A device for assisting masonry work

Abstract

The application relates to the technical field of building construction, in particular to an auxiliary masonry device, which comprises a sliding rail, a mounting base, a lifting mechanism, a rotating mechanism, an arm lever mechanism and a clamping mechanism. The bottom of the mounting base is provided with a track wheel which is rollingly arranged on the sliding rail; the lifting mechanism is arranged on the mounting base and can reciprocate along the vertical direction; the rotating mechanism is arranged on the lifting mechanism and can rotate around the vertical axis; the arm lever mechanism is arranged on the rotating mechanism and can rotate around the horizontal axis; in the clamped state, the multiple auxiliary clamping teeth can be adjusted along the horizontal direction to adapt to the outer contour of the building material to be clamped, and the current position can be locked in the clamped state. Through the cooperation of the multi-degree-of-freedom motion mechanism and the self-adaptive clamping mechanism, the stable clamping and accurate positioning of irregular stone materials are realized, the labor intensity is reduced, and the masonry efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, and more specifically, to an auxiliary masonry device. Background Technology

[0002] In the traditional construction field, masonry work has long relied on manual labor, resulting in prominent problems such as high labor intensity, large fluctuations in work efficiency, and poor consistency in masonry quality. In recent years, with the rapid development of robotics and intelligent sensing systems, masonry operations have gradually introduced visual recognition and automated control, realizing the automated execution of cyclical processes such as positioning, grasping, and placing, significantly improving the construction efficiency and accuracy of regular brick materials.

[0003] However, existing masonry systems are mainly suitable for standardized bricks with uniform size and regular shape. For irregular stone materials widely used in construction projects, existing systems still face fundamental technical bottlenecks in terms of geometric adaptation, gripping stability, and structural mechanics planning. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes an auxiliary masonry construction device that can assist in grasping irregular stones, reduce the labor intensity of construction workers, and improve construction efficiency.

[0005] An auxiliary masonry construction device according to an embodiment of the present invention includes: Slide rail; The mounting base has a track wheel at its bottom, and the track wheel is rolled on the slide rail. A lifting mechanism is mounted on the mounting base; the lifting mechanism is capable of reciprocating in the vertical direction. A rotary mechanism is mounted on the lifting mechanism and is capable of rotating about a vertical axis; A boom mechanism is mounted on the rotary mechanism and is capable of rotating about a horizontal axis; The clamping mechanism includes a clamping base, a clamping drive, a jaw assembly, and an auxiliary clamping unit. The upper end of the clamping base is rotatably connected to one end of the arm mechanism. The clamping drive controls the two jaw assemblies to move closer or further apart. The auxiliary clamping unit is mounted on the jaw assembly and has multiple auxiliary gripping teeth. In the clamping state, the multiple auxiliary gripping teeth can move and adjust horizontally to fit the outer contour of the building material to be clamped, and can lock the current movement position in the clamping state.

[0006] According to some embodiments of the present invention, the lifting mechanism includes a first linear drive, a second linear drive, and a lifting base, wherein the lifting base is slidably connected to the mounting base in a vertical direction; the lower end of the first linear drive is rotatably connected to the mounting base, and the upper end of the first linear drive is rotatably connected to the lifting base; the lower end of the second linear drive is rotatably connected to the mounting base, and the upper end of the second linear drive is rotatably connected to the lifting base; the first linear drive and the second linear drive are respectively located on both sides of the mounting base.

[0007] According to some embodiments of the present invention, the rotary mechanism includes a worm, a turbine, a rotating disk, a first drive motor, and an upper support base. The rotating disk is fixedly connected to the upper end of the lifting mechanism, and the turbine is rotatably connected to the rotating disk. The first drive motor is fixedly connected to the lifting mechanism. The output end of the first drive motor is drivenly connected to the worm. The worm and the turbine mesh. The upper support base is fixedly connected to the turbine.

[0008] According to some embodiments of the present invention, the boom mechanism includes a main support arm, a secondary support arm, a balancing hydraulic cylinder, and a boom connecting seat; one end of the main support arm is rotatably connected to the upper support base, and the other end of the main support arm is rotatably connected to the boom connecting seat; one end of the secondary support arm is rotatably connected to the upper support base, and the other end of the secondary support arm is rotatably connected to the boom connecting seat; the main support arm, the secondary support arm, the upper support base, and the boom connecting seat form a parallel four-bar linkage structure; one end of the balancing hydraulic cylinder is rotatably connected to the upper support base, and the other end of the balancing hydraulic cylinder is rotatably connected to the main support arm.

[0009] According to some embodiments of the present invention, a first clamp and a second clamp are provided at one end of the main support arm away from the arm connecting seat, and one end of the first clamp and the second clamp are connected by a locking bolt for fixing the counterweight.

[0010] According to some embodiments of the present invention, the clamping drive includes a second drive motor, a drive screw, a first screw bearing, a second screw bearing, a first T-shaped mounting block, a second T-shaped mounting block, and a drive mounting base; the upper end of the drive mounting base is fixedly connected to the clamping base; the drive screw and the drive mounting base are rotatably connected, the second drive motor and the drive mounting base are fixedly connected, and the output end of the second drive motor and the drive screw are connected via a coupling; the drive screw is provided with a first threaded portion and a second threaded portion along the axial direction, the first threaded portion and the second threaded portion having opposite rotation directions; the first screw bearing and the first threaded portion are threadedly connected, and the second screw bearing and the second threaded portion are threadedly connected; the first T-shaped mounting block and the first screw bearing are fixedly connected, and both ends of the first T-shaped mounting block are slidably disposed on the slide bar of the drive mounting base; the second T-shaped mounting block and the second screw bearing are fixedly connected, and both ends of the second T-shaped mounting block are slidably disposed on the slide bar of the drive mounting base; the lower ends of the first T-shaped mounting block and the second T-shaped mounting block are respectively fixedly connected to a gripper assembly.

[0011] According to some embodiments of the present invention, the gripper assembly includes a gripper mounting base, the cross-section of which gradually decreases downward in the vertical direction; at least one rib is provided in the gripper mounting base, the rib dividing the gripper mounting base into a plurality of mounting cavities, the mounting cavities being used to accommodate auxiliary gripping units.

[0012] According to some embodiments of the present invention, the lower end of the gripper mounting base is provided with a base plate, a positioning shaft, and a plurality of main gripping teeth. One end of the main gripping teeth is rotatably connected to the positioning shaft, and the bottom of the main gripping teeth abuts against the base plate under the control of a torsion spring. When the bottom of the main gripping teeth is subjected to force, it can rotate around the positioning shaft and be housed in the gripper mounting base.

