CN110424694A - A kind of tile laying robot and its laying method - Google Patents
A kind of tile laying robot and its laying method Download PDFInfo
- Publication number
- CN110424694A CN110424694A CN201910765287.XA CN201910765287A CN110424694A CN 110424694 A CN110424694 A CN 110424694A CN 201910765287 A CN201910765287 A CN 201910765287A CN 110424694 A CN110424694 A CN 110424694A
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- Prior art keywords
- paving
- brushing
- walking chassis
- ceramic tile
- tile
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
- E04F21/1844—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
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Abstract
The invention belongs to tile laying technical fields, a kind of tile laying robot is disclosed, including walking chassis, paving mechanism, ceramic tile rack and brushing mechanism, first side of walking chassis is area of absence, close to the building sides to paving, second side of walking chassis is adjacent with the first side for the first side of walking chassis during tile laying；Second side of walking chassis is arranged in paving mechanism, and is located at second side close to one end of the first side；Ceramic tile rack is mounted on the third side of walking chassis, and brushing mechanism is mounted on the 4th side of walking chassis.Invention additionally discloses a kind of tile laying methods using above equipment.The present invention can make paving mechanism realize ceramic tile transfer with shorter actuating length, to keep the movement of paving mechanism more efficient, the brushing of ceramic tile can simultaneously completed in the inside of the tile laying robot, the location requirement of brushing mechanism and external environment is omitted, to simplify the structure of robot and be conducive to reduce overall cost.
Description
Technical field
The present invention relates to tile laying technical field more particularly to a kind of tile laying robots and its laying method.
Background technique
Construction and decoration generally need to wall paving ceramic tile to kitchen, toilet and public domain etc..Due to tile laying
Craft precision and wall brick acceptance criteria it is more demanding, the wall paving tile work of building is still mainly by people at present
Work paving is completed.One group conventional of two people of paving ceramic tile work can complete about 30 square metres of tile laying work for one day, whole
Body running is inefficient, is unfavorable for shortening construction and decoration progress.
There is the equipment of some auxiliary tile layings in the market, including ceramic tile crawl auxiliary and mortar perfusion auxiliary etc. are realized
Equipment, but these existing ancillary equipments are largely Semi-automatic device, it can not be in building site complete independently tile laying
A full set of process flow, also unobvious simultaneously for the effect for improving operating efficiency, in addition the mortar of most of ancillary equipment fills
Note operation is that mortar is coated on building sides or between building sides and ceramic tile, makes the crawl of the filling mechanism and ceramic tile of mortar
Mechanism is required to be positioned with external environment.
Based on above-mentioned status, it is necessary to design a tile laying robot for we.
Summary of the invention
It is an object of the present invention to: a kind of tile laying robot is provided, paving mechanism can be made to move with shorter
Make stroke and realize ceramic tile transfer, to keep the movement of paving mechanism more efficient.
It is another object of the present invention to: a kind of tile laying robot is provided, spreads the brushing of ceramic tile in the ceramic tile
The inside for pasting robot is completed, and the location requirement of brushing mechanism and external environment is omitted, to reduce the tile laying robot
Realization difficulty.
Yet another object of the invention is that: a kind of tile laying method is provided, makes the brushing of ceramic tile in the tile laying
The inside of robot is completed, and the location requirement of brushing mechanism and external environment is omitted, to reduce the tile laying robot
Realize difficulty.
To achieve this purpose, the present invention adopts the following technical scheme:
On the one hand, a kind of tile laying robot, comprising:
Walking chassis is configured as the overall movement of driving robot, and the first side of the walking chassis is area of absence,
The first side of the walking chassis is close to building sides to paving during tile laying, second side of the walking chassis and the
Side is adjacent；
Paving mechanism, is arranged in second side of the walking chassis, and is located at described second side close to one end of the first side,
It is configured as grabbing and shifting the ceramic tile to paving；
Ceramic tile rack is mounted on the third side of the walking chassis, is configured as stacking the ceramic tile to paving；
Brushing mechanism is mounted on the 4th side of the walking chassis, and the ceramic tile for being configured as treating paving carries out binding material
It brushes.
Preferably, the third side of the walking chassis is opposite with second side, and the 4th side is adjacent with second side；Alternatively, described
4th side of walking chassis is opposite with second side, and third side is adjacent with second side.
Preferably, the binding material is sizing material (glue for tile) or mortar.
Preferably, the both ends of the walking chassis are respectively arranged with the first industrial camera, are provided in the walking chassis
Gyroscope.After the walking chassis moves to operation station by laser navigation positioning, the gyroscope and both direction
First industrial camera carries out pose measurement to the walking chassis jointly, and the posture information of acquisition is passed to the paving
Attaching mechanism realizes effective paving operation of ceramic tile so that the paving mechanism and external environment are realized and positioned.
Specifically, the walking chassis drives the tile laying robot to move integrally, it is made to reach operation station；Then
The paving mechanism moves to the top of the ceramic tile rack, and the paving mechanism grabs a piece of ceramic tile to paving；Then
This is waited for that the ceramic tile of paving is sent to the brushing mechanism and carries out binding material brushing by the paving mechanism；The last paving mechanism will
This waits for that the ceramic tile of paving is sent to the first side of the walking mechanism, and ceramic tile is affixed on building sides (wall or ground).
Specifically, the adjacent second side of the first side area of absence for the walking chassis being arranged in the paving mechanism,
And it is located at described second side close to one end of the first side, on the one hand, the paving mechanism can be made real with shorter actuating length
Existing ceramic tile transfer, to keep the movement of the paving mechanism more efficient, while this layout designs can give the paving machine
Structure provides sufficient space, improves the movement flexibility ratio of paving mechanism and avoids abnormal interference；On the other hand, first to ceramic tile
The design for carrying out paving after being brushed to ceramic tile, completes the brushing of ceramic tile in the inside of the tile laying robot, can
The location requirement for omitting the brushing mechanism and external environment reduces the difficulty of the tile laying robot and external environment positioning
Degree, to simplify the structure of robot and be conducive to reduce overall cost.
As the optimal technical scheme of tile laying robot, the paving mechanism includes that lifting device and paving are mechanical
Hand, the paving manipulator are mounted on the side at center of the lifting device close to the walking chassis, the lifting device
It is mounted in the walking chassis, is configured as that the paving manipulator is driven to move along the short transverse of the walking chassis.
Preferably, the paving manipulator is six axis robot.
Preferably, the paving manipulator free end (far from the lifting device one end) be provided with end sucker and
Second industrial camera, the end sucker are used to grab the ceramic tile to paving, by the way that second industrial camera is arranged, realize
Real-time position feedback during paving makes the paving manipulator carry out positioning compensation adjustment, to improve the paving of ceramic tile
Precision.
Specifically, the walking chassis drives the tile laying robot to move integrally, it is made to reach operation station；Then
The lifting device drives the paving machinery lower movement on hand, while the paving manipulator displacement to the ceramic tile is put
The top of frame is set, the paving manipulator grabs a piece of ceramic tile to paving；Then the lifting device and the paving are mechanical
This is waited for that the ceramic tile of paving is sent to the brushing mechanism and carries out binding material brushing by hand cooperating；The last lifting device and
This is waited for that the ceramic tile of paving is sent to the first side of the walking chassis, and ceramic tile is affixed on by the paving manipulator cooperating
Building sides (wall or ground).
As the optimal technical scheme of tile laying robot, the brushing mechanism include accommodating chamber, brushing actuator and
Compression assemblies, the accommodating chamber are connected to the brushing actuator, and the compression assemblies are installed on the accommodating chamber.
Preferably, binding material is mounted in the accommodating chamber.
Preferably, the brushing actuator and the lifting device are opposing stationary, in painting process, the paving manipulator
Ceramic tile linear movement is driven to realize the brushing of binding material；Alternatively, the brushing mechanism further includes linear slide part, the brushing is held
Row device is connect with the accommodating chamber by the linear slide part, the brushing actuator and the lifting device relative motion,
In painting process, the paving manipulator is static, and the brushing of binding material is realized in the brushing actuator linear movement.
As the optimal technical scheme of tile laying robot, the compression assemblies include extruded tube, extruding screw and squeeze
The bottom of the accommodating chamber is arranged in Medium-voltage Motor, the extruded tube, and the extruding screw is inserted into the extruded tube, the extruding
Screw rod is connect with the extruding motor drive.
Preferably, the lower end of the extruding screw is inserted into the extruded tube, and the upper end of the extruding screw is through described
Accommodating chamber and the top for extending to the accommodating chamber, the top for squeezing motor and being mounted on the accommodating chamber, the extruding electricity
The upper end of machine and the extruding screw is sequentially connected by shaft coupling.
Preferably, the top for squeezing motor and being fixed on the accommodating chamber by mounting rack.
Specifically, under non-brushing state, the extruding screw is static, and the binding material can not reach the brushing and execute
Device makes the brushing actuator without binding material described in outlet；Under brushing state, the extruding screw rotation, by the receiving
Intracavitary binding material sucks the extruded tube, and binding material is further pushed to the brushing actuator, holds the brushing
Binding material described in row device outlet, realizes the brushing of ceramic tile.By the start and stop of the extruding screw, the brushing actuator row is realized
Material control, avoids the waste of binding material, is conducive to reduce architecture production cost.
As the optimal technical scheme of tile laying robot, the brushing mechanism further includes leakage-proof disc, the leakage-proof disc
Positioned at the lower section of the brushing actuator.
Preferably, the bottom of the leakage-proof disc is provided with discharge gate, and the discharge gate is connected to the accommodating chamber.
Preferably, the bottom of the leakage-proof disc is inclined surface, and the discharge gate is provided with the extreme lower position of the inclined surface.
Specifically, it by the way that the leakage-proof disc being located at below the brushing actuator is arranged, can collect in painting process
In the binding material that is scattered, and then realize the recycling and reusing of binding material, improve the utilization rate of binding material.
As the optimal technical scheme of tile laying robot, the brushing mechanism further includes upper end support frame, it is described on
End support frame is fixed on the top of the accommodating chamber, and the brushing actuator is mounted on the cross tube of the upper end support frame, institute
State the sheer pole that leakage-proof disc is mounted on the upper end support frame.
Preferably, the cross tube of the upper end support frame is arranged in the linear slide part, and the brushing actuator passes through
The linear slide part is slidably connected with the upper end support frame.
Preferably, the brushing mechanism further includes lower end support frame, one end of the lower end support frame and the accommodating chamber
Connection, the other end of the lower end support frame are connect with the walking chassis.
As the optimal technical scheme of tile laying robot, the lifting device includes main support, secondary support and connection
Sliding block, the main support are mounted in the walking chassis, and the secondary support is with the main support along the height of the walking chassis
Degree direction is slidably connected, and short transverse of the connection sliding block with the secondary support along the walking chassis is slidably connected, described
Connection sliding block is connect with the paving manipulator.
As the optimal technical scheme of tile laying robot, the elevating mechanism further includes level-one lead screw and second level silk
Thick stick, the level-one lead screw are arranged on the main support, and the level-one lead screw and the secondary support are sequentially connected；The second level silk
Thick stick is arranged on the secondary support, and the second level lead screw and the connection sliding block are sequentially connected.
Preferably, the lifting device further includes primary motor and secondary motor, the primary motor and the level-one silk
The lower end of thick stick connects, and the secondary motor is mounted on the top of the secondary support, the secondary motor and the second level lead screw
Upper end connection.
Preferably, the lifting device further includes support plate, and the two sides of the main support are respectively arranged with the support plate,
By the way that support plate is arranged in the outside of the main support, the bearing capacity and reliability of the main support can be effectively improved.
Specifically, in uphill process, the level-one lead screw rotation drives the secondary support upward sliding, the second level silk
Thick stick and connection sliding block follow the secondary support entirety upward sliding, while the second level lead screw rotates, and drives the connection sliding block
Upward sliding.Also uphill process is similar for decline process.On the whole, the connection sliding block can realize that two-stage is gone up and down, on the one hand, rise
Stroke is larger, conducive to the job area for improving the tile laying robot, improves equipment interoperability；On the other hand, guarantee compared with
Under the premise of big upward stroke, two-stage lifting design can reduce whole height of the lifting device under retracted mode, benefit
In the raising handling capacity of the tile laying robot under non-job state, such as the handling capacity of door.
As the optimal technical scheme of tile laying robot, the two sides of the main support are respectively arranged with main guide rail, institute
It states secondary support and the main support is slidably connected to by the main guide rail；
And/or the two sides of the secondary support are respectively arranged with secondary guide rail, the connection sliding block passes through the secondary guide rail sliding
It is connected to the secondary support.
Preferably, the level-one lead screw is located between the main guide rail of two sides；And/or the second level lead screw is located at two
Between the secondary guide rail of side.
Specifically, by the way that the main guide rail and secondary guide rail of two sides is arranged, while level-one lead screw, second level lead screw being made to be located at master
Between guide rail, secondary guide rail, it can be improved the kinetic stability of secondary support and paving manipulator in lifting process, avoid anomalous lateral
Incline.
On the other hand, a kind of tile laying method, comprising the following steps:
S10, paving mechanism grab a piece of ceramic tile from ceramic tile rack；
Ceramic tile is transferred to brushing mechanism by S20, the paving mechanism, and the brushing mechanism is viscous in the adhesive surface brushing of ceramic tile
Ramming material；
By the ceramic tile brushed towards to paving building sides, ceramic tile is attached to by the paving mechanism for S30, the paving mechanism
To on the building sides of paving；
S40, judge whether the building sides in current work station completes tile laying:
If it is not, return step S10.
Preferably, step S10 specifically: lifting device drive paving manipulator longitudinal movement, the paving manipulator from
Ceramic tile rack grabs a piece of ceramic tile.
Preferably, step S30 specifically: the paving manipulator is by the ceramic tile brushed towards to paving building sides, institute
It states lifting device and drives the paving manipulator longitudinal movement, ceramic tile is attached to the building sides to paving by the paving manipulator
On.
Preferably, further comprising the steps of before step S10:
S1, walking chassis drive ceramic tile rack, paving mechanism and brushing mechanism to be moved to operation station.
Step S40 specifically:
S40, judge whether the building sides in current work station completes tile laying:
If so, the walking chassis drives ceramic tile rack, paving mechanism and brushing mechanism to be moved to next operation work
Then position executes step S10；
If it is not, return step S10.
Specifically, the building sides in operation station refers in an operation station, what the paving mechanism can cover
Building sides in paving job area.
Specifically, the design for carrying out paving after first brushing to ceramic tile to ceramic tile, spreads the brushing of ceramic tile in the ceramic tile
The inside for pasting robot is completed, and can be omitted the location requirement of the brushing mechanism and external environment, be reduced the tile laying machine
The difficulty of device people and external environment positioning, so as to simplify the structure of robot and be conducive to reduce overall cost.
It is further comprising the steps of before step S10 as the optimal technical scheme of tile laying method:
S5, obtain walking chassis location information and obliquity information, by the location information to the paving mechanism into
Row positioning carries out positioning compensation adjustment to the paving mechanism by the obliquity information.
Specifically, by obtaining the location information and obliquity information of walking chassis, the positioning to the paving mechanism is realized
Compensation adjustment can be improved the homework precision of the tile laying robot, and robot is made to can satisfy higher constructions work essence
Degree demand.
The invention has the benefit that providing a kind of tile laying robot and laying method, the paving mechanism is set
Second side adjacent in the first side area of absence of the walking chassis is set, and is located at described second side close to the one of the first side
End, on the one hand, the paving mechanism can be made to realize ceramic tile transfer with shorter actuating length, to make the paving mechanism
Movement is more efficient, while this layout designs can provide sufficient space to the paving mechanism, improve paving machine
The movement flexibility ratio of structure and avoid abnormal interference；On the other hand, the design of paving is carried out after first brushing to ceramic tile to ceramic tile,
It completes the brushing of ceramic tile in the inside of the tile laying robot, the positioning of the brushing mechanism and external environment can be omitted
Demand, reduces the difficulty of the tile laying robot and external environment positioning, to simplify the structure of robot and be conducive to reduce
Overall cost.
Detailed description of the invention
The present invention will be further described in detail below based on the drawings and embodiments.
Fig. 1 is the structural schematic diagram of tile laying robot described in embodiment one；
Fig. 2 is the front view of tile laying robot described in embodiment one；
Fig. 3 is the left view of tile laying robot described in embodiment one；
Fig. 4 is the top view of tile laying robot described in embodiment one；
Fig. 5 is the structural schematic diagram of brushing mechanism described in embodiment one；
Fig. 6 is the explosive view of lifting device described in embodiment one；
Fig. 7 is the structural schematic diagram of lifting device described in embodiment one.
Fig. 1 is into Fig. 7:
1, walking chassis；11, the first side；12, second side；13, third side；14, the 4th side；
2, paving mechanism；21, lifting device；211, main support；212, level-one lead screw；213, main guide rail；214, secondary support；
215, second level lead screw；216, secondary guide rail；217, secondary motor；218, connection sliding block；219, support plate；22, paving manipulator；
3, ceramic tile rack；
4, brushing mechanism；41, accommodating chamber；42, brushing actuator；43, compression assemblies；431, extruded tube；432, spiral shell is squeezed
Bar；433, motor is squeezed；434, shaft coupling；44, leakage-proof disc；45, upper end support frame；451, cross tube；452, sheer pole；46,
Lower end support frame.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
Embodiment one:
As shown in Figures 1 to 7, a kind of tile laying robot, including walking chassis 1, paving mechanism 2, ceramic tile rack 3
With brushing mechanism 4.Walking chassis 1 is configured as the overall movement of driving robot, and the first side 11 of walking chassis 1 is vacancy area
Domain, during tile laying the first side 11 of walking chassis 1 close to the building sides to paving, second side 12 of walking chassis 1 with
First side 11 is adjacent.Second side 12 of walking chassis 1 is arranged in paving mechanism 2, and is located at second side 12 close to the first side 11
One end is configured as grabbing and shifting the ceramic tile to paving.Ceramic tile rack 3 is mounted on the third side 13 of walking chassis 1, is matched
It is set to the ceramic tile stacked to paving.Brushing mechanism 4 is mounted on the 4th side 14 of walking chassis 1, is configured as treating the porcelain of paving
Brick carries out binding material brushing.
The adjacent second side 12 of 11 area of absence of the first side that walking chassis 1 is arranged in paving mechanism 2, and it is located at second
The one end of side 12 close to the first side 11, on the one hand, paving mechanism 2 can be made to realize ceramic tile transfer with shorter actuating length, from
And keep the movement of paving mechanism 2 more efficient, while this layout designs can provide sufficient movement sky to paving mechanism 2
Between, it improves the movement flexibility ratio of paving mechanism 2 and avoids abnormal interference；On the other hand, to ceramic tile after first being brushed to ceramic tile
The design for carrying out paving completes the brushing of ceramic tile in the inside of the tile laying robot, can omit brushing mechanism 4 and outer
The location requirement of portion's environment, reduces the difficulty of the tile laying robot and external environment positioning, to simplify the knot of robot
Structure and be conducive to reduce overall cost.
In this present embodiment, the third side 13 of walking chassis 1 and second side 12 are opposite, the 4th side 14 and 12 phase of second side
It is adjacent.In other embodiments, the 4th side 14 of walking chassis 1 is opposite with second side 12, and third side 13 is adjacent with second side 12.
In this present embodiment, binding material is sizing material (glue for tile).In other embodiments, binding material is also possible to mortar.
In this present embodiment, the both ends of walking chassis 1 are respectively arranged with the first industrial camera, are provided in walking chassis 1
Gyroscope.After walking chassis 1 moves to operation station by laser navigation positioning, the first industry of gyroscope and both direction
Camera carries out pose measurement to walking chassis 1 jointly, and the posture information of acquisition is passed to paving mechanism 2, so as to paving machine
Structure 2 and external environment, which are realized, to be positioned, and realizes effective paving operation of ceramic tile.
In this present embodiment, paving mechanism 2 includes lifting device 21 and paving manipulator 22, and paving manipulator 22 is mounted on
Lifting device 21 is mounted in walking chassis 1 close to the side at the center of walking chassis 1, lifting device 21, is configured as driving
Paving manipulator 22 is moved along the short transverse of walking chassis 1.Paving manipulator 22 is six axis robot, paving manipulator 22
Free end is provided with end sucker and the second industrial camera, and end sucker is used to grab the ceramic tile to paving, passes through setting second
Industrial camera realizes real-time position feedback during paving, so that paving manipulator 22 is carried out positioning compensation adjustment, to mention
The paving precision of high ceramic tile.
Specifically, walking chassis 1 drives the tile laying robot to move integrally, it is made to reach operation station；Then it rises
Falling unit 21 drives paving manipulator 22 to move up and down, while 22 displacement of paving manipulator is to the top of ceramic tile rack 3,
Paving manipulator 22 grabs a piece of ceramic tile to paving；Then 22 cooperating of lifting device 21 and paving manipulator, this is waited for
The ceramic tile of paving send to brushing mechanism 4 and carries out binding material brushing；22 cooperating of last lifting device 21 and paving manipulator, will
This waits for that the ceramic tile of paving is sent to the first side 11 of walking chassis 1, and ceramic tile is affixed on building sides (wall or ground).
In this present embodiment, brushing mechanism 4 includes accommodating chamber 41, brushing actuator 42 and compression assemblies 43, accommodating chamber 41
It is connected to brushing actuator 42, compression assemblies 43 are installed on accommodating chamber 41.Brushing actuator 42 and lifting device 21 are opposing stationary,
In painting process, paving manipulator 22 drives the brushing of ceramic tile linear movement realization binding material.Compression assemblies 43 include extruded tube
431, the bottom of accommodating chamber 41, the lower end of extruding screw 432 is arranged in extruding screw 432 and extruding motor 433, extruded tube 431
It is inserted into extruded tube 431, the upper end of extruding screw 432 runs through accommodating chamber 41 and extends to the top of accommodating chamber 41, squeezes motor
433 are mounted on the top of accommodating chamber 41, squeeze motor 433 and the upper end of extruding screw 432 is sequentially connected by shaft coupling 434.
Under non-brushing state, extruding screw 432 is static, and binding material can not reach brushing actuator 42, makes brushing actuator 42 without outer
Arrange binding material；Under brushing state, extruding screw 432 rotates, and the binding material in accommodating chamber 41 is sucked extruded tube 431, is gone forward side by side
Binding material is pushed to brushing actuator 42 by one step, is made 42 outlet binding material of brushing actuator, is realized the brushing of ceramic tile.By squeezing
Press screw rod 432 start and stop, realize 42 discharge of brushing actuator control, avoid the waste of binding material, be conducive to reduce architecture production at
This.
Brushing mechanism 4 further includes leakage-proof disc 44, and leakage-proof disc 44 is located at the lower section of brushing actuator 42.It is located at by setting and is applied
The leakage-proof disc 44 of 42 lower section of brush actuator, can collect the binding material being scattered in painting process, and then realize returning for binding material
It receives and recycles, improve the utilization rate of binding material.In other embodiments, the bottom of leakage-proof disc 44 is inclined surface, the inclined surface
Extreme lower position is provided with discharge gate, and discharge gate is connected to accommodating chamber 41, can directly return the binding material on leakage-proof disc 44 in this way
It receives to accommodating chamber 41.
Brushing mechanism 4 further includes upper end support frame 45, and upper end support frame 45 is fixed on the top of accommodating chamber 41, brushes and executes
Device 42 is mounted on the cross tube 451 of upper end support frame 45, and leakage-proof disc 44 is mounted on the sheer pole 452 of upper end support frame 45.It brushes
Mechanism 4 further includes lower end support frame 46, and one end of lower end support frame 46 is connect with accommodating chamber 41, the other end of lower end support frame 46
It is connect with walking chassis 1.
Lifting device 21 includes main support 211, level-one lead screw 212, secondary support 214, second level lead screw 215 and connection sliding block
218, main support 211 is mounted in walking chassis 1, and level-one lead screw 212 is arranged on main support 211, secondary support 214 and main support
211 are slidably connected, and level-one lead screw 212 and secondary support 214 are sequentially connected, and second level lead screw 215 is arranged on secondary support 214, connection
Sliding block 218 is slidably connected with secondary support 214, and second level lead screw 215 and connection sliding block 218 are sequentially connected, connection sliding block 218 and paving
Manipulator 22 connects.
Lifting device 21 further includes primary motor and secondary motor 217, the lower end company of primary motor and level-one lead screw 212
It connects, secondary motor 217 is mounted on the top of secondary support 214, and secondary motor 217 is connect with the upper end of second level lead screw 215.Lifting dress
Setting 21 further includes support plate 219, and the two sides of main support 211 are respectively arranged with support plate 219, by the outside of main support 211
Support plate 219 is set, the bearing capacity and reliability of main support 211 can be effectively improved.Specifically, in uphill process, level-one
Lead screw 212 rotates, and drives 214 upward sliding of secondary support, second level lead screw 215 and connection sliding block 218 follow secondary support 214 whole to
Upper sliding, while second level lead screw 215 rotates, and is drivingly connected 218 upward sliding of sliding block.Also uphill process is similar for decline process.It is whole
On body, connection sliding block 218 can realize that two-stage is gone up and down, on the one hand, upward stroke is larger, conducive to the tile laying robot is improved
Job area improves equipment interoperability；On the other hand, under the premise of guaranteeing larger upward stroke, two-stage lifting design can
Reduce whole height of the lifting device 21 under retracted mode, conducive to the tile laying robot is improved under non-job state
Handling capacity, such as the handling capacity of door.
The two sides of main support 211 are respectively arranged with main guide rail 213, and secondary support 214 is slidably connected to master by main guide rail 213
Bracket 211, level-one lead screw 212 are located between the main guide rail 213 of two sides.The two sides of secondary support 214 are respectively arranged with secondary guide rail
216, connection sliding block 218 passes through secondary guide rail 216 and is slidably connected to secondary support 214, and second level lead screw 215 is located at the secondary guide rail of two sides
Between 216.By the way that the main guide rail 213 and secondary guide rail 216 of two sides is arranged, while distinguish level-one lead screw 212, second level lead screw 215
Between main guide rail 213, secondary guide rail 216, the movement of secondary support 214 and paving manipulator 22 in lifting process can be improved
Stability avoids abnormal inclination.
Embodiment two:
The difference between this embodiment and the first embodiment lies in brushing mechanism further includes linear slide part, the setting of linear slide part
The cross tube of support frame in upper end, brushing actuator are slidably connected by linear slide part and upper end support frame.Brushing actuator
With lifting device relative motion, in painting process, paving manipulator is static, and the painting of binding material is realized in the linear movement of brushing actuator
Brush.
Embodiment three:
A kind of tile laying method, comprising the following steps:
S1, walking chassis drive ceramic tile rack, paving mechanism and brushing mechanism to be moved to operation station；
S5, the location information and obliquity information for obtaining walking chassis, position paving mechanism by location information, lead to
It crosses obliquity information and positioning compensation adjustment is carried out to paving mechanism；
S10, paving mechanism grab a piece of ceramic tile from ceramic tile rack；
Ceramic tile is transferred to brushing mechanism, adhesive surface brushing binding material of the brushing mechanism in ceramic tile by S20, paving mechanism；
By the ceramic tile brushed towards to paving building sides, ceramic tile is attached to paving by paving mechanism for S30, paving mechanism
On building sides；
S40, judge whether the building sides in current work station completes tile laying:
If so, walking chassis drives ceramic tile rack, paving mechanism and brushing mechanism to be moved to next operation station, so
Step S10 is executed afterwards；
If it is not, return step S10.
Building sides in operation station refers in an operation station, the paving job area that paving mechanism can cover
Interior building sides.The present embodiment carries out the design of paving to ceramic tile after first brushing to ceramic tile, make the brushing of ceramic tile in the porcelain
The inside of brick paving robot is completed, and can be omitted the location requirement of brushing mechanism and external environment, be reduced the tile laying machine
The difficulty of device people and external environment positioning, so as to simplify the structure of robot and be conducive to reduce overall cost.In addition, this reality
Example is applied by the location information and obliquity information of acquisition walking chassis, realizes and the positioning compensation of paving mechanism is adjusted, Neng Gouti
The homework precision of the high tile laying robot, makes robot can satisfy higher constructions work accuracy requirement.
In this present embodiment, step S10 specifically: lifting device drives the longitudinal movement of paving manipulator, paving manipulator
A piece of ceramic tile is grabbed from ceramic tile rack.Step S30 specifically: paving manipulator builds the ceramic tile brushed towards to paving
Face, lifting device drive the longitudinal movement of paving manipulator, and ceramic tile is attached on the building sides to paving by paving manipulator.
In this present embodiment, step S40 specifically: imaging is carried out to building sides and forms material picture, and identifies the material object
The region of paving and non-paving region in image；Control system is to the overlayable paving job area of current station paving mechanism
It is calculated, and forms boundary figure, figure is superimposed upon in the material picture by the boundary, passes through paving region, non-paving
Whether the building sides that the relationship of region and boundary figure obtains in current work station completes the result of paving.
" first " herein, " second ", " third ", " 4th " in description just for the sake of being distinguish, not
Special meaning.
It is to be understood that above-mentioned specific embodiment is only that presently preferred embodiments of the present invention and institute's application technology are former
Reason, within the technical scope of the present disclosure, variation that anyone skilled in the art is readily apparent that or
Replacement, should be covered by the scope of protection of the present invention.
Claims (10)
1. a kind of tile laying robot characterized by comprising
Walking chassis is configured as the overall movement of driving robot, and the first side of the walking chassis is area of absence, ceramic tile
The first side of the walking chassis is close to the building sides to paving, second side of the walking chassis and the first side during paving
It is adjacent；
Second side of the walking chassis is arranged in paving mechanism, and is located at described second side close to one end of the first side, is matched
It is set to crawl and shifts the ceramic tile to paving；
Ceramic tile rack is mounted on the third side of the walking chassis, is configured as stacking the ceramic tile to paving；
Brushing mechanism is mounted on the 4th side of the walking chassis, and the ceramic tile for being configured as treating paving carries out binding material brushing.
2. a kind of tile laying robot according to claim 1, which is characterized in that the paving mechanism includes lifting dress
It sets and is mounted on the side at center of the lifting device close to the walking chassis with paving manipulator, the paving manipulator,
The lifting device is mounted in the walking chassis, is configured as the height for driving the paving manipulator along the walking chassis
It is mobile to spend direction.
3. a kind of tile laying robot according to claim 1, which is characterized in that the brushing mechanism includes accommodating
Chamber, brushing actuator and compression assemblies, the accommodating chamber are connected to the brushing actuator, and the compression assemblies are installed on described
Accommodating chamber.
4. a kind of tile laying robot according to claim 3, which is characterized in that the compression assemblies include squeezing
The bottom of the accommodating chamber is arranged in pipe, extruding screw and extruding motor, the extruded tube, and the extruding screw insertion is described to squeeze
In pressure pipe, the extruding screw is connect with the extruding motor drive.
5. a kind of tile laying robot according to claim 3, which is characterized in that the brushing mechanism further includes leakproof
Disk, the leakage-proof disc are located at the lower section of the brushing actuator.
6. a kind of tile laying robot according to claim 5, which is characterized in that the brushing mechanism further includes upper end
Support frame, the upper end support frame are fixed on the top of the accommodating chamber, and the brushing actuator is mounted on the upper end support
The cross tube of frame, the leakage-proof disc are mounted on the sheer pole of the upper end support frame.
7. a kind of tile laying robot according to claim 2, which is characterized in that the lifting device includes main branch
Frame, secondary support and connection sliding block, the main support are mounted in the walking chassis, and the secondary support and the main support are along institute
The short transverse for stating walking chassis is slidably connected, and the connection sliding block is with the secondary support along the short transverse of the walking chassis
It is slidably connected, the connection sliding block is connect with the paving manipulator.
8. a kind of tile laying robot according to claim 7, which is characterized in that the elevating mechanism further includes level-one
Lead screw and second level lead screw, the level-one lead screw are arranged on the main support, and the level-one lead screw and secondary support transmission connect
It connects；The second level lead screw is arranged on the secondary support, and the second level lead screw and the connection sliding block are sequentially connected.
9. a kind of tile laying method, which comprises the following steps:
S10, paving mechanism grab a piece of ceramic tile from ceramic tile rack；
Ceramic tile is transferred to brushing mechanism by S20, the paving mechanism, and the brushing mechanism is bonded in the adhesive surface brushing of ceramic tile
Material；
By the ceramic tile brushed towards to paving building sides, ceramic tile is attached to wait spread by the paving mechanism for S30, the paving mechanism
On the building sides of patch；
S40, judge whether the building sides in current work station completes tile laying:
If it is not, return step S10.
10. a kind of tile laying method according to claim 9, which is characterized in that before step S10 further include following
Step:
S5, the location information and obliquity information for obtaining walking chassis, determine the paving mechanism by the location information
Position carries out positioning compensation adjustment to the paving mechanism by the obliquity information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910765287.XA CN110424694A (en) | 2019-08-19 | 2019-08-19 | A kind of tile laying robot and its laying method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910765287.XA CN110424694A (en) | 2019-08-19 | 2019-08-19 | A kind of tile laying robot and its laying method |
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| CN110424694A true CN110424694A (en) | 2019-11-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910765287.XA Pending CN110424694A (en) | 2019-08-19 | 2019-08-19 | A kind of tile laying robot and its laying method |
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| CN110924652A (en) * | 2019-12-13 | 2020-03-27 | 张淑芝 | Ceramic tile laying device |
| CN111058597A (en) * | 2019-12-30 | 2020-04-24 | 广东博智林机器人有限公司 | Gluing device and ceramic tile paving and pasting robot |
| CN111119455A (en) * | 2019-12-24 | 2020-05-08 | 广东博智林机器人有限公司 | Floor laying robot |
| CN111350334A (en) * | 2020-04-07 | 2020-06-30 | 广东博智林机器人有限公司 | Floor tile paving device and floor tile paving robot |
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| CN111760747A (en) * | 2020-07-02 | 2020-10-13 | 广东博智林机器人有限公司 | Ceramic tile gluing device, gluing method and paving equipment |
| CN111894247A (en) * | 2020-08-04 | 2020-11-06 | 广东博智林机器人有限公司 | Decorative surface material paving method, device and system and storage medium |
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| CN111962841A (en) * | 2020-09-09 | 2020-11-20 | 湖北理工学院 | Ceramic tile floor paving robot system and using method thereof |
| CN112060822A (en) * | 2020-09-11 | 2020-12-11 | 广东博智林机器人有限公司 | Brick paving equipment and brick paving method |
| CN112160512A (en) * | 2020-09-22 | 2021-01-01 | 铜陵学院 | Roofing energy-conserving transformation equipment before building |
| CN112177297A (en) * | 2020-09-27 | 2021-01-05 | 祝丽娟 | Vertical automatic wall tile sticking device for building construction and tile sticking method |
| CN113094881A (en) * | 2021-03-31 | 2021-07-09 | 杭州群核信息技术有限公司 | Material arrangement calculation method, device, equipment and medium for texture paving commodity with aggregated support surface |
| CN114525918A (en) * | 2022-01-26 | 2022-05-24 | 青岛一建集团有限公司 | Automatic tile paving equipment for wall surface and paving method thereof |
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| CN111058597B (en) * | 2019-12-30 | 2021-10-08 | 广东博智林机器人有限公司 | Gluing device and ceramic tile paving and pasting robot |
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| WO2022028271A1 (en) * | 2020-08-05 | 2022-02-10 | 广东博智林机器人有限公司 | Wall tile tiling apparatus |
| CN111962841A (en) * | 2020-09-09 | 2020-11-20 | 湖北理工学院 | Ceramic tile floor paving robot system and using method thereof |
| CN112060822A (en) * | 2020-09-11 | 2020-12-11 | 广东博智林机器人有限公司 | Brick paving equipment and brick paving method |
| CN112160512A (en) * | 2020-09-22 | 2021-01-01 | 铜陵学院 | Roofing energy-conserving transformation equipment before building |
| CN112177297A (en) * | 2020-09-27 | 2021-01-05 | 祝丽娟 | Vertical automatic wall tile sticking device for building construction and tile sticking method |
| CN113094881A (en) * | 2021-03-31 | 2021-07-09 | 杭州群核信息技术有限公司 | Material arrangement calculation method, device, equipment and medium for texture paving commodity with aggregated support surface |
| WO2022262505A1 (en) * | 2021-06-16 | 2022-12-22 | 广东博智林机器人有限公司 | Sheet paving device, paving method, plate coating apparatus, and sheet paving apparatus |
| WO2023010906A1 (en) * | 2021-08-02 | 2023-02-09 | 广东博智林机器人有限公司 | Wall tile paving device and wall tile paving method |
| CN114525918A (en) * | 2022-01-26 | 2022-05-24 | 青岛一建集团有限公司 | Automatic tile paving equipment for wall surface and paving method thereof |
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Application publication date: 20191108 |