CN106381990B - Wall ground paving robot - Google Patents

Wall ground paving robot Download PDF

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Publication number
CN106381990B
CN106381990B CN201610970420.1A CN201610970420A CN106381990B CN 106381990 B CN106381990 B CN 106381990B CN 201610970420 A CN201610970420 A CN 201610970420A CN 106381990 B CN106381990 B CN 106381990B
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China
Prior art keywords
rack
paving
floor tile
frame main
ground
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CN201610970420.1A
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CN106381990A (en
Inventor
施世清
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ZHEJIANG BAISHITONG INTELLIGENT TECHNOLOGY Co.,Ltd.
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Zhejiang One Hundred Tong Network Technology Co Ltd
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Priority to CN201610970420.1A priority Critical patent/CN106381990B/en
Publication of CN106381990A publication Critical patent/CN106381990A/en
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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04FFINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00Implements for finishing work on buildings
    • E04F21/18Implements for finishing work on buildings for setting wall or ceiling slabs or plates
    • E04F21/1894Lever-type lifters gripping the bottom edge of wall panels
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04FFINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00Implements for finishing work on buildings
    • E04F21/20Implements for finishing work on buildings for laying flooring
    • E04F21/22Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs

Abstract

The invention discloses a kind of wall ground paving robots, belong to building machinery field.For the paving of wall ground can not do mechanization operation the problem of, wall ground paving robot of the invention keeps vertical state in real time, and benchmark is provided for paving operation;Camera Wall or floor tile for identification so that sucker draws Wall or floor tile centre, elevating mechanism vertical lift, and reaches desired height by the control of the feedback and control system of encoder;Work head may be reversed after capturing Wall or floor tile, convenient for carrying out scraping slurry to Wall or floor tile, you can carries out paving to ground, also can carry out paving to metope, the design of leveling instrument and vibrator 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, and rack can fold and be unfolded, convenient for collecting, can meet the needs of metope paving and ground paving simultaneously.

Description

Wall ground paving robot
Technical field
The invention belongs to building machinery field more particularly to a kind of wall ground paving work head and wall ground paving machines 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 implementation, the experience and technology of construction personnel to directly affect the quality of job engineering, applied in reality Worker person's technology is irregular, and to cause quality stability poor, construction speed is slow.Construction worker must use long time and Consume prodigious muscle power, the high problem that time-consuming, human cost is high of labor intensity.
Floor tile and stone material paving gimmick have two methods of a dry-laid method and wet-laid process, dry-laid be easier it is levelling, but because The out-of-flatness of binder course easy tos produce hollowing.Wet-laid process because cement mortar consistency it is relatively low, be not easy in work progress it is levelling, fit Close the laying of the floor tile of reduced size, it is not easy to hollowing.
Wall brick paving at present generally uses wet-laid process, floor tile paving generally to use dry-laid method, and dry-laid work flow is half-dried Cement mortar is paved>Fill water mud->Scrape water mud-in paving object bottom surface>Paving->Rubber hammer strikes reality, and whole flow process there is no Effective mechanized equipment can substitute manual work, also can assist dry-laid method operation without effective ancillary equipment.
Wet-laid process equally faces the awkward situation that manual work can be substituted without effective mechanized equipment, dry-laid method and wet-laid process Under no do mechanization operation, artificial implementation can only be relied on, therefore the experience of construction personnel and technology directly affect job engineering Quality and efficiency, and construction personnel's technology is irregular in reality, to cause paving quality stability poor, construction speed Slowly, and levelling paving subitem labor intensity itself is big, and working environment is poor, and human cost is higher and higher.
Do not occur more simultaneously suitable for the mechanized equipment of dry-laid method and wet-laid process at present.If therefore thering is a kind of machinery to set The standby stability that can quickly improve quality, while being suitable for dry-laid method and wet-laid process operation, and independent of construction personnel Experience and technology, meet the quality standard of each construction link by mechanization completely, easily, fast fulfil assignment, that will To the prodigious benefit of social creativity.
Invention content
The purpose of the present invention is overcome the deficiencies in the prior art, and standard is carried out by the links to traditional paving gimmick Change it is regular, reach each link can do mechanization operation, the present invention provides a kind of wall ground paving work head and the pavings of wall ground Robot can replace traditional artificial operation, solve many drawbacks.
Technical scheme is as follows:
Present invention firstly provides a kind of wall ground paving work head, including strut, swivel head, sucker fixed plate, sucker, Described strut one end is hinged with swivel head one end, and the swivel head other end is connected with sucker fixed plate, and sucker is solid mounted on sucker On fixed board, strut is equipped with retaining mechanism with swivel head hinged place.
Sucker waits for that paving floor tile or wall brick, sucker can be connected with external vaccum-pumping equipment for generating negative pressure absorbing, such as It is connected with vacuum pump, air pump etc., sucker also can first be connected with air accumulator, then be connected with external vaccum-pumping equipment by air accumulator.
Strut is for connecting external support equipment, such as rack or workbench.Paving work head in wall ground is fixed on support It can be used to operation in equipment, support equipment is preferably the equipment that can be moved easily.
Swivel head one end is hinged with strut one end so that the other end of swivel head can be rotated around hinge joint, and strut and rotation Rotary head hinged place is equipped with retaining mechanism, can be locked when swivel head rotates to any angle around hinge joint.Preferably, it locks Mechanism is electric lock mechanism, is controlled and is locked by electric drive by control system.In practical application, mechanical interlocking can also be used Mechanism is tightened by bolts or the structure of similar Collapsible bicycle locking buckle such as adopted.
Swivel head rotates to horizontal position with vertical plane when rotating to strut in same plane in 0 degree or swivel head It can accurately be locked when setting, i.e., be in 90 ° with vertical plane.When swivel head is in 0 degree with vertical plane, it can be used for drawing and wait for paving Wall or floor tile when being in 90 ° with vertical plane, can carry out Wall or floor tile to scrape slurry and carry out the paving of metope.
Preferably, sucker fixed plate can wait for paving Wall or floor tile around swivel head other end axial-rotation in sucker absorption Afterwards, you can adjusted the angle by rotating, so that the angle of Wall or floor tile is consistent with paving region is waited for.
The swivel head is equipped with can be around the swingle of swivel head axial-rotation, and swingle is scalable, and swingle can be stretched Contracting end connects vibrator and leveling instrument.After work head draws floor tile or wall brick and carries out paving, vibrator is with being close to wall Brick, vibrator vibration substitution rubber hammer beat the operation of Wall or floor tile, and leveling instrument is for measuring Wall or floor tile and benchmark Wall or floor tile It is no to flush.Vibrator and leveling instrument are respectively positioned on swingle expansion end, since swingle can be around swivel head axial-rotation, again Since swingle is scalable, vibrator and leveling instrument can cover most of area of monoblock Wall or floor tile (swingle be not The region of telescopable portion covering is mainly occupied by sucker).Vibrator, which is used to apply Wall or floor tile, to be vibrated, and realization method does not have Limitation, such as can be used the mode that vibrating motor is rotated with movable eccentric wheel and realizes.
Leveling instrument is close to wait for that paving Wall or floor tile and benchmark Wall or floor tile, leveling instrument can be LED light, laser lamp or laser Emitter.By taking LED light as an example, what leveling instrument was close to Wall or floor tile sends out linear LED light on one side, if LED light can not be observed, Then explanation waits for that paving Wall or floor tile and benchmark Wall or floor tile maintain an equal level, and the construction precision at this reaches paving requirement, if observing LED light, Then explanation wait for that paving Wall or floor tile and benchmark Wall or floor tile flush not yet, LED light from leveling instrument leak out, need Vibration on Start-up device after Continuous vibration, until reaching construction requirement.The principle of laser lamp or laser beam emitting device is similar with LED light, benchmark Wall or floor tile be Wait for the Wall or floor tile for 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 construction personnel are with corresponding signal, and corresponding signal can be used for judging waiting for whether paving Wall or floor tile reaches construction essence Degree requires.
Preferably, the vibrating device and leveling instrument becomes one, composition vibration leveling instrument, described It includes testing for level difference device, horizontal slide rail, vibrating motor and eccentric wheel to vibrate leveling instrument;The testing for level difference device It can be slided along horizontal slide rail on horizontal slide rail, the eccentric wheel is connected with vibrating motor.When work, horizontal slide rail is horizontal Across waiting for paving Wall or floor tile and benchmark Wall or floor tile, testing for level difference device is moved along horizontal slide rail, testing for level difference device is fed back It waits for whether paving Wall or floor tile and the difference of benchmark Wall or floor tile distance meet construction precision at a distance from Wall or floor tile, by feedback It is required that decide whether Vibration on Start-up motor oscillating.Vibrating motor band movable eccentric wheel rotates to realize vibration.
The invention also discloses a kind of wall ground paving robots, for the full-automatic or automanual paving for realizing wall ground Paste operation.Wall ground paving robot includes the wall ground paving work head of any of the above-described scheme, further includes that wall ground construction is auxiliary Auxiliary system, the wall ground construction auxiliary system include frame main body, inclined degree detection sensor, control system, lifting Platform, driving device, several elevating mechanisms and the universal wheel being connected with elevating mechanism;The inclined degree detection sensor peace In frame main body, several elevating mechanisms are located at frame main body bottom, and the hoistable platform is mounted in frame main body, is led to Over-driving device driving vertical lift, the control system receive inclined degree detection sensor signal and control elevating mechanism Lifting, the control system connect with driving device, and the strut is connected by horizontal extension bar with hoistable platform.
The inclined degree detection sensor is used to detect 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 that horizontal gyro, obliquity sensor etc. are used for measuring inclination angle with respect to the horizontal plane The equipment of variable quantity.Control system obtains judging whether after tilt condition to need to be adjusted, deterministic process can by with set Determine the form of threshold value comparison;It is adjusted when being tilted more than given threshold.System controls elevator to adjustment mode in order to control The lifting of structure, such as when frame main body is tilted towards a certain elevating mechanism, control system controls elevating mechanism rise, or control Elevating mechanism corresponding with the elevating mechanism declines;Through repeatedly adjusting the requirement until meeting control system.The present invention passes through upper Mechanism is stated, rack can be made to adjust elevating mechanism in moving process or when run-off the straight at any time so that frame main body is always Vertical position is kept, is laid the foundation for construction.
Hoistable platform vertical lifting in frame main body, hoistable platform is for loading wall ground paving work head, due to machine Frame body is vertical always, 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, the driving device is motor, and motor synchronizes two reels of driving, and the steel wire in a reel bypasses It is stored by another reel after the pulley right over hoistable platform, hoistable platform is connect with fixation with steel wire, pulley coaxle peace Equipped with encoder, encoder is connected with control system;
Or the driving device is motor, motor is mounted on hoistable platform, motor connection gear, in frame main body It is vertically-mounted have encoder is installed with the matched rack of the gear, motor coaxle, encoder is connected with control system.
Or the driving device is motor, motor makes pulley rