阅读说明：本技术 可实现砖间砂浆紧实的砌砖夹具及其砌砖方法 (Brick laying clamp capable of realizing compaction of mortar between bricks and brick laying method thereof ) 是由 刘昌臻 陈思鑫 于 2018-06-26 设计创作，主要内容包括：本发明公开了可实现砖间砂浆紧实的砌砖夹具,包括动力组件、连杆机构、安装板、导杆及两组抓板,抓板包括抓板主体、连接板及防滑夹板,抓板主体上开设有第一安装槽,第一安装槽内设有竖向设置的竖向导轨及竖向滑块；连接板上开设有第二安装槽,第二安装槽内设置有横向设置的横向导轨及横向滑块；至少一组抓板的第一安装槽内设置有竖向位移传感器或竖向力传感器,至少一组抓板的第二安装槽内设置有横向位移传感器或横向力传感器。本发明还公开了砌砖方法,包括夹砖对位、竖向就位、横向及竖向挤压、松开夹具等步骤。本发明通过在横向及竖向上设置位移传感器或力传感器,从而实现砖块砌筑时横向、竖向砖间的自动紧实,保证砖块之间粘结紧密。(The invention discloses a brick laying clamp capable of realizing compaction of mortar between bricks, which comprises a power assembly, a link mechanism, a mounting plate, a guide rod and two groups of grabbing plates, wherein each grabbing plate comprises a grabbing plate main body, a connecting plate and an anti-skidding clamping plate; a second mounting groove is formed in the connecting plate, and a transverse guide rail and a transverse sliding block which are transversely arranged are arranged in the second mounting groove; and a vertical displacement sensor or a vertical force sensor is arranged in the first mounting groove of the at least one group of grabbing plates, and a transverse displacement sensor or a transverse force sensor is arranged in the second mounting groove of the at least one group of grabbing plates. The invention also discloses a brick laying method, which comprises the steps of brick clamping alignment, vertical positioning, transverse and vertical extrusion, clamp loosening and the like. According to the invention, the displacement sensors or the force sensors are arranged in the horizontal direction and the vertical direction, so that the bricks are automatically compacted in the horizontal direction and the vertical direction during building, and the bricks are tightly bonded.)

1. Can realize tight real anchor clamps of laying bricks of mortar between brick, including power component, link mechanism, mounting panel, guide arm and two sets of boards of grabbing, power component be connected with mounting panel and link mechanism, the link mechanism both sides be connected with two sets of boards of grabbing respectively, two sets of boards of grabbing are installed on the guide arm, its characterized in that:

the two groups of the grabbing plates comprise grabbing plate main bodies, connecting plates and anti-skidding clamping plates, first installation grooves are formed in the grabbing plate main bodies, vertical guide rails and vertical sliding blocks which are vertically arranged are arranged in the first installation grooves, the vertical sliding blocks are installed on the vertical guide rails, and the inner sides of the connecting plates are fixed on the vertical sliding blocks and can move along the vertical guide rails; the connecting plate is provided with a second mounting groove, a transverse guide rail and a transverse sliding block which are transversely arranged are arranged in the second mounting groove, the transverse sliding block is mounted on the transverse guide rail, and the inner side of the anti-skidding clamping plate is fixed on the transverse sliding block and can move along the transverse guide rail; and a vertical displacement sensor or a vertical force sensor is arranged in a first mounting groove of at least one group of the two groups of the grabbing plates, and a transverse displacement sensor or a transverse force sensor is arranged in a second mounting groove of at least one group of the grabbing plates.

2. The brick laying clamp capable of realizing compaction of mortar between bricks according to claim 1, wherein: a vertical polished rod is further arranged in the first mounting groove, a vertical spring is nested at the upper end of the vertical polished rod, a first boss is arranged on the inner side surface of the connecting plate, and a vertical guide hole stud is arranged in the first boss; vertical installation in vertical guide hole walling post of vertical polished rod, first boss lower surface and first mounting groove bottom counterbalance lean on, vertical spring one end and first mounting groove inner wall connection, the other end offsets with first boss upper surface, first mounting groove in set up vertical force sensor, its one end with vertical spring is connected.

3. The brick laying clamp capable of realizing compaction of mortar between bricks according to claim 2, wherein: a transverse polish rod is arranged in the second mounting groove, a transverse spring is nested at the side end of the transverse polish rod, a second boss is arranged on the inner side surface of the anti-skid clamping plate, and a transverse guide hole stud is arranged in the second boss; the horizontal polished rod is horizontally arranged in the horizontal guide hole wall column, one end of the horizontal spring is connected with the inner wall of the second mounting groove, the other end of the horizontal spring is abutted against the side face of the second boss, and the second mounting groove is internally provided with a horizontal force sensor which is connected with one end of the horizontal spring.

4. The brick laying clamp capable of realizing compaction of mortar between bricks according to claim 1, wherein: a vertical displacement sensor is arranged in a first mounting groove of one of the two groups of grabbing plates, a transverse displacement sensor is arranged in a second mounting groove, and the vertical displacement sensor is mounted on the inner side of the connecting plate or on the vertical sliding block; the transverse displacement sensor is arranged on the inner side of the anti-skid clamping plate or on the transverse sliding block.

5. The brick laying clamp capable of realizing compaction of mortar between bricks according to claim 2, wherein: when the lower surface of the first boss is abutted against the bottom of the first mounting groove, the distance between the upper surface of the first boss and the top of the first mounting groove is 20-30 mm.

6. The brick laying clamp capable of realizing compaction of mortar between bricks according to claim 1, wherein: the power assembly comprises a rotary driving piece and a grabbing plate driving cylinder, the rotary driving piece is connected with the mounting plate, the connecting rod mechanism is fixed on the mounting plate through a central connecting rod shaft, the grabbing plate driving cylinder is fixed below the mounting plate, and the shaft of the grabbing plate driving cylinder is fixedly connected with a group of grabbing plate main bodies.

7. The brick laying clamp capable of realizing compaction of mortar between bricks according to claim 1, wherein: the connecting rod mechanism comprises a first connecting rod, a second connecting rod and a middle connecting rod, one end of the first connecting rod is hinged with one grabbing plate, one end of the first connecting rod is hinged with the middle connecting rod, the middle connecting rod is connected to the central connecting rod shaft in a shaft mode, one end of the second connecting rod is hinged with the other grabbing plate, and the other end of the second connecting rod is hinged with one end of the middle connecting rod.

8. The brick laying clamp capable of realizing compaction of mortar between bricks according to claim 1, wherein: the anti-skid clamping plate is provided with a plurality of anti-skid nails, and the anti-skid nails are in a semicircular table shape.

9. A brick laying method capable of realizing compaction of mortar between bricks is characterized in that: the bricklaying fixture of any one of claims 1 to 8, which is used for bricklaying according to the following steps:

(1) brick clamping alignment: the brick laying clamp clamps the brick blocks and moves to a position above a brick falling position of the brick block to be laid;

(2) vertically positioning: the bricklaying fixture moves downwards until the bricklaying fixture touches the horizontal joint mortar on the upper surface of the lower layer of bricks, and the bricklaying fixture stops moving after being sensed by the vertical displacement sensor or the vertical force sensor;

(3) horizontal and vertical extrusion: calculating a control distance of the transverse displacement sensor for sensing movement, or a resistance control value sensed by the transverse force sensor, and a control distance of the vertical displacement sensor for sensing movement, or a resistance control value sensed by the vertical force sensor; the brick laying clamp drives the bricks to move in the horizontal direction to extrude the vertical joint mortar of horizontally adjacent bricks, the transverse displacement sensor senses the movement to a control distance, or the transverse force sensor senses the increase of resistance to a control value and stops moving; the brick laying clamp drives the brick to move downwards to extrude horizontal joint mortar, the vertical displacement sensor senses the movement to a control distance, or the vertical force sensor senses the resistance to increase to a control value and stops moving;

(4) and loosening the bricklaying fixture.

10. The method for laying bricks to achieve mortar compaction between bricks according to claim 9, wherein: in the step (3), the control distance of the induction movement of the transverse displacement sensor is 2-4 mm, or the induction resistance control value of the transverse force sensor is 50-250N; the control distance of the vertical displacement sensor for sensing movement is 2-4 mm, or the control value of the sensing resistance of the vertical force sensor is 50-300N.

11. The method for laying bricks to achieve mortar compaction between bricks according to claim 9 or 10, wherein: the horizontal and vertical extrusion processes in step (3) are as follows,

primary transverse extrusion: the brick laying clamp drives the bricks to move in the horizontal direction to extrude the vertical joint mortar of the adjacent bricks, the transverse displacement sensor senses the moving distance H ', or the transverse force sensor senses the resistance value R' and pauses to move;

vertical extrusion: the brick laying clamp drives the bricks to move downwards to extrude horizontal joint mortar, and the vertical displacement sensor responds to the movement to a control distance or stops moving when the response resistance of the vertical force sensor is increased to a control value;

secondary transverse extrusion: the brick laying clamp drives the bricks to move in the horizontal direction to extrude the vertical joint mortar of the adjacent bricks, the sensing moving distance of the transverse displacement sensor is 110-120% H ', or the sensing resistance value of the transverse force sensor is 110-120% R', and the movement is stopped.

12. The method for laying bricks to achieve mortar compaction between bricks according to claim 9 or 10, wherein: setting the total moving distance of the vertical displacement sensor as a control value H in the step (3)₁The total resistance value of the vertical force sensor is a control value R₁The total moving distance of the transverse displacement sensor is a control value H₂The total resistance value of the transverse force sensor is a control value R₂(ii) a The horizontal and vertical extrusion is carried out in times:

one-time vertical extrusion, the first horizontal joint mortar extrusion is carried out after the brick laying clamp vertically positions the brick, and the vertical displacement sensor reaches 10% H₁～40%H₁Time-out, or the vertical force sensor reaches 10% R₁～40%R₁Pausing;

one-time transverse extrusion, the brick laying clamp carries out vertical joint mortar extrusion on the brick in the horizontal direction, and the transverse displacement sensor reaches 20% H₂～80%H₂Temporarily stopped or the transverse force sensor reaches 20% R₂～80%R₂Pausing;

secondary vertical extrusion, the brick laying clamp performs horizontal joint mortar extrusion on the brick in the vertical direction, and the vertical displacement sensor reaches H₁When it stops, or the vertical force sensor reaches R₁Stopping the operation;

secondary transverse extrusion, the brick laying clamp carries out vertical joint mortar extrusion on the brick in the horizontal direction, and the transverse displacement sensor reaches H₂When it stops, or the transverse force sensor reaches R₂And then stop.

Technical Field

The invention relates to the technical field of automatic brick laying, in particular to a brick laying clamp capable of realizing compaction of mortar between bricks and a brick laying method thereof.

Background

The majority of the existing brickwork is made by bricklayer's handwork, and bricklayer needs to strike adjacent bricks horizontally and vertically when laying bricks horizontally and compactly: when bricks are built, each brick is bonded into a whole through brick joint cement mortar, the upper and lower bricks are mutually overlapped and vertically and transversely crossed to form a whole through occlusion, so whether the brick joint mortar is filled compactly is an important index for measuring the quality of a wall body, the specification stipulates that the filling saturation degree must be more than or equal to 80 percent, the traditional manual building is realized, the horizontal joint mortar is paved, the vertical joint is grouted through grouting, then the front face is used for vertically striking the bricks, and the vertical face is used for horizontally striking the bricks, so that the brick joint mortar is fully compacted. However, the manual brick laying has low labor efficiency, slow working speed, uneven brick laying quality and certain personal safety hidden danger in severe working environment of workers.

Manual work has not met the ever-increasing demands of the development of the construction industry, for which reason more and more brick laying robots have been developed in order to mechanise the brick laying work. According to the building requirements, the brick laying robot also has to compact and compact mortar for vertical joints and horizontal joints, no gap is left between brick joints, and adjacent bricks are tightly connected together through mortar. When the brick is put through calculating the position by the existing brick laying robot, because gaps and errors exist, mortar between horizontal bricks and vertical bricks is not compacted, and the overall strength of a wall body is influenced.