[0013] According to some embodiments of the present invention, the auxiliary clamping unit includes a unit seat, an end cover, auxiliary clamping teeth, an adjusting shaft, a return spring, a positioning rack, a control slider, and a third linear drive. The unit seat has a mounting hole in the horizontal direction. The end cover is detachably connected to one end of the mounting hole. The adjusting shaft is slidably disposed in the mounting hole, and one end of the adjusting shaft passes through the end cover and is fixedly connected to the auxiliary clamping teeth. The positioning rack is fixedly connected to the adjusting shaft along the axial direction. The return spring is sleeved on the adjusting shaft, and a retaining ring is provided on the adjusting shaft. One end of the return spring abuts against the retaining ring, and the other end of the return spring abuts against the unit seat. The control slider is slidably connected to the unit seat in the vertical direction. A positioning piece is provided on the control slider. When the control slider moves, the positioning piece can penetrate the movement path of the positioning rack and lock the movement state of the positioning rack. One end of the third linear drive is rotatably connected to the unit seat, and the other end of the third linear drive is rotatably connected to the control slider.

[0014] According to some embodiments of the present invention, the clamping mechanism is provided with a control handle.

[0015] An auxiliary masonry construction device according to an embodiment of the present invention has at least the following beneficial effects: According to the present invention, the combination of the slide rail and the bottom track wheel of the mounting base enables the whole machine to move smoothly along the fixed track, ensuring the positioning accuracy and movement efficiency during continuous multi-station operation.

[0016] According to the present invention, the vertical reciprocating movement provided by the lifting mechanism, the rotation around the vertical axis provided by the slewing mechanism, and the rotation around the horizontal axis provided by the boom mechanism together constitute a multi-degree-of-freedom spatial kinematic chain. This kinematic chain enables the clamping mechanism to flexibly adjust its position and posture in three-dimensional space, meeting the needs of transporting and precisely positioning irregular stones between the stacking area and the masonry surface.

[0017] According to the present invention, multiple auxiliary gripping teeth of the auxiliary gripping unit in the clamping mechanism can be independently moved and adjusted horizontally in the clamping state, allowing the auxiliary gripping tooth array to be differentiated according to the uneven and varied outer contours of irregular stone surfaces, forming a geometrically adapted contact pattern. In the clamping state, the auxiliary gripping teeth lock their current moving position, transmitting the clamping force to the stone surface through multi-point support. This design effectively solves the problem of difficulty in determining the clamping contact point due to the high degree of dispersion in the shape of irregular stones, significantly improving gripping stability.

[0018] According to the present invention, the rotational connection between the upper end of the clamping base and one end of the arm mechanism provides the clamping mechanism with a swing degree of freedom for passive adaptation or active adjustment. This degree of freedom allows the clamping mechanism to further optimize its posture when in contact with the stone surface, avoiding rigid interference caused by deviations in the stone's shape, and enhancing the system's geometric adaptability to irregularly shaped blocks.

[0019] According to the present invention, this solution, through the modular design of slide rail, mounting base, lifting mechanism, slewing mechanism, boom mechanism and clamping mechanism, can be quickly assembled and deployed, and at the same time facilitates the rapid replacement of faulty parts, thereby improving work efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of one structure of the present invention; Figure 2 This is a cross-sectional structural diagram of the present invention; Figure 3 This is a schematic diagram of the mounting base and lifting mechanism of the present invention; Figure 4 This is a schematic diagram of a lever mechanism of the present invention; Figure 5 This is a schematic diagram of one structure of the clamping mechanism of the present invention; Figure 6 For the present invention Figure 5 A magnified schematic diagram of the local structure at point A; Figure 7 This is a cross-sectional view of the clamping mechanism of the present invention; Figure 8 This is a schematic diagram of the structure of the auxiliary clamping unit of the present invention; Figure 9 For the present invention Figure 8 A magnified schematic diagram of the local structure at point B; Figure 10 This is a cross-sectional view of the auxiliary clamping unit of the present invention.

[0021] In the picture: 100-slide rail; 200 - Mounting base; 210 - Track wheel; 300 - Lifting mechanism, 310 - First linear drive, 320 - Second linear drive, 330 - Lifting base; 400-Slewing mechanism, 410-Worm gear, 420-Turbine, 430-Rotating wheel, 440-First drive motor, 450-Upper support base; 500-Boom mechanism, 510-Main support arm, 520-Secondary support arm, 530-Balance hydraulic cylinder, 540-Boom connecting seat, 550-First clamp, 560-Second clamp, 570-Locking bolt, 580-Counterweight block; 600-Clamping mechanism, 610-Clamping base, 620-Clamping drive, 621-Second drive motor, 622-Drive screw, 6221-First threaded part, 6222-Second threaded part, 623-First screw bearing, 624-Second screw bearing, 625-First T-mounting block, 626-Second T-mounting block, 627-Drive mounting base, 628-Coupling, 630-Claw assembly, 631-Claw mounting plate Mounting base, 632-rib plate, 633-base plate, 634-positioning shaft, 635-main clamping tooth, 640-auxiliary clamping unit, 641-auxiliary clamping tooth, 642-unit seat, 6421-mounting hole, 643-end cover, 644-adjusting shaft, 6441-retaining ring, 645-reset spring, 646-positioning rack, 647-control slider, 6471-positioning plate, 648-third linear drive, 650-control handle. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0023] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, 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.

[0024] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0025] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0026] Reference Figures 1 to 10As shown, this invention discloses an auxiliary masonry construction device, including a slide rail 100, a mounting base 200, a lifting mechanism 300, a slewing mechanism 400, a boom mechanism 500, and a clamping mechanism 600. The mounting base 200 has a track wheel 210 at its bottom, which rolls on the slide rail 100. The lifting mechanism 300 is mounted on the mounting base 200 and can reciprocate vertically. The slewing mechanism 400 is mounted on the lifting mechanism 300 and can rotate around a vertical axis. The boom mechanism 500 is mounted on the slewing mechanism 400 and can rotate around a horizontal axis. The clamping mechanism 600 includes a clamping base 610 and a clamping drive 620. The system includes a gripper assembly 630 and an auxiliary gripping unit 640. The upper end of the gripping base 610 is rotatably connected to one end of the lever mechanism 500. A gripping drive 620 controls the two gripper assemblies 630 to move closer or further apart. The auxiliary gripping unit 640 is mounted on the gripper assembly 630 and has multiple auxiliary gripping teeth 641. These teeth 641 can move horizontally to adjust to fit the outer contour of the building material to be gripped in the gripping state, and can lock their current position in the gripping state. (See reference...) Figure 1 and Figure 2 As shown, specifically in this embodiment, the solution achieves automated masonry work on irregular stones through the coordinated action of a multi-degree-of-freedom motion mechanism and an adaptive clamping mechanism 600. Track wheels 210 at the bottom of the mounting base 200 roll on the slide rail 100, allowing the entire machine to move horizontally along the slide rail 100, enabling rapid switching between work positions. A lifting mechanism 300 is provided on the mounting base 200, capable of reciprocating vertically to adjust the working height. A slewing mechanism 400 is provided on the lifting mechanism 300, capable of rotating around a vertical axis to adjust the horizontal working angle. An arm mechanism 500 is provided on the slewing mechanism 400, capable of rotating around a horizontal axis to adjust the posture of the clamping mechanism 600 in the vertical plane. The clamping mechanism 600 is provided with a clamping base 610, the upper end of which is rotatably connected to one end of the arm mechanism 500, forming an end-effector degree of freedom. A clamping drive 620 is provided on the clamping base 610. The clamping drive 620 is used to control the two jaw assemblies 630 to move closer or further apart, realizing the clamping and release of the stone. Each jaw assembly 630 is provided with an auxiliary clamping unit 640, which has multiple auxiliary clamping teeth 641. In the clamping state, the multiple auxiliary clamping teeth 641 can move and adjust horizontally so that the envelope surface formed by the ends of the auxiliary clamping teeth 641 adapts to the outer contour of the stone to be clamped; in the clamping state, the multiple auxiliary clamping teeth 641 can lock the current moving position, forming a rigid support structure that matches the outer contour of the stone. Through the design of this structure, Reference Figure 1 and Figure 2 As shown, through the design of this scheme, the combination of the slide rail 100 and the bottom track wheel 210 of the mounting base 200 enables the whole machine to move smoothly along a fixed track, ensuring positioning accuracy and movement efficiency during continuous multi-station operation. The vertical reciprocating movement provided by the lifting mechanism, the rotation around the vertical axis provided by the rotary mechanism 400, and the rotation around the horizontal axis provided by the boom mechanism 500 together constitute a multi-degree-of-freedom spatial motion chain. This motion chain enables the clamping mechanism 600 to flexibly adjust its position and posture in three-dimensional space, meeting the needs of transporting and precisely positioning irregular stones between the stacking area and the masonry surface. In the clamping mechanism 600, the multiple auxiliary clamping teeth 641 of the auxiliary clamping unit 640 can move and adjust independently in the horizontal direction when in the clamping state, so that the array of auxiliary clamping teeth 641 can be differentiated according to the uneven surface and different outer contours of the irregular stone, forming a geometrically adapted contact pattern. In the clamping state, the auxiliary clamping teeth 641 lock the current moving position and transmit the clamping force to the stone surface through multi-point support. This design effectively solves the problem of determining the clamping contact point due to the high degree of dispersion in the shape of irregular stones, significantly improving gripping stability. The rotatable connection between the upper end of the clamping base 610 and one end of the arm mechanism 500 provides the clamping mechanism 600 with a degree of freedom for passive adaptation or active adjustment. This degree of freedom allows the clamping mechanism 600 to further optimize its posture when contacting the stone surface, avoiding rigid interference caused by deviations in stone shape, and enhancing the system's geometric adaptability to irregularly shaped blocks. This solution, through the modular design of the slide rail 100, mounting base 200, lifting mechanism 300, rotating mechanism 400, arm mechanism 500, and clamping mechanism 600, enables rapid assembly and deployment, while also facilitating quick replacement of faulty components, thus improving work efficiency.

[0027] In some embodiments of the present invention, reference is made to... Figures 1 to 3As shown, the lifting mechanism 300 includes a first linear drive 310, a second linear drive 320, and a lifting base 330. The lifting base 330 is slidably connected to the mounting base 200 in the vertical direction. The lower end of the first linear drive 310 is rotatably connected to the mounting base 200, and the upper end of the first linear drive 310 is rotatably connected to the lifting base 330. The lower end of the second linear drive 320 is rotatably connected to the mounting base 200, and the upper end of the second linear drive 320 is rotatably connected to the lifting base 330. The first linear drive 310 and the second linear drive 320 are located on both sides of the mounting base 200. Specifically, in this embodiment, the first linear drive 310 and the second linear drive 320 can be hydraulic cylinders or electric cylinders. When using hydraulic cylinders, a small hydraulic motor and a hydraulic control system are required; when using electric cylinders, a servo motor and a PLC control system are required. When the first linear drive 310 and the second linear drive 320 extend and retract synchronously, they drive the lifting base 330 to reciprocate in the vertical direction. Since the two linear drives are respectively arranged on both sides of the mounting base 200, the lifting base 330 is subjected to symmetrical driving forces on both sides during movement. Both ends of the linear drives are rotatably connected to the mounting base 200 and the lifting base 330. When the lifting base 330 moves along the sliding joint, the linear drives automatically adjust their angles according to the movement state, eliminating additional stress caused by manufacturing and assembly errors, and ensuring that the driving force is always transmitted along the linear drive axis. During the process of the clamping mechanism 600 gripping irregular stones, the discrete shape of the stone causes the load center of gravity to shift. The linear drives on both sides can adjust the magnitude of their respective output forces through independent force control, forming differential compensation to maintain the horizontal posture and movement stability of the lifting base 330. The lifting base 330 provides the mounting foundation for the rotary mechanism 400, which is mounted on the lifting base 330. The subsequent boom mechanism 500 and clamping mechanism 600 are connected in sequence to form a complete operating chain.

[0028] In some embodiments of the present invention, reference is made to... Figures 1 to 3As shown, the rotary mechanism 400 includes a worm gear 410, a turbine gear 420, a rotating disk 430, a first drive motor 440, and an upper support base 450. The rotating disk 430 is fixedly connected to the upper end of the lifting mechanism 300, and the turbine gear 420 is rotatably connected to the rotating disk 430. The first drive motor 440 is fixedly connected to the lifting mechanism 300. The output end of the first drive motor 440 is drive-connected to the worm gear 410. The worm gear 410 and the turbine gear 420 mesh. The upper support base 450 is fixedly connected to the turbine gear 420. Specifically, in this embodiment, the rotating disk 430 is fixedly connected to the upper end of the lifting mechanism 300, providing a fixed mounting base for the rotary mechanism 400. The turbine gear 420 is rotatably connected to the rotating disk 430, and the turbine gear 420 can rotate relative to the rotating disk 430 about a vertical axis. The first drive motor 440 is fixedly connected to the lifting mechanism 300, and the output end of the first drive motor 440 is drive-connected to the worm gear 410. The worm gear 410 and the worm wheel 420 mesh to form a worm gear 410 transmission pair. The upper support base 450 and the worm wheel 420 are fixedly connected. When the first drive motor 440 starts, the motor output drives the worm gear 410 to rotate, and the worm gear 410 drives the worm wheel 420 to rotate through the meshing relationship. The worm wheel 420 rotates about the vertical axis relative to the fixed rotating disk 430, and the worm wheel 420 drives the upper support base 450, which is fixedly connected to it, to rotate synchronously. The upper support base 450 serves as the output end of the slewing mechanism 400 and provides a mounting base for the boom mechanism 500, which is mounted on the upper support base 450. The slewing mechanism 400 adopts a worm gear 410 transmission method, utilizing the self-locking characteristic of the worm gear 410 pair. When the first drive motor 440 stops working, the worm gear 410 cannot be driven in reverse by the worm wheel 420, and the upper support base 450 remains stationary under load. This characteristic plays a crucial role in the clamping of irregular stones. The eccentric torque generated during stone transfer will not cause the rotary mechanism 400 to rotate unexpectedly, ensuring the stability and safety of the working posture. The structural layout, where the rotating wheel 430 is fixedly connected to the upper end of the lifting mechanism 300, and the turbine 420 is rotatably connected to the rotating wheel 430, clearly defines the load-bearing path of the rotary mechanism 400. The load is transmitted to the turbine 420 through the upper support base 450, and the turbine 420 transmits the load to the lifting mechanism 300 through the rotating wheel 430. The rotating wheel 430 simultaneously serves as a guide and support for the rotational motion, improving the structural reliability of the rotary mechanism 400 when bearing large, irregular stones. The first drive motor 440 is fixedly connected to the lifting mechanism 300, and the motor output transmits power to the turbine 420 through the worm gear 410. The motor body itself does not move with the rotating part. This layout reduces the rotational inertia of the slewing section, making the starting, stopping, and angle adjustment of the slewing mechanism 400 more responsive, which helps improve the efficiency and accuracy of slewing positioning in masonry operations.

[0029] In some embodiments of the present invention, reference is made to... Figure 4As shown, the boom mechanism 500 includes a main support arm 510, a secondary support arm 520, a balancing hydraulic cylinder 530, and a boom connecting seat 540. One end of the main support arm 510 is rotatably connected to the upper support base 450, and the other end of the main support arm 510 is rotatably connected to the boom connecting seat 540. One end of the secondary support arm 520 is rotatably connected to the upper support base 450, and the other end of the secondary support arm 520 is rotatably connected to the boom connecting seat 540. The main support arm 510, secondary support arm 520, upper support base 450, and boom connecting seat 540 form a parallel four-bar linkage structure. One end of the balancing hydraulic cylinder 530 is rotatably connected to the upper support base 450, and the other end of the balancing hydraulic cylinder 530 is rotatably connected to the main support arm 510. Specifically, in this embodiment, one end of the main support arm 510 is rotatably connected to the upper support base 450, and the other end of the main support arm 510 is rotatably connected to the boom connecting seat 540. One end of the auxiliary support arm 520 is rotatably connected to the upper support base 450, and the other end is rotatably connected to the boom connecting seat 540. The main support arm 510, auxiliary support arm 520, upper support base 450, and boom connecting seat 540 together form a parallel four-bar linkage structure. In this structure, the upper support base 450 and the boom connecting seat 540 always maintain a parallel posture. When the balance hydraulic cylinder 530 extends or retracts, it drives the main support arm 510 to swing around the rotational connection point between the main support arm 510 and the upper support base 450. When the main support arm 510 moves, the constraint of the parallel four-bar linkage structure drives the auxiliary support arm 520 to move synchronously, so that the boom connecting seat 540 always maintains a parallel posture with the upper support base 450 during the movement. The arm connecting seat 540 provides a mounting base for the clamping mechanism 600, and the upper end of the clamping base 610 of the clamping mechanism 600 is rotatably connected to the arm connecting seat 540. The parallel four-bar structure formed by the main support arm 510, the auxiliary support arm 520, the upper support base 450, and the arm connecting seat 540 ensures that the arm connecting seat 540 remains parallel to the upper support base 450 during the movement of the arm mechanism 500. This characteristic ensures that when the clamping mechanism 600 is adjusted in the vertical plane, the overall posture of the clamping mechanism 600 remains unchanged relative to the horizontal plane, avoiding changes in the clamping angle caused by arm swing and simplifying the posture control of the clamping mechanism 600 when aligning with the stone. The main support arm 510 and the auxiliary support arm 520 together constitute a double support arm structure, and the two support arms form two independent rotatable connection points with the upper support base 450 and the arm connecting seat 540, respectively. Compared to a single-arm structure, the double-support arm layout significantly enhances the structural rigidity of the boom mechanism 500. When subjected to large mass loads from irregular stones, the boom mechanism 500 is less prone to torsional deformation, thus improving positioning accuracy during operation. One end of the balancing hydraulic cylinder 530 is rotatably connected to the upper support base 450, and the other end is rotatably connected to the main support arm 510.The balancing hydraulic cylinder 530 provides driving force during the movement of the boom mechanism 500, and at the same time can balance the gravitational torque generated by the clamping mechanism 600 and the stone load, reduce the static load of the main support arm 510 and the auxiliary support arm 520 at the rotating connection point, and improve the service life of the rotating pair.

[0030] In some embodiments of the present invention, reference is made to... Figure 4 As shown, a first clamp 550 and a second clamp 560 are provided at the end of the support arm away from the arm connecting seat 540. One end of the first clamp 550 and the second clamp 560 are connected by a locking bolt 570 to fix the counterweight 580. Specifically, in this embodiment, after the first clamp 550 and the second clamp 560 are closed, the counterweight 580 is tightly clamped onto the support arm. The locking bolt 570 applies a preload, generating sufficient static friction between the clamp and the counterweight 580, thus fixing the counterweight 580 in the set position of the support arm. The counterweight 580 is fixed at the end of the support arm away from the arm connecting seat 540, that is, the end near the upper support base 450, forming a lever-like positional relationship with the clamping mechanism 600 at the arm connecting seat 540. The fixing method of the first clamp 550 and the second clamp 560 connected by the locking bolt 570 ensures that the counterweight 580 can be firmly installed on the support arm. The locking bolt 570 has an adjustable preload to ensure that the counterweight 580 does not loosen or shift during equipment operation, thus improving the reliability of the counterweight system. The clamp-type structure is detachable, allowing operators to quickly replace counterweights 580 of different masses or adjust their installation position on the support arm according to actual operational needs. This enables the counterweight system to adapt to load variations caused by irregularly shaped stones of different specifications, enhancing the equipment's adaptability to various working conditions.

[0031] In some embodiments of the present invention, reference is made to... Figures 5 to 10As shown, the clamping drive 620 includes a second drive motor 621, a drive screw 622, a first screw bearing 623, a second screw bearing 624, a first T-shaped mounting block 625, a second T-shaped mounting block 626, and a drive mounting base 627; the upper end of the drive mounting base 627 is fixedly connected to the clamping base 610; the drive screw 622 and the drive mounting base 627 are rotatably connected, the second drive motor 621 and the drive mounting base 627 are fixedly connected, and the output end of the second drive motor 621 and the drive screw 622 are connected via a coupling 628; the drive screw 622 is provided with a first threaded portion 6221 and a second threaded portion 6222 along the axial direction, the first threaded portion 6221... 21 and the second threaded portion 6222 have opposite rotation directions; the first lead screw bearing 623 and the first threaded portion 6221 are threadedly connected, and the second lead screw bearing 624 and the second threaded portion 6222 are threadedly connected; the first T-shaped mounting block 625 and the first lead screw bearing 623 are fixedly connected, and the two ends of the first T-shaped mounting block 625 are respectively slidably mounted on the slide bar of the drive mounting base 627; the second T-shaped mounting block 626 and the second lead screw bearing 624 are fixedly connected, and the two ends of the second T-shaped mounting block 626 are respectively slidably mounted on the slide bar of the drive mounting base 627; the lower ends of the first T-shaped mounting block 625 and the second T-shaped mounting block 626 are respectively fixedly connected to a gripper assembly 630.

[0032] Reference Figure 7As shown, specifically in this embodiment, the upper end of the drive mounting base 627 is fixedly connected to the clamping base 610, and the drive mounting base 627 provides a mounting foundation for the clamping drive 620. The drive screw 622 is rotatably connected to the drive mounting base 627, and the drive screw 622 can rotate relative to the drive mounting base 627 about its own axis. The second drive motor 621 is fixedly connected to the drive mounting base 627, and the output end of the second drive motor 621 and the drive screw 622 are connected by a coupling 628. The rotational motion output by the second drive motor 621 is transmitted to the drive screw 622 through the coupling 628. The drive screw 622 is provided with a first threaded portion 6221 and a second threaded portion 6222 along the axial direction, and the first threaded portion 6221 and the second threaded portion 6222 have opposite directions of rotation. The first screw bearing 623 is threadedly connected to the first threaded portion 6221, and the second screw bearing 624 is threadedly connected to the second threaded portion 6222. The first T-shaped mounting block 625 and the first lead screw bearing 623 are fixedly connected, and the two ends of the first T-shaped mounting block 625 are slidably mounted on the slide bars of the drive mounting base 627. The second T-shaped mounting block 626 and the second lead screw bearing 624 are fixedly connected, and the two ends of the second T-shaped mounting block 626 are slidably mounted on the slide bars of the drive mounting base 627. The lower ends of the first T-shaped mounting block 625 and the second T-shaped mounting block 626 are fixedly connected to a gripper assembly 630. When the second drive motor 621 starts, the motor output end drives the drive lead screw 622 to rotate through the coupling 628. Since the first threaded portion 6221 and the second threaded portion 6222 on the drive lead screw 622 rotate in opposite directions, and the first lead screw bearing 623 and the second lead screw bearing 624 are respectively engaged with the two threaded portions, when the drive lead screw 622 rotates, the first lead screw bearing 623 and the second lead screw bearing 624 move in opposite directions along the axial direction of the drive lead screw 622. The first lead screw bearing 623 drives the first T-shaped mounting block 625 to slide along the slide bar of the drive mounting base 627, and the second lead screw bearing 624 drives the second T-shaped mounting block 626 to slide along the slide bar of the drive mounting base 627. When the two T-shaped mounting blocks approach each other, they drive the two gripper assemblies 630 to approach each other, realizing the gripping action; when the two T-shaped mounting blocks move away from each other, they drive the two gripper assemblies 630 to move away from each other, realizing the release action. The drive screw 622 is provided with a first threaded part 6221 and a second threaded part 6222 with opposite directions of rotation. In conjunction with the first lead screw bearing 623 and the second lead screw bearing 624, a structure is realized in which a single drive screw 622 simultaneously drives the two gripper assemblies 630 to perform synchronous and opposite movements. This design ensures the symmetry of the movement of the two gripper assemblies 630, making the gripping center consistent with the geometric center of the gripping mechanism 600, which is beneficial for centering and positioning when gripping irregular stones. The two ends of the first T-shaped mounting block 625 are slidably mounted on the slide bar of the drive mounting base 627, and the two ends of the second T-shaped mounting block 626 are slidably mounted on the slide bar of the drive mounting base 627.The slide bar provides precise linear motion guidance for the T-shaped mounting block, limiting its deflection and wobbling during movement and ensuring the accuracy of the gripper assembly 630's motion trajectory during clamping. The second drive motor 621 and the drive screw 622 are connected via a coupling 628. The coupling 628 absorbs the coaxiality error between the motor output shaft and the drive screw 622, avoiding additional loads caused by installation errors and improving the smoothness and service life of the transmission system.

[0033] In some embodiments of the present invention, reference is made to... Figures 5 to 10 As shown, the gripper assembly 630 includes a gripper mounting base 631, the cross-section of which gradually decreases downwards in the vertical direction. At least one rib 632 is provided within the gripper mounting base 631, dividing it into multiple mounting cavities for accommodating the auxiliary gripping unit 640. Further, the lower end of the gripper mounting base 631 is provided with a base plate 633, a positioning shaft 634, and multiple main gripping teeth 635. One end of each main gripping tooth 635 is rotatably connected to the positioning shaft 634, and the bottom of each main gripping tooth 635 abuts against the base plate 633 under the control of a torsion spring. When the bottom of the main gripping tooth 635 is subjected to force, it can rotate around the positioning shaft 634 and be retracted into the gripper mounting base 631.

[0034] Reference Figure 6 and Figure 7As shown, specifically in this embodiment, the cross-section of the gripper mounting base 631 gradually decreases downwards along the vertical direction, giving the gripper assembly 630 an overall tapered structure that is wider at the top and narrower at the bottom. This structure provides good guidance when the gripper assembly 630 extends into the gaps between stacked stones, reducing the possibility of interference with surrounding stones and facilitating material handling in complex stacking environments. The ribs 632 within the gripper mounting base 631 divide it into multiple mounting cavities, providing independent mounting space and movement guidance for the auxiliary gripping teeth 641 of the auxiliary clamping unit 640. The ribs 632 also enhance the structural strength of the gripper mounting base 631, preventing deformation of the gripper assembly 630 when subjected to irregular stone clamping forces, thus ensuring clamping accuracy. The rotational connection between the main clamping tooth 635 and the positioning shaft 634, along with the control of the torsion spring, enables the main clamping tooth 635 to have a passive avoidance function. When the gripper assembly 630 moves downwards to contact the stone surface, if the main gripping tooth 635 interferes with the stone, the bottom of the main gripping tooth 635, under force, can rotate around the positioning axis 634 and retract into the gripper mounting base 631, avoiding rigid collision between the main gripping tooth 635 and the stone, which could cause damage or affect positioning. Under normal conditions, the torsion spring keeps the main gripping tooth 635 abutting against the base plate 633, ensuring the main gripping tooth 635 is in a stable extended working position. After the gripper assembly 630 finishes gripping the stone, the main gripping tooth 635 automatically returns to its extended state under the action of the torsion spring, forming a supporting contact with the bottom of the stone, enhancing the lifting capacity of the gripping mechanism 600 and preventing the stone from slipping off the bottom of the gripper assembly 630 during transport. The main gripping tooth 635 works in conjunction with the auxiliary gripping unit 640. The auxiliary clamping teeth 641 of the auxiliary clamping unit 640 can be adjusted and moved horizontally to provide multi-point support and positioning for the side of the stone, providing lateral clamping force; the main clamping teeth 635 provide vertical support for the bottom of the stone, bearing the weight load of the stone. Both form multi-directional constraints from the side and the bottom, respectively, which significantly improves the stability of the clamping mechanism 600 in grasping irregular stones.

[0035] In some embodiments of the present invention, reference is made to... Figures 8 to 10As shown, the auxiliary clamping unit 640 includes a unit base 642, an end cap 643, auxiliary clamping teeth 641, an adjusting shaft 644, a return spring 645, a positioning rack 646, a control slider 647, and a third linear drive 648. The unit base 642 has a mounting hole 6421 in the horizontal direction. The end cap 643 is detachably connected to one end of the mounting hole 6421. The adjusting shaft 644 is slidably disposed in the mounting hole 6421, and one end of the adjusting shaft 644 passes through the end cap 643 and is fixedly connected to the auxiliary clamping teeth 641. The positioning rack 646 is fixedly connected to the adjusting shaft 644 along the axial direction of the adjusting shaft 644. The return spring 645 is sleeved on... A retaining ring 6441 is provided on the adjusting shaft 644. One end of the return spring 645 abuts against the retaining ring 6441, and the other end of the return spring 645 abuts against the unit seat 642. The control slider 647 is slidably connected to the unit seat 642 in the vertical direction. A positioning piece 6471 is provided on the control slider 647. When the control slider 647 moves, the positioning piece 6471 can enter the movement path of the positioning rack 646 and lock the movement state of the positioning rack 646. One end of the third linear drive 648 is rotatably connected to the unit seat 642, and the other end of the third linear drive 648 is rotatably connected to the control slider 647. Specifically, in this embodiment, the unit seat 642 is provided with a mounting hole 6421 in the horizontal direction. The end cover 643 is detachably connected to one end of the mounting hole 6421. The end cover 643 is used to close one end of the mounting hole 6421 and limit the movement of the adjusting shaft 644. An adjusting shaft 644 is slidably disposed in a mounting hole 6421, and can reciprocate horizontally within the mounting hole 6421. One end of the adjusting shaft 644 passes through an end cover 643 and is fixedly connected to an auxiliary clamping tooth 641, which moves synchronously with the adjusting shaft 644. A positioning rack 646 is fixedly connected to the adjusting shaft 644 along its axial direction, and has multiple toothed structures. A return spring 645 is sleeved on the adjusting shaft 644, which has a retaining ring 6441. One end of the return spring 645 abuts against the retaining ring 6441, and the other end abuts against the unit seat 642. When the return spring 645 is compressed, it applies an elastic force extending outward horizontally to the adjusting shaft 644, causing the auxiliary clamping tooth 641 to maintain its outward extension tendency. The control slider 647 is slidably connected to the unit base 642 in the vertical direction, and the control slider 647 can move vertically relative to the unit base 642. A positioning piece 6471 is provided on the control slider 647. When the control slider 647 moves, the positioning piece 6471 can enter the movement path of the positioning rack 646 and lock the movement state of the positioning rack 646. One end of the third linear drive 648 is rotatably connected to the unit base 642, and the other end of the third linear drive 648 is rotatably connected to the control slider 647.When the third linear drive 648 extends, it pushes the control slider 647 to move vertically. The control slider 647 causes the positioning piece 6471 to disengage from the movement path of the positioning rack 646, leaving the positioning rack 646 in a freely movable state. At this time, the auxiliary clamping tooth 641, under the action of external force, can overcome the elastic force of the return spring 645, pushing the adjusting shaft 644 to move horizontally, so that the position of the auxiliary clamping tooth 641 is adapted to the outer contour of the stone. When the third linear drive 648 retracts, it pulls the control slider 647 to move in the opposite direction. The control slider 647 causes the positioning piece 6471 to enter the movement path of the positioning rack 646. The positioning piece 6471 engages with the positioning rack 646, locking the movement state of the positioning rack 646, and thus locking the horizontal position of the adjusting shaft 644 and the auxiliary clamping tooth 641. The auxiliary clamping unit 640 employs a cooperative structure of adjusting shaft 644 and return spring 645. When the positioning piece 6471 disengages from the positioning rack 646, the auxiliary clamping teeth 641 maintain an outward extending tendency under the action of the return spring 645. When the gripper assembly 630 approaches the stone, the auxiliary clamping teeth 641 first contact the stone surface and, under the reaction force of the stone, overcome the elastic force of the return spring 645 to retract, causing the auxiliary clamping teeth 641 to automatically conform to the outer contour of the stone. This structure achieves passive adaptive fitting of the auxiliary clamping teeth 641 to irregular stone surface shapes, eliminating the need for complex sensors and active control algorithms. The locking structure of the positioning rack 646 and positioning piece 6471 provides a reliable position holding function. The third linear drive 648 controls the lifting and lowering of the positioning piece 6471, allowing the adjusting shaft 644 to move freely when adjustment is needed and locking the current position after adjustment. In the locked state, the positioning piece 6471 and the positioning rack 646 form a mechanical engagement, which can withstand the reaction force applied by the stone during clamping and ensure that the auxiliary clamping teeth 641 maintain a stable support position during clamping. In this embodiment, in order to ensure that the positioning piece 6471 can accurately enter the positioning rack 646, a wedge surface is provided on the side of the positioning piece 6471 facing the positioning gear, and the positioning rack 646 is a trapezoidal rack. One end of the third linear drive 648 is rotatably connected to the unit seat 642, and the other end is rotatably connected to the control slider 647. This connection method allows the third linear drive 648 to automatically adapt to the angular deviation between the movement direction of the control slider 647 and its own axis during operation, avoiding additional stress caused by installation errors and improving the operational reliability of the transmission system. The end cap 643 is detachably connected to one end of the mounting hole 6421, giving the auxiliary clamping unit 640 good maintainability. Workers can inspect or replace internal components such as the adjusting shaft 644, return spring 645, and positioning rack 646 by disassembling the end cover 643, reducing equipment maintenance costs. The structure of the multiple auxiliary clamping teeth 641 in the auxiliary clamping unit 640 is a different implementation of the same functional component as the auxiliary clamping teeth 641 in this solution.Multiple auxiliary clamping teeth 641 are adjusted and locked in position via horizontal movement to achieve multi-point support; the auxiliary clamping teeth 641 are also locked to the positioning plate 6471 via sliding adjustment shaft 644 to achieve single-point support. Both structures serve the core function of geometrically adapting to the outer contour of irregular stone, and different structural combinations can be selected according to the size and shape characteristics of the stone. The auxiliary clamping unit 640 works in conjunction with the main clamping teeth 635 in the clamping jaw assembly 630. The auxiliary clamping teeth 641 of the auxiliary clamping unit 640 provide multi-point support and positioning for the side of the stone in the horizontal direction, while the main clamping teeth 635 provide support for the bottom of the stone in the vertical direction. The two form multi-directional constraints from the side and bottom respectively, together constituting a stable clamping system for irregular stone, solving the clamping stability problem caused by the high degree of dispersion in the shape of irregular stone.

