole (133) to fix the positioning plate (131).

4. The mechanical clamp for paving irregularly shaped building materials according to claim 1, characterized in that: The gripper (2) is installed at the front end of the telescopic arm (21) and moves by being driven by the telescopic arm (21). The telescopic arm (21) is installed on the telescopic shaft of the telescopic cylinder (22) and its extension and retraction are controlled by the telescopic cylinder (22). The gripper (2) is oscillatingly installed at the front end of the telescopic arm (21), and a gripper spring (23) is installed on one side of the gripper (2).

5. A mechanical clamp for laying irregularly shaped building materials according to claim 4, characterized in that: The telescopic arms (21) of the two sets of grippers (2) are arranged crosswise. An auxiliary arm (211) is provided on one side of the telescopic arm (21). One set of telescopic arms (21) slides and interlocks with the other set of telescopic arms (21) through the auxiliary arm (211). A support block (212) is provided at the telescopic end of the auxiliary arm (211). The support block (212) is used to guide and support the telescopic sliding of the auxiliary arm (211). A positioning block (231) is provided on the elastic damping swing side of the gripper (2). A friction pad (232) is provided on the elastic power swing side of the gripper (2). The swing end of the gripper (2) is set as a wedge-shaped blade (233).

6. A mechanical clamp for laying irregularly shaped building materials according to claim 1, characterized in that: The suction cup (3) is provided in two sets and is respectively set on both sides of the movement path of the two sets of grippers (2). The suction cup (3) is elastically telescopically mounted on the mounting bracket (1) through the support rod (31). The telescopic end of the support rod (31) is provided with two sets of forked rods (311). The two sets of forked rods (311) are respectively used to install the two sets of suction cups (3). The support rod (31) is elastically telescopically mounted on the mounting bracket (1) through the elastic rod (32), and a top spring (321) is installed on the elastic rod (32). The telescopic end of the elastic rod (32) is provided with a spline (322). The suction cup (3) is mounted on the forked rod (311) through the universal joint (33).

7. A mechanical clamp for laying irregularly shaped building materials according to claim 1, characterized in that: The push rod (4) is installed on the extension end of the push cylinder (41) and its extension and retraction are controlled by the push cylinder (41). The end of the push rod (4) is provided with a push head (411). The push rod (4) and the push cylinder (41) are installed on the mounting bracket (1) through the push rod bracket (42). The push rod bracket (42) is installed on the mounting bracket (1) by extending and retracting the lifting cylinder (421).

8. A mechanical clamp for laying irregularly shaped building materials according to claim 1, characterized in that: The image acquisition device (5) is connected to the processor via a data cable. A ranging component (51) is installed on the mounting bracket (1). The ranging component (51) is installed facing the irregular building material to be clamped and measures the distance.

9. A method for controlling the gripping of irregularly shaped building materials using a mechanical clamp, as described in any one of claims 1-8, characterized in that, The following steps are included: Image acquisition and preprocessing: The camera takes a vertical overhead shot of bricks placed on a conveyor belt or workbench, uses Gaussian filtering to remove noise, uses adaptive thresholding to separate the brick image from the background image, generates a binary image, fills in the internal holes of the bricks and smooths the edges. Contour extraction and fitting: The findContours algorithm is used to extract the outermost edge coordinate set C={p1,p2,...,p...} of the bricks. n }; Centroid calculation is performed by calculating the geometric moments of the irregular brick using the fitted set of coordinates of the outermost edge contour of the brick. x C y ); Clamping line planning involves listing lines connecting the centroids as clamping normals, and then comprehensively judging and selecting the clamping normals based on the placement direction, the smoothness of the clamping point, and the clamping distance. Coordinate transformation and execution: Based on the determined centroid position and clamping normal angle, the transformation matrix T from the pixel coordinate system (u,v) to the robot base coordinate system (X,Y) is obtained through the nine-point calibration method. The value of matrix T is used to control the movement and positioning of the drive mechanical components.

10. A method for controlling the gripping of irregularly shaped building materials using a mechanical clamp according to claim 9, characterized in that, The specific steps for planning the clamping line include: With the center of mass (C) x C y Using the origin as the reference point, create a straight line L passing through the centroid at intervals of angle θ. θ θ takes integer values ​​between 1° and 5°; Calculate line L θ The two intersection points P1 and P2 with the contour C; For each angle θ, the straight line L θ Calculate its clamping stability score, Score(θ); Select the angle θ with the highest score(θ) best As the optimal clamping angle, the corresponding (P1, P2) are the theoretical clamping contacts.

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