CN105926912B - A kind of full-automatic architecture indoor ground tile paving machine - Google Patents
A kind of full-automatic architecture indoor ground tile paving machine Download PDFInfo
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- CN105926912B CN105926912B CN201610459572.5A CN201610459572A CN105926912B CN 105926912 B CN105926912 B CN 105926912B CN 201610459572 A CN201610459572 A CN 201610459572A CN 105926912 B CN105926912 B CN 105926912B
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- 239000000945 filler Substances 0.000 claims abstract description 93
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 238000010521 absorption reaction Methods 0.000 claims description 24
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 23
- 238000013016 damping Methods 0.000 claims description 19
- 230000003028 elevating effect Effects 0.000 claims description 17
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 230000002457 bidirectional effect Effects 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 2
- 150000001875 compounds Chemical class 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000006872 improvement Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 239000011449 brick Substances 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 230000014616 translation Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 230000006742 locomotor activity Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 239000004927 clay Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Machines (AREA)
Abstract
The present invention relates to a kind of full-automatic architecture indoor ground tile paving machine, including crawler unit, running gear system, electrical turntable, redundancy parallel mechanism, suction means and brickwork joint filler device；The running gear system is symmetrically arranged at left and right sides of crawler unit, electrical turntable is located at crawler unit upper end center position, and electrical turntable is connected with crawler unit, redundancy parallel mechanism is between electrical turntable and suction means, and redundancy parallel mechanism lower end is connected with electrical turntable, redundancy parallel mechanism upper end is connected with suction means, and the brickwork joint device that fillers is located at directly over suction means.The multiple functions such as fixed that the present invention integrates compound walking, multiple degrees of freedom orientation is adjusted, floor tile is drawn and brickwork joint fillers, ground tile paving operation can be carried out to municipal pavement, and the degree of automation is high, laying speed is fast and it is good to be laid with aesthetics, it is big to solve existing ground tile paving appropriation of labour power, it is low to be laid with efficiency, is laid with the problems such as cost is big.
Description
Technical field
The present invention relates to architecture indoor fitting-up machinery field, specifically a kind of full-automatic architecture indoor floor tile paving
If machine.
Background technology
Floor tile is a kind of floor decorative material, is also floor tile, is fired and formed with clay, specification is a variety of, and matter is hard, pressure-resistant resistance to
Mill, can be moisture-proof, and some has decoration function, be chiefly used in the ground and floor of public building and civil buildings through glazing treatment；Ground
Brick designs and varieties are very more, and alternative leeway is very big, can be divided into glazed tile, all-body tile (anti-skid brick), polished bricks by material
With vitrified tile etc., the floor tile of unlike material is suitable for different occasions, and floor tile master occasion to be applied has people's row of municipal works
Road, the surrounding edge of street greening, the ground of gardens construction, the ground of interior decoration, surface of the street, the safe edge etc. of highway.
Laying for floor tile at present is so not only laid with that of high cost, laying speed is slow, paving more using operation is manually laid with
If efficiency is low and occupies substantial amounts of labour, and workers with long time bends over to be engaged in ground tile paving operation, be easy to cause lumbar vertebrae neck
The occupational diseases such as vertebra, are unfavorable for the physical and mental health of human body.In consideration of it, the present invention provides a kind of full-automatic architecture indoor ground tile paving
Machine.
The content of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of full-automatic architecture indoor ground tile paving machine.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of full-automatic architecture indoor ground tile paving machine, including crawler unit, running gear system, electrical turntable,
Redundancy parallel mechanism, suction means and brickwork joint filler device；The running gear system quantity is four, and running gear system
It is symmetrically arranged at left and right sides of crawler unit, electrical turntable is located at crawler unit upper end center position, and
Electrical turntable is connected with crawler unit, and redundancy parallel mechanism is between electrical turntable and suction means, and redundant parallel
Mechanism lower end is connected with electrical turntable, and redundancy parallel mechanism upper end is connected with suction means, and brickwork joint fillers device positioned at suction
Take directly over device.
As a further improvement on the present invention, the crawler unit includes chassis, driving motor, drive shaft, OK
Belt wheel, tight locking button and traveling crawler are walked, and the quantity of driving motor, tight locking button and traveling crawler is two, drive shaft and walking
Belt wheel quantity is four；The chassis is in rectangular configuration, and chassis rear and front end offers mounting groove respectively, and driving motor is solid respectively
It is scheduled in the mounting groove of chassis front and rear sides, and drives motor to use Biaxial synchronous output motor, drive shaft one end and driving electricity
Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel
It is fixed, traveling crawler both ends are evenly arranged with semicircle anti-skidding on the outside of traveling crawler rotating around being sleeved on walking belt wheel
Bar.
As a further improvement on the present invention, the running gear system includes walking fixed plate, walking slide, walking
Sliding block, walking ear mount, No.1 shaft, mobile holder, No. two shafts, walking supporting rod, moving block, movable motor, movable motor
Frame, walking axle and walking runner；The walking slide is fixed on walking fixed plate lower face, and walking sliding block is installed on walking
On slide, and upper end of slide block of walking is concave structure, and walking sliding block lower end is the U-shaped structure to stand upside down, and walking ear mount is positioned at walking
At sliding rail rear end position, and ear mount of walking is connected with walking fixed plate, and mobile holder upper end passes through No.1 shaft and walking ear mount
It is connected, walking connecting rod is provided with mobile holder medium position, walking supporting rod one end is slided by No. two shafts and walking
Block lower end is connected, and the walking supporting rod other end is connected by moving block with the walking connecting rod in the middle part of mobile holder, and row
It is pneumatic telescopic structure to walk supporting rod, and movable motor is fixed on mobile holder lateral wall by movable motor frame, and row
Walk electric machine main shaft with walking axle to be connected, walking axle both ends are separately fixed on the left and right madial wall of mobile holder lower end, walking
Runner is installed at walking axle medium position.
When the present invention advances, when walking in flat road surface, pass through outside lateral movement of the sliding block on walking slide of walking
Walking supporting rod stretching routine laterally counterclockwise is driven, and supporting rod of walking links with mobile holder, so as to drive walking branch
Frame carries out rotary motion laterally counterclockwise by pivot of No.1 shaft, when on walking rotatable wheel contacts ground, whole crawler belt
Running gear is separated with ground, in by lift dummy status, while is passed through the rotation that movable motor drives walking runner, is realized
The walking movement of running gear system, and the speed of travel is fast, overcome the problem of crawler unit speed of travel is slow；Work as chance
During to hogwallow, by walking, inside lateral movement of the sliding block on walking slide drives walking supporting rod to receive inwardly clockwise
Contracting movement, and supporting rod of walking links with mobile holder, so that it is suitable to drive mobile holder to be carried out using No.1 shaft as pivot
Hour hands rotary motion inwardly, realizes the contraction of running gear system, when runner of walking departs from ground, whole crawler travel
Device is contacted with ground, and the rotation by driving motor drives the rotation of walking belt wheel, so as to drive the movement of traveling crawler, carries out
Be mainly used for the walking of the present invention, mobile and turn to running gear, and crawler unit by using track structure more
Add the walking of easy to hollow physical features condition so that applicability of the invention is stronger；Filled by crawler unit and running on wheels
The cooperation conversion put, improves the locomotor activity of the present invention.
As a further improvement on the present invention, the redundancy parallel mechanism include fixed platform, moving platform, the first side chain and
Second side chain；The fixed platform and moving platform is disc-shaped structure, and moving platform is located at directly over fixed platform；Described
The quantity of one side chain and the second side chain is two, and the first side chain and the second side chain are respectively positioned between fixed platform and moving platform, and first
The both ends of side chain and the second side chain are respectively connected with fixed platform and moving platform, and the horizontal peace of the first side chain and the second side chain
It is 90 degree to fill angle；First side chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first company
Connect column and the first damping spring；First ear mount is fixed on fixed platform upper surface, the first ear mount and the first electric pushrod
It is attached between lower end using Hooke's hinge, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through
First connecting pole is fixed on the lower face of moving platform, and the first damping spring is around being sleeved on the first electric pushrod；Pass through Hooke's hinge
The rotation of both direction can be carried out, the rotation in three directions can be carried out by the first spherical hinge, can be into by the first electric pushrod
Row moves up and down, and the first side chain uses the form of 2-UPS parallel institutions, and adds the first side chain by the first damping spring and transport
Stationarity when dynamic, improves the exercise performance of the present invention；Second side chain includes the second ear mount, rotational pin, the second electricity
Dynamic push rod, the second spherical hinge, the second connecting pole and the second damping spring；Second ear mount is fixed on fixed platform upper surface
On, it is attached between the second ear mount and the second electric pushrod lower end using rotational pin, the second electric pushrod upper end and the second ball
Hinge is connected, and the second spherical hinge is fixed on the lower face of moving platform by the second connecting pole, and the second damping spring is around being sleeved on
On second electric pushrod；The rotation in a direction can be carried out by rotational pin, three directions can be carried out by the second spherical hinge
Rotate, can be moved up and down by the second electric pushrod, the second side chain uses the form of 2-RPS parallel institutions, and passes through the
Two damping springs add stationarity during second chain movement, improve the exercise performance of the present invention；Redundancy parallel mechanism leads to
Cross fixed platform, moving platform, the first side chain and the second side chain and constitute four-degree-of-freedom symmetric parallel mechanism, and it uses 2-UPS-2-
The parallel institution form of RPS, it, which can be realized, moves along X-axis and Z axis and around X-axis and around rotation four free degree sides of Y-axis totally
To movement, and four frees degree are independent, by four frees degree can also co-ordination, the moving platform track made is along predetermined
The curvilinear motion in space, stable movement, movement is flexible, and redundancy parallel mechanism is applied in the present invention, on the one hand plays pair
Suction means and brickwork joint filler device overall orientation angles adjusting, easy to the comprehensive high accuracy paving of the various postures of the present invention
The progress of brick operation, the device that on the other hand fillers to suction means and brickwork joint play the effect of damping so that suction means and
The brickwork joint device that fillers be in horizontal plateau all the time in the case where the present invention walks jounce condition, prevents jitter excessive so as to influence
Suction means and brickwork joint filler the tile work efficiency and accuracy of device.
As a further improvement on the present invention, the suction means include draw pedestal, draw slide, draw slide,
Draw turntable, draw stent, angle adjusting mechanism, holding mechanism and delivery device；The absorption pedestal lower end is provided with company
Disk is connect, pedestal upper end is drawn and is provided with fixed station, and connecting pole is provided between terminal pad and fixed station, drawing slide quantity is
Two, draw slide and be symmetrically arranged at fixed station upper surface front and rear sides along the central transverse axis for drawing pedestal, draw and slide
Seat rear and front end is separately mounted to draw on slide, draws slide and is made of level board and vertical panel, and level board and vertical panel
Between be provided with connection floor, draw turntable and be fixed on and draw slide upper surface center position, draw stent and be fixed on absorption
Directly over turntable, for angle adjusting mechanism positioned at drawing above stent, holding mechanism is installed on the positive front end of angle adjusting mechanism, pushes
Mechanism is positioned at absorption sliding base rear end；Angle adjusting mechanism and sticking machine can be driven by drawing slip of the slide on slide is drawn
The side-to-side movement of structure, so as to fulfill the adjusting of extension elongation during holding mechanism sticking floor tile, angle can be driven by drawing turntable
The rotary motion of adjusting mechanism and holding mechanism in the horizontal plane, so that the adjusting of holding mechanism local horizontal contraposition can be realized.
As a further improvement on the present invention, the angle adjusting mechanism includes adjusting hinge, adjusts support plate, motor branch
Column, Bidirectional output electric machine, Shrinking wheel, adjusting steel wire rope and adjusting ear mount；The adjusting support plate, which is located at, draws stent front end, and
Adjust and be attached between support plate and absorption stent by adjusting hinge, motor pillar is positioned at absorption back-end support center
Place, and motor pillar bottom is connected with drawing pedestal upper end face, motor pillar top is connected with Bidirectional output electric machine middle part,
The quantity of Shrinking wheel, adjusting steel wire rope and adjusting ear mount is two, and Shrinking wheel is fixed on Bidirectional output electric machine main shaft, adjusts steel
Cord one end is fixed in Shrinking wheel, is adjusted the steel wire rope other end and is wrapped in adjusting ear mount, is adjusted ear mount and is fixed on adjusting branch
On plate upper surface；The positive and negative rotation of Shrinking wheel is driven by the positive and negative rotation of Bidirectional output electric machine, so as to drive adjusting steel wire rope
Folding and unfolding, and adjust steel wire rope with adjust ear mount be connected, and then drive adjust support plate using adjust hinge as rotation axis progress just
Reverse turn, realizes the angular adjustment on holding mechanism vertical plane, easily facilitates the progress of tile work operation, also achieves horizontal plane
With the ground tile paving function of inclined plane, strong applicability.
As a further improvement on the present invention, the holding mechanism includes vacuum generator, lifting air-leg and true
Suction disk；The vacuum generator is mutually fixed through adjusting support plate center in the middle part of vacuum generator with adjusting support plate,
Vacuum generator lower end is connected with vacuum cup, and lifting air-leg one end is connected with adjusting support plate, lifts air-leg
The other end is connected with vacuum cup, and vacuum cup is in the square hollow shell structure of lower ending opening, and vacuum cup lower end is uniform
Suction nozzle is provided with, and vacuum cup material is flexible rubber material；When vacuum cup is mutually close to floor tile upper surface, by true
The effect of empty generator to be evacuated state in vacuum cup, and under the action of interior ambient pressure difference, floor tile is by vacuum
Sucker is tightly held, and can drive the vertical movement up and down of vacuum cup by lifting air-leg, realizes lifting for floor tile
With the function of decentralization.
As a further improvement on the present invention, the delivery device includes push support plate, push push rod and returning spring；
The push support plate bottom, which is fixed on, draws on pedestal, and push push rod pushes push rod front end on push support plate lateral surface
It is connected with drawing slide, push putting back-end is connected with push support plate, and pushes push rod and be in along push support plate longitudinal direction
Straight line is equally spaced, returning spring around be sleeved on push push rod front position at；A suction means left side can be realized by delivery device
The adjusting of right bit.
During operation, angular adjustment machine can be driven by the slip of delivery device and absorption slide on slide is drawn first
The side-to-side movement of structure and holding mechanism, so as to fulfill the adjusting of extension elongation during holding mechanism sticking floor tile, by drawing turntable
The rotary motion of angle adjusting mechanism and holding mechanism in the horizontal plane can be driven, so that holding mechanism local horizontal pair can be realized
The adjusting of position；Then realize that the absorption to floor tile clamps by holding mechanism；It can be realized to level by angle adjusting mechanism again
Ground and the laying of inclined plane floor tile, adaptable, manipulating object is wide.
As a further improvement on the present invention, the brickwork joint device that fillers includes filler stent, the turntable that fillers, flexible branch
Frame, locking lid, the elevating lever that fillers, vibration tension spring, vibration mounting, filler sliding block and the Lou basket that fillers；The pedestal lower end that fillers
Four vertex be provided with the supporting rod that fillers, the pedestal upper end that fillers is provided with mounting platform, and the turntable that fillers is fixed on branch of fillering
The center position of frame upper end mounting platform, telescope support rear end are installed on and filler on turntable, and telescope support and the turntable that fillers
Between locking is fixed using locking lid, the elevating lever that fillers is located at immediately below telescope support front end, and elevating lever upper end of fillering
It is connected with telescope support, elevating lever lower end of fillering mutually is fixed with vibration mounting, and vibrating spring is located at telescope support and vibration branch
Between seat, and vibrating spring is in be arranged circumferentially along the elevating lever that fillers, and vibrating spring upper end is connected with telescope support, vibration
Lower spring end is connected with vibration mounting, and vibration mounting upper end is in the U-shaped structure to stand upside down, its longitudinal center of vibration mounting lower end edge
Axis has been symmetrically arranged guiding slide bar, and the sliding block that fillers is installed on the guiding slide bar of vibration mounting lower end, and the Lou basket that fillers is consolidated
It is scheduled on immediately below the sliding block that fillers, and the Lou basket that fillers is in the hollow rectangle box body structure of upper end opening, is fillered Lou equal on basket bottom face
It is even to offer discharge hole.After floor tile is placed into paved surface, matching somebody with somebody by the turntable that fillers, telescope support and the elevating lever that fillers first
Resultant motion can realize brickwork joint filler device in space two translation one rotate altogether three degree of freedom direction movement, so as to office
Portion adjusts the accurate location in gap between the Lou basket alignment floor tile that fillers；Then the Lou basket that fillers can be driven to vibrate by the sliding block that fillers
The reciprocating movement back and forth being oriented on slide bar of bearing lower end, and by fillering elevating lever and vibrating spring can increase the Lou basket of fillering
Jitter, the cement paste stored in the Lou basket that fillers are leaked out by the discharge hole for the Lou basket bottom of fillering, realized under vibrating conditions
To between floor tile gap fill up and fixation to floor tile, and brickwork joint fillers that device movement is flexible, and contraposition is accurate, operating efficiency
It is high.
Compared with prior art, the present invention has the following advantages：
(1) multiple functions such as fixed that the present invention collects compound walking, multiple degrees of freedom orientation is adjusted, floor tile is drawn and brickwork joint fillers
In one, ground tile paving operation can be carried out to municipal pavement, and the degree of automation is high, laying speed is fast and is laid with aesthetics
It is good, solve the problems such as existing ground tile paving appropriation of labour power is big, and laying efficiency is low, and laying cost is big.
(2) crawler unit of the invention and running gear system coordinate conversion to use, and conversion is convenient and efficient, can fit
The walking of Ying Yu differently conditions, crawler unit are mainly used for the walking of hogwallow, and running gear system is mainly used for putting down
The walking on smooth ground, the speed of travel are fast.
(3) redundancy parallel mechanism of the invention constitutes four selfs by fixed platform, moving platform, the first side chain and the second side chain
By degree symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS, its can realize moved along X-axis and Z axis and
The movement for rotating totally four free degree directions around X-axis and around Y-axis, and four frees degree are independent, pass through four frees degree
Can be with co-ordination, the curvilinear motion of the moving platform track that makes along predetermined space, stable movement, movement is flexible, by redundant parallel
Mechanism is applied in the present invention, on the one hand plays the adjusting of the overall orientation angles for the device that fillers to suction means and brickwork joint,
Easy to the progress of the comprehensive high-precision tile work operation of the various postures of the present invention, on the other hand filler suction means and brickwork joint dress
Put the effect for playing damping so that suction means and the brickwork joint device that fillers are in water all the time in the case where the present invention walks jounce condition
Flat plateau, prevents jitter excessive so as to influence suction means and brickwork joint fillers the tile work efficiency and accuracy of device.
(4) suction means of the invention is clamped using the absorption that vacuum pressure difference principle is realized to floor tile, capture velocity
It hurry up, draw fastness height, and it can realize the absorption of the position floor tile to horizontal plane and inclined plane by angle adjusting mechanism, fit
Strong with property, manipulating object is wide.
(5) the brickwork joint of the invention device that fillers can carry out the fortune that two translations one rotate three degree of freedom direction altogether in space
It is dynamic, the accurate location in gap between floor tile is directed at so as to the local modulation Lou basket that fillers, and water is realized by shaking principle
The discharging of mud paste, realize between floor tile gap fill up and fixation to floor tile, and brickwork joint device movement of fillering is flexible,
Contraposition is accurate, and operating efficiency is high.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is dimensional structure diagram when crawler unit and running gear system of the present invention coordinate；
Fig. 3 is the dimensional structure diagram of running gear system of the present invention；
Fig. 4 be redundancy parallel mechanism, suction means and brickwork joint of the present invention filler device coordinate when dimensional structure diagram；
Fig. 5 is the dimensional structure diagram of redundancy parallel mechanism of the present invention；
Fig. 6 be suction means and brickwork joint of the present invention filler device coordinate when dimensional structure diagram；
Fig. 7 is the dimensional structure diagram (viewed from above) of suction means of the present invention；
Fig. 8 is the dimensional structure diagram (seeing from the bottom up) of suction means of the present invention；
Fig. 9 is that brickwork joint of the present invention fillers the dimensional structure diagram of device；
Figure 10 is vibration mounting of the present invention, filler sliding block and filler Lou basket cooperation when dimensional structure diagram.
Embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 10, a kind of full-automatic architecture indoor ground tile paving machine, including crawler unit 1, wheeled row
Walking apparatus 2, electrical turntable 3, redundancy parallel mechanism 4, suction means 5 and brickwork joint filler device 6；The running gear system 2
Quantity is four, and running gear system 2 is symmetrically arranged at the left and right sides of crawler unit 1, and electrical turntable 3 is located at crawler belt
At 1 upper end center position of running gear, and electrical turntable 3 is connected with crawler unit 1, and redundancy parallel mechanism 4 is positioned at electronic
Between turntable 3 and suction means 5, and 4 lower end of redundancy parallel mechanism is connected with electrical turntable 3,4 upper end of redundancy parallel mechanism with
Suction means 5 is connected, and the brickwork joint device 6 that fillers is located at directly over suction means 5.
As shown in Fig. 2, the crawler unit 1 includes chassis 11, driving motor 12, drive shaft 13, walking belt wheel
14th, tight locking button 15 and traveling crawler 16, and the quantity of driving motor 12, tight locking button 15 and traveling crawler 16 is two, drive shaft
13 and walking belt wheel 14 quantity be four；The chassis 11 is in rectangular configuration, and 11 rear and front end of chassis offers mounting groove respectively,
Driving motor 12 is separately fixed in the mounting groove of 11 front and rear sides of chassis, and drives motor 12 using Biaxial synchronous output electricity
Machine, 13 one end of drive shaft are connected with driving 12 output shaft of motor, and 13 other end of drive shaft is connected with walking belt wheel 14, and drives
Moving axis 13 and walking belt wheel 14 between be fixed by tight locking button 15,16 both ends of traveling crawler rotating around be sleeved on walking belt wheel 14
On, and the outside of traveling crawler 16 is evenly arranged with semicircle tread plate.
As shown in Figures 2 and 3, the running gear system 2 includes walking fixed plate 21, walking slide 22, walking cunning
Block 23, walking ear mount 24, No.1 shaft 25,26, No. two shafts 27 of mobile holder, walking supporting rod 28, moving block 29, walking electricity
Machine 210, movable motor frame 211, walking axle 212 and walking runner 213；The walking slide 22 is fixed on walking fixed plate 21
On lower face, walking sliding block 23 is installed on walking slide 22, and 23 upper end of sliding block of walking is concave structure, is walked under sliding block 23
The U-shaped structure for handstand is held, walking ear mount 24 is at walking 22 back-end location of slide, and walk ear mount 24 and walking fixed plate
21 are connected, and 26 upper end of mobile holder is connected by No.1 shaft 25 with walking ear mount 24, is set at 26 medium position of mobile holder
Walking connecting rod is equipped with, walking 28 one end of supporting rod is connected by No. two shafts 27 with 23 lower end of walking sliding block, walking support
28 other end of bar is connected by moving block 29 with the walking connecting rod at the middle part of mobile holder 26, and supporting rod 28 of walking is pneumatic
Telescopic structure, movable motor 210 is fixed on 26 lateral wall of mobile holder by movable motor frame 211, and movable motor
210 main shafts are connected with walking axle 212, and 212 both ends of walking axle are separately fixed on the left and right madial wall of 26 lower end of mobile holder,
Runner 213 of walking is installed at 212 medium position of walking axle.
As shown in Figure 1 to Figure 3, when the present invention advances, when walking in flat road surface, by walking, sliding block 23 is slided in walking
Outside lateral movement on rail 22 drives walking supporting rod 28 stretching routine laterally counterclockwise, and walk supporting rod 28 and walking branch
Frame 26 links, so that drive mobile holder 26 to carry out rotary motion laterally counterclockwise with No.1 shaft 25 for pivot, when
Runner 213 of walking is contacted on ground, and whole crawler unit 1 is separated with ground, in by lift dummy status, is passed through at the same time
Movable motor 210 drives the rotation of walking runner 213, realizes the walking movement of running gear system 2, and the speed of travel is fast,
Overcome the problem of 1 speed of travel of crawler unit is slow；When running into hogwallow, by sliding block 23 of walking in walking slide
Inside lateral movement on 22 drives walking supporting rod 28 contractile motion inwardly clockwise, and walk supporting rod 28 and mobile holder
26 linkages, so as to drive mobile holder 26 to carry out rotary motion inwardly clockwise with No.1 shaft 25 for pivot, are realized
The contraction of running gear system 2, when runner 213 of walking departs from ground, whole crawler unit 1 contacts with ground, logical
The rotation of motor 12 of overdriving drives the rotation of walking belt wheel 14, so as to drive the movement of traveling crawler 16, crawler unit 1
It is mainly used for walking, move and turning to for the present invention, and crawler unit 1 easily facilitates hollow by using track structure
Physical features condition walking so that applicability of the invention is stronger；Pass through the cooperation of crawler unit 1 and running gear system 2
Conversion, improves the locomotor activity of the present invention.
As shown in Figure 4 and Figure 5, the redundancy parallel mechanism 4 includes fixed platform 41, moving platform 42,43 and of the first side chain
Second side chain 44；Under the fixed platform 41 and moving platform 42 is disc-shaped structure, and moving platform 42 is located at fixed platform 41 just
Side；First side chain 43 and the quantity of the second side chain 44 are two, and the first side chain 43 and the second side chain 44 are respectively positioned on and allocate
Between platform 41 and moving platform 42, the both ends of the first side chain 43 and the second side chain 44 are respectively connected with fixed platform 41 and moving platform 42
Connect, and the horizontal installation angle of the first side chain 43 and the second side chain 44 is 90 degree；First side chain 43 includes the first ear mount
431st, Hooke's hinge 432, the first electric pushrod 433, the first spherical hinge 434, the first connecting pole 435 and the first damping spring 436；Institute
The first ear mount 431 stated is fixed on 41 upper surface of fixed platform, and the first ear mount 431 and the first electric pushrod are adopted between 433 lower end
It is attached with Hooke's hinge 432,433 upper end of the first electric pushrod is connected with the first spherical hinge 434, and the first spherical hinge 434 is logical
Cross the first connecting pole 435 to be fixed on the lower face of moving platform 42, the first damping spring 436 is around being sleeved on the first electric pushrod 433
On；The rotation of both direction can be carried out by Hooke's hinge 432, the rotation in three directions can be carried out by the first spherical hinge 434, is led to
Crossing the first electric pushrod 433 can move up and down, and the first side chain 43 uses the form of 2-UPS parallel institutions, and passes through first
Damping spring 436 adds the stationarity during movement of the first side chain 43, improves the exercise performance of the present invention；Described second
Chain 44 includes the second ear mount 441, rotational pin 442, the second electric pushrod 443, the second spherical hinge 444, the second connecting pole 445 and the
Two damping springs 446；Second ear mount 441 is fixed on 41 upper surface of fixed platform, and the second ear mount 441 electronic is pushed away with second
It is attached between 443 lower end of bar using rotational pin 442,443 upper end of the second electric pushrod is connected with the second spherical hinge 444,
Second spherical hinge 444 is fixed on the lower face of moving platform 42 by the second connecting pole 445, and the second damping spring 446 is around being sleeved on
On second electric pushrod 443；The rotation in a direction can be carried out by rotational pin 442, three can be carried out by the second spherical hinge 444
The rotation in a direction, can be moved up and down by the second electric pushrod 443, and the second side chain 44 is using 2-RPS parallel institutions
Form, and stationarity when the second side chain 44 moves is added by the second damping spring 446, improve the motility of the present invention
Energy；Redundancy parallel mechanism 4 constitutes four-degree-of-freedom pair by fixed platform 41, moving platform 42, the first side chain 43 and the second side chain 44
Claim parallel institution, and it uses the parallel institution form of 2-UPS-2-RPS, it, which can be realized, moves along X-axis and Z axis and around X-axis
With the movement around rotation totally four free degree directions of Y-axis, and four frees degree are independent, can also be assisted by four frees degree
Work is adjusted, curvilinear motion of the moving platform track made along predetermined space, stable movement, movement is flexible, should by redundancy parallel mechanism 4
Use in the present invention, on the one hand play the adjusting of the overall orientation angles for the device 6 that fillers to suction means 5 and brickwork joint, be easy to
The progress of the comprehensive high-precision tile work operation of the various postures of the present invention, on the other hand filler suction means 5 and brickwork joint device 6
Play the effect of damping so that suction means 5 and the brickwork joint device 6 that fillers are in water all the time in the case where the present invention walks jounce condition
Flat plateau, prevents jitter excessive so as to influence suction means 5 and brickwork joint fillers the tile work efficiency and accuracy of device 6.
As shown in Figure 6 to 8, the suction means 5 includes drawing pedestal 51, draws slide 52, draw slide 53, inhale
Take turntable 54, draw stent 55, angle adjusting mechanism 56, holding mechanism 57 and delivery device 58；Under the absorption pedestal 51
End is provided with terminal pad, draws 51 upper end of pedestal and is provided with fixed station, and connecting pole is provided between terminal pad and fixed station, inhales
It is two to take 52 quantity of slide, draws slide 52 and is symmetrically arranged at fixed station upper end along the central transverse axis for drawing pedestal 51
Face front and rear sides, draw 53 rear and front end of slide and are separately mounted to draw on slide 52, absorption slide 53 is by level board and vertically
Plate forms, and connection floor is provided between level board and vertical panel, draws turntable 54 and is fixed in 53 upper surface of absorption slide
At heart position, draw stent 55 and be fixed on directly over absorption turntable 54, angle adjusting mechanism 56 is positioned at 55 top of absorption stent, suction
Hold mechanism 57 and be installed on 56 positive front end of angle adjusting mechanism, delivery device 58 is positioned at 53 rear end of absorption slide；By drawing slide
53 slip on slide 52 is drawn can drive the side-to-side movement of angle adjusting mechanism 56 and holding mechanism 57, so as to fulfill sticking
The adjusting of extension elongation during 57 sticking floor tile of mechanism, angle adjusting mechanism 56 and holding mechanism 57 can be driven by drawing turntable 54
Rotary motion in the horizontal plane, so that the adjusting of 57 local horizontal of holding mechanism contraposition can be realized.
As shown in Figure 6 to 8, the angle adjusting mechanism 56 includes adjusting hinge 561, adjusts support plate 562, motor branch
Column 563, Bidirectional output electric machine 564, Shrinking wheel 565, adjusting steel wire rope 566 and adjusting ear mount 567；The adjusting support plate 562
Positioned at 55 front end of absorption stent, and adjust and be attached between support plate 562 and absorption stent 55 by adjusting hinge 561, motor
Pillar 563 is at 55 back-end central position of absorption stent, and 563 bottom of motor pillar is connected with drawing 55 upper surface of stent
Connect, 563 top of motor pillar is connected with the middle part of Bidirectional output electric machine 564, and Shrinking wheel 565, adjust steel wire rope 566 and adjust ear
The quantity of seat 567 is two, and Shrinking wheel 565 is fixed on 564 main shaft of Bidirectional output electric machine, adjusts 566 one end of steel wire rope and fixes
In Shrinking wheel 565, adjust 566 other end of steel wire rope and be wrapped in adjusting ear mount 567, adjust ear mount 567 and be fixed on adjusting branch
On 562 upper surface of plate；The positive and negative rotation of Shrinking wheel 565 is driven by the positive and negative rotation of Bidirectional output electric machine 564, so as to drive tune
The folding and unfolding of steel wire rope 566 is saved, and adjusts steel wire rope 566 and is connected with adjusting ear mount 567, and then drives and adjusts support plate 562 to adjust
Save hinge 561 and carry out positive and negative rotation for rotation axis, realize the angular adjustment on 57 vertical plane of holding mechanism, easily facilitate tile work
The progress of operation, also achieves the ground tile paving function of horizontal plane and inclined plane, strong applicability.
As shown in Figure 6 to 8, the holding mechanism 57 includes vacuum generator 571, lifting air-leg 572 and true
Suction disk 573；The vacuum generator 571 is through 562 center of adjusting support plate, and the middle part of vacuum generator 571 is with adjusting
Section 562 phase of support plate is fixed, and 571 lower end of vacuum generator is connected with vacuum cup 573, and lifting 572 one end of air-leg is with adjusting
Section support plate 562 is connected, and lifting 572 other end of air-leg is connected with vacuum cup 573, and vacuum cup 573 is opened in lower end
The square hollow shell structure of mouth, 573 lower end of vacuum cup is evenly arranged with suction nozzle, and 573 material of vacuum cup is flexible rubber
Glue material；When vacuum cup 573 is mutually close to floor tile upper surface, pass through the effect vacuum cup of vacuum generator 571
State is evacuated in 573, under the action of interior ambient pressure difference, floor tile is tightly held by vacuum cup 573, and passes through liter
Drop air-leg 572 can drive the vertical movement up and down of vacuum cup 573, realize the function of lifting with decentralization of floor tile.
As shown in Figure 6 to 8, the delivery device 58 includes push support plate 581, push push rod 582 and returning spring
583；581 bottom of push support plate, which is fixed on, draws on pedestal 51, and push push rod 582 is positioned at push 581 lateral surface of support plate
On, push 582 front end of push rod is connected with drawing slide 53, and push 582 rear end of push rod is connected with push support plate 581, and pushes away
Push rod 582 is sent linearly to be equally spaced along push 581 longitudinal direction of support plate, returning spring 583 is before push push rod 582 is sleeved on
At end position；The adjusting in 5 or so orientation of suction means can be realized by delivery device 58.
As shown in Figure 6 to 8, during operation, first by delivery device 58 and slide 53 is drawn on slide 52 is drawn
Slip can drive the side-to-side movement of angle adjusting mechanism 56 and holding mechanism 57, during so as to fulfill 57 sticking floor tile of holding mechanism
The adjusting of extension elongation, the rotation of angle adjusting mechanism 56 and holding mechanism 57 in the horizontal plane can be driven by drawing turntable 54
Movement, so that the adjusting of 57 local horizontal of holding mechanism contraposition can be realized；Then the suction to floor tile is realized by holding mechanism 57
Take clamping；Laying to level ground and inclined plane floor tile, adaptable, operation pair can be realized by angle adjusting mechanism 56 again
As wide.
As shown in Figure 9 and Figure 10, the brickwork joint filler device 6 include filler stent 61, filler turntable 62, telescope support
63rd, locking lid 64, the elevating lever 65 that fillers, vibration tension spring 66, vibration mounting 67, filler sliding block 68 and Lou basket 69 of fillering；Described
Four vertex of 61 lower end of stent of fillering are provided with the supporting rod that fillers, and 61 upper end of stent of fillering is provided with mounting platform, fillers
Turntable 62 is fixed on the center position for the 61 upper end mounting platform of stent that fillers, and 63 rear end of telescope support is installed on the turntable 62 that fillers
On, and locking is fixed using locking lid 64 between telescope support 63 and the turntable 62 that fillers, the elevating lever 65 that fillers is positioned at flexible
Immediately below 61 front end of stent, and 65 upper end of elevating lever of fillering is connected with telescope support 63, filler 65 lower end of elevating lever and vibration
67 phase of bearing is fixed, and vibrating spring 66 is between telescope support 63 and vibration mounting 67, and vibrating spring 66 is lifted along fillering
Bar 65 is in being arranged circumferentially, and 66 upper end of vibrating spring is connected with telescope support 63,66 lower end of vibrating spring and vibration mounting
67 are connected, and 67 upper end of vibration mounting is in the U-shaped structure to stand upside down, and 67 lower end edge of vibration mounting its longitudinal center axis is respectively symmetrically
Guiding slide bar is provided with, the sliding block 68 that fillers is installed on the guiding slide bar of 67 lower end of vibration mounting, and the Lou basket 69 that fillers, which is fixed on, to be filled out
Immediately below muddy and slippery piece 68, and the Lou basket 69 that fillers is in the hollow rectangle box body structure of upper end opening, is fillered Lou equal on 69 bottom face of basket
It is even to offer discharge hole.After floor tile is placed into paved surface, pass through the turntable 62 that fillers, telescope support 63 and the elevating lever that fillers first
65 routing motion can realize brickwork joint filler device 6 in space two translation one rotate altogether three degree of freedom direction movement, from
And the Lou basket 69 that can be fillered with local modulation is directed at the accurate location in gap between floor tile；Then it can be driven and filled out by the sliding block 68 that fillers
Mud leaks the back and forth reciprocating movement that is oriented to slide bar on of the basket 69 in 67 lower end of vibration mounting, and passes through elevating lever 65 and the vibration bullet of fillering
Spring 66 can increase the jitter for the Lou basket 69 of fillering, and the cement paste for Lou 69 inner storage of basket of fillering is under vibrating conditions by fillering Lou
The discharge hole of 69 bottom of basket leaks out, realize between floor tile gap fill up and fixation to floor tile, and brickwork joint fillers device 6
Movement is flexible, and contraposition is accurate, and operating efficiency is high.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (6)
- A kind of 1. full-automatic architecture indoor ground tile paving machine, it is characterised in that：Including crawler unit, running gear system, Electrical turntable, redundancy parallel mechanism, suction means and brickwork joint filler device；The running gear system quantity is four, and is taken turns Formula running gear is symmetrically arranged at left and right sides of crawler unit, and electrical turntable is located at crawler unit upper end center At position, and electrical turntable is connected with crawler unit, redundancy parallel mechanism between electrical turntable and suction means, and Redundancy parallel mechanism lower end is connected with electrical turntable, and redundancy parallel mechanism upper end is connected with suction means, and brickwork joint fillers dress Setting in suction means surface, wherein：The redundancy parallel mechanism includes fixed platform, moving platform, the first side chain and the second side chain；The fixed platform is put down with dynamic Platform is disc-shaped structure, and moving platform is located at directly over fixed platform；First side chain and the quantity of the second side chain are Two, the first side chain and the second side chain are respectively positioned between fixed platform and moving platform, and the both ends of the first side chain and the second side chain are respectively It is connected with fixed platform and moving platform, and the horizontal installation angle of the first side chain and the second side chain is 90 degree；First side chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first connecting pole and the One damping spring；First ear mount is fixed on fixed platform upper surface, between the first ear mount and the first electric pushrod lower end It is attached using Hooke's hinge, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through the first connection Column is fixed on the lower face of moving platform, and the first damping spring is around being sleeved on the first electric pushrod；Second side chain includes the second ear mount, rotational pin, the second electric pushrod, the second spherical hinge, the second connecting pole and the Two damping springs；Second ear mount is fixed on fixed platform upper surface, between the second ear mount and the second electric pushrod lower end It is attached using rotational pin, the second electric pushrod upper end is connected with the second spherical hinge, and the second spherical hinge passes through the second connection Column is fixed on the lower face of moving platform, and the second damping spring is around being sleeved on the second electric pushrod；The suction means includes drawing pedestal, draws slide, draw slide, draw turntable, draw stent, angular adjustment machine Structure, holding mechanism and delivery device；The absorption pedestal lower end is provided with terminal pad, draws pedestal upper end and is provided with fixation Platform, and connecting pole is provided between terminal pad and fixed station, it is two to draw slide quantity, draws slide along the transverse direction for drawing pedestal Central axis is symmetrically arranged at fixed station upper surface front and rear sides, draws slide rear and front end and is separately mounted to draw slide On, draw slide and be made of level board and vertical panel, and connection floor is provided between level board and vertical panel, draw turntable and consolidate It is scheduled on and draws slide upper surface center position, draw stent and be fixed on directly over absorption turntable, angle adjusting mechanism, which is located at, is inhaled Take above stent, holding mechanism is installed on the positive front end of angle adjusting mechanism, and delivery device is positioned at absorption sliding base rear end；The brickwork joint filler device include filler stent, the turntable that fillers, telescope support, locking lid, the elevating lever that fillers, vibration draw Spring, vibration mounting, filler sliding block and the Lou basket that fillers；Four vertex of the pedestal lower end that fillers are provided with support of fillering Bar, the pedestal upper end that fillers are provided with mounting platform, and the turntable that fillers is fixed on the center position for the pedestal upper end mounting platform that fillers, Telescope support rear end is installed on and fillers on turntable, and locking is fixed using locking lid between telescope support and the turntable that fillers, The elevating lever that fillers is located at immediately below telescope support front end, and elevating lever upper end of fillering is connected with telescope support, and filler elevating lever Lower end is mutually fixed with vibration mounting, and vibrating spring is between telescope support and vibration mounting, and vibrating spring is along fillering lifting Bar is in being arranged circumferentially, and vibrating spring upper end is connected with telescope support, and vibrating spring lower end is connected with vibration mounting, shakes Dynamic bearing upper end has been symmetrically arranged guiding slide bar in the U-shaped structure to stand upside down, its longitudinal center axis of vibration mounting lower end edge, The sliding block that fillers is installed on the guiding slide bar of vibration mounting lower end, and the Lou basket that fillers is fixed on immediately below the sliding block that fillers, and is fillered Lou Basket is in the hollow rectangle box body structure of upper end opening, fillers and is Lou uniformly provided with discharge hole on basket bottom face.
- A kind of 2. full-automatic architecture indoor ground tile paving machine according to claim 1, it is characterised in that：The crawler belt row Walking apparatus includes chassis, driving motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drive motor, tight locking button and The quantity of traveling crawler is two, and drive shaft and walking belt wheel quantity are four；The chassis is in rectangular configuration, two before and after chassis End offers mounting groove respectively, and driving motor is separately fixed in the mounting groove of chassis front and rear sides, and drives motor using double Axis synchronism output motor, drive shaft one end are connected with driving motor output shaft, and the drive shaft other end is connected with walking belt wheel, And drive shaft and walking belt wheel between be fixed by tight locking button, traveling crawler both ends rotating around be sleeved on walking belt wheel on, and Semicircle tread plate is evenly arranged with the outside of traveling crawler.
- A kind of 3. full-automatic architecture indoor ground tile paving machine according to claim 1, it is characterised in that：The wheeled row Walking apparatus includes walking fixed plate, walking slide, walking sliding block, walking ear mount, No.1 shaft, mobile holder, No. two shafts, OK Walk supporting rod, moving block, movable motor, movable motor frame, walking axle and walking runner；The walking slide is fixed on walking On fixed plate lower face, walking sliding block is installed on walking slide, and upper end of slide block of walking is concave structure, walking sliding block lower end For the U-shaped structure of handstand, walking ear mount is at walking sliding rail rear end position, and ear mount of walking is connected with walking fixed plate, OK Walk pedestal upper end by No.1 shaft with walking ear mount to be connected, walking connecting rod is provided with mobile holder medium position, OK Walk supporting rod one end by No. two shafts with walking sliding block lower end to be connected, the walking supporting rod other end passes through moving block and walking The walking connecting rod of mid-stent is connected, and supporting rod of walking is pneumatic telescopic structure, and movable motor passes through electricity of walking Rack is fixed on mobile holder lateral wall, and movable motor main shaft is connected with walking axle, and walking axle both ends are separately fixed at On the left and right madial wall of mobile holder lower end, walking runner is installed at walking axle medium position.
- A kind of 4. full-automatic architecture indoor ground tile paving machine according to claim 1, it is characterised in that：The angle tune Saving mechanism includes adjusting hinge, adjusts support plate, motor pillar, Bidirectional output electric machine, Shrinking wheel, adjusting steel wire rope and adjust ear Seat；The adjusting support plate is adjusted and connected between support plate and absorption stent by adjusting hinge positioned at absorption stent front end Connect, motor pillar is positioned at absorption back-end support center position, and motor pillar bottom is connected with drawing pedestal upper end face, electricity With being connected in the middle part of Bidirectional output electric machine, the quantity of Shrinking wheel, adjusting steel wire rope and adjusting ear mount is two, is received on machine pillar top Contracting wheel is fixed on Bidirectional output electric machine main shaft, is adjusted steel wire rope one end and is fixed in Shrinking wheel, is adjusted the steel wire rope other end and is twined It is wound on and adjusts in ear mount, adjusts ear mount and be fixed on adjusting support plate upper surface.
- A kind of 5. full-automatic architecture indoor ground tile paving machine according to claim 1, it is characterised in that：The sticking machine Structure includes vacuum generator, lifting air-leg and vacuum cup；The vacuum generator, which passes through, adjusts support plate center, And mutually fixed in the middle part of vacuum generator with adjusting support plate, vacuum generator lower end is connected with vacuum cup, lifts air-leg One end is connected with adjusting support plate, and the lifting air-leg other end is connected with vacuum cup, and vacuum cup is in lower ending opening Square hollow shell structure, vacuum cup lower end is evenly arranged with suction nozzle, and vacuum cup material is flexible rubber material.
- A kind of 6. full-automatic architecture indoor ground tile paving machine according to claim 1, it is characterised in that：The pusher Structure includes push support plate, push push rod and returning spring；The push support plate bottom, which is fixed on, draws on pedestal, pushes push rod On push support plate lateral surface, push push rod front end is connected with drawing slide, and push putting back-end is connected with push support plate Connect, and push push rod and be linearly equally spaced along push support plate longitudinal direction, returning spring is around being sleeved on push push rod front end position Put place.
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| CN201610459572.5A CN105926912B (en) | 2016-06-23 | 2016-06-23 | A kind of full-automatic architecture indoor ground tile paving machine |
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| CN201610459572.5A CN105926912B (en) | 2016-06-23 | 2016-06-23 | A kind of full-automatic architecture indoor ground tile paving machine |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106284952B (en) * | 2016-09-25 | 2018-10-02 | 胡佳威 | A kind of intelligence ceramic tile stickers machine people |
| CN106499162A (en) * | 2016-12-06 | 2017-03-15 | 菏泽学院 | A kind of machinery of automatic laying floor brick |
| CN107165391A (en) * | 2017-06-19 | 2017-09-15 | 安徽温禾新材料科技股份有限公司 | A kind of quick laying apparatus in floor |
| CN108560890A (en) * | 2018-04-27 | 2018-09-21 | 羊芳 | A kind of universal ground tile paving robot |
| CN108868086A (en) * | 2018-06-27 | 2018-11-23 | 东莞唯度电子科技服务有限公司 | A kind of building assembly floor file panel assembly and application method |
| CN111305527B (en) * | 2018-07-11 | 2021-06-11 | 阳光学院 | Quick installation and disassembly machine for small ceramic tile plastic-wood composite board |
| CN110924656A (en) * | 2019-12-17 | 2020-03-27 | 泰州市津专知识产权服务有限公司 | Ceramic tile laying robot |
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| DE10133801A1 (en) * | 2001-07-11 | 2003-01-30 | Bosch Gmbh Robert | Device for laying wooden floor includes mechanism for automatically generating impact pulses on individual parts to be knocked together to make up flooring |
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Effective date of registration: 20180409 Address after: Wang Chuan town of Huian County in Fujian province 362000 Quanzhou city after Xu Xu Village No. 27 Applicant after: Wang Xingmin Address before: 246001 5 unit 5, South Road South Road, Road South Road, Daguan District, Anqing, Anhui Applicant before: Lu Yue |
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Effective date of registration: 20190603 Address after: 400 000 Baihe Road 108, Nanping Town, Nanan District, Chongqing Patentee after: Chongqing Lutai Landscape Decoration Engineering Co., Ltd. Address before: 362000 Houxu 27, Houxu Village, Wanchuan Town, Huian County, Quanzhou City, Fujian Province Patentee before: Wang Xingmin |
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