CN101028711A - Automatic robot for insepecting floor tile adhesion - Google Patents
Automatic robot for insepecting floor tile adhesion Download PDFInfo
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- CN101028711A CN101028711A CN 200710014021 CN200710014021A CN101028711A CN 101028711 A CN101028711 A CN 101028711A CN 200710014021 CN200710014021 CN 200710014021 CN 200710014021 A CN200710014021 A CN 200710014021A CN 101028711 A CN101028711 A CN 101028711A
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- bevel gear
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Abstract
A full-automatic robot for sticking and checking floor tiles features that it can walk on the floor and check the sticking quality of each floor tile by comparing its sound frequency with a predefined sound frequency. It is composed of a mechanical system and a control system with various sensors. Said mechanical system consists of beating unit, commutation unit, driver unit, walking unit, and marking unit.
Description
Technical field
The present invention is an automatic robot for insepecting floor tile adhesion, specifically can independent ambulation and according to the robot that relatively checks the floor tile sticking Quality of sound frequency and preset frequency.
Background technology
Decorative engineering is the important component part of architectural engineering, and the floor tile stickup is important one of decorative engineering.But the thing followed " hollowing " problem has become to influence the principal element of decorative engineering quality.It usually takes place, even also very serious.And this is now main by the manpower inspection, exists problems such as workload, error are big.Therefore, need a kind of device that can accurate detection " hollowing ", but have not yet to see.
Summary of the invention
Deficiency at above-mentioned existing detection technique, it is that sound frequency and the predetermined frequency that produces made comparisons that the invention of this reality is knocked floor tile by the sound transducer collection, check " hollowing " and make sign and come sensing ground and all around situation by optical sensor and travel switch simultaneously, regulate its walking automatic robot for insepecting floor tile adhesion automatically.
The present invention is achieved by the following technical solutions: be made up of mechanical system and control system, mechanical system is connected with control system, wherein mechanical system comprises that base plate, striking mechanism, changement, driving mechanism, walking mechanism and sign mechanism form, walking mechanism is arranged on the base plate lower surface, striking mechanism and changement are arranged on the base plate, driving mechanism is connected with striking mechanism with changement, indicates mechanism and is connected with control system; Described control system comprises bent axle power motor, rear wheel drive motor, sound transducer, photoelectric sensor, signal processor, data processor, the bent axle power motor is connected with driving mechanism with the rear wheel drive motor, sound transducer is arranged on the striking mechanism, and photoelectric sensor is connected with signal processor with data processor.
Full-automatic floor tile detection machine people at first detects the floor tile slit by photoelectric sensor after entering detection site, and adjusts the position of robot according to the slit, make robot be positioned at the floor tile center, this moment, the rear wheel drive motor stopped operating, and the crank-driven electrical power knocks.The process of knocking is as follows:
⊙ → main striking mechanism knocks 1 point → secondary striking mechanism and knocks 2 points → secondary striking mechanism and be rotated counterclockwise 90 → main striking mechanism and knock 1 point → secondary striking mechanism and knock 2 points → secondary striking mechanism and be rotated counterclockwise 90 degree → main striking mechanisms and knock 1 point → secondary striking mechanism and knock 2 points → secondary striking mechanism and be rotated counterclockwise 90 degree → main striking mechanisms and knock 1 point → secondary striking mechanism and knock 2 points → secondary striking mechanism and be rotated counterclockwise 90 degree → ⊙ (finishing a circulation)
Realize by incomplete commutation bevel gear in the above process.In the process of knocking, the frequency of knocking sound by the sound transducer collection that is fixed on king-rod, after amplifying processing, this frequency is temporary in the single-chip microcomputer, and after knocking through four times, the frequency that all the other are predetermined compares, whether there be " hollowing " thereby judge, when sometimes, it is electric that single-chip microcomputer gets relay, thereby at this point do sign on the plate brick.Afterwards, continue to arrive down forward the floorboard brick.When robot ambulation arrived the foot of a wall, complete machine retreated 600MM, and the rotation rotation advances on next piece brick, and photoelectric sensor is aimed at brickwork joint, stops afterwards detecting.Repeat above action until finishing detection.
The present invention is to the detection of floor tile " hollowing ", be adopt a main striking mechanism to realize knocking with a secondary striking mechanism by whirligig control of floor tile centre realized respectively 4 knock on every side, compare to check whether have hollowing with predefined frequency by the knock voice frequency of the sound transducer collection in knocking center-pole.Realized in the whole process monitoring, understandable, indicate full-automatic, can improve monitoring accuracy, also have characteristics such as efficient, laborsaving simultaneously.
Description of drawings
Fig. 1 is a structural principle schematic diagram of the present invention;
Fig. 2 is a main striking mechanism schematic diagram of the present invention;
Fig. 3 is a sound detection schematic diagram of the present invention;
Fig. 4 is a sound frequency comparison circuit of the present invention;
Fig. 5 is a single-chip microcomputer trace routine block diagram of the present invention;
Track route figure when Fig. 6 is the invention process.
Wherein, 1, preceding universal guide wheel, 2, main striking mechanism positioning tube, 3, central tube, 4, commutation tube, 5, carry tube outward, 6, base plate, 7, driving wheel, 8, the bent axle power motor, 9, right support, 10, hollow shaft, 11, the commutation bevel gear, 12, connecting rod I, 13, connecting rod II, 14, connecting rod III, 15, bent axle, 16, left socle, 17, the center carries tube, 18, king-rod, 19, the rear wheel drive motor, 20, secondary striking mechanism positioning tube, 21, center-pole, 22, bearing, 23, backing ring, 24, location cover, 25, electromagnet, 26, spring I, 27, semi-ring, 28, spring II.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in further detail.
Embodiment: as shown in Figure 1, form by mechanical system and control system, mechanical system is connected with control system, wherein mechanical system comprises that base plate, striking mechanism, changement, driving mechanism, walking mechanism and sign mechanism form, walking mechanism is arranged on the base plate lower surface, striking mechanism and changement are arranged on the base plate, and driving mechanism is connected with striking mechanism with changement, indicate mechanism and are connected with control system; Described control system comprises bent axle power motor, rear wheel drive motor, sound transducer, photoelectric sensor, signal processor, data processor, the bent axle power motor is connected with driving mechanism with the rear wheel drive motor, sound transducer is arranged on the striking mechanism, and photoelectric sensor is connected with signal processor with data processor.Use when having five macropores to knock on the base plate 6, the aperture of remaining four symmetry is laid optical sensor and is used, universal guide wheel 1 before positive front portion is equipped with, the rear portion is equipped with symmetrical two driving wheels 7, driving wheel 7 drives by rear wheel drive motor 19, these two pairs of motors be placed in about on the support 16,9 of two symmetries, two stands is by being bolted on the base plate 6, the two stands upper end is equipped with bent axle 15, bent axle drives by bent axle power motor 8, and crank-driven motor 8 is on right side support 9.On bent axle 15, from left to right, drive bevel gear, connecting rod I 12, connecting rod II 13, connecting rod III 14 are housed successively, drive bevel gear and tumbler gear engagement 11; Connecting rod I and connecting rod III carry ear by two and provide power for carrying tube 5 outward; Connecting rod II links to each other with the ear of carrying on the central tube 3, thereby drives main striking mechanism, and main striking mechanism is arranged in the central tube 3, and is outside by main striking mechanism positioning tube 2 location.Commutation bevel gear 11 is fixed together with hollow shaft 10, and hollow shaft connects together by thin cuboid bar and commutation tube 4, and commutation tube 4 and center carry that tube 17 is outer to be fixed together by connecting plate, interiorly is enclosed within central tube by bearing 22 and backing ring 23; The center is carried king-rod 18 in the tube, king-rod 18 is moved up and down by secondary striking mechanism positioning tube 20 location, and center-pole 21 is arranged in the king-rod 18, in sound transducer is arranged.During work, signal by the optical sensor collection passes to processing controls mechanism, make the central authorities of its floor tile of walking, two rear wheel drive motors, 19 stalls this moment, bent axle power motor 8 begins energising, drive bent axle 15 rotations, bent axle drivening rod 12,13,14, connecting rod drives the major-minor striking mechanism and realizes respectively central authorities and first the activity of knocking all around, and afterwards, just drive bevel gear makes commutation bevel gear 11 rotate a week, and drive commutation tube 4 and realize once commutation secondary striking mechanism, main, secondary striking mechanism begins central point and second are knocked, and repeats above action and finishes central point and the 3rd respectively, 4 are knocked, all knock finish after, make sign, 8 stalls of main shaft power motor, rear wheel drive motor 19 begin energising, advance to next piece brick and detect.
As depicted in figs. 1 and 2, striking mechanism divides main striking mechanism and secondary striking mechanism again, wherein main striking mechanism is by king-rod, electromagnet 25, spring I26, location cover 24, semi-ring 27, spring II28, positioning tube 2, center-pole (in be placed with sound transducer) constitutes, and companys of being welded with ear on the central tube top is continuous with the connecting rod that is connected bent axle by connecting pin, inner formation with the big end in king-rod top is threaded, be placed with electromagnet in the big end in king-rod top, west, king-rod bottom end is circumscribed with positioning tube, and end has semi-ring, positioning tube is screwed on positioning tube, king-rod is limited in wherein, can do between the two certain slide up and down but can not skid off, and has spring I king-rod inside that center-pole is arranged between location cover and the big end of king-rod, the center line bar can slide up and down in positioning tube, and spring II is arranged between center-pole and the king-rod.Secondary striking mechanism: except that with above-mentioned main striking mechanism again the identical mechanism design, also have central tube, carry tube, commutation tube, bearing, backing ring outward and constitute jointly.Central tube is enclosed within outside the main striking mechanism, with carry tube outward and form a sliding pair that can move up and down, carry a top outward and be welded with two teams and carry ear, carry ear and link to each other with crankshaft-link rod I, II respectively by connecting pin, carrying tube outward has the commutation tube outward by there being the bearing of backing ring to be connected down, can rotate mutually.
Changement comprises drive bevel gear, commutation bevel gear, bearing, left and right sides support, hollow shaft, drive bevel gear is fixed on the bent axle, match with commutation bevel gear (have only in 90 degree tooth is arranged), the commutation bevel gear is fixed on the hollow shaft, and hollow shaft is connected on the support of the left and right sides by bearing.And the moving sets of the groove formation vertical direction that the elongated rectangular bars that is welded on commutation tube top and hollow week are inboard.
Driving mechanism comprises bent axle, connecting rod (3), and motor is connected with bent axle by driving-belt, and drive bevel gear and three connecting rods are housed on the bent axle from right to left successively.
Walking mechanism comprises two rear drive sprockets and preceding universal wheel, and back two-wheeled is directly driven by driving-belt by motor, realizes various motions by the rotating speed of control two-wheeled.
Indicating mechanism is the pen clip of being controlled by relay.
As Fig. 3, Fig. 4, shown in Figure 5, control system is mainly handled major parts such as amplifier section, data processing operation part and is formed by bent axle power motor, rear wheel drive motor (about each one), two electromagnet, sound transducer, photoelectric sensor, signals.Generally speaking, bent axle power motor, rear wheel drive motor (about each one) are the wheel flow-thru electrodes.When integral body is walked, bent axle power motor no power, and have only back two-wheel drive motor (about each) energising.When knocking, has only the electrical power of bent axle power.Only outage when knocking of electromagnet, energising At All Other Times.
Control during walking realizes the turning of advancing of robot by positive and negative, the rotating speed of controlling two rear wheel drive motors.The logical simultaneously forward voltage that equates of left and right wheels, robot advances.Logical backward voltage, the robot back leg.Logical different voltage is realized the turning of robot.
Full-automatic floor tile detection machine people at first detects the floor tile slit by photoelectric sensor after entering detection site, and adjusts the position of robot according to the slit, make robot be positioned at the floor tile center, this moment, the rear wheel drive motor stopped operating, and the crank-driven electrical power knocks.The process of knocking is as follows:
⊙ → main striking mechanism knocks 1 point → secondary striking mechanism and knocks 2 points → secondary striking mechanism and be rotated counterclockwise 90 → main striking mechanism and knock 1 point → secondary striking mechanism and knock 2 points → secondary striking mechanism and be rotated counterclockwise 90 degree → main striking mechanisms and knock 1 point → secondary striking mechanism and knock 2 points → secondary striking mechanism and be rotated counterclockwise 90 degree → main striking mechanisms and knock 1 point → secondary striking mechanism and knock 2 points → secondary striking mechanism and be rotated counterclockwise 90 degree → ⊙ (finishing a circulation)
Realize by incomplete commutation bevel gear in the above process.In the process of knocking, the frequency of knocking sound by the sound transducer collection that is fixed on king-rod, after amplifying processing, this frequency is temporary in the single-chip microcomputer, and after knocking through four times, the frequency that all the other are predetermined compares, whether there be " hollowing " thereby judge, when sometimes, it is electric that single-chip microcomputer gets relay, thereby at this point do sign on the plate brick.Afterwards, continue to arrive down forward the floorboard brick.When robot ambulation arrived the foot of a wall, complete machine retreated 600MM, and the rotation rotation advances on next piece brick, and photoelectric sensor is aimed at brickwork joint, stops afterwards detecting.Repeat above action until finishing detection.
Claims (4)
1. automatic robot for insepecting floor tile adhesion, it is characterized in that, form by mechanical system and control system, mechanical system is connected with control system, wherein mechanical system comprises that base plate, striking mechanism, changement, driving mechanism, walking mechanism and sign mechanism form, and walking mechanism is arranged on the base plate lower surface, and striking mechanism and changement are arranged on the base plate, driving mechanism is connected with striking mechanism with changement, indicates mechanism and is connected with control system; Described control system comprises bent axle power motor, rear wheel drive motor, sound transducer, photoelectric sensor, signal processor, data processor, the bent axle power motor is connected with driving mechanism with the rear wheel drive motor, sound transducer is arranged on the striking mechanism, and photoelectric sensor is connected with signal processor with data processor;
Described striking mechanism divides main striking mechanism and secondary striking mechanism again, wherein main striking mechanism be by king-rod, electromagnet, spring I, semi-ring, spring II, positioning tube and in be placed with sound transducer center-pole constitute, be placed with electromagnet in the big end in king-rod top, the king-rod bottom is circumscribed with positioning tube, end has semi-ring, between location cover and the big end of king-rod spring I is arranged, there is center-pole king-rod inside, and spring II is arranged between center-pole and the king-rod; Secondary striking mechanism also has central tube, puies forward tube, commutation tube, bearing formation outward, and central tube is enclosed within outside the main striking mechanism, carries tube outward and is connected with the commutation tube by bearing;
Described changement comprises that drive bevel gear, commutation bevel gear, left and right sides support, hollow shaft constitute, drive bevel gear is fixed on the driving mechanism, it is meshed with the commutation bevel gear, and the commutation bevel gear is fixed on the hollow shaft, and hollow shaft is connected on the support of the left and right sides by bearing;
Described driving mechanism is made up of bent axle, motor and connecting rod, and motor is connected with bent axle by driving-belt, and drive bevel gear and three connecting rods are housed on the bent axle from right to left successively;
Described walking mechanism is made up of two rear drive sprockets and directive wheel, and front end is equipped with a directive wheel on the base plate, and the rear end is equipped with two driving wheels, and it directly links to each other with drive motors;
The described mechanism that indicates is the pen clip of being controlled by relay.
2. automatic robot for insepecting floor tile adhesion according to claim 1 is characterized in that, described signal processor is single-chip microcomputer or PLC.
3, automatic robot for insepecting floor tile adhesion according to claim 1 is characterized in that, described data processor is single-chip microcomputer or PLC.
4, automatic robot for insepecting floor tile adhesion according to claim 1 is characterized in that, the commutation bevel gear has tooth in 90 degree scopes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710014021 CN101028711A (en) | 2007-03-23 | 2007-03-23 | Automatic robot for insepecting floor tile adhesion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710014021 CN101028711A (en) | 2007-03-23 | 2007-03-23 | Automatic robot for insepecting floor tile adhesion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101028711A true CN101028711A (en) | 2007-09-05 |
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ID=38714358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710014021 Pending CN101028711A (en) | 2007-03-23 | 2007-03-23 | Automatic robot for insepecting floor tile adhesion |
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| Country | Link |
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| CN (1) | CN101028711A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103175899A (en) * | 2013-03-09 | 2013-06-26 | 颜丙臣 | Tile floor cavity detector |
| CN103675105A (en) * | 2013-12-24 | 2014-03-26 | 邹燕燕 | Ceramic tile hole detection data collection device |
| CN111305530A (en) * | 2019-12-02 | 2020-06-19 | 广东博智林机器人有限公司 | Knocking device and wood floor mounting robot |
-
2007
- 2007-03-23 CN CN 200710014021 patent/CN101028711A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103175899A (en) * | 2013-03-09 | 2013-06-26 | 颜丙臣 | Tile floor cavity detector |
| CN103675105A (en) * | 2013-12-24 | 2014-03-26 | 邹燕燕 | Ceramic tile hole detection data collection device |
| CN103675105B (en) * | 2013-12-24 | 2016-06-29 | 湖北省建筑材料节能检测中心有限公司 | A kind of hole detection data collection device laying ceramic tile |
| CN111305530A (en) * | 2019-12-02 | 2020-06-19 | 广东博智林机器人有限公司 | Knocking device and wood floor mounting robot |
| CN111305530B (en) * | 2019-12-02 | 2021-07-23 | 广东博智林机器人有限公司 | Knocking device and wood floor mounting robot |
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Open date: 20070905 |