Disclosure of Invention

The invention aims to provide a brick laying clamp capable of realizing compaction of mortar between bricks and a brick laying method thereof, so that the effect of compaction between transverse and vertical bricks is realized, and the close bonding between the bricks is ensured.

In order to achieve the technical purpose and achieve the technical effect, the invention discloses a brick laying clamp capable of realizing compaction of mortar between bricks, which comprises a power assembly, a connecting rod mechanism, a mounting plate, a guide rod and two groups of grabbing plates, wherein the power assembly is connected with the mounting plate and the connecting rod mechanism; the connecting plate is provided with a second mounting groove, a transverse guide rail and a transverse sliding block which are transversely arranged are arranged in the second mounting groove, the transverse sliding block is mounted on the transverse guide rail, and the inner side of the anti-skidding clamping plate is fixed on the transverse sliding block and can move along the transverse guide rail; and a vertical displacement sensor or a vertical force sensor is arranged in a first mounting groove of at least one group of the two groups of the grabbing plates, and a transverse displacement sensor or a transverse force sensor is arranged in a second mounting groove of at least one group of the grabbing plates.

Furthermore, a vertical polished rod is further arranged in the first mounting groove, a vertical spring is nested at the upper end of the vertical polished rod, a first boss is arranged on the inner side surface of the connecting plate, and a vertical guide hole wall column is arranged in the first boss; vertical installation in vertical guide hole walling post of vertical polished rod, first boss lower surface and first mounting groove bottom counterbalance lean on, vertical spring one end and first mounting groove inner wall connection, the other end offsets with first boss upper surface, first mounting groove in set up vertical force sensor, its one end with vertical spring is connected.

Furthermore, a transverse polish rod is arranged in the second mounting groove, a transverse spring is nested at the side end of the transverse polish rod, a second boss is arranged on the inner side surface of the anti-skid clamping plate, and a transverse guide hole wall column is arranged in the second boss; the horizontal polished rod is horizontally arranged in the horizontal guide hole wall column, one end of the horizontal spring is connected with the inner wall of the second mounting groove, the other end of the horizontal spring is abutted against the side face of the second boss, and the second mounting groove is internally provided with a horizontal force sensor which is connected with one end of the horizontal spring.

Preferably, a vertical displacement sensor is arranged in a first mounting groove of one of the two groups of the grabbing plates, a transverse displacement sensor is arranged in a second mounting groove, and the vertical displacement sensor is mounted on the inner side of the connecting plate or on the vertical sliding block; the transverse displacement sensor is arranged on the inner side of the anti-skid clamping plate or on the transverse sliding block.

When the lower surface of the first boss is abutted against the bottom of the first mounting groove, the distance between the upper surface of the first boss and the top of the first mounting groove is 20-30 mm.

The power assembly comprises a rotary driving piece and a grabbing plate driving cylinder, the rotary driving piece is connected with the mounting plate, the connecting rod mechanism is fixed on the mounting plate through a central connecting rod shaft, the grabbing plate driving cylinder is fixed below the mounting plate, and the shaft of the grabbing plate driving cylinder is fixedly connected with a group of grabbing plate main bodies.

The connecting rod mechanism comprises a first connecting rod, a second connecting rod and a middle connecting rod, one end of the first connecting rod is hinged to one grabbing plate, one end of the first connecting rod is hinged to the middle connecting rod, the middle connecting rod is connected to the central connecting rod shaft in a shaft mode, one end of the second connecting rod is hinged to the other grabbing plate, and the other end of the second connecting rod is hinged to one end of the middle connecting rod.

Preferably, a plurality of anti-skid nails are arranged on the anti-skid clamping plate, and the anti-skid nails are in a semicircular table shape.

The invention also discloses a brick laying method capable of realizing compaction of mortar among bricks, which is characterized by comprising the following steps: the brick laying fixture is adopted for laying bricks according to the following steps:

(1) brick clamping alignment: the brick laying clamp clamps and clamps the brick blocks to move to the position above the brick falling position of the brick blocks to be laid.

(2) Vertically positioning: the bricklaying fixture moves downwards until the bricklaying fixture touches the horizontal joint mortar on the upper surface of the lower layer of bricks, and the bricklaying fixture stops moving after the vertical displacement sensor or the vertical force sensor senses the horizontal joint mortar.

