CN106121206B - A kind of full-automatic architecture indoor ground tile paving machine executive device - Google Patents
A kind of full-automatic architecture indoor ground tile paving machine executive device Download PDFInfo
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- CN106121206B CN106121206B CN201610459901.6A CN201610459901A CN106121206B CN 106121206 B CN106121206 B CN 106121206B CN 201610459901 A CN201610459901 A CN 201610459901A CN 106121206 B CN106121206 B CN 106121206B
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- 239000000945 filler Substances 0.000 claims abstract description 96
- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 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 21
- 238000013016 damping Methods 0.000 claims description 19
- 230000003028 elevating effect Effects 0.000 claims description 17
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 238000010521 absorption reaction Methods 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 230000002457 bidirectional effect Effects 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000006872 improvement Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 239000011449 brick Substances 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 230000014616 translation Effects 0.000 description 3
- 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
- 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
- 230000005611 electricity Effects 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
- 230000004899 motility Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Machines (AREA)
Abstract
The present invention relates to a kind of full-automatic architecture indoor ground tile paving machine executive device, filler device including redundancy parallel mechanism, suction means and brickwork joint；The redundancy parallel mechanism is located at immediately below suction means, and redundancy parallel mechanism upper end is connected with suction means, and the brickwork joint device that fillers is located at suction means surface.The 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, ground tile paving operation can be carried out to municipal pavement, and high degree of automation, laying speed are fast and laying aesthetics is good, it is big to solve existing ground tile paving appropriation of labour power, it is low to be laid with efficiency, is laid with the problems such as cost is big.
Description
Technical field
The present invention relates to architecture indoor fitting-up machinery field, specifically a kind of full-automatic architecture indoor floor tile paving
If machine executive device.
Background technology
Floor tile is a kind of floor decorative material, is also floor tile, is fired with clay, and 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.
At present for floor tile laying mostly using operation is manually laid with, be so not only laid with that of high cost, laying speed is slow, paving
If efficiency is low and occupies substantial amounts of labour, and workers with long time bends over to be engaged in ground tile paving operation, be easy to cause lumbar vertebrae neck
The occupational diseases such as vertebra are unfavorable for the physical and mental health of human body.In consideration of it, the present invention provides a kind of full-automatic architecture indoor ground tile pavings
Machine executive device.
The content of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of full-automatic architecture indoor ground tile paving machines to perform dress
It puts.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of full-automatic architecture indoor ground tile paving machine executive device, including redundancy parallel mechanism, suction means and brickwork joint
Filler device；The redundancy parallel mechanism is located at immediately below suction means, and redundancy parallel mechanism upper end and suction means phase
Connection, brickwork joint filler device be located at suction means surface.
As a further improvement on the present invention, the redundancy parallel mechanism include fixed platform, moving platform, the first branch and
Second branch；The fixed platform and moving platform is disc-shaped structure, and moving platform is located at directly over fixed platform；Described
The quantity of one branch and the second branch is two, and the first branch and the second branch are respectively positioned between fixed platform and moving platform, and first
The both ends of branch and the second branch are respectively connected with fixed platform and moving platform, and the horizontal peace of the first branch and the second branch
It is 90 degree to fill angle；First branch includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first company
Connect column and the first damping spring；First ear mount is fixed on fixed platform upper surface, the first ear mount and the first electric pushrod
It is attached between lower end using Hooke's hinge, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through
First connecting pole is fixed on the lower face of moving platform, and the first damping spring is around being sleeved on the first electric pushrod；Pass through Hooke's hinge
The rotation of both direction can be carried out, the rotation in three directions can be carried out by the first spherical hinge, it can be by the first electric pushrod
Row moves up and down, and the first branch uses the form of 2-UPS parallel institutions, and adds the first branch by the first damping spring and transport
Stationarity when dynamic improves the movenent performance of the present invention；Second branch includes the second ear mount, rotational pin, the second electricity
Dynamic push rod, the second spherical hinge, the second connecting pole and the second damping spring；Second ear mount is fixed on fixed platform upper surface
On, it is attached between the second ear mount and the second electric pushrod lower end using rotational pin, the second electric pushrod upper end and the second ball
Hinge is connected, and the second spherical hinge is fixed on by the second connecting pole on the lower face of moving platform, and the second damping spring is around being sleeved on
On second electric pushrod；The rotation in a direction can be carried out by rotational pin, three directions can be carried out by the second spherical hinge
It rotates, can be moved up and down by the second electric pushrod, the second branch uses the form of 2-RPS parallel institutions, and passes through the
Two damping springs add stationarity during second chain movement, improve the movenent performance of the present invention；Redundancy parallel mechanism leads to
It crosses fixed platform, moving platform, the first branch and the second branch and constitutes four-degree-of-freedom symmetric parallel mechanism, and it uses 2-UPS-2-
The parallel institution form of RPS can be realized and moved along X-axis and Z axis and around X-axis and around rotation totally four degree of freedom sides of Y-axis
To movement, and four degree of freedom are independent, by four degree of freedom can also co-ordination, the moving platform track made is along predetermined
The curvilinear motion in space, stable movement, movement is flexible, and redundancy parallel mechanism is applied in the present invention, on the one hand plays pair
Suction means and brickwork joint filler device whole orientation angles adjusting, convenient for the comprehensive high-precision paving of the various postures of the present invention
The progress of brick operation, the device that on the other hand fillers to suction means and brickwork joint play the effect of damping so that suction means and
Brickwork joint fillers device always in horizontal plateau, 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,
It draws 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, it draws slide and is 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, angle adjusting mechanism, which is located at, to be drawn above stent, and holding mechanism is mounted on the positive front end of angle adjusting mechanism, push
Mechanism, which is located at, draws sliding base rear end；Angle adjusting mechanism and sticking machine can be driven by drawing slip of the slide on slide is drawn
So as to fulfill the adjusting of extension elongation during holding mechanism sticking floor tile, angle can be driven by drawing turntable for the side-to-side movement of structure
The rotary motion of adjusting mechanism and holding mechanism in the horizontal plane, so as to realize the adjusting of holding mechanism local horizontal contraposition.
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
It adjusts and is attached between support plate and absorption stent by adjusting hinge, motor pillar, which is located at, draws 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 surface, 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 is located on push support plate lateral surface, pushes push rod front end
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 as to realize holding mechanism local horizontal pair
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 surface 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 filler leakage basket；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 mounted 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 mounted on the guiding slide bar of vibration mounting lower end, and the leakage basket that fillers is consolidated
It is scheduled on immediately below the sliding block that fillers, and the leakage basket that fillers is in the hollow rectangle box body structure of upper end opening, on the leakage basket bottom face that fillers
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 leakage basket alignment floor tile that fillers；Then the leakage 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 leakage basket that fillers
Jitter, the cement paste for leaking and being stored in basket that fillers are leaked out by the discharge hole for leakage 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 high degree of automation, laying speed are fast and laying aesthetics is good, solve 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) redundancy parallel mechanism of the invention constitutes four selfs by fixed platform, moving platform, the first branch and the second branch
By degree symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS, can realize moved along X-axis and Z axis and
The movement for rotating totally four degree of freedom directions around X-axis and around Y-axis, and four degree of freedom are independent, pass through four degree of freedom
Can be with co-ordination, the curvilinear motion of the moving platform track that makes along predetermined space, stable movement, movement is flexible, by redundant parallel
Mechanism is applied in the present invention, on the one hand plays the adjusting of the whole orientation angles for the device that fillers to suction means and brickwork joint,
Convenient for the progress of the comprehensive high-precision tile work operation of the various postures of the present invention, on the other hand filler to suction means and brickwork joint dress
Put the effect for playing damping so that suction means and brickwork joint filler device always in horizontal plateau, prevent jitter
It is excessive so as to influencing suction means and brickwork joint fillers the tile work efficiency and accuracy of device.
(3) suction means of the invention is clamped using the absorption that vacuum pressure difference principle is realized to floor tile, capture velocity
Soon, it is high to draw fastness, and it can realize the absorption of the position floor tile to horizontal plane and inclined surface 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 the gap between leakage basket alignment floor tile of fillering so as to local modulation, and realize water 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.
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 redundancy parallel mechanism of the present invention；
Fig. 3 be suction means and brickwork joint of the present invention filler device cooperation 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 leakage basket cooperation when dimensional structure diagram.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 7, a kind of full-automatic architecture indoor ground tile paving machine executive device, including redundancy parallel mechanism
4th, suction means 5 and brickwork joint filler device 6；The redundancy parallel mechanism 4 is located at immediately below suction means 5, and redundant parallel
4 upper end of mechanism 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 redundancy parallel mechanism 4 includes fixed platform 41, moving platform 42,43 and of the first branch
Second branch 44；Under the fixed platform 41 and moving platform 42 is disc-shaped structure, and moving platform 42 is located at fixed platform 41 just
Side；First branch 43 and the quantity of the second branch 44 are two, and the first branch 43 and the second branch 44 are respectively positioned on and allocate
Between platform 41 and moving platform 42, the both ends of the first branch 43 and the second branch 44 are respectively connected with fixed platform 41 and moving platform 42
It connects, and the horizontal installation angle of the first branch 43 and the second branch 44 is 90 degree；First branch 43 includes the first ear mount
431st, Hooke's hinge 432, the first electric pushrod 433, the first spherical hinge 434, the first connecting pole 435 and the first damping spring 436；Institute
The first ear mount 431 stated is fixed on 41 upper surface of fixed platform, and the first ear mount 431 and the first electric pushrod are adopted between 433 lower end
It is attached with Hooke's hinge 432,433 upper end of the first electric pushrod is connected with the first spherical hinge 434, and the first spherical hinge 434 is logical
It crosses the first connecting pole 435 to be fixed on the lower face of moving platform 42, the first damping spring 436 is around being sleeved on the first electric pushrod 433
On；The rotation of both direction can be carried out by Hooke's hinge 432, the rotation in three directions can be carried out by the first spherical hinge 434, is led to
Crossing the first electric pushrod 433 can move up and down, and the first branch 43 uses the form of 2-UPS parallel institutions, and passes through first
Damping spring 436 adds the stationarity during movement of the first branch 43, improves the movenent performance of the present invention；Described second
Chain 44 includes the second ear mount 441, rotational pin 442, the second electric pushrod 443, the second spherical hinge 444, the second connecting pole 445 and the
Two damping springs 446；Second ear mount 441 is fixed on 41 upper surface of fixed platform, and the second ear mount 441 electronic is pushed away with second
It being attached between 443 lower end of bar using rotational pin 442,443 upper end of the second electric pushrod is connected with the second spherical hinge 444,
Second spherical hinge 444 is fixed on by the second connecting pole 445 on the lower face of moving platform 42, and the second damping spring 446 is around being sleeved on
On second electric pushrod 443；The rotation in a direction can be carried out by rotational pin 442, three can be carried out by the second spherical hinge 444
The rotation in a direction can be moved up and down by the second electric pushrod 443, and the second branch 44 is using 2-RPS parallel institutions
Form, and stationarity when the second branch 44 moves is added by the second damping spring 446, improve the motility of the present invention
Energy；Redundancy parallel mechanism 4 constitutes four-degree-of-freedom pair by fixed platform 41, moving platform 42, the first branch 43 and the second branch 44
Claim parallel institution, and it uses the parallel institution form of 2-UPS-2-RPS, can realize and be moved along X-axis and Z axis and around X-axis
With the movement around rotation totally four degree of freedom directions of Y-axis, and four degree of freedom are independent, can also be assisted by four degree of freedom
Work is adjusted, curvilinear motion of the moving platform track made along predetermined space, stable movement, movement is flexible, should by redundancy parallel mechanism 4
It uses in the present invention, on the one hand plays the adjusting of the whole orientation angles for the device 6 that fillers to suction means 5 and brickwork joint, be convenient for
The progress of the comprehensive high-precision tile work operation of the various postures of the present invention, on the other hand filler to suction means 5 and brickwork joint device 6
Play the effect of damping so that suction means 5 and brickwork joint filler device 6 always in horizontal plateau, 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
It takes turntable 54, draw stent 55, angle adjusting mechanism 56, holding mechanism 57 and delivery device 58；Under the absorption pedestal 51
End is provided with terminal pad, draws 51 upper end of pedestal and is provided with fixed station, and connecting pole is provided between terminal pad and fixed station, inhales
It is two to take 52 quantity of slide, draws slide 52 and is symmetrically arranged at fixed station upper end along the central transverse axis for drawing pedestal 51
Face front and rear sides draw 53 rear and front end of slide and are separately mounted to draw on slide 52, and 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
It at heart position, draws stent 55 and is fixed on directly over absorption turntable 54, angle adjusting mechanism 56, which is located at, draws 55 top of stent, suction
Mechanism 57 is held mounted on 56 positive front end of angle adjusting mechanism, delivery device 58, which is located at, draws 53 rear 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 can drive angle adjusting mechanism 56 and holding mechanism 57 by drawing turntable 54
Rotary motion in the horizontal plane, so as to realize the adjusting of 57 local horizontal of holding mechanism contraposition.
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, which is located at, to be drawn at 55 back-end central position of stent, and 563 bottom of motor pillar is connected with drawing 55 upper surface of stent
It connects, 563 top of motor pillar is connected with 564 middle part of Bidirectional output electric machine, and Shrinking wheel 565 adjusts steel wire rope 566 and adjusts 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
It in Shrinking wheel 565, adjusts 566 other end of steel wire rope and is 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, is adjusted so as to drive
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
It saves hinge 561 and carries 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 surface, 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 571 middle part of vacuum generator 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 located 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 can drive the rotation of angle adjusting mechanism 56 and holding mechanism 57 in the horizontal plane by drawing turntable 54
Movement, so as to realize the adjusting of 57 local horizontal of holding mechanism contraposition；Then the suction to floor tile is realized by holding mechanism 57
Take clamping；Laying to level ground and inclined surface 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 filler leakage basket 69；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 mounted 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 located 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 mounted on the guiding slide bar of 67 lower end of vibration mounting, and the leakage basket 69 that fillers, which is fixed on, to be filled out
Immediately below muddy and slippery piece 68, and the leakage basket 69 that fillers is in the hollow rectangle box body structure of upper end opening, on leakage 69 bottom face of basket that fillers
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 leakage 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 leakage basket 69 that fillers, and the cement paste for leakage 69 inner storage of basket of fillering is under vibrating conditions by leakage of fillering
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
It defines.
Claims (3)
1. a kind of full-automatic architecture indoor ground tile paving machine executive device, it is characterised in that：Including redundancy parallel mechanism, draw dress
It puts and fillers device with brickwork joint；The redundancy parallel mechanism is located at immediately below suction means, and redundancy parallel mechanism upper end is with inhaling
Device is taken to be connected, the brickwork joint device that fillers is located at directly over suction means, wherein：
The redundancy parallel mechanism includes fixed platform, moving platform, the first branch and the second branch；The fixed platform is put down with dynamic
Platform is disc-shaped structure, and moving platform is located at directly over fixed platform；First branch and the quantity of the second branch are
Two, the first branch and the second branch are respectively positioned between fixed platform and moving platform, and the both ends of the first branch and the second branch are respectively
It is connected with fixed platform and moving platform, and the horizontal installation angle of the first branch and the second branch is 90 degree；
First branch includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first connecting pole and the
One damping spring；First ear mount is fixed on fixed platform upper surface, between the first ear mount and the first electric pushrod lower end
It is attached using Hooke's hinge, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through the first connection
Column is fixed on the lower face of moving platform, and the first damping spring is around being sleeved on the first electric pushrod；
Second branch includes the second ear mount, rotational pin, the second electric pushrod, the second spherical hinge, the second connecting pole and the
Two damping springs；Second ear mount is fixed on fixed platform upper surface, between the second ear mount and the second electric pushrod lower end
It is attached using rotational pin, the second electric pushrod upper end is connected with the second spherical hinge, and the second spherical hinge passes through the second connection
Column is fixed on the lower face of moving platform, and the second damping spring is around being sleeved on the second electric pushrod；
The suction means includes drawing pedestal, draws slide, draw slide, draw turntable, draw stent, angular adjustment machine
Structure, holding mechanism and delivery device；The absorption pedestal lower end is provided with terminal pad, draws pedestal upper end and is provided with fixation
Platform, and connecting pole is provided between terminal pad and fixed station, it is two to draw slide quantity, draws slide along the transverse direction for drawing pedestal
Central axis is symmetrically arranged at fixed station upper surface front and rear sides, draws slide rear and front end and is separately mounted to draw slide
On, it draws slide and is made of level board and vertical panel, and connection floor is provided between level board and vertical panel, it draws turntable and consolidates
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, to be inhaled
It takes above stent, holding mechanism is mounted on the positive front end of angle adjusting mechanism, and delivery device, which is located at, draws sliding base rear 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, which is located at, draws stent front end, and adjusts and pass through between support plate and absorption stent
It adjusts hinge to be attached, motor pillar, which is located at, draws 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 adjusts steel wire rope and adjusts 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 leakage 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 mounted 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
In the U-shaped structure to stand upside down, its longitudinal center axis of vibration mounting lower end edge has been symmetrically arranged guiding slide bar for dynamic bearing upper end,
The sliding block that fillers is mounted on the guiding slide bar of vibration mounting lower end, and the leakage basket that fillers is fixed on immediately below the sliding block that fillers, and leakage of fillering
Basket is in the hollow rectangle box body structure of upper end opening, and discharge hole is uniformly provided on the leakage basket bottom face that fillers.
2. a kind of full-automatic architecture indoor ground tile paving machine executive device according to claim 1, 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 full-automatic architecture indoor ground tile paving machine executive device according to claim 1, 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,
It pushes push rod to be located 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 |
|---|---|---|---|
| CN201610459901.6A CN106121206B (en) | 2016-06-23 | 2016-06-23 | A kind of full-automatic architecture indoor ground tile paving machine executive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610459901.6A CN106121206B (en) | 2016-06-23 | 2016-06-23 | A kind of full-automatic architecture indoor ground tile paving machine executive device |
Publications (2)
| Publication Number | Publication Date |
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| CN106121206A CN106121206A (en) | 2016-11-16 |
| CN106121206B true CN106121206B (en) | 2018-06-01 |
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| CN201610459901.6A Expired - Fee Related CN106121206B (en) | 2016-06-23 | 2016-06-23 | A kind of full-automatic architecture indoor ground tile paving machine executive device |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108005394A (en) * | 2017-12-07 | 2018-05-08 | 王炯炜 | A kind of adjustable hanger for architecture indoor decoration |
| CN108868086A (en) * | 2018-06-27 | 2018-11-23 | 东莞唯度电子科技服务有限公司 | A kind of building assembly floor file panel assembly and application method |
| CN110685429B8 (en) * | 2019-11-22 | 2021-06-18 | 义乌市择木工业产品设计有限公司 | Positioning device for horizontal laying of ceramic tiles |
| CN112482715B (en) * | 2020-11-25 | 2022-01-14 | 熊振 | Building ground brick paving equipment |
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| CN1777729A (en) * | 2003-02-19 | 2006-05-24 | Di.Gi.建筑机械有限责任公司 | Automatic apparatus for laying floor of tiles |
| US8068962B2 (en) * | 2007-04-05 | 2011-11-29 | Power Curbers, Inc. | 3D control system for construction machines |
| CN202209040U (en) * | 2011-09-15 | 2012-05-02 | 薄明 | Floor tile tiling device |
| CN202787918U (en) * | 2012-08-27 | 2013-03-13 | 维和泰隆（北京）科技有限公司 | Automatic intelligent equipment for efficiently paving building coats |
| CN204715178U (en) * | 2015-06-03 | 2015-10-21 | 长安大学 | A kind of full-automatic brick paving machine |
| CN205046448U (en) * | 2015-01-19 | 2016-02-24 | 重庆交通大学 | Open -air tile work machine of generalized type |
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- 2016-06-23 CN CN201610459901.6A patent/CN106121206B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1777729A (en) * | 2003-02-19 | 2006-05-24 | Di.Gi.建筑机械有限责任公司 | Automatic apparatus for laying floor of tiles |
| US8068962B2 (en) * | 2007-04-05 | 2011-11-29 | Power Curbers, Inc. | 3D control system for construction machines |
| CN202209040U (en) * | 2011-09-15 | 2012-05-02 | 薄明 | Floor tile tiling device |
| CN202787918U (en) * | 2012-08-27 | 2013-03-13 | 维和泰隆（北京）科技有限公司 | Automatic intelligent equipment for efficiently paving building coats |
| CN205046448U (en) * | 2015-01-19 | 2016-02-24 | 重庆交通大学 | Open -air tile work machine of generalized type |
| CN204715178U (en) * | 2015-06-03 | 2015-10-21 | 长安大学 | A kind of full-automatic brick paving machine |
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| CN106121206A (en) | 2016-11-16 |
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Effective date of registration: 20180417 Address after: 421002 Hunan city of Hengyang province Zhuhui District Road No. 18 Hua Heng Applicant after: HUNAN INSTITUTE OF TECHNOLOGY Address before: 246001 5 unit 5, South Road South Road, Road South Road, Daguan District, Anqing, Anhui Applicant before: Lu Yue |
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