CN105644124A - Tiling method - Google Patents
Tiling method Download PDFInfo
- Publication number
- CN105644124A CN105644124A CN201610105636.1A CN201610105636A CN105644124A CN 105644124 A CN105644124 A CN 105644124A CN 201610105636 A CN201610105636 A CN 201610105636A CN 105644124 A CN105644124 A CN 105644124A
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- CN
- China
- Prior art keywords
- patch block
- tile work
- brick
- paving brick
- paving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B37/00—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding
- B32B37/12—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding characterised by using adhesives
- B32B37/1284—Application of adhesive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B37/00—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding
- B32B37/10—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding characterised by the pressing technique, e.g. using action of vacuum or fluid pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B38/00—Ancillary operations in connection with laminating processes
- B32B38/18—Handling of layers or the laminate
- B32B38/1825—Handling of layers or the laminate characterised by the control or constructional features of devices for tensioning, stretching or registration
- B32B38/1833—Positioning, e.g. registration or centering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B38/00—Ancillary operations in connection with laminating processes
- B32B38/18—Handling of layers or the laminate
- B32B2038/1891—Using a robot for handling the layers
Abstract
The invention discloses a tiling method. The method comprises steps as follows: a tiling scheme is obtained, wherein the tiling scheme comprises coordinate information of tiles arranged at to-be-tiled parts; tiling is performed, tiling equipment tiles the to-be-tiled parts with the tiles according to the coordinate information on the basis of the tiling scheme. According to the tiling method, the accurate coordinate information of the tiles at the to-be-tiled parts is acquired, then the tiling equipment is controlled to tile coordinate-determined specific positions with the tiles, the method is suitable for industrial construction, in particularly to the tiling of prefabricated parts on a prefabricated part production line, the tiling efficiency of the prefabricated parts can be improved, and the tiling effect of the prefabricated parts is tidier and more attractive.
Description
Technical field
The present invention relates to building field, be specifically related in housing industry field the production of prefabricated component, particularly relate to a kind of patch block method.
Background technology
At present, patch block is mainly based on artificial or semi-automatic on-the-spot paving, muscle power under one's control, technical ability, and patch block speed is slow, and efficiency is low, and the quality of patch is uneven.
Owing to current precast concrete is widely applied in construction, produce prefabricated component by production line and advantageously reduce construction cost, shorten the construction period. But current, the non-paving brick of the prefabricated component overwhelming majority that production line is produced. Along with the development of housing industry, construction link is gathered in the production line of factory and completes, be the developing goal of current housing industry, be also the inexorable trend of housing industry Industry Quick Development.
Typically for the precoated plate needing paving brick, preform production line paving brick adopts artificial anti-play or utilizes mould, and lay paving brick efficiency is low, recruitment quantity is many, automaticity is low, seriously constrains the production efficiency of precoated plate. Particularly Side fascia, the manpower and materials that site operation expends are big, and the on-the-spot paving for the paving brick of pattern splicing relation needs to expend higher manpower and time, and too much site operation can cause environmental pollution. Advocating under the overall situation of environmental protection energetically in country, relying on the tiling that industrial production line completes precoated plate is the inexorable trend that building trade develops.
Summary of the invention
In view of this, the present invention proposes a kind of patch block method, improves the precision of patch block efficiency and patch block, reduces on-the-spot recruitment quantity, improves the preform production line production efficiency, the particularly production efficiency of precast concrete production line that need patch block.
For reaching above-mentioned technical purpose, first aspect, the present invention proposes a kind of patch block method, and the method comprises the following steps: S300, obtains sticking scheme, and described sticking scheme comprises paving brick and is arranged in the coordinate information treated on paving parts; S600, tile work, based on described sticking scheme, paving brick paving is being treated on patch block parts by tile work equipment according to described coordinate information.
Preferably, between described step S300 and step S600, also include step S400: add binding agent, based on described sticking scheme, treat described in being added on by binding agent on the surface of patch block parts.
Preferably, step S500 is also included: strike off between described step S400 and step S600, described tile work equipment includes striking off assembly, utilizes the relative motion striking off assembly with treating patch block parts of described tile work equipment to realize the described binding agent treating patch block parts surface is struck off process.
Preferably, described sticking scheme is to resolve drawing information by drawing resolver, and in conjunction with paving brick size, gap requirement, arranging rule data analysis gained, or/and, by directly inputting existing sticking scheme.
Preferably, described drawing information is by the described drawing resolver in Ethernet transmission to terminal, the analysis result of described drawing resolver is converted into the action message of tile work equipment by described terminal, the information that described tile work equipment issues based on terminal starts action, tile work procedural information is fed back to terminal by described tile work equipment, and described terminal is based on the drawing information resolved and tile work equipment feedack monitoring patch block process.
Preferably, described tile work step is additionally included in tile work process and utilizes visual identifying system to realize location, being caught the image of paving brick to be captured by visual identifying system, obtained position and the attitude information of the central point of paving brick by data analysis, tile work equipment captures the central point of paving brick.
Preferably, described visual identifying system catches the image of paving brick to be captured in tile work process, attitude and the Gesture preset for the treatment of paving brick are compared, the attitude of the tile work equipment paving brick to obtaining is adjusted, is adjusted to by the paving brick of acquisition the correct attitude of default, and paving brick is placed on the coordinate position of setting by tile work equipment with exact posture.
Preferably, described tile work step is additionally included in tile work process and utilizes visual identifying system to be corrected, and is caught the image treating patch block parts by visual identifying system, the coordinate position being placed with paving brick is corrected.
Preferably, treating that patch block parts are divided into some regions by described, tile work equipment subregion carries out patch block, often completes the patch block in a region, described visual identifying system catches once the next image treating patch block region and periphery thereof, and the described next one being treated, the coordinate information in patch block region is corrected.
Preferably, before described tile work step, to described tile work equipment with treat to carry out between patch block parts position correction, described in finding accurately, treat the reference point location on patch block parts.
Preferably, described tile work equipment includes mechanical hand, utilize mechanical hand realize being attached to described paving brick described in treat the surface of patch block parts, described tile work includes concrete steps:
S610 send brick, manually paving brick is put, to mechanical hand suction brick region or motor control conveyer belt, paving brick is delivered to suction brick region;
S611 inhales brick, realizes described suction brick by being arranged on the vacuum cup of described arm end;
S612 puts brick, opens put brick described in realization by controlling to be arranged on the injection cock of vacuum cup of described arm end;
S613 compacting, after being arranged on the vacuum cup of described arm end and completing to put brick, the existing described compacting of compacting before pressure head.
Preferably, described mechanical hand adopts parallel robot or serial manipulator.
Preferably, described tile work equipment includes controller, spray assembly and patch block assembly, and controller, based on described sticking scheme, controls spray assembly and realizes associating running parallel with patch block assembly.
Known via above-mentioned technical scheme, compared with prior art, present disclosure provides a kind of patch block method, first of all for improving patch block degree of accuracy, acquisition comprises paving brick and is arranged in the sticking scheme of the coordinate information treating paving parts, based on this sticking scheme, paving brick paving is being treated on patch block parts according to above-mentioned coordinate information by tile work equipment, and precision is high; Secondly, this patch block method, it is also possible to improve patch block efficiency, the method is suitable for industrialized construction, it is used on the production line of the prefabricated component needing paving ceramic tile, it is possible to the production efficiency being greatly improved on described production line prefabricated component paving ceramic tile, and patch block effect neat appearance.
Tile work step adds visual identifying system the paving brick in tile work process is positioned, by analyzing the image with capturing paving brick of visual identifying system shooting, obtain center position and the attitude information of paving brick, to ensure accurately acquisition paving brick;Can be also used for the paving brick attitude to obtaining to judge, thereby determine how to adjust the attitude treating paving brick, it is ensured that accurately place paving brick.
To treat that patch block parts are divided into some regions, tile work equipment subregion carries out patch block, in tile work step, by the patch block situation treating patch block parts that visual identifying system subregion captures, the coordinate information that the paving brick in pasted region is placed is corrected, adjust the position that paving brick should be placed in real time, reduce error, improve precision and the regularity of tile work.
Accompanying drawing explanation
The accompanying drawing constituting the part of the present invention is used for providing a further understanding of the present invention, and the schematic description and description of the present invention is used for explaining the present invention, is not intended that inappropriate limitation of the present invention. In the accompanying drawings:
Fig. 1 is patch block flow chart;
Fig. 2 is sticking scheme exemplary plot;
Fig. 3 is workbench correction schematic diagram;
Fig. 4 is the patch block equipment schematic diagram using mechanical hand
Description of reference numerals
1 guide rail 2 locking device 3,7 elevating ram
4, patch block parts 6 workbench 7 positional cylinder treated by 8 adjustment oil cylinders 5
11 servomotor 12 photographic head 13 connecting rod 14 servomotors
15 vacuum cup 16 pressure heads
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments. Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
The embodiment of the invention discloses a kind of patch block method, in needing the production process of prefabricated component of tile work, described in treat that patch block parts 5 are for precoated plate, for needing the precoated plate of paving paving brick 25, it is possible to just post paving brick 25 before construction at the scene. By method disclosed by the invention, it is possible to according to specific needs, before prefabricated component dispatches from the factory, just complete the paving of paving brick 25, and compared with tradition paving, patch block better effects if, in hgher efficiency.
As shown in Figure 1, method flow diagram disclosed in one of the present invention, concretely comprise the following steps: S300, obtain sticking scheme, described sticking scheme comprises paving brick and is arranged in the coordinate information treating patch block parts, described sticking scheme can manually input terminal change into the transmission of controller acceptable control command in the terminal to controller, it is also possible to become the acceptable control command transmission of controller to controller either directly through terminal conversion after coordinating relevant parameter to parse sticking scheme by drawing resolver. Drawing refers to drawing information input terminal, and combines requirements such as treating the dimensional parameters of patch block parts 5, paving brick 25 dimensional parameters, slot parameter and arranging rule by drawing resolver in terminal, parses sticking scheme. Concrete, the described sticking scheme figure of acquisition can be as shown in Figure 2. Concrete, described in treat that patch block parts are placed in die station.
In step S300, by combining the sticking scheme of relevant parameter, the parameter information of patch block parts 5 is specifically treated due to direct correlation, acquired sticking scheme contains the paving brick 25 information at the particular location treated on patch block parts 5, and this information is by determining at the coordinate treated on patch block parts 5 based on paving brick.
Step S600, based on the sticking scheme obtained, paving brick paving is being treated on patch block parts by tile work equipment according to described coordinate information.Firstly the need for the treatment of setting datum mark on patch block parts, by controlling tile work equipment, such as mechanical hand, concrete, described mechanical hand can be parallel robot or serial manipulator, paving brick 25 is placed on the coordinate position place specified, the coordinate of paving brick 25 that this coordinate position specified is based in sticking scheme to set, corresponding on patch block parts 5 find this coordinate and realize being placed on paving brick 25 coordinate position of this setting treating. Concrete, find the coordinate that described coordinate can be only paving brick 25 central point, it is also possible to be the combination of paving brick 25 center point coordinate and at least one other auxiliary coordinate point, it is also possible to be that concrete set of coordinates is incompatible determines position by other.
Concrete, can pass through drawing information by the described drawing resolver in Ethernet transmission to terminal, drawing information is resolved by drawing resolver, the information that described tile work equipment issues based on terminal starts action, tile work procedural information is fed back to again terminal by described tile work equipment, and described terminal is based on the drawing information resolved and tile work equipment feedack monitoring patch block process.
It should be noted that, described controlled tile work equipment is not limited only to use mechanical hand, all have the plant equipment that can realize that paving brick 25 moves to another position functions from a position, and the control command that can be sent by terminal controls, paving brick 25 is placed on concrete coordinate points position equipment can, described terminal includes remote control terminal and field control terminal. Described paving brick can be but be not limited to ceramic tile.
In this embodiment, the specified coordinate position that the sticking scheme owing to being based on acquisition treats patch block parts 5 to control tile work equipment to be attached to by paving brick 25, this sticking scheme comprises paving brick and is arranged in the coordinate information treating patch block parts; The acquisition of described sticking scheme can be directly input existing sticking scheme; Can also pass through to input to treat that the dimensional parameters of patch block parts 5, paving brick 25 dimensional parameters, slot parameter and arranging rule requirement etc. parse sticking scheme; This sticking scheme has the coordinate information of each paving brick, content is detailed, and based on the sticking scheme that this is detailed, controller controls plant equipment patch block, the precision of this patch block is high, efficiency is high, it is not necessary to the on-the-spot splicing manually carrying out paving brick 25, and treats patch block parts 5 for what have headspace and a fancy paving requirement, do not need on-the-spot spended time especially out, being directly based upon sticking scheme to be automatically obtained, just because of there being detailed sticking scheme more can be greatly saved the time, improving efficiency. Being placed paving brick 25 by then passing through concrete coordinate, higher than traditional range estimation or simple on-the-spot Adjustment precision, the flatness effect put up is better.
Preferably, tile work process utilizes visual identifying system auxiliary tile work process, first in the process obtaining paving brick, visual identifying system is utilized to catch the image of paving brick to be captured, obtain position and the attitude information of paving brick, find the central point of paving brick, it is ensured that accurately capture the central point treating paving brick. And, visual identifying system can also pass through the image of the paving brick to be captured captured, attitude and the preset posture for the treatment of paving brick require comparison, the attitude controlling the tile work equipment paving brick to obtaining is adjusted, is adjusted to by the paving brick of acquisition the correct attitude of default, it is ensured that paving brick is placed on the coordinate position of setting with exact posture.It should be noted that carry out patch block for being based only on paving brick center position, it is necessary to carry out pose adjustment before patch block, it is ensured that paving brick be accurately placed in sticking scheme set the concrete coordinate position treating on patch block parts; And based on the information combination comprising center position and paving brick attitude angle or other can guarantee that and the combinatorial coordinates mode accurately placing paving brick then can be directly based upon coordinate information, before placing paving brick, adjust the attitude of paving brick. Concrete, determine described central point by cornerwise intersection point of paving brick. Concrete, the mode of the attitude of described adjustment paving brick is to be determined the angle of adjustment by the angle between paving brick diagonal and the reference line chosen. Concrete, described visual identifying system is that the high-definition camera controlled by controlled system is taken pictures and is analyzed extracting information needed to gained image of taking pictures.
Preferably, robot is utilized to carry out tile work, tile work process can also utilize visual identifying system be corrected, concrete, a set of high-definition camera head unit is increased to visual identifying system, the high-definition camera being controlled described increase by visual identifying system catches the image treating patch block parts, and the coordinate information being placed with paving brick is corrected, thus the impact that reduction brings because of error. Preferred concrete scheme, treat that patch block parts are divided into some regions by described, tile work equipment subregion carries out patch block, often complete the patch block in a region, visual identifying system catches the next one and treats the image of patch block region and periphery thereof, the coordinate information in this region caught is corrected, redefines and treat the coordinate in this region on patch block parts, so can reduce because of tile work equipment or treat that patch block parts move the error impact caused. Because the transfer in patch block region is based on the movement moving or treating patch block parts of tile work equipment. Again the coordinate information in each region is corrected, it is prevented that because the accumulation of error affects patch block effect. Concrete, described in treat that patch block parts are divided into some rectangular areas, patch block order adopts zigzag that some rectangle patch block regions are sequentially carried out patch block. Concrete, when carrying out the patch block of laterally some rectangular areas, transfer between described horizontal rectangular area is the concrete tile work assembly by mobile tile work equipment or mobile tile work equipment, after completing the patch block of a whole transverse area, carrying out once the transfer between described longitudinal region, the movement that is displaced through of described longitudinal region treats that patch block parts realize. Concrete, described in when patch block parts mobile, need the die station of patch block parts by mobile carrying realize.
By increasing visual identifying system, it is possible to for obtaining location during paving brick, thus improving the accuracy obtaining paving brick, reduce the error rate produced in acquisition process; Before can be used for placement paving brick, paving brick is carried out pose adjustment, so that it is guaranteed that accurately place paving brick, improve the precision and flatness of placing paving brick; The coordinate information that can be also used for treating on paving parts is corrected, thus reducing the accumulation of error, and the error that particularly in tile work process, the movement of plant equipment brings, it is possible to be adjusted in time revising.
Preferably, between described step S300 and step S600, also include step S400: based on described sticking scheme, by the mode adding additives that sprays or plaster on the described surface treating patch block parts 5.
Preferably, between described step S400 and step S600, also include step S500: strike off, utilize the relative motion striking off assembly and treating patch block parts 5 to realize the described binding agent treating patch block parts 5 surface is struck off process.
Based on the original state difference when patch block parts 5 enter patch block program, one is to treat that patch block parts 5 are also in initial set state, inherently also have cementation, tile work operation need not outer adding additives, paving brick 25 and treat can bond between patch block parts 5; Another kind is then need at paving brick 25 with treat additional adhesive between patch block parts 5 so that paving brick 25 and treat good bond between patch block parts 5. For latter state, obtaining sticking scheme ibid, repeat no more herein, based on sticking scheme, binding agent is added on the appointment region treating patch block parts 5, described appointment region refers to the region needing patch block, to headspace plate, it is not necessary to add binding agent.
After performing step S400, in order to better carry out being placed with paving brick, sprayed binding agent is struck off process, and this strikes off operation is that the relative motion striking off assembly with treating patch block parts 5 utilizing tile work equipment realizes, it is possible to makes to strike off assembly and individually orbits; Can also be by carry need patch block parts 5 die station individually in track run realize; Can also is that and strike off assembly and treat that patch block parts 5 all move, but there is relative motion between. Strike off assembly can be arranged to be placed on a mobile equipment with the assembly adding binding agent, it is also possible to be set up separately to run on different mobile equipment.
Adding additives is carried out owing to being based on sticking scheme, concrete adhesive area is set, treats the region spray needing to carry out patch block in patch block parts 5 or smear binding agent, for need not then skip in patch block region, saving binding agent, saving the time compared to single paving brick 25 being smeared binding agent. Treat that the binding agent on patch block parts 5 surface strikes off process to spraying or being put on, improve paving brick 25 paving flatness on its surface.
Before described tile work step, to described tile work equipment with treat to carry out between patch block parts 5 position correction, find the reference point location treated on patch block parts 5 accurately. Concrete aligning step is, first passes through operation control panel, is loaded with and treats that the workbench 6 of patch block parts 5 enters patch block station along guide rail 1; Specifically as shown in Figure 3, workbench 6 is encountered positional cylinder 7 and is stopped, workbench 6 locking device 2 buckles, prevent workbench 6 from moving forward and backward, then, the elevating ram 7 of elevating ram 3 and corresponding opposite side guide rail 1 thereof stretches out, and workbench 6 gives rise to the proper height specified, and four oil cylinders can also can individually stretch by simultaneous retractable; More flat again through level indicator, treat the attitude of patch block parts 5 by regulating two adjustment oil cylinder adjustment on oil cylinder 4 and adjustment oil cylinder 8 and corresponding opposite side guide rail 1, make relative position between workbench 6 and patch block equipment adapt to carry out patch block technique; Finally, it is determined that patch block zero point, patch block is started. Concrete, described patch block zero point can be, but not limited to select the initial point using workbench 6 moving direction left front foot point position as paving brick 25 location dimension.
Stablizing of patch block parts 5 is treated owing to needing to ensure in patch block process; it is loaded with and treats that the workbench 6 of patch block parts 5 moves to patch block station and it is fixed correction; it should be noted that tile work equipment and treat to carry out between patch block parts 5 scheme of position correction and be not limited to that above this is a kind of; all can guarantee that in patch block process tile work equipment and treat that between patch block parts 5, the correcting mode of position stability broadly falls into protection scope of the present invention; after having corrected; find the datum mark of patch block accurately, start patch block.
The control command generated based on sticking scheme is issued controller, controller is based on acquired sticking scheme, control whole patch block process, below the mode of concrete tile work is illustrated, utilize mechanical hand realize described paving brick 25 be attached to described in treat the surface of patch block parts 5, described tile work step is specially the suction brick region that paving brick 25 is manually placed on mechanical hand or controller controls motor work, controls conveyer belt by motor and paving brick is delivered to suction brick region;Controller controls connecting rod 13 action of described mechanical hand, the vacuum cup 15 of connecting rod 13 end of mechanical hand picks up paving brick 25, mechanical hand moves to the coordinate position place of the setting treated on patch block parts 5 with the paving brick 25 picked up, controller controls manipulator behavior, and the injection cock being arranged on the vacuum cup 15 of connecting rod 13 end of described mechanical hand opens the coordinate position place realizing that described paving brick 25 is placed on this setting; Being arranged on after the vacuum cup 15 of described arm end completes to put brick, under command of a controller, before pressure head 16, the existing compaction actions of compacting, makes paving brick 25 better be placed with on the described surface treating patch block parts 5. The structure of described mechanical hand is optional but is not limited to as shown in Figure 4, servomotor 14 takes orders and controls mobile and adjust attitude, photographic head 12 is for obtaining paving brick 25 image at any time, auxiliary is found paving brick 25 central point and determines paving brick 25 paving attitude, connecting rod 13 connects mechanical arm and be can be used for adjusting sucker 15 for any attitude by servomotor 14 control, servomotor 14 controls elevating mechanism and adjusts the adjustable height of pressing plate, and sucker 15 and pressure head 16 are arranged on pressing plate. Concrete, described moving process, concrete displacement can be fed back by position and control. Concrete, the optional serial manipulator of described mechanical hand or parallel robot. Concrete, the movement of whole mechanical hand can be controlled by described servomotor 11, carry out tiling at diverse location realizing mechanical hand. Concrete, except the photographic head 12 on mechanical hand, also it is additionally provided with photographic head, for catching the image treated on patch block parts, the coordinate position being placed with paving brick is corrected, reduce error impact.
Preferably, tile work equipment comprises controller, spray assembly and patch block assembly, and controller, based on described sticking scheme, controls spray assembly and realizes associating running parallel with patch block assembly. Patch block parts are treated, by linking spray assembly and tile work assembly to get up to control, it is possible to save the time of whole patch block technique, improve patch block efficiency for what need spray binding agent. The information of patch block process, patch block information is fed back to terminal unit by tile work equipment, and terminal unit can monitor patch block process based on sticking scheme and tile work equipment feedack, thus better controller being adjusted control command.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc. should be included within protection scope of the present invention.
Claims (13)
1. a patch block method, it is characterised in that comprise the following steps:
S300, obtains sticking scheme, and described sticking scheme comprises paving brick and is arranged in the coordinate information treated on patch block parts;
S600, tile work, based on described sticking scheme, paving brick paving is being treated on patch block parts by tile work equipment according to described coordinate information.
2. patch block method according to claim 1, it is characterised in that also include step S400 between described step S300 and step S600:
Add binding agent, treat described in binding agent is added on the surface of patch block parts.
3. patch block method according to claim 2, it is characterised in that also include step S500 between described step S400 and step S600:
Striking off, described tile work equipment includes striking off assembly, utilizes the relative motion striking off assembly with treating patch block parts of described tile work equipment to realize the described binding agent treating patch block parts surface is struck off process.
4. patch block method according to claim 1, it is characterized in that, described sticking scheme is to resolve drawing information by drawing resolver, and in conjunction with paving brick size, gap requirement, arranging rule data analysis gained, or/and, by directly inputting existing sticking scheme.
5. patch block method according to claim 4, it is characterized in that, described drawing information is by the described drawing resolver in Ethernet transmission to terminal, the analysis result of described drawing resolver is converted into the action message of tile work equipment by described terminal, the information that described tile work equipment issues based on terminal starts action, tile work procedural information is fed back to terminal by described tile work equipment, and described terminal is based on the drawing information resolved and tile work equipment feedack monitoring patch block process.
6. patch block method according to claim 1, it is characterized in that, described tile work step is additionally included in tile work process and utilizes visual identifying system to realize location, the image of paving brick to be captured is caught by visual identifying system, obtained position and the attitude information of the central point of paving brick by data analysis, tile work equipment captures the central point of paving brick.
7. patch block method according to claim 6, it is characterized in that, described visual identifying system catches the image of paving brick to be captured in tile work process, attitude and the Gesture preset for the treatment of paving brick are compared, the attitude of the tile work equipment paving brick to obtaining is adjusted, is adjusted to by the paving brick of acquisition the correct attitude of default, and paving brick is placed on the coordinate position of setting by tile work equipment with exact posture.
8. patch block method according to claim 1, it is characterized in that, described tile work step is additionally included in tile work process and utilizes visual identifying system to be corrected, and is caught the image treating patch block parts by visual identifying system, the coordinate position being placed with paving brick is corrected.
9. according to Claim 8 described in patch block method, it is characterized in that, treat that patch block parts are divided into some regions by described, tile work equipment subregion carries out patch block, often complete the patch block in a region, described visual identifying system catches once the next image treating patch block region and periphery thereof, and the described next one being treated, the coordinate information in patch block region is corrected.
10. the patch block method according to any one in claim 1-9, it is characterised in that before described tile work step, to described tile work equipment with treat to carry out between patch block parts position correction, treats the reference point location on patch block parts described in finding accurately.
11. the patch block method according to any one in claim 1-9, it is characterised in that described tile work equipment includes mechanical hand, utilize mechanical hand realize being attached to described paving brick described in treat the surface of patch block parts, described tile work includes concrete steps:
S610 send brick, manually paving brick is put, to mechanical hand suction brick region or motor control conveyer belt, paving brick is delivered to suction brick region;
S611 inhales brick, realizes described suction brick by being arranged on the vacuum cup of described arm end;
S612 puts brick, opens put brick described in realization by controlling to be arranged on the injection cock of vacuum cup of described arm end;
S613 compacting, after being arranged on the vacuum cup of described arm end and completing to put brick, the existing described compacting of compacting before pressure head.
12. patch block method according to claim 11, described mechanical hand adopts parallel robot or serial manipulator.
13. the patch block method according to Claims 2 or 3, it is characterised in that described tile work equipment also includes controller, spray assembly and patch block assembly, controller, based on described sticking scheme, controls spray assembly and realizes associating running parallel with patch block assembly.
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| CN201610105636.1A CN105644124B (en) | 2016-02-26 | 2016-02-26 | A kind of patch block method |
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| CN201610105636.1A CN105644124B (en) | 2016-02-26 | 2016-02-26 | A kind of patch block method |
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| CN105644124B CN105644124B (en) | 2019-02-12 |
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| CN108444458A (en) * | 2018-03-09 | 2018-08-24 | 莎丽科技股份有限公司 | A kind of patch block vision positioning control system |
| CN108505735A (en) * | 2018-03-09 | 2018-09-07 | 莎丽科技股份有限公司 | A kind of row's brick patch block control system |
| CN108643012A (en) * | 2018-07-03 | 2018-10-12 | 上海振华重工(集团)股份有限公司 | Assembled road surfacing system |
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