(3) Horizontal and vertical extrusion: calculating a control distance of the transverse displacement sensor for sensing movement, or a resistance control value sensed by the transverse force sensor, and a control distance of the vertical displacement sensor for sensing movement, or a resistance control value sensed by the vertical force sensor; the brick laying clamp drives the bricks to move in the horizontal direction to extrude the vertical joint mortar of horizontally adjacent bricks, the transverse displacement sensor senses the movement to a control distance, or the transverse force sensor senses the increase of resistance to a control value and stops moving; the brick laying clamp drives the brick to move downwards to extrude horizontal joint mortar, the vertical displacement sensor senses and moves to a control distance, or the vertical force sensor senses and stops moving when resistance is increased to a control value.

(4) And loosening the bricklaying fixture.

Wherein, the control distance of the induction movement of the transverse displacement sensor in the step (3) is 2-4 mm, or the induction resistance control value of the transverse force sensor is 50-250N; the control distance of the vertical displacement sensor for sensing movement is 2-4 mm, or the control value of the sensing resistance of the vertical force sensor is 50-300N.

In one embodiment, the horizontal and vertical extrusion in step (3) is performed as follows: the brick laying clamp drives the bricks to move in the horizontal direction to extrude the vertical joint mortar of the adjacent bricks, the transverse displacement sensor senses the moving distance H ', or the transverse force sensor senses the resistance value R' and pauses to move; vertical extrusion: the brick laying clamp drives the bricks to move downwards to extrude horizontal joint mortar, and the vertical displacement sensor responds to the horizontal joint mortar and moves to a control distance or stops moving when the response resistance of the vertical force sensor is increased to a control value. Secondary transverse extrusion: the brick laying clamp drives the bricks to move in the horizontal direction to extrude the vertical joint mortar of the adjacent bricks, the sensing moving distance of the transverse displacement sensor is 110-120% H ', or the sensing resistance value of the transverse force sensor is 110-120% R', and the movement is stopped.

In another embodiment, the total moving distance of the vertical displacement sensor is set as the control value H in the step (3)₁The total resistance value of the vertical force sensor is a control value R₁The total moving distance of the transverse displacement sensor is a control value H₂The total resistance value of the transverse force sensor is a control value R₂(ii) a The horizontal and vertical extrusion is carried out in times: one-time vertical extrusion, the first horizontal joint mortar extrusion is carried out after the brick laying clamp vertically positions the brick, and the vertical displacement sensor reaches 10% H₁～40%H₁Time-out, or the vertical force sensor reaches 10% R₁～40%R₁Pausing; one-time transverse extrusion, the brick laying clamp carries out vertical joint mortar extrusion on the brick in the horizontal direction, and the transverse displacement sensor reaches 20% H₂～80%H₂Temporarily stopped or the transverse force sensor reaches 20% R₂～80%R₂Pausing; secondary vertical extrusion, the brick laying clamp carries out leveling on the vertical direction of the brickThe joint mortar is extruded, and the vertical displacement sensor reaches H₁When it stops, or the vertical force sensor reaches R₁Stopping the operation; secondary transverse extrusion, the brick laying clamp carries out vertical joint mortar extrusion on the brick in the horizontal direction, and the transverse displacement sensor reaches H₂When it stops, or the transverse force sensor reaches R₂And then stop.

The invention has the following beneficial effects:

1. according to the invention, the displacement sensor or the force sensor is arranged on the transverse direction or the vertical direction of the brick laying clamp, so that the transverse direction and the vertical direction of bricks are automatically compacted when the bricks are laid, the close adhesion of the bricks is ensured, and the integral strength of the masonry wall is improved.

2. The anti-skid nails are arranged on the grabbing plate, so that the grabbing plate is in closer contact with the rugged brick surface, and the brick falling is prevented.

3. The brick laying method is reliable, accurate positioning of bricks is realized through brick clamping alignment and vertical positioning, and then the effect of compaction between adjacent bricks is achieved through horizontal and vertical extrusion, so that the stability is good.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of fig. 1 taken along direction a.