[0036] In some embodiments of the present invention, a control handle 650 is provided on the clamping mechanism 600. Specifically, in this embodiment, the control handle 650 is disposed on the clamping mechanism 600. The control handle 650 includes a handle base, a grip portion, a control panel, and an emergency stop button. The handle base is fixedly connected to the clamping base 610 or the drive mounting base 627, providing a mounting base for the control handle 650. The grip portion is disposed on the handle base for the operator to hold and operate. The control panel is disposed above or to the side of the grip portion, facilitating button operation by the operator while holding the handle. The emergency stop button is disposed in a protruding position on the control panel, used to cut off the power source of the equipment in an emergency. The control handle 650 is connected to the control system of the equipment via cable or wireless communication. The control handle 650 is provided with a mode selection switch, a clamping control switch, and a fine-tuning control switch. The mode selection switch is used to switch the operating mode of the control handle 650, including automatic mode, manual mode, and fine-tuning mode. In automatic mode, the control handle 650 serves only as a status monitoring terminal and does not directly control the actuator's actions. In manual mode, the control commands from the control handle 650 are directly sent to the clamping drive 620 and the auxiliary clamping unit 640, enabling manual control of the gripper assembly 630 and the auxiliary gripper teeth 641. In fine-tuning mode, the control handle 650 outputs low-speed, small-step control commands for precise adjustment of the clamping position. The clamping control switch includes a clamping button and a release button. When the clamping button is pressed, the control system sends a forward rotation command to the second drive motor 621. The second drive motor 621 controls the drive screw 622 to rotate, causing the first screw bearing 623 and the second screw bearing 624 to move closer to each other. The first T-shaped mounting block 625 and the second T-shaped mounting block 626 drive the two gripper assemblies 630 to move closer to each other. When the release button is pressed, the control system sends a reverse rotation command to the second drive motor 621. The second drive motor 621 controls the drive screw 622 to rotate in the opposite direction, causing the two gripper assemblies 630 to move away from each other. The fine-tuning control switch includes an auxiliary clamp 641 extension button, an auxiliary clamp 641 retraction button, and an auxiliary clamp 641 retraction button. When the auxiliary clamp 641 extension button is pressed, the control system sends an extension command to the third linear drive 648 in the corresponding mounting cavity. The third linear drive 648 pushes the control slider 647 to move, causing the positioning piece 6471 to disengage from the movement path of the positioning rack 646. The return spring 645 pushes the adjustment shaft 644 to move outward, causing the auxiliary clamp 641 to extend outward. When the auxiliary clamp 641 retraction button is pressed, the operator can manually push the auxiliary clamp 641 to retract, or the control system can control the third linear drive 648 to extend, causing the positioning piece 6471 to disengage and then be pushed back by external force. The auxiliary clamp 641 extension and retraction buttons function the same as the auxiliary clamp 641 control function, used to control the extension and retraction adjustment of the auxiliary clamp 641.The control handle 650 is also equipped with status indicator lights, including a power indicator, a clamping status indicator, and a fault alarm indicator. The power indicator shows the device's power-on status. The clamping status indicator uses different colors or flashing frequencies to indicate the current open / closed state of the gripper assembly 630 and the locked state of the auxiliary clamping unit 640. The fault alarm indicator lights up when the control system detects an anomaly, prompting the operator to perform an inspection.

[0037] In some embodiments of the present invention, reference is made to... Figure 1This device also includes a grouting system, comprising a grouting pipeline 700 mounted on the device for delivering mortar supplied by an external grouting device to the masonry work location. The grouting pipeline 700 includes a grout inlet, a main delivery pipeline, pipeline fasteners, a control valve, a grouting head, a pressure monitoring port, and a pipeline cleaning interface (not shown in the figure). The grout inlet is located on the outer side of the mounting base. The grout inlet is a standard quick-connect coupling, including a male and a female connector. The male connector connects to the external grouting hose, and the female connector is fixedly connected to one end of the main delivery pipeline. The quick-connect coupling has a self-sealing function; when the external grouting hose is disconnected, the grout inlet automatically closes to prevent mortar leakage. The main delivery pipeline is arranged along the outer side of the mounting base, lifting mechanism, slewing mechanism, and boom mechanism. The main delivery pipeline uses a multi-layer composite hose, with an inner wear-resistant rubber layer, a middle fiber braided reinforcement layer, and an outer weather-resistant rubber protective layer. One end of the main delivery pipeline connects to the female connector of the slurry inlet, and the other end connects to the input end of the control valve. The main delivery pipeline has a bending allowance at the movable joints of the lifting and rotating mechanisms, with a bending radius not less than 1.5 times the minimum bending radius of the hose. Pipeline fixing components include multiple pipe clamps and clamp supports. The clamp supports are fixed to the mounting base, lifting base, upper support base, and arm connecting seat, respectively. The pipe clamps are installed on the clamp supports, holding and fixing the main delivery pipeline to maintain a stable relative position during equipment movement, preventing interference or entanglement between the pipeline and other moving parts. The control valve is located on the arm connecting seat or clamping base. The control valve is an electric ball valve, including a valve body, valve core, and valve drive motor. The input end of the valve body connects to the end of the main delivery pipeline, and the output end connects to the application head. The valve drive motor receives the switching signal from the control system and drives the valve core to rotate 90 degrees, realizing the on / off control of the mortar. The control valve has a manual operation function, with a manual wrench on the valve body, allowing manual opening or closing of the valve in case of power failure. The application head is mounted on the clamping mechanism. The application head includes a distribution pipe and multiple slurry nozzles. The distribution pipe is made of stainless steel and is arranged horizontally along the width of the clamp assembly. The middle of the distribution pipe is connected to the output end of the control valve via a short pipe. The multiple slurry nozzles are evenly spaced along the length of the distribution pipe, with the nozzles facing vertically downwards or inclined towards the underside of the stone held by the clamp assembly. The outlet diameter of the slurry nozzles is determined based on the mortar particle size, and the outlet diameter is not less than 2.5 times the maximum aggregate particle size of the mortar. A pressure monitoring port is located between the input end of the control valve and the main delivery pipeline. The pressure monitoring port has a three-way structure, with two ports connected to the main delivery pipeline and the control valve respectively, and the third port housing a pressure gauge or pressure sensor interface. The pressure monitoring port is used for on-site observation of pumping pressure or connection to an external pressure sensor. A pipeline cleaning interface is located between the slurry inlet and the main delivery pipeline. The pipeline cleaning interface is a T-junction, including a cleaning water inlet and a drain outlet. The cleaning water inlet is equipped with a plug, which is closed during normal operation; during cleaning, the plug is removed and the cleaning water source is connected.The drain outlet is equipped with a ball valve, which is closed during normal operation and opened during cleaning to drain cleaning wastewater. The external mortar supply system pressurizes the mortar and delivers it to the inlet port via a mortar supply hose. The mortar enters the main delivery pipeline, flows along the pipeline through the control valve, and finally exits from the mortar outlet of the applicator head, applying it to the masonry surface or the stone contact surface. After the gripper assembly reaches the masonry position and completes stone positioning, the control system sends an open signal to the valve drive motor of the control valve, allowing the mortar to flow out. After application, the control system sends a close signal to cut off the mortar supply.

[0038] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. An auxiliary masonry construction device, characterized in that, include: Slide rail (100); Mounting base (200), the bottom of which is provided with a track wheel (210), the track wheel (210) being rolled on the slide rail (100); A lifting mechanism (300) is provided on the mounting base (200); the lifting mechanism (300) is capable of reciprocating in the vertical direction; A slewing mechanism (400) is provided on the lifting mechanism (300), and the slewing mechanism (400) is capable of rotating about a vertical axis; A boom mechanism (500) is mounted on the rotary mechanism (400) and is capable of rotating about a horizontal axis; A clamping mechanism (600) is provided with a clamping base (610), a clamping drive (620), a jaw assembly (630), and an auxiliary clamping unit (640). The upper end of the clamping base (610) is rotatably connected to one end of the arm mechanism (500). The clamping drive (620) is used to control the two jaw assemblies (630) to move closer or further apart from each other. The auxiliary clamping unit (640) is disposed on the jaw assembly (630) and is provided with a plurality of auxiliary clamping teeth (641). The plurality of auxiliary clamping teeth (641) can move and adjust in the horizontal direction to adapt to the outer contour of the building material to be clamped in the clamping state, and can lock the current movement position in the clamping state.

2. The auxiliary masonry construction device according to claim 1, characterized in that, The lifting mechanism (300) includes a first linear drive (310), a second linear drive (320), and a lifting base (330). The lifting base (330) is slidably connected to the mounting base (200) in the vertical direction. The lower end of the first linear drive (310) is rotatably connected to the mounting base (200), and the upper end of the first linear drive (310) is rotatably connected to the lifting base (330). The lower end of the second linear drive (320) is rotatably connected to the mounting base (200), and the upper end of the second linear drive (320) is rotatably connected to the lifting base (330). The first linear drive (310) and the second linear drive (320) are located on both sides of the mounting base (200).

3. The auxiliary masonry construction device according to claim 1, characterized in that, The rotary mechanism (400) includes a worm (410), a turbine (420), a rotating disk (430), a first drive motor (440), and an upper support base (450). The rotating disk (430) is fixedly connected to the upper end of the lifting mechanism (300), and the turbine (420) is rotatably connected to the rotating disk (430). The first drive motor (440) is fixedly connected to the lifting mechanism (300). The output end of the first drive motor (440) is drivenly connected to the worm (410). The worm (410) and the turbine (420) mesh. The upper support base (450) and the turbine (420) are fixedly connected.

4. The auxiliary masonry construction device according to claim 3, characterized in that, The boom mechanism (500) includes a main support arm (510), a secondary support arm (520), a balancing hydraulic cylinder (530), and a boom connecting seat (540); one end of the main support arm (510) is rotatably connected to the upper support base (450), and the other end of the main support arm (510) is rotatably connected to the boom connecting seat (540); one end of the secondary support arm (520) is rotatably connected to the upper support base (450), and the other end of the secondary support arm (520) is rotatably connected to the boom connecting seat (540); the main support arm (510), the secondary support arm (520), the upper support base (450), and the boom connecting seat (540) form a parallel four-bar linkage structure; one end of the balancing hydraulic cylinder (530) is rotatably connected to the upper support base (450), and the other end of the balancing hydraulic cylinder (530) is rotatably connected to the main support arm (510).

5. The auxiliary masonry construction device according to claim 4, characterized in that, The main support arm (510) is provided with a first clamp (550) and a second clamp (560) at one end away from the arm connecting seat (540). One end of the first clamp (550) and the second clamp (560) are connected by a locking bolt (570) to fix the counterweight (580).

6. The auxiliary masonry construction device according to claim 1, characterized in that, The clamping drive (620) includes a second drive motor (621), a drive screw (622), a first screw bearing (623), a second screw bearing (624), a first T-shaped mounting block (625), a second T-shaped mounting block (626), and a drive mounting base (627); the upper end of the drive mounting base (627) is fixedly connected to the clamping base (610); the drive screw (622) and the drive mounting base (627) are rotatably connected, the second drive motor (621) and the drive mounting base (627) are fixedly connected, and the output end of the second drive motor (621) and the drive screw (622) are connected by a coupling (628); the drive screw (622) is provided with a first threaded portion (6221) and a second threaded portion (6222) along the axial direction, the first threaded portion (6221)... The first screw bearing (623) and the second screw bearing (6221) are opposite in direction of rotation; the first screw bearing (624) and the second screw bearing (6222) are threadedly connected; the first T-shaped mounting block (625) and the first screw bearing (623) are fixedly connected; the two ends of the first T-shaped mounting block (625) are slidably disposed on the slide bar of the drive mounting seat (627); the second T-shaped mounting block (626) and the second screw bearing (624) are fixedly connected; the two ends of the second T-shaped mounting block (626) are slidably disposed on the slide bar of the drive mounting seat (627); the lower ends of the first T-shaped mounting block (625) and the second T-shaped mounting block (626) are fixedly connected to a jaw assembly (630).

7. The auxiliary masonry construction device according to claim 1, characterized in that, The gripper assembly (630) includes a gripper mounting base (631), the cross-section of which gradually decreases downward in the vertical direction; at least one rib (632) is provided inside the gripper mounting base (631), the rib (632) dividing the gripper mounting base (631) into multiple mounting cavities, the mounting cavities being used to accommodate auxiliary gripping units (640).

8. The auxiliary masonry construction device according to claim 7, characterized in that, The lower end of the gripper mounting base (631) is provided with a base plate (633), a positioning shaft (634), and a plurality of main gripping teeth (635). One end of the main gripping teeth (635) is rotatably connected to the positioning shaft (634), and the bottom of the main gripping teeth (635) abuts against the base plate (633) under the control of a torsion spring. When the bottom of the main gripping teeth (635) is subjected to force, it can rotate around the positioning shaft (634) and be stored in the gripper mounting base (631).

9. The auxiliary masonry construction device according to claim 1, characterized in that, The auxiliary clamping unit (640) includes a unit base (642), an end cap (643), an adjusting shaft (644), a return spring (645), a positioning rack (646), a control slider (647), and a third linear drive (648). The unit base (642) has a mounting hole (6421) in the horizontal direction. The end cap (643) is detachably connected to one end of the mounting hole (6421). The adjusting shaft (644) is slidably disposed in the mounting hole (6421), and one end of the adjusting shaft (644) passes through the end cap (643) and is fixedly connected to the auxiliary clamping teeth (641). The positioning rack (646) is fixedly connected to the adjusting shaft (644) along the axial direction of the adjusting shaft (644). The return spring (645) is sleeved on the adjusting shaft (644). 4) On the adjusting shaft (644), a retaining ring (6441) is provided, one end of the return spring (645) abuts against the retaining ring (6441), and the other end of the return spring (645) abuts against the unit seat (642); the control slider (647) is slidably connected to the unit seat (642) in the vertical direction; a positioning piece (6471) is provided on the control slider (647), and the positioning piece (6471) can penetrate the movement path of the positioning rack (646) and lock the movement state of the positioning rack (646) when the control slider (647) moves; one end of the third linear drive (648) is rotatably connected to the unit seat (642), and the other end of the third linear drive (648) is rotatably connected to the control slider (647).

10. The auxiliary masonry construction device according to claim 1, characterized in that, The clamping mechanism (600) is provided with a control handle (650).

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