CN106120522B - A kind of road surface brick masonry Work robot with building device by laying bricks or stones - Google Patents
A kind of road surface brick masonry Work robot with building device by laying bricks or stones Download PDFInfo
- Publication number
- CN106120522B CN106120522B CN201610460239.6A CN201610460239A CN106120522B CN 106120522 B CN106120522 B CN 106120522B CN 201610460239 A CN201610460239 A CN 201610460239A CN 106120522 B CN106120522 B CN 106120522B
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- fillers
- fixed
- support plate
- slide
- push
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- 239000011449 brick Substances 0.000 title claims abstract description 25
- 239000000945 filler Substances 0.000 claims abstract description 92
- 230000007246 mechanism Effects 0.000 claims description 53
- 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 22
- 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
- 230000006698 induction Effects 0.000 claims description 12
- 230000002457 bidirectional effect Effects 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 9
- 239000004744 fabric Substances 0.000 claims 1
- 150000001875 compounds Chemical class 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 230000006872 improvement Effects 0.000 description 6
- 238000013519 translation Methods 0.000 description 6
- 230000014616 translation Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000013016 damping Methods 0.000 description 3
- 230000036544 posture Effects 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
- 238000005034 decoration Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- 239000003292 glue Substances 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
- E01C19/524—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones using suction devices
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Machines (AREA)
- Road Paving Structures (AREA)
Abstract
The present invention relates to a kind of road surface brick masonry Work robot is with building device by laying bricks or stones, including crawler unit, running gear system, electrical turntable, delta parallel institutions, 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, delta parallel institutions are between electrical turntable and suction means, and delta parallel institutions lower end is connected with electrical turntable, delta parallel institutions 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
Technical field
The present invention relates to road work machinery field, specifically a kind of road surface brick masonry Work robot with building by laying bricks or stones
Device.
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, a kind of the present invention provides road surface brick masonry Work robot
With building device by laying bricks or stones.
The content of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of road surface brick masonry Work robot with build by laying bricks or stones dress
Put.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of road surface brick masonry Work robot with building device, including delta parallel institutions, suction means and brickwork joint by laying bricks or stones
Filler device；The delta parallel institutions are located at immediately below suction means, and delta parallel institutions upper end and suction means
It is connected, the brickwork joint device that fillers is located at directly over suction means.
As a further improvement on the present invention, the delta parallel institutions include fixed platform, moving platform, motor cabinet, simultaneously
Join motor, first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second shaft, rotating basis and limit spring；Described determines
Platform and moving platform structure in rounded shape, moving platform are located at directly over fixed platform, and the quantity of motor cabinet and rotating basis is
Three, motor cabinet is fixed on fixed platform upper surface centered on the center of circle of fixed platform in positive triangle shape, and rotating basis is with dynamic flat
It is arranged in centered on the center of circle of platform in positive triangle shape on moving platform lower face, and motor cabinet installation site and rotating basis installation
Position corresponds respectively, and installation is fixed by motor cabinet in parallel-connected induction motors, and parallel-connected induction motors are exported using adjustable speed twin shaft
Motor, first rotating shaft one end are connected with parallel-connected induction motors main shaft, and the first rotating shaft other end is connected with first connecting rod upper end, and first
It is attached between connecting rod lower end and second connecting rod upper end using rotational pin, second connecting rod lower end is connected with second shaft one end
Connect, the second shaft other end is installed on rotating basis, and rotating basis lower end is provided with swivel bearing, and swivel bearing is put down with dynamic
Platform upper surface is mutually fixed, and rotating basis upper end is provided with and the matched double end sleeve of the second shaft, first connecting rod middle inside
Respectively be provided with the first mounting base and the second mounting base with second connecting rod middle inside, limit spring be located at the first mounting base and
Between second mounting base, and limit spring upper end is connected with the first mounting base, and limit spring lower end is connected with the second mounting base
Connect；During specific works, the rotation of first rotating shaft, and first connecting rod and the coaxial phase of first rotating shaft are driven by the rotation of parallel-connected induction motors
Connection, so as to drive the rotation of second connecting rod by the rotation of first connecting rod, and then drives the movement of moving platform, and by spacing
Jitter when spring reduces the movement of delta parallel institutions, adds the stationarity of delta parallel institutions movement, and delta is in parallel
Mechanism rigidity compared with serial mechanism is big, and movement is flexible, stable structure, and bearing capacity is strong and fine motion precision is high, delta parallel machines
Structure can carry out the movement that three translations three rotate six-freedom degree direction altogether in space, and space is small, movement velocity is fast, fortune
Dynamic flexibility is good, and delta parallel institutions are applied in the present invention, on the one hand play the device that fillers to suction means and brickwork joint
Overall orientation angles adjusting, easy to the progress of the comprehensive high-precision tile work operation of the various postures of the present invention, on the other hand
The device that fillers to suction means and brickwork joint plays the effect of damping so that suction means and the brickwork joint device that fillers are in water all the time
Flat plateau, prevents jitter excessive so as to influence suction means and brickwork joint fillers 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 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 integrates the adjusting of multiple degrees of freedom orientation, floor tile is drawn and brickwork joint fillers, can
Ground tile paving operation is carried out to municipal pavement, and the degree of automation is high, laying speed is fast and laying aesthetics is good, solves existing
There is the problems such as ground tile paving appropriation of labour power is big, and laying efficiency is low, and laying cost is big.
(2) delta parallel institutions of the invention can carry out three translations three in space and rotate common six-freedom degree direction
Movement, and space is small, movement velocity is fast, kinematic dexterity is good, and delta parallel institutions are applied in the present invention, a side
Face plays the adjusting of the overall orientation angles for the device that fillers to suction means and brickwork joint, comprehensive easy to the various postures of the present invention
High-precision tile work operation progress, the device that on the other hand fillers to suction means and brickwork joint plays the effect of damping so that
Suction means and the brickwork joint device that fillers are in horizontal plateau all the time, prevent jitter excessive so as to influence suction means and brick
Stitch the tile work efficiency and accuracy for the device that fillers.
(3) 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.
(4) 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 the dimensional structure diagram of delta parallel institutions of the present invention；
Fig. 3 be suction means and brickwork joint of the present invention filler device coordinate when dimensional structure diagram；
Fig. 4 is the dimensional structure diagram (viewed from above) of suction means of the present invention；
Fig. 5 is the dimensional structure diagram (seeing from the bottom up) of suction means of the present invention；
Fig. 6 is that brickwork joint of the present invention fillers the dimensional structure diagram of device；
Fig. 7 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 7, a kind of road surface brick masonry Work robot with building device, including delta parallel institutions by laying bricks or stones
4th, suction means 5 and brickwork joint filler device 6；4 structure of delta parallel machines is located at immediately below suction means 5, and delta is simultaneously
Online 4 upper end of structure is connected with suction means 5, and the brickwork joint device 6 that fillers is located at directly over suction means 5.
As depicted in figs. 1 and 2, the delta parallel institutions 4 include fixed platform 41, moving platform 42, motor cabinet 43, simultaneously
Join motor 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod 48, the second shaft 49, rotating basis 410 and limit
Position spring 411；Fixed platform 41 and moving platform 42 structure in rounded shape, moving platform 42 are located at directly over fixed platform 41,
The quantity of motor cabinet 43 and rotating basis 410 is three, and motor cabinet 43 is in positive triangle shape centered on the center of circle of fixed platform 41
It is fixed on 41 upper surface of fixed platform, rotating basis 410 is arranged in dynamic centered on the center of circle of moving platform 42 in positive triangle shape
On 42 lower face of platform, and 43 installation site of motor cabinet and 410 installation site of rotating basis correspond respectively, parallel-connected induction motors 44
Installation is fixed by motor cabinet 43, and parallel-connected induction motors 44 use adjustable speed twin shaft output motor, 45 one end of first rotating shaft with
44 main shaft of parallel-connected induction motors is connected, and 45 other end of first rotating shaft is connected with 46 upper end of first connecting rod, 46 lower end of first connecting rod with
It is attached between 48 upper end of second connecting rod using rotational pin 47,48 lower end of second connecting rod is connected with 49 one end of the second shaft,
Second shaft, 49 other end is installed on rotating basis 410, and 410 lower end of rotating basis is provided with swivel bearing, and swivel bearing
Mutually fixed with 42 upper surface of moving platform, 410 upper end of rotating basis be provided with 49 matched double end sleeve of the second shaft, first
46 middle inside of connecting rod and 48 middle inside of second connecting rod are respectively provided with the first mounting base and the second mounting base, limit spring
411 between the first mounting base and the second mounting base, and 411 upper end of limit spring is connected with the first mounting base, spacing bullet
411 lower end of spring is connected with the second mounting base；During specific works, the rotation of first rotating shaft 45 is driven by the rotation of parallel-connected induction motors 44
Turn, and first connecting rod 46 is coaxially connected with first rotating shaft 45, so as to drive second connecting rod 48 by the rotation of first connecting rod 46
Rotation, and then drive moving platform 42 movement, and by limit spring 411 reduce delta parallel institutions 4 move when shake
Property, the stationarity of the movement of delta parallel institutions 4 is added, the rigidity compared with serial mechanism of delta parallel institutions 4 is big, movement spirit
Living, stable structure, bearing capacity is strong and fine motion precision is high, and delta parallel institutions 4 can carry out three translations three in space and rotate altogether
The movement in six-freedom degree direction, and space is small, movement velocity is fast, kinematic dexterity is good；Should by delta parallel institutions 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 horizontal plateau all the time, prevent jitter
It is excessive so as to influencing suction means 5 and brickwork joint fillers the tile work efficiency and accuracy of device 6.
As shown in Fig. 3 to Fig. 7, 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 Fig. 3 to Fig. 7, 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 Fig. 3 to Fig. 7, 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 Fig. 3 to Fig. 7, 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 Fig. 3 to Fig. 7, 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 6 and Figure 7, 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 (3)
1. a kind of road surface brick masonry Work robot with building device by laying bricks or stones, it is characterised in that：Including delta parallel institutions, draw
Device and brickwork joint filler device；The delta parallel institutions are located at immediately below suction means, and delta parallel institutions upper end
It is connected with suction means, the brickwork joint device that fillers is located at directly over suction means, wherein：
The delta parallel institutions include fixed platform, moving platform, motor cabinet, parallel-connected induction motors, first rotating shaft, first connecting rod, turn
Dynamic pin, second connecting rod, the second shaft, rotating basis and limit spring；The fixed platform and moving platform structure in rounded shape,
Moving platform is located at directly over fixed platform, and the quantity of motor cabinet and rotating basis is three, and motor cabinet is using the center of circle of fixed platform in
The heart is fixed on fixed platform upper surface in positive triangle shape, and rotating basis is in positive triangle shape cloth centered on the center of circle of moving platform
Put on moving platform lower face, and motor cabinet installation site and rotating basis installation site correspond respectively, parallel-connected induction motors lead to
Cross motor cabinet and installation is fixed, and parallel-connected induction motors use adjustable speed twin shaft output motor, first rotating shaft one end and parallel-connected induction motors
Main shaft is connected, and the first rotating shaft other end is connected with first connecting rod upper end, between first connecting rod lower end and second connecting rod upper end
It is attached using rotational pin, second connecting rod lower end is connected with second shaft one end, and the second shaft other end is installed on rotation
On pedestal, rotating basis lower end is provided with swivel bearing, and swivel bearing is mutually fixed with moving platform upper surface, rotating basis upper end
It is provided with and is respectively set with the matched double end sleeve of the second shaft, first connecting rod middle inside and second connecting rod middle inside
There are the first mounting base and the second mounting base, limit spring is between the first mounting base and the second mounting base, and in limit spring
End is connected with the first mounting base, and limit spring lower end is connected with the second mounting base；
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 angle adjusting mechanism includes adjusting hinge, adjusts support plate, motor pillar, Bidirectional output electric machine, Shrinking wheel, adjusting
Steel wire rope and adjusting ear mount；The adjusting support plate is adjusted and passed through between support plate and absorption stent positioned at absorption stent front end
Adjust hinge to be attached, motor pillar is positioned at absorption back-end support center position, and motor pillar bottom is with drawing stent
Upper surface is connected, and with being connected in the middle part of Bidirectional output electric machine, Shrinking wheel, adjust steel wire rope and adjust ear mount on motor pillar top
Quantity be two, Shrinking wheel is fixed on Bidirectional output electric machine main shaft, is adjusted steel wire rope one end and is fixed in Shrinking wheel, adjusts
The steel wire rope other end, which is wrapped in, to be adjusted in ear mount, is adjusted ear mount and is fixed on adjusting support plate upper surface；
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 road surface according to claim 1 brick masonry Work robot with building device by laying bricks or stones, it is characterised in that：It is described
Holding mechanism include 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, lifting
Air-leg one end is connected with adjusting support plate, and the lifting air-leg other end is connected with vacuum cup, under vacuum cup is in
The square hollow shell structure of end opening, vacuum cup lower end is evenly arranged with suction nozzle, and vacuum cup material is flexible rubber
Material.
3. a kind of road surface according to claim 1 brick masonry Work robot with building device by laying bricks or stones, it is characterised in that：It is described
Delivery device include push support plate, push push rod and returning spring；The push support plate bottom, which is fixed on, draws on pedestal,
Push rod is pushed on push support plate lateral surface, push push rod front end is connected with drawing slide, push putting back-end and push
Support plate is connected, and pushes push rod and be linearly equally spaced along push support plate longitudinal direction, and returning spring is pushed away around push is sleeved on
At bar front position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610460239.6A CN106120522B (en) | 2016-06-23 | 2016-06-23 | A kind of road surface brick masonry Work robot with building device by laying bricks or stones |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610460239.6A CN106120522B (en) | 2016-06-23 | 2016-06-23 | A kind of road surface brick masonry Work robot with building device by laying bricks or stones |
Publications (2)
| Publication Number | Publication Date |
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| CN106120522A CN106120522A (en) | 2016-11-16 |
| CN106120522B true CN106120522B (en) | 2018-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610460239.6A Active CN106120522B (en) | 2016-06-23 | 2016-06-23 | A kind of road surface brick masonry Work robot with building device by laying bricks or stones |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110747719B (en) * | 2019-09-28 | 2023-10-03 | 郑州市市政工程管理处 | Road curb repairing and installing machine |
| CN113047150B (en) * | 2021-04-07 | 2023-03-28 | 济南吉伟建筑工程有限公司 | Maintenance equipment capable of maintaining raised floor tiles of sidewalks |
| CN114214901B (en) * | 2021-12-27 | 2023-05-12 | 北京航空航天大学 | Automatic brick paving vehicle for paving plate floor bricks |
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| CA2423429A1 (en) * | 2003-03-21 | 2004-09-21 | Robert B. Kennedy | Plate low ground pressure transport system |
| CN101832019A (en) * | 2010-05-20 | 2010-09-15 | 锦宸集团有限公司 | Ceramic floor tile paving device |
| CN102277955A (en) * | 2011-05-13 | 2011-12-14 | 王怀成 | Intelligent brick paving machine |
| KR20120014978A (en) * | 2010-08-11 | 2012-02-21 | 박문석 | Process of constructing road block |
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| JPH0820908A (en) * | 1994-07-05 | 1996-01-23 | Kiyoueishiya:Kk | Construction car equipped with sand sprayer for paving block |
| CA2423429A1 (en) * | 2003-03-21 | 2004-09-21 | Robert B. Kennedy | Plate low ground pressure transport system |
| CN101832019A (en) * | 2010-05-20 | 2010-09-15 | 锦宸集团有限公司 | Ceramic floor tile paving device |
| KR20120014978A (en) * | 2010-08-11 | 2012-02-21 | 박문석 | Process of constructing road block |
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| Publication number | Publication date |
|---|---|
| CN106120522A (en) | 2016-11-16 |
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