Fig. 3 is a schematic view of the link mechanism of fig. 1.

Fig. 4 is an exploded view of the left grip plate in the embodiment of the present invention.

FIG. 5 is an exploded view of the right grip plate in an embodiment of the present invention.

Fig. 6 is an exploded view of the connecting plate and the anti-slip splint according to the present invention.

Fig. 7 is a schematic view of wall bricklaying.

Fig. 8 is a schematic view of the initial state of the inventive grab plate.

Fig. 9 is a schematic cross-sectional view of fig. 7.

Fig. 10 is a schematic view of the state where the grasping plate laterally presses the brick.

Fig. 11 is a schematic view of a state in which the grasping plate vertically presses the brick.

Description of the main part symbols:

1: rotary drive, 2: grab board and drive cylinder, 3: link mechanism, 31: center link shaft, 32: first link, 33: second link, 34: intermediate link, 4: mounting plate, 5: guide rod, 6: a grasping plate, 61: a grip plate main body, 611: first mounting groove, 612: vertical guide rail, 613: vertical slider, 614: vertical polish rod, 615: vertical spring, 62: connection plate, 621: second mounting groove, 622: cross rail, 623: lateral slider, 624: transverse polish rod, 625: lateral spring, 626: first boss, 627: vertical guide hole stud, 63: antiskid cleat, 631: stud, 632: second boss, 633: lateral via stud, 7: vertical displacement sensor, 8: vertical force sensor, 9: lateral displacement sensor, 10: a lateral force sensor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.

As shown in figures 1-2, the invention discloses a brick laying clamp capable of realizing compaction of mortar between bricks, which comprises a power assembly, a connecting rod mechanism 3, a mounting plate 4, a guide rod 5 and two groups of grabbing plates 6. The power assembly is connected with the mounting plate 4 and the link mechanism 3, two sides of the link mechanism 3 are respectively connected with the two groups of grabbing plates 6, and the two groups of grabbing plates 6 are mounted on the guide rod 5. The power assembly comprises a rotary driving piece 1 and a grabbing plate driving cylinder 2, the rotary driving piece 1 is connected with a mounting plate 4, and the grabbing plate driving cylinder 2 is fixed below the mounting plate 4. Referring to fig. 3, the link mechanism 3 is fixed to the mounting plate 4 by a central link shaft 31, and the shaft of the gripper plate driving cylinder 2 is fixedly connected to a set of gripper plate main bodies 31. The link mechanism 3 includes a first link 32, a second link 33 and an intermediate link 34, wherein one end of the first link 32 is hinged to one of the grasping plates 6, and the other end is hinged to the intermediate link 34, the intermediate link 34 is coupled to the central link shaft 31, one end of the second link 33 is hinged to the other grasping plate 6, and the other end is hinged to one end of the intermediate link 34.

As shown in fig. 4-5, the two sets of gripper plates 6 include a gripper plate body 61, a connecting plate 62, and an anti-slip cleat 63. The grabbing plate main body 61 is provided with a first mounting groove 611. A vertical guide rail 612, a vertical sliding block 613 and a vertical polished rod 614 which are vertically arranged are arranged in the first mounting groove 611, a vertical spring 615 is nested at the upper end of the vertical polished rod 614, and the vertical sliding block 613 is mounted on the vertical guide rail 612. A second mounting groove 621 is formed in the connecting plate 62, a transverse guide rail 622, a transverse sliding block 623 and a transverse polish rod 624 are transversely arranged in the second mounting groove 621, a transverse spring 625 is nested at the side end of the transverse polish rod 624, and the transverse sliding block 623 is mounted on the transverse guide rail 622. Be provided with a plurality of studs 631 on the anti-skidding splint 63, stud 631 is half circular platform shape for when pressing from both sides the brick, the gomphosis that stud 631 and different grade type brick body surface can both be fine prevents that the fragment of brick from dropping.

Referring to fig. 6, a first boss 626 is disposed in the middle of the inner side of the connecting plate 62, and a vertical guide hole wall column 627 is disposed in the first boss 626. The vertical polish rod 614 is vertically installed in the vertical guide hole wall column 627, the lower surface of the first boss 626 abuts against the bottom of the first installation groove 611, one end of the vertical spring 615 is connected with the inner wall of the first installation groove 611, and the other end of the vertical spring 615 abuts against the upper surface of the first boss 626. The connecting plate 62 is fixed at both ends on the inner side to the vertical slider 613 and is movable along the vertical guide 612. The inner side surface of the anti-skid clamping plate 63 is provided with a second boss 632, and a transverse guide hole wall column 633 is arranged in the second boss 632. The transverse polish rod 624 is horizontally installed in the transverse guide hole wall post 633, one end of the transverse spring 625 is connected with the inner wall of the second installation groove 621, and the other end of the transverse spring is abutted against the side surface of the second boss 632. The anti-slip clamp 63 is fixed at both inner ends to the lateral slide blocks 623 and is movable along the lateral guide rails 622.

A vertical displacement sensor 7 or a vertical force sensor 8 is arranged in the first mounting groove 611 of at least one group of the two groups of the gripping plates 6, and a transverse displacement sensor 9 or a transverse force sensor 10 is arranged in the second mounting groove 621 of at least one group of the gripping plates 6. Such as: in this embodiment, the two grasping plates are a left grasping plate and a right grasping plate respectively, as shown in fig. 4, a vertical force sensor 8 is disposed in the first mounting groove 611 of the left grasping plate and connected to one end of a vertical spring 615, and a horizontal force sensor 10 is disposed in the second mounting groove 621 and connected to one end of a horizontal spring 625. As shown in fig. 5, the right grab plate is provided with a vertical displacement sensor 7 in the first mounting groove 611, a horizontal displacement sensor 9 in the second mounting groove 621, and the vertical displacement sensor 7 is mounted on the inner side of the connecting plate 62 or on the vertical slider 613; the lateral displacement sensor 9 is mounted on the inside of the cleat 63 or on the lateral slider 625.

It should be noted that, as shown in fig. 7, the "horizontal extrusion" in the present invention refers to a process in which the brick laying jig performs horizontal movement extrusion of mortar under the control of the manipulator, and extrudes vertical joint mortar between bricks, while the "vertical extrusion" in the present invention refers to a process in which the brick laying jig performs vertical movement extrusion of mortar under the control of the manipulator, and extrudes horizontal joint mortar between bricks. The principles of the present invention are described in detail below.

As shown in fig. 8 and 9, in the initial state, the lower surface of the first protruding platform 626 abuts against the bottom of the first mounting groove 611, and the distance L between the upper surface of the first protruding platform 626 and the top of the first mounting groove 611 is 20-30 mm. The clamp is always in the state of fig. 8 from the initial state until the brick is pressed against the rest of the bricks. After the alignment of the bricks is completed, the mortar between the bricks begins to be extruded, as shown in fig. 10, when the mortar is transversely extruded, the bricks A clamped by the two grabbing plates 6 (only one grabbing plate is drawn in the drawing) move towards the bricks B adjacent to the horizontal direction, at the moment, the mortar is extruded to a certain degree, the anti-slip clamping plate 63 drives the transverse guide rail 622 to move, the transverse spring 625 is extruded, the transverse displacement sensor 9 or the transverse force sensor 10 senses the set moving distance or resistance and stops moving, the bricks A are extruded by the stress and the bricks B, the mortar is tightly compacted by the vertical joint mortar at the extruded point, and the bricks A and the bricks B are bonded. Similarly, as shown in fig. 11, when mortar is vertically extruded, the two grasping plates 6 (only one grasping plate is shown in the figure) move the clamped brick a to the brick C adjacent to the vertical direction, at this time, after the mortar is extruded to a certain extent, the anti-skid clamp plate 63 drives the vertical guide rail 612 to move, the vertical spring 615 is extruded, the vertical displacement sensor 7 or the vertical force sensor 8 stops moving after sensing the set moving distance or resistance, at this time, the brick a and the brick C are extruded, the mortar is compacted at the extruded point and horizontally stitched, and the brick a and the brick C are bonded.

The invention also discloses a bricklaying method using the bricklaying clamp, which is explained by the following three embodiments: