CN106381990A - Robot for wall and floor paving - Google Patents
Robot for wall and floor paving Download PDFInfo
- Publication number
- CN106381990A CN106381990A CN201610970420.1A CN201610970420A CN106381990A CN 106381990 A CN106381990 A CN 106381990A CN 201610970420 A CN201610970420 A CN 201610970420A CN 106381990 A CN106381990 A CN 106381990A
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- China
- Prior art keywords
- wall
- frame
- paving
- main body
- frame main
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1894—Lever-type lifters gripping the bottom edge of wall panels
-
- 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 invention discloses a robot for wall and floor paving, belonging to the field of construction machinery. Aiming at the problem that mechanized operation cannot be carried out on the wall and floor paving, the robot for wall and floor paving keeps a vertical state in real time, and provides a benchmark for the paving operation; a camera is used for identifying wall and floor tiles to enable a sucking disc to suck up the central positions of the wall and floor tiles, and an elevator mechanism rises and falls vertically, and reaches a required height through the feedback of a coder and the control of a control system; a work head can overturn after grabbing the wall and floor tiles, so that slurry can be scraped on the wall and floor tiles conveniently, not only can the floor be paved, but also the wall can be paved, and the design of a leveling device and a vibrator guarantees the accuracy requirement on construction. The robot for wall and floor paving, disclosed by the invention, can solve the problem that the mechanized construction for parts such as corners is difficult, the rack can be folded and spread, and thus is convenient to take in, and the robot for wall and floor paving can meet the requirements for wall paving and floor paving simultaneously.
Description
Technical field
The invention belongs to building machinery field, more particularly, to a kind of wall ground paving work head and wall ground paving machine
People.
Background technology
With the continuous development of mechanical automation, building engineering construction operation is also in continuous mechanization.Wall ground at present
Paving can only rely on artificial enforcement, the experience of workmen and technology to directly affects the quality of job engineering, applies in reality
Workman person's technology is uneven, thus causing quality stability poor, construction speed is slow.Construction worker must with long time and
Consume very big muscle power, the high problem that time-consuming, human cost is high of labor intensity.
Floor tile and stone material paving maneuver have two methods of dry-laid method and wet-laid process, and dry-laid is easier levelling, but is because
The out-of-flatness of binder courses easily produces hollowing.Wet-laid process, because cement mortar denseness is relatively low, is not easy levelling in work progress, fit
The laying of floor tile closing reduced size is it is not easy to hollowing.
Wall brick paving at present typically adopts wet-laid process, and floor tile paving typically adopts dry-laid method, and dry-laid work flow is half-dried
Cement mortar is paved>Fill water mud>Water mud is scraped in paving thing bottom surface>Paving>Rubber hammer strikes reality, and whole flow process there is no
Effectively mechanized equipment can substitute manual work, does not also have effective auxiliary equipment can assist dry-laid method operation.
Wet-laid process equally faces awkward situation, dry-laid method and the wet-laid process that no effective mechanized equipment can substitute manual work
Under mechanical is turned into industry, artificial enforcement can only be relied on, therefore the experience of workmen and technology directly affects job engineering
Quality and efficiency, and in reality, workmen's technology is uneven, thus causing paving quality stability poor, construction speed
Slowly, and levelling paving subitem high labor intensive itself, poor working environment, human cost more and more higher.
More it is not simultaneously suitable for dry-laid method at present and the mechanized equipment of wet-laid process occurs.If therefore there being a kind of machinery to set
The standby stability that can quickly improve quality, is simultaneously suitable for dry-laid method and wet-laid process operation, and does not rely on workmen
Experience and technology, to meet the quality standard of each construction link completely by mechanization, easily, fast to fulfil assignment, that will
The benefit very big to social creativity.
Content of the invention
The purpose of the present invention is to overcome the deficiencies in the prior art, by carrying out standard to the links of traditional paving maneuver
Change regular, reach each link can do mechanization operation, the invention provides a kind of wall ground paving work head and wall ground paving
Robot, can replace Traditional Man operation, solve many drawbacks.
Technical scheme is as follows：
Present invention firstly provides a kind of paving of wall ground work head, including pole, swivel head, sucker fixed plate, sucker,
Described pole one end is hinged with swivel head one end, and the swivel head other end is connected with sucker fixed plate, and it is solid that sucker is arranged on sucker
In fixed board, pole and swivel head hinged place are provided with retaining mechanism.
Sucker is used for producing negative pressure absorbing treats paving floor tile or wall brick, and sucker can be connected with outside vaccum-pumping equipment, such as
It is connected with vacuum pump, air pump etc., sucker also can be first connected with air accumulator, then be connected with outside vaccum-pumping equipment by air accumulator.
Pole is used for connecting external support equipment, such as frame or workbench.Paving work head in wall ground is fixed on support
Operation, the equipment that support equipment preferably can be moved easily be can be used on equipment.
Swivel head one end and pole one end hinged so that the other end of swivel head can rotate around pin joint, and pole and rotation
Rotary head hinged place is provided with retaining mechanism, can carry out locked when swivel head rotates to arbitrarily angled around pin joint.Preferably, lock
Mechanism is electric lock mechanism, controls locking by control system by electric drive.In practical application, it would however also be possible to employ mechanical interlocking
Mechanism, such as adopts structure being tightened by bolts or being similar to Collapsible bicycle locking buckle etc..
Swivel head rotate to be in same plane with pole when, be in 0 degree with vertical plane, or swivel head rotate to horizontal position
Can accurately carry out locked when putting, be in 90 ° with vertical plane.When swivel head is in 0 degree with vertical plane, can be used for drawing and treat paving
Wall or floor tile, during with vertical plane in 90 °, can carry out the paving scraped slurry and carry out metope to Wall or floor tile.
As preferred, sucker fixed plate can be drawn in sucker and treat paving Wall or floor tile around swivel head other end axial-rotation
Afterwards, you can by rotating adjustment angle, so that the angle of Wall or floor tile is consistent with treating paving region.
Described swivel head is provided with can be scalable around the swingle of swivel head axial-rotation, swingle, and swingle can be stretched
Contracting end connects vibrator and leveling instrument.After work head is drawn floor tile or wall brick and carried out paving, vibrator is close to wall ground
Brick, vibrator vibration replaces the operation that rubber hammer beats Wall or floor tile, and leveling instrument is used for measuring Wall or floor tile with benchmark Wall or floor tile is
No flush.Vibrator and leveling instrument are respectively positioned on swingle expansion end, due to swingle can around swivel head axial-rotation, and
Because swingle is scalable, therefore vibrator and leveling instrument can cover most of area of monoblock Wall or floor tile (swingle be not
The region that telescopable portion covers mainly is occupied by sucker).Vibrator is used for applying vibration to Wall or floor tile, and its implementation does not have
Limit, such as movable eccentric wheel can be carried to realize by the way of rotating using vibrating motor.
Leveling instrument is close to treat paving Wall or floor tile and benchmark Wall or floor tile, leveling instrument can be LED, laser lamp or laser
Discharger.Taking LED as a example, the one side that leveling instrument is close to Wall or floor tile sends linear LED light, if LED light cannot be observed,
Then explanation treats that paving Wall or floor tile and benchmark Wall or floor tile maintain an equal level, and the construction precision at this reaches paving and requires, if observing LED light,
Then explanation treats that paving Wall or floor tile and benchmark Wall or floor tile also do not flush, and LED light spills from leveling instrument, needs Vibration on Start-up device to continue
Continuous vibration, until reaching construction requirement.The principle of laser lamp or laser beam emitting device is similar with LED, benchmark Wall or floor tile be
Treat the Wall or floor tile meeting paving required precision of the paving in paving regional edge.The Wall or floor tile of the present invention includes paving ground
Floor tile and paving metope wall brick.
Leveling instrument can also be pulse planometer, gyroscope, range sensor etc., as long as leveling instrument can feed back to control
System processed or workmen are with corresponding signal, and corresponding signal can be used for judgement and treats whether paving Wall or floor tile reaches construction essence
Degree requires.
Become one as preferred, described vibrating device and leveling instrument and constitute vibration leveling instrument, described
Vibration leveling instrument includes testing for level difference device, horizontal slide rail, vibrating motor and eccentric；Described testing for level difference device
It is arranged on horizontal slide rail and can slide along horizontal slide rail, described eccentric is connected with vibrating motor.During work, horizontal slide rail is horizontal
Across treating paving Wall or floor tile and benchmark Wall or floor tile, move testing for level difference device along horizontal slide rail, testing for level difference device feeds back
By feed back, its distance with Wall or floor tile, treats whether paving Wall or floor tile and the difference of benchmark Wall or floor tile distance meet construction precision
Require to decide whether Vibration on Start-up motor oscillating.Vibrating motor band movable eccentric wheel rotates thus realizing vibrating.
The invention also discloses a kind of wall ground paving robot, for the full-automatic or automanual paving realizing wall ground
Patch operation.Wall ground paving robot includes the wall ground paving work head of any of the above-described scheme, also includes wall ground construction auxiliary
Auxiliary system, described wall ground construction aid system includes frame main body, inclined degree detection sensor, control system, lifting
Platform, driving means, some elevating mechanisms and the universal wheel being connected with elevating mechanism；Described inclined degree detection sensor peace
It is contained in frame main body, some elevating mechanisms are located at frame main body bottom, described hoistable platform is arranged in frame main body, lead to
Over-driving device drives vertical lift, and described control system receives inclined degree detection sensor signal and controls elevating mechanism
Lifting, described control system is connected with driving means, and described pole is connected with hoistable platform by horizontal extension bar.
Described inclined degree detection sensor is used for detecting the tilt condition of frame main body, and works as to control system transmission
The tilt condition of lower bearing bracket main body, can be horizontal gyro, obliquity sensor etc. for measuring inclination angle with respect to the horizontal plane
The equipment of variable quantity.Control system judges whether that needs are adjusted after obtaining tilt condition, judge process can by with set
Determine the form that threshold value compares；It is adjusted when being tilted more than given threshold.Adjustment mode controls elevator for control system
The lifting of structure, such as when frame main body tilts towards a certain elevating mechanism, control system controls this elevating mechanism to rise, or controls
Elevating mechanism corresponding with this elevating mechanism declines；Through multiple adjustment until meeting the requirement of control system.The present invention passes through upper
State mechanism so that frame adjust elevating mechanism at any time in moving process or during run-off the straight so that frame main body all the time
Keep vertical position, lay the foundation for construction.
Hoistable platform vertical lifting in frame main body, hoistable platform is used for loading wall ground paving work head, due to machine
Frame body is vertical all the time, and hoistable platform moves vertically in frame main body, and work head can be driven by hoistable platform and realize vertically
The construction in direction.
Preferably, described driving means are motor, and motor in synchrony drives two reels, and the steel wire in a reel bypasses
Received by another reel after the pulley directly over hoistable platform, hoistable platform is connected with fixation with steel wire, pulley coaxle is pacified
Equipped with encoder, encoder is connected with control system；
Or described driving means are motor, motor is arranged on hoistable platform, and motor connection gear, in frame main body
Vertically-mounted have the tooth bar matching with described gear, and motor coaxle is provided with encoder, and encoder is connected with control system.
Or described driving means are motor, motor makes pulley rotation by chain or Timing Belt, and pulley passes through steel
Lifting realized by silk connection hoistable platform.
Above-mentioned steel wire motor or motor coaxle are provided with encoder, and encoder is used for knowing the height and position of hoistable platform,
Encoder is connected with control system, then can by control system make hoistable platform move to the height specified carry out paving or
Slurry is scraped to Wall or floor tile, this is even more important when carrying out paving to metope.
Preferably, according to height requirement, can be assembled by the way of multiple frame main body in the height direction stack combinations
Become to meet the frame main body of construction height requirement.The design of stack combinations can make frame main body, and in storage, the space that takies is more
Little, it is more convenient mobile and transport.
Preferably, described universal wheel is connected with control system, and control system controls the locked of universal wheel and rolls, and is needing
When wanting frame main body motionless, you can realized by locked universal wheel, when needing frame main body motion, you can unblock by controlling
System drive universal wheel rotates thus realizing moving.
Because hoistable platform needs to connect work head, and paving work head also needs to capture Wall or floor tile, and the arm of force is larger；Or rise
When fall platform moves to frame main body the top, the arm of force is also larger, and therefore as preferably, can arrange in the first frame can
Allotment pouring weight, adjustable counter balance block adjusts weight as needed, so that frame main body is stable.Preferably, described adjustable pouring weight
It is arranged in the first frame, be such as arranged on the first frame one end away from hoistable platform.Adjustable pouring weight be provided for reduce
The power of hoistable platform motor, makes frame main body more balance.
Equally in order that frame main body is more firm in construction, described frame main body bottom can arrange some scalable
Elongation bar, elevating mechanism is connected with frame main body bottom by elongation bar, and described elongation bar one end is arranged on frame main body
Bottom, the elongation bar other end connects elevating mechanism.Needing to strengthen the occasion of frame main body stability, elongation bar can stretched
Long, so that frame main body supports scope to increase.
The frame main body of the present invention includes the first frame, the second frame and the 3rd frame；Second frame and the 3rd frame are divided
Not Wei Yu the first frame both sides, and hinged with a side of the first frame, hinged design can make the second frame or
Three frames are folded with the first frame, reduce volume, convenient for collecting.When deployed, the second frame or the 3rd frame can be made
With the first frame at an angle, frame main body can be stood on the ground, such as makes the second frame and the 3rd frame all with first
Frame is in 90 degree, makes frame main body in T shape, frame main body can consolidate and stand.When at metope edge or the environment that has obstruction
During construction, also can by frame between folding meet construction requirement, it is to avoid construction dead angle appearance, with the rightest to a certain metope
As a example end carries out wall brick paving, hoistable platform when the frame on the right of the first frame is opened, may be hindered to reach metope
Right-hand member, now can make the frame on the right of the first frame fold with the first frame, make frame main body L-shaped, hoistable platform is
The low order end of metope to be onstructed can be reached, so that metope is not constructed dead angle.
For the ease of folding, in folding process, the elevating mechanism below that frame to be folded can be first controlled to receive
Rise, coupled universal wheel i.e. can be liftoff, thus realizing folding.Preferably, described hoistable platform is arranged in the first frame,
And be arranged on this article of side being hinged with the second frame or the 3rd frame.
Preferably, it is equipped with out between the first described frame and the second frame and between the first frame and the 3rd frame
Attach together and put, the controlled system of closing device controls, closing device is used for the automatic shutter realizing between frame, and lockable face to face
Position between frame, such as can be locked when the first frame is 0 or 90 ° with the second frame or with the angle of the 3rd frame.Described
Closing device can be door closer.
Elevating mechanism is distributed in frame main body bottom, can directly be connected with frame main body bottom, also can by expansion link with
Frame main body bottom is connected.Elevating mechanism connects universal wheel, as long as the distribution of elevating mechanism makes frame main body in all directions
Inclination all adjustable.Preferably, the first described bottom of the frame is respectively arranged at the two ends with an elevating mechanism, described second frame
It is equipped with an elevating mechanism with the 3rd frame away from the bottom of the frame of hinged side.
Photographic head for identifying Wall or floor tile is installed above described frame main body, photographic head is connected with control system,
Photographic head identifies the position of Wall or floor tile, so that the centre that sucker is directed at Wall or floor tile is drawn；When photographic head recognizes sucker
During the centre of misalignment Wall or floor tile, that is, send alarm or drive universal wheel to move by control system, until sucker be aligned
The centre of Wall or floor tile.When using two or more sucker, then the geometric center of multiple suckers can be made to be directed at Wall or floor tile
Centre.
The expansion end of described horizontal extension bar is provided with laser pickoff, and laser pickoff is connected with control system.
Laser pickoff is used for receiving laser signal, in horizontal extension bar telescopic process, when laser pickoff receives laser signal
Stop flexible afterwards.Preferably, described wall ground paving robot also includes laser beam emitting device；Described Laser emission dress
Put transmitting parallel to the laser treating paving construction face, laser forms laser datum face.When the elongation of horizontal extension bar carries out paving
Once laser pickoff receives laser stopping extending, show that wall brick paving, to setting regions, can be entered Vibration on Start-up device
Row vibration.
Described control system can be the chip of STM32F103C series, model STM32F103C8T6；In fact have
The singlechip chip of standby floating-point operation ability, processor can be used as the control system of the present invention, as supported floating-point operation
ARM single-chip microcomputer, Siemens, the PLC of Rhizoma Sparganii.The mode of control system motor or other executable mechanism can have two kinds：
A kind of is with integrated driving chip drive motor, and volume passage aisle is many, and concrete model is：L298N and LMD18200；Another kind of
It is that H bridge MOS drive circuit driving force is strong, use N ditch metal-oxide-semiconductor and its driving chip IR2184.
Compared with the prior art, the invention has the advantages that：
The wall ground paving work head of the present invention is turning after crawl Wall or floor tile, is easy to carry out scraping slurry to Wall or floor tile, that is,
Paving can be carried out to ground, also can carry out paving to metope.
The wall ground paving robot of the present invention keeps vertical state in real time, provides benchmark for paving operation；Photographic head is used
In identification Wall or floor tile so that Wall or floor tile centre drawn by sucker, elevating mechanism is vertically moved up or down, and by the feedback of encoder and
The control of control system reaches desired height；Wall or floor tile is turning, is easy to scrape slurry, and can be to metope paving.Leveling instrument and shaking
The design of dynamic device ensure that the required precision of construction.
The wall ground paving robot of the present invention can solve the problems, such as that corner etc. is not easy the mechanized construction of construction part, machine
Frame can fold and launch, convenient for collecting.The demand of metope paving and ground paving can be met simultaneously.
Brief description
Fig. 1 is the structural representation of the paving work head of the present invention；
Fig. 2 is the structural representation of the paving robot of the present invention；
Fig. 3 is the scheme of installation of the laser pickoff of the present invention.
Fig. 4 is the structural representation of the vibration leveling instrument of the present invention.
Fig. 5 is the outside schematic diagram of the vibration leveling instrument of the present invention.
Pole 1, swivel head 2, sucker fixed plate 3, sucker 4, swingle 5, vibrator 6, leveling instrument 7, Wall or floor tile 8, can
Telescopic end 9, handle 10, inclined degree detection sensor 11, hoistable platform 12, the first frame 13, the second frame 14, the 3rd frame
15th, elevating mechanism 16, universal wheel 17, elongation bar 18, closing device 19, horizontal extension bar 20, photographic head 21, driving means 22,
Air accumulator 23, air compressor machine 24, adjustable pouring weight 25, laser pickoff 26, testing for level difference device 71, base 72, vibrating motor
73rd, shell 74, eccentric 75, motor base 76.
Specific embodiment
With reference to Figure of description and embodiment, the present invention is further illustrated.It should be noted that the present invention
Embodiment be used for explaining the present invention, but on the premise of without departing substantially from the present invention, embodiment does not limit protection scope of the present invention.
Embodiment 1
As shown in figure 1, a specific embodiment of the wall ground paving work head for the present invention, wall ground in the present embodiment
Face paving work head includes pole 1, swivel head 2, sucker fixed plate 3, sucker 4, described pole 1 one end and swivel head 2 one end
Hinged, swivel head 2 other end is connected with sucker fixed plate 3, and sucker 4 is arranged in sucker fixed plate 3, and pole 1 is cut with scissors with swivel head 2
The place of connecing is provided with retaining mechanism it is preferred that retaining mechanism is electric lock mechanism, controls locking by control system by electric drive.
In practical application, it would however also be possible to employ mechanical interlock mechanism, it is tightened by bolts as adopted or is similar to Collapsible bicycle locking buckle
Structure etc..
Sucker 4 is used for producing negative pressure absorbing treats paving floor tile or wall brick, and sucker 4 can be connected with outside vaccum-pumping equipment,
As being connected with vacuum pump, air pump, air compressor machine etc., sucker 4 also can be first connected with air accumulator, then by air accumulator and outside evacuation
Equipment is connected.Pole is used for connecting external support equipment, such as frame or workbench, thus paving work head in wall ground is fixed on
Operation is used on support equipment, support equipment is preferably moveable equipment.
Swivel head 2 one end and pole 1 one end hinged so that the other end of swivel head 2 can rotate around pin joint, and pole 1
It is provided with retaining mechanism with swivel head 2 hinged place, can carry out when swivel head 2 rotates to arbitrarily angled around pin joint locked.At this
In embodiment, swivel head 2 rotate to pole 1 be in same plane when, that is, with vertical plane be in 0 degree when can accurately be locked
Extremely, or when swivel head 2 rotates to horizontal level, can accurately carry out locked when being in 90 ° with vertical plane.Swivel head 2 with vertically
When face is in 0 degree, can be used for drawing the Wall or floor tile 8 treating paving, during with vertical plane in 90 °, Wall or floor tile 8 can be carried out scraping slurry and carry out
The paving of metope.
Embodiment 2
On the basis of embodiment 1, sucker fixed plate 3 be provided with bearing around swivel head 2 junction, sucker fixed plate 3 can
Around swivel head 2 axial-rotation.Draw after paving Wall or floor tile in sucker, you can by rotating adjustment angle, so that Wall or floor tile
Angle consistent with treating paving region.
Embodiment 3
On the basis of embodiment 1 and 2, described swivel head 2 be provided with can around the swingle 5 of swivel head 2 axial-rotation,
Swingle 5 with bearing can be set around swivel head 2 junction realize axial-rotation, swingle 5 is scalable, swingle 5 scalable
End 9 connects vibrator 6 and leveling instrument 7.After work head is drawn floor tile or wall brick and carried out paving, vibrator is close to wall ground
Brick 8, vibrator 6 vibration replaces the operation that rubber hammer beats Wall or floor tile 8, and leveling instrument 7 is used for measuring Wall or floor tile 8 and benchmark wall ground
Whether brick 8 flushes.Vibrator 6 and leveling instrument 7 are respectively positioned on swingle 5 expansion end 9, because swingle 5 can be around swivel head 2
Axial-rotation, and because swingle 5 is scalable, therefore vibrator and leveling instrument 7 can cover the major part of monoblock Wall or floor tile 8
Area (region that the non-telescoping part of swingle 5 covers mainly is occupied by sucker 4).
Leveling instrument 7 is close to Wall or floor tile and the benchmark Wall or floor tile of paving, and leveling instrument 7 can be LED, leveling instrument 7
The one side being close to Wall or floor tile sends linear LED light, and Wall or floor tile and the base of paving, if observer cannot observe LED light, are described
Quasi- Wall or floor tile maintains an equal level, and the construction precision at this reaches paving and requires, and the wall ground of paving, if observer observes LED light, is described
Brick and benchmark Wall or floor tile also do not flush, and need Vibration on Start-up device to continue vibration, until reaching construction requirement.Benchmark Wall or floor tile is
The Wall or floor tile meeting paving required precision of the paving on treating paving regional edge.The Wall or floor tile 8 of the present invention includes paving
The floor tile on ground and the wall brick of paving metope.
Embodiment 4
In one embodiment of the invention, on the basis of embodiment 13, described sucker fixed plate 3 is provided with
Handle 10, is easy to workmen and work head is operated, such as carry out the upset of Wall or floor tile.
Embodiment 5
As described in Figure 4 and 5, compare in embodiment, described vibrating device and leveling instrument are integrated into one by the present embodiment
Body constitutes vibration leveling instrument, and described vibration leveling instrument includes testing for level difference device, horizontal slide rail, vibrating motor and partially
Heart wheel；Described testing for level difference device is arranged on horizontal slide rail and can slide along horizontal slide rail, described eccentric and vibration
Motor is connected.During work, horizontal slide rail, across treating paving Wall or floor tile and benchmark Wall or floor tile, moves testing for level difference along horizontal slide rail
Device, testing for level difference device feeds back the distance of itself and Wall or floor tile, treats paving Wall or floor tile and benchmark Wall or floor tile by feed back
Whether the difference of distance meets construction precision requires to decide whether Vibration on Start-up motor oscillating.Vibrating motor band movable eccentric wheel turns
Move thus realizing vibrating.
Embodiment 6
As shown in Fig. 2 being a specific embodiment of the wall ground paving robot of the present invention, described robot includes
Described wall ground paving work head and wall ground construction aid system, described wall ground construction aid system includes frame master
Body, inclined degree detection sensor 11, control system, hoistable platform 12, driving means 22, some elevating mechanisms 16 and with lifting
The universal wheel 17 that mechanism 16 is connected；Described inclined degree detection sensor 11 is arranged in frame main body, some elevating mechanisms
16 are located at frame main body bottom, and described hoistable platform 12 is arranged in frame main body, drive vertical liter by driving means 22
Fall, described control system receives inclined degree detection sensor 11 signal and controls the lifting of elevating mechanism 16, described control
System processed is connected with driving means 22.
Described inclined degree detection sensor 11 is used for detecting the tilt condition of frame main body, and sends to control system
Instantly the tilt condition of frame main body can be horizontal gyro, obliquity sensor etc. for measuring inclining with respect to the horizontal plane
The equipment of angle variable quantity.Control system judges whether that needs are adjusted after obtaining tilt condition, judge process can by with
The form that given threshold compares；It is adjusted when being tilted more than given threshold.Adjustment mode controls lifting for control system
The lifting of mechanism 16, such as when frame main body tilts towards a certain elevating mechanism, control system controls this elevating mechanism to rise, or
Elevating mechanism corresponding with this elevating mechanism is controlled to decline；Through multiple adjustment until meeting the requirement of control system.The present invention is led to
Cross above-mentioned mechanism, so that frame makes frame main body by adjusting elevating mechanism 16 in moving process or during run-off the straight
Remain vertical position, be that paving operation lays the foundation.
Described control system can be the chip of STM32F103C series, model STM32F103C8T6.Control system
The mode of motor or other executable mechanism can have two kinds：A kind of is with integrated driving chip drive motor, volume
Passage aisle is many, and concrete model is：L298N and LMD18200；Another kind is that H bridge MOS drive circuit driving force is strong, uses
N ditch metal-oxide-semiconductor and its driving chip IR2184.
Hoistable platform 12 vertical lifting in frame main body, hoistable platform 12 is used for loading wall ground paving work head, wall
The pole 1 of ground paving work head is connected with hoistable platform 12 by horizontal extension bar 20.Because frame main body is vertical all the time, rise
Fall platform 12 moves vertically in frame main body, and work head can be driven, by hoistable platform 12, the construction realizing vertical direction.
Embodiment 7
On the basis of previous embodiment, described driving means 22 are motor, Motor drive reel, the steel wire in reel
Bypass the pulley directly over hoistable platform, hoistable platform is connected with fixation with steel wire, pulley coaxle is provided with encoder, coding
Device is connected with control system.Hoistable platform realizes vertical lift by Motor drive, and encoder can feed back lifting to control system
The elevation information of platform.
Embodiment 8
On the basis of embodiment 7, for the ease of the storage of the steel wire through pulley, described frame main body is additionally provided with
Another reel, is received by another reel after the pulley that steel wire is placed through directly over hoistable platform, two volumes of Motor drive
Cylinder is synchronized with the movement.
Embodiment 9
On the basis of previous embodiment 6, described driving means are motor, and motor is arranged on hoistable platform, motor
Connect gear, vertically-mounted in frame main body have the tooth bar matching with described gear, and motor coaxle is provided with encoder, coding
Device is connected with control system.
Embodiment 10
On the basis of previous embodiment 6, described driving means are motor, and motor makes to slide by chain or Timing Belt
Wheel rotates, and pulley connects hoistable platform by steel wire and realizes lifting；
The motor of above-described embodiment 7-10 all can learn the position (highly) of hoistable platform by encoder.Then permissible
Make hoistable platform 12 move to the height specified by control system to carry out paving or scrape slurry to Wall or floor tile, this is being carried out to metope
It is even more important during paving.
Embodiment 11
On the basis of previous embodiment, in the present embodiment, described universal wheel 17 is connected with control system, controls system
System controls the locked of universal wheel 17 and rolls, and when needing frame main body motionless, you can realized by locked universal wheel 17, is needing
When wanting frame main body motion, you can unblock is thus realize moving.
Embodiment 12
Because hoistable platform 12 needs to connect work head, and paving work head also needs to capture Wall or floor tile, and the arm of force is larger；Or
When hoistable platform 12 moves to frame main body the top, the arm of force is also larger, and therefore conduct preferably, can be in the first frame 13
Adjustable pouring weight is set, and adjustable counter balance block adjusts weight as needed, so that frame main body is stable.Preferably, described adjustable
Balancing weight is arranged in the first frame 13, is such as arranged on the first frame 13 one end away from hoistable platform 12.Adjustable pouring weight
It is provided for reducing the power of hoistable platform 12 motor, so that frame main body is more balanced.
Embodiment 13
Equally in order that frame main body is more firm in construction, described frame main body bottom can arrange some scalable
Elongation bar 18, elevating mechanism 16 is connected with frame main body bottom by elongation bar 18, and described elongation bar 18 one end is arranged on
Frame main body bottom, elongation bar 18 other end connects elevating mechanism 16.Needing to strengthen the occasion of frame main body stability, permissible
Elongation bar 18 is extended, so that frame main body supports scope to increase.
Embodiment 14
On the basis of embodiment 6-13, in the present embodiment, frame main body includes the first frame 13, the second frame 14 and
3rd frame 15；Second frame 14 and the 3rd frame 15 are respectively positioned at the both sides of the first frame 13, and with the first frame 13
Bar side is hinged, and hinged design can make the second frame 14 or the 3rd frame 15 and the first frame 13 be folded, and reduces body
Long-pending, convenient for collecting.When deployed, the second frame 14 or the 3rd frame 15 and the first frame 13 can be made at an angle, frame
Main body can be stood on the ground, such as make the second frame 14 and the 3rd frame 15 all be in 90 degree with the first frame 13, make frame master
Body is in T shape, and frame main body can consolidate and stand.When metope edge or have obstruction environment construct when, also can pass through frame
Between folding meet construction requirement, it is to avoid construction dead angle appearance, carry out as a example wall brick paving by the low order end to a certain metope,
Frame on the right of the first frame 13 may hinder hoistable platform 12 to reach the low order end of metope when opening, now can make position
Frame in the first frame 13 the right is folded with the first frame 13, makes frame main body L-shaped, hoistable platform 12 can reach to be waited to apply
The low order end of work metope, makes metope not construct dead angle.
Embodiment 15
For the ease of folding, in folding process, can first control the elevating mechanism 16 below that frame to be folded
Pack up, coupled universal wheel 17 i.e. can be liftoff, thus realizing folding.Preferably, described hoistable platform 12 is arranged on first
In frame 13, and it is arranged on this article of side being hinged with the second frame 14 or the 3rd frame 15.
Embodiment 16
On the basis of previous embodiment, in the present embodiment, between the first described frame 13 and the second frame 14 with
And first be equipped with closing device 19 between frame 13 and the 3rd frame 15, the controlled system of closing device 19 controls, and folding fills
Put 19 for the automatic shutters of realizing between frame, and the position between lockable frame face to face, such as can the first frame 13 with
Second frame 14 or the angle with the 3rd frame 15 are locked when 0 or 90 °.Described closing device 19 closes in the present embodiment
Door device.
Embodiment 17
Elevating mechanism 16 is distributed in frame main body bottom, can directly be connected with frame main body bottom, also can pass through expansion link
It is connected with frame main body bottom.Elevating mechanism 16 connects universal wheel 17, as long as the distribution of elevating mechanism 16 makes frame main body exist
Inclination in all directions is all adjustable.On the basis of previous embodiment, in the present embodiment, described the first frame 13 bottom
Portion is respectively arranged at the two ends with an elevating mechanism 16, and described second frame 14 and the 3rd frame 15 are all provided with away from the bottom of the frame of hinged side
There is an elevating mechanism 16.
Embodiment 18
In the present embodiment, the photographic head 21 for identifying Wall or floor tile, photographic head are installed above described frame main body
21 are connected with control system, and photographic head 21 identifies Wall or floor tile, so that the centre that sucker is directed at Wall or floor tile is drawn；Work as shooting
During the centre that 21 recognize sucker misalignment Wall or floor tile, drive universal wheel 17 mobile by control system, until inhaling
Disk is directed at the centre of Wall or floor tile, when using two or more sucker, so that the geometric center of multiple suckers is aligned as far as possible
The centre of Wall or floor tile.
Embodiment 19
Introduce the workflow of robot of the present invention paving with the artificial example of wall ground paving machine shown in Fig. 2, in this example
The wall ground paving working head structure of Zhong Qiang ground paving robot is as shown in figure 1, driving means select the reality described in embodiment 6
Existing mode, vibration and leveling instrument select the mode described in embodiment 3：
A：Crawl Wall or floor tile:
Frame main body is opened, makes the second frame 14 and the 3rd frame 15 all be in 90 degree with the first frame 13, by automatically opening
Attach together and put 19 locked, frame main body is in T shape, and frame main body consolidates and stands；Wall or floor tile 8 weight according to treating paving is arranged can
The weight of allotment pouring weight 25, increases and decreases to adjustable pouring weight 25 also dependent on practical situation in operation process.Start machine people,
Region is stacked in robot movement to Wall or floor tile 8, swivel head 2 is in 0 degree with vertical plane, that is, sucker 4, just to level ground face, images
21 start and identify Wall or floor tile 8 center, by the lifting of the flexible of horizontal extension bar 20 and hoistable platform 12, make sucker
4 centers being eventually located at Wall or floor tile 8, start air compressor machine 24, and sucker 4 produces suction and firmly holds Wall or floor tile 8；
B:Wall or floor tile scrapes slurry
By mobile for robot to treating paving region, hoistable platform 12 drives paving work head to rise to certain altitude, upset
Wall or floor tile 8, makes swivel head 2 and the hinged place that vertical plane is in 90 degree and locked swivel head 2 and pole 1；Sucker fixed plate 3 is around rotation
2 axial-rotations, make Wall or floor tile 8 adjust to all vertical state of two sides；
Wall or floor tile 8 bottom surface is carried out scraping slurry, scrapes slurry process and can scrape slurry manually, also optional other is scraped slurry auxiliary equipment and carried out
Scrape slurry.
C1：Ground paving
Unblock swivel head 2 and pole 1 hinged place, make swivel head 2 be restored to vertical plane locked, now Wall or floor tile 8
It is the level of state；Adjustment frame main body position, makes Wall or floor tile 8 just treat paving region.Driving means 22 slowly drive lifting flat
Platform 12 declines, and Wall or floor tile 8 paving is on treating paving region.
C2：Metope paving
Wall or floor tile 8 scrapes holding vertical state after slurry finishes, adjustment frame main body position and hoistable platform 12 position, makes wall ground
Paving region just treated by brick 8.Elongation level expansion link 20, treats paving region until Wall or floor tile 8 is located at.
Embodiment 20
As shown in figure 3, in the present embodiment, the expansion end of described horizontal extension bar 20 is provided with laser pickoff
26, laser pickoff 26 is connected with control system.In paving, parallel with the metope treating paving by laser transmitter projects
Linear laser, laser place plane is as datum level during robot paving.When horizontal extension bar 20 elongation carries out paving, one
On denier horizontal extension bar 20, laser pickoff receives laser and thinks that Wall or floor tile has arrived at the setting regions of metope, and level is stretched
Contracting bar 20 stops elongation, now can Vibration on Start-up device be vibrated.
D：Vibration adjustment ensures paving precision
When Wall or floor tile 8 paving is on metope or ground, by the length of rotating rotary rods 5, the extended end of adjustment, make to shake
Dynamic device 6 is located at Wall or floor tile 8 region needing vibration, and Wall or floor tile 8 is vibrated；And detect Wall or floor tile 8 using leveling instrument 7
Construction precision,
Leveling instrument 7 is close to Wall or floor tile and benchmark Wall or floor tile, and the one side that leveling instrument 7 is close to Wall or floor tile sends linear LED
Light, measuring method is：If observer cannot observe LED light, illustrate that the Wall or floor tile of paving and benchmark Wall or floor tile maintain an equal level, at this
Construction precision reach paving and require, if observer observes LED light, illustrate that the Wall or floor tile of paving and benchmark Wall or floor tile also do not have
Flush, need Vibration on Start-up device to continue vibration, until reaching construction requirement.Benchmark Wall or floor tile is on treating paving regional edge
The Wall or floor tile meeting paving required precision of paving.
Mobile vibrator and leveling instrument, to zones of different, are vibrated and are measured, until meeting construction requirement.Paving is complete
After finishing, air compressor machine makes sucker separate with Wall or floor tile, continues the paving of next Wall or floor tile.
Embodiment 21
The present embodiment vibrates leveling instrument using integral type as shown in Figure 4 and Figure 5 and replaces the vibrator in embodiment 20
And leveling instrument；Described vibration leveling instrument includes testing for level difference device, horizontal slide rail, vibrating motor and eccentric；Institute
The testing for level difference device stated is arranged on horizontal slide rail and can slide along horizontal slide rail, described eccentric and vibrating motor phase
Even.
When Wall or floor tile 8 paving is on metope or ground, by the length of rotating rotary rods 5, the extended end of adjustment, make to shake
The horizontal slide rail of dynamic leveling instrument is across treating paving Wall or floor tile and benchmark Wall or floor tile.Along horizontal slide rail mobile testing for level difference dress
Put, testing for level difference device feeds back the distance of itself and Wall or floor tile, by feedback treat paving Wall or floor tile and benchmark Wall or floor tile away from
From difference whether meet construction precision and require to decide whether Vibration on Start-up motor oscillating.During Vibration on Start-up motor, vibration electricity
Machine band movable eccentric wheel rotates thus realizing vibrating, until meeting construction requirement.
On the premise of without departing substantially from present inventive concept, improve or optimization in conjunction with prior art is made for the present invention, and
All of embodiment etc. still falls within protection scope of the present invention.
Claims (11)
1. a kind of wall ground paving work head, including sucker fixed plate and sucker it is characterised in that also including pole and swivel head,
Described pole one end is hinged with swivel head one end, and the swivel head other end is connected with sucker fixed plate, and it is solid that sucker is arranged on sucker
In fixed board, pole and swivel head hinged place are provided with retaining mechanism.
2. wall ground according to claim 1 paving work head is it is characterised in that described sucker fixed plate can be around rotation
The axial-rotation of head, swivel head is provided with can be scalable around the swingle of swivel head axial-rotation, swingle, and swingle is scalable
End is provided with vibrating device and leveling instrument.
3. wall ground according to claim 2 paving work head is it is characterised in that described vibrating device and leveling instrument
The composition that becomes one vibration leveling instrument, described vibration leveling instrument includes testing for level difference device, horizontal slide rail, vibration
Motor and eccentric；Described testing for level difference device is arranged on horizontal slide rail and can slide along horizontal slide rail, described bias
Wheel is connected with vibrating motor.
4. a kind of wall ground paving robot is it is characterised in that inclusion wall ground construction aid system and claims 1 to 3 are arbitrary
Wall ground paving work head described in, described wall ground construction aid system includes frame main body, inclined degree detection passes
Sensor, control system, hoistable platform, driving means, some elevating mechanisms and the universal wheel being connected with elevating mechanism；Described inclines
Tiltedly degree detecting sensor is arranged in frame main body, and some elevating mechanisms are located at frame main body bottom, described hoistable platform
It is arranged in frame main body, drives vertical lift by driving means, described control system receives inclined degree detection sensing
Device signal simultaneously controls the lifting of elevating mechanism, and described control system is connected with driving means, described pole and hoistable platform
Between by horizontal extension bar be connected.
5. wall ground paving robot according to claim 4 is it is characterised in that described frame main body includes the first machine
Frame, the second frame and the 3rd frame；Second frame and the 3rd frame are located at the both sides of the first frame respectively, and with the first frame
Article one, side is hinged, and described hoistable platform is arranged on this side of the first frame, the first described frame and the second frame it
Between and the first frame and the 3rd frame between be equipped with closing device, closing device is connected with control system, closing device control
Make the second frame and the opening and folding with respect to the first frame of the 3rd frame, and can be dead in any angle lock.
6. wall ground paving robot according to claim 4 is it is characterised in that described driving means are motor, motor
Two reels of synchronous driving, the steel wire in a reel bypasses to be received by another reel after the pulley directly over hoistable platform
Receive, hoistable platform is connected with fixation with steel wire, pulley coaxle is provided with encoder, encoder is connected with control system；
Or described driving means are motor, motor is arranged on hoistable platform, motor connection gear, in frame main body vertically
The tooth bar being matched with described gear is installed, motor coaxle is provided with encoder, encoder is connected with control system.
If 7. wall ground paving robot according to claim 4 is it is characterised in that described frame main body bottom is provided with
Do telescopic elongation bar, elevating mechanism is connected with frame main body bottom by elongation bar, and described elongation bar one end is arranged on
Frame main body bottom, the elongation bar other end connects elevating mechanism.
8. wall ground paving robot according to claim 5 it is characterised in that described frame main body be provided with adjustable
Balancing weight, described adjustable pouring weight is arranged on the first frame one end away from hoistable platform.
9. wall ground paving robot according to claim 4 is it is characterised in that be provided with above described frame main body
For identifying the photographic head of Wall or floor tile position, photographic head is connected with control system.
10. wall ground paving robot according to claim 4 it is characterised in that described horizontal extension bar scalable
End is provided with laser pickoff, and laser pickoff is connected with control system.
11. wall ground paving robots according to claim 10 are it is characterised in that described paving robot also includes
Laser beam emitting device；Described laser beam emitting device is launched parallel to the laser datum face treating paving construction face.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610970420.1A CN106381990B (en) | 2016-11-04 | 2016-11-04 | Wall ground paving robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610970420.1A CN106381990B (en) | 2016-11-04 | 2016-11-04 | Wall ground paving robot |
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| CN106381990B CN106381990B (en) | 2018-08-21 |
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| CN108222449A (en) * | 2017-11-29 | 2018-06-29 | 江苏阿尔博装饰工程有限公司 | A kind of vertical automatic Wall brick device of construction |
| CN108035524A (en) * | 2017-12-18 | 2018-05-15 | 刘静 | A kind of insulation polyurethane foam cement exterior wall cladding automated construction machinery |
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