CN106049240B - A kind of afforestation floor tile builds smart machine - Google Patents

A kind of afforestation floor tile builds smart machine Download PDF

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Publication number
CN106049240B
CN106049240B CN201610459881.2A CN201610459881A CN106049240B CN 106049240 B CN106049240 B CN 106049240B CN 201610459881 A CN201610459881 A CN 201610459881A CN 106049240 B CN106049240 B CN 106049240B
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China
Prior art keywords
walking
fixed
fillers
slide
sliding block
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CN201610459881.2A
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Chinese (zh)
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CN106049240A (en
Inventor
殷可嘉
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Huagan Urban Construction Group Co ltd
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Jiangxi East Asia Environmental Engineering Co Ltd
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Priority to CN201810294445.3A priority Critical patent/CN108560378A/en
Priority to CN201610459881.2A priority patent/CN106049240B/en
Publication of CN106049240A publication Critical patent/CN106049240A/en
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    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/52Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/52Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
    • E01C19/524Apparatus for laying individual preformed surfacing elements, e.g. kerbstones using suction devices
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C2301/00Machine characteristics, parts or accessories not otherwise provided for
    • E01C2301/20Screed or paver accessories for paving joint or edge treatment

Abstract

The present invention relates to a kind of afforestation floor tile to build smart machine, including crawler unit, running gear system, electrical turntable, hybrid mechanism, suction means and brickwork joint filler device, 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, hybrid mechanism is between electrical turntable and suction means, and hybrid mechanism lower end is connected with electrical turntable, hybrid mechanism upper end is connected with suction means, 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

A kind of afforestation floor tile builds smart machine
Technical field
The present invention relates to municipal works gardens to build machinery field, and specifically a kind of afforestation floor tile builds intelligence Equipment.
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.Intelligently to be set in consideration of it, the present invention provides a kind of afforestation floor tile construction It is standby.
The content of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of afforestation floor tile to build smart machine.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of afforestation floor tile builds smart machine, including crawler unit, running gear system, electrical turntable, Hybrid mechanism, suction means and brickwork joint filler device;The running gear system quantity is four, and running gear system is distinguished It is arranged symmetrically at left and right sides of crawler unit, electrical turntable is located at crawler unit upper end center position, and electronic Turntable is connected with crawler unit, and hybrid mechanism is between electrical turntable and suction means, and hybrid mechanism lower end and electricity Turn platform is connected, and hybrid mechanism upper end is connected with suction means, and the brickwork joint device that fillers is located at directly over suction means.
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 hybrid mechanism includes roll-out tray and four-freedom parallel mechanism, Roll-out tray is located at below four-freedom parallel mechanism, and roll-out tray is connected with four-freedom parallel mechanism;The movement Chassis includes bottom plate, shifting sledge, sliding block, limit spring and locking post, and the quantity of shifting sledge and sliding block is four, spacing Number of springs is 16, and the quantity of locking post is 32;The bottom plate is fixed on four-freedom parallel mechanism, mobile to slide Rail is symmetrically arranged along the longitudinal center axis of bottom plate, and shifting sledge both ends are respectively arranged with baffle, and sliding block is installed on movement On slide, limit spring is between sliding block and the baffle of shifting sledge, and limit spring one end is slided by locking post with mobile The baffle of rail is connected, and the limit spring other end is connected by locking post with sliding block, and the baffle medial surface of shifting sledge and Installation threaded hole is offered on the front/rear end of sliding block, locking post one end is provided with the tight locking button for fixing limit spring, The locking post other end is provided with the external screw thread closed with installation corresponding threaded holes;Roll-out tray uses the cascaded structure of a translation, moves Dynamic chassis can be moved back and forth, and the back-and-forth motion of four-freedom parallel mechanism can be driven by roll-out tray;The four selfs Fixed platform, Hooke's hinge, telescopic rod, spherical hinge and moving platform are included by degree parallel institution, and Hooke's hinge, telescopic rod and spherical hinge Quantity is four;The fixed platform and moving platform is disc-shaped structure, and moving platform is located at directly over fixed platform, fixed platform Upper part and moving platform end portion are respectively provided with installation screw thread, and telescopic rod bottom is connected by Hooke's hinge with sliding block Connect, telescopic rod top is connected by spherical hinge with moving platform;Four-freedom parallel mechanism uses the parallel machine of 4-UPS forms For structure, it can be achieved that a translation three rotates the movement in totally four free degree directions, movement effects are good, and freedom of motion is more, compact-sized And bearing capacity is strong;Hybrid mechanism is applied in the present invention, on the one hand plays the device that fillers to suction means and brickwork joint The adjusting of overall orientation angles, it is on the other hand right easy to the progress of the comprehensive high-precision tile work operation of the various postures of the present invention Suction means and the brickwork joint device that fillers play the effect of damping so that suction means and the brickwork joint device that fillers are walked in the present invention All the time horizontal plateau is under jounce condition, prevents jitter excessive so as to influence suction means and brickwork joint fillers device Tile work efficiency and accuracy.
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 slide right 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) roll-out tray of the invention uses the cascaded structure of a translation, and four-freedom parallel mechanism uses 4-UPS forms Parallel institution, it can be achieved that a translation three rotates the movements in totally four free degree directions, movement effects are good, and freedom of motion is more, Compact-sized and bearing capacity is strong;Hybrid mechanism is applied in the present invention, on the one hand plays and suction means and brickwork joint is filled out The adjusting of the overall orientation angles of mud device, easy to the progress of the comprehensive high-precision tile work operation of the various postures of the present invention, separately On the one hand the device that fillers to suction means and brickwork joint plays the effect of damping so that suction means and brickwork joint filler device at this Be in horizontal plateau all the time under invention walking jounce condition, prevent that jitter is excessive so as to influence suction means and brickwork joint is filled out The tile work efficiency and accuracy of mud 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 hybrid 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 hybrid 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 afforestation floor tile builds smart machine, including crawler unit 1, wheeled row Walking apparatus 2, electrical turntable 3, hybrid mechanism 4, suction means 5 and brickwork joint filler device 6;2 quantity of running gear system For four, and running gear system 5 is symmetrically arranged at the left and right sides of crawler unit 1, and electrical turntable 3 is located at crawler travel At 1 upper end center position of device, and electrical turntable 3 is connected with crawler unit 1, and hybrid mechanism 4 is located at electrical turntable 3 with inhaling Between taking device 5, and 4 lower end of hybrid mechanism is connected with electrical turntable 3, and 4 upper end of hybrid mechanism is connected with suction means 5, 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 hybrid mechanism 4 includes roll-out tray 41 and four-freedom parallel mechanism 42, mobile Chassis 41 is located at the lower section of four-freedom parallel mechanism 42, and roll-out tray 41 is connected with four-freedom parallel mechanism 42;Described Roll-out tray 41 includes bottom plate 411, shifting sledge 412, sliding block 413, limit spring 414 and locking post 415, and shifting sledge 412 and the quantity of sliding block 413 be four, 414 quantity of limit spring is 16, and the quantity of locking post 415 is 32;Described Bottom plate 411 is fixed on four-freedom parallel mechanism 42, shifting sledge 412 along bottom plate 411 longitudinal center axis respectively symmetrically Arrangement, 412 both ends of shifting sledge are respectively arranged with baffle, and sliding block 413 is installed on shifting sledge 412, and limit spring 414 is located at Between the baffle of sliding block 413 and shifting sledge 412, and 414 one end of limit spring passes through locking post 415 and shifting sledge 412 Baffle is connected, and 414 other end of limit spring is connected by locking post 415 with sliding block 413, and the baffle of shifting sledge 412 Installation threaded hole is offered on the front/rear end of medial surface and sliding block 413,415 one end of locking post is provided with spacing for fixing The tight locking button of spring 414,415 other end of locking post are provided with the external screw thread closed with installation corresponding threaded holes;Roll-out tray 41 is adopted With the cascaded structure of a translation, roll-out tray 41 can be moved back and forth, and by roll-out tray 41 four-degree-of-freedom can be driven in parallel The back-and-forth motion of mechanism 42;The four-freedom parallel mechanism 42 includes fixed platform 421, Hooke's hinge 422, telescopic rod 423, ball Hinge 424 and moving platform 425, and the quantity of Hooke's hinge 422, telescopic rod 423 and spherical hinge 424 is four;The fixed platform 424 and moving platform 425 be disc-shaped structure, and moving platform 425 is located at directly over fixed platform 425,421 upper part of fixed platform Installation screw thread is respectively provided with 425 end portion of moving platform, 423 bottom of telescopic rod passes through Hooke's hinge 422 and 413 phase of sliding block Connection, 423 top of telescopic rod is connected by spherical hinge 424 with moving platform 425;Four-freedom parallel mechanism 42 uses 4-UPS The parallel institution of form is, it can be achieved that a translation three rotates the movement in totally four free degree directions, and movement effects are good, freedom of motion More, compact-sized and bearing capacity is strong;Hybrid mechanism 4 is applied in the present invention, is on the one hand played to suction means 5 and brick Seam filler device 6 overall orientation angles adjusting, easy to the comprehensive high-precision tile work operation of the various postures of the present invention into OK, the device 6 that on the other hand fillers to suction means 5 and brickwork joint plays the effect of damping so that suction means 5 and brickwork joint filler Device 6 is in horizontal plateau all the time in the case where the present invention walks jounce condition, prevents jitter excessive so as to influence to draw dress Put 5 and brickwork joint filler 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 51 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 absorption 53 right end of 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)

1. a kind of afforestation floor tile builds smart machine, it is characterised in that:Including crawler unit, running gear system, Electrical turntable, hybrid mechanism, suction means and brickwork joint filler device;The running gear system quantity is four, and wheeled row Walking apparatus is symmetrically arranged at left and right sides of crawler unit, and electrical turntable is located at crawler unit upper end center position Place, and electrical turntable is connected with crawler unit, hybrid mechanism is between electrical turntable and suction means, and hybrid mechanism Lower end is connected with electrical turntable, and hybrid mechanism upper end is connected with suction means, and the brickwork joint device that fillers is being located at suction means just Top, wherein:
The hybrid mechanism includes roll-out tray and four-freedom parallel mechanism, and roll-out tray is located at four-freedom parallel mechanism Lower section, and roll-out tray is connected with four-freedom parallel mechanism;
The roll-out tray includes bottom plate, shifting sledge, sliding block, limit spring and locking post, and shifting sledge and sliding block Quantity is four, and limit spring quantity is 16, and the quantity of locking post is 32;The bottom plate is fixed on four-degree-of-freedom simultaneously On online structure, shifting sledge is symmetrically arranged along the longitudinal center axis of bottom plate, and shifting sledge both ends are respectively arranged with baffle, Sliding block is installed on shifting sledge, and limit spring is between sliding block and the baffle of shifting sledge, and limit spring one end passes through Locking post is connected with the baffle of shifting sledge, and the limit spring other end is connected by locking post with sliding block, and shifting sledge Baffle medial surface and sliding block front/rear end on offer installation threaded hole, locking post one end is provided with spacing for fixing The tight locking button of spring, the locking post other end are provided with the external screw thread closed with installation corresponding threaded holes;
The four-freedom parallel mechanism includes fixed platform, Hooke's hinge, telescopic rod, spherical hinge and moving platform, and Hooke's hinge, stretches The quantity of contracting bar and spherical hinge is four;The fixed platform and moving platform is disc-shaped structure, and moving platform is positioned at allocating Directly over platform, fixed platform upper part and moving platform end portion are respectively provided with installation screw thread, and telescopic rod bottom passes through tiger Gram hinge is connected with sliding block, and telescopic rod top is connected by spherical hinge with moving platform;
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 slide right 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.
2. a kind of afforestation floor tile according to claim 1 builds smart machine, 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.
3. a kind of afforestation floor tile according to claim 1 builds smart machine, 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.
4. a kind of afforestation floor tile according to claim 1 builds smart machine, 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.
5. a kind of afforestation floor tile according to claim 4 builds smart machine, 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.
6. a kind of afforestation floor tile according to claim 1 builds smart machine, 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.
CN201610459881.2A 2016-06-23 2016-06-23 A kind of afforestation floor tile builds smart machine Active CN106049240B (en)

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CN107338709B (en) * 2017-06-30 2019-05-28 安徽普伦智能装备有限公司 A kind of automatic laying machine
CN108254935B (en) * 2018-01-12 2020-06-05 合肥工业大学 Method and equipment for adjusting alignment of visual line of polaroid and MSE (mean Square error) diagnostic system
CN109451959A (en) * 2018-11-07 2019-03-12 王洋 A kind of horizontal drive idler wheel on weeder
CN109451961A (en) * 2018-11-07 2019-03-12 王洋 A kind of weeder
CN109451960A (en) * 2018-11-07 2019-03-12 王洋 A kind of weeder parameter determination method
CN110359345A (en) * 2019-07-23 2019-10-22 马鞍山致青工业设计有限公司 A kind of tiling compacting integral type asphalt concrete pavement paver
CN111535599B (en) * 2020-05-20 2021-10-15 魏爽 Wall brick laying device
CN112281601B (en) * 2020-10-22 2021-11-23 海宁金都新能源有限公司 Pavement brick paving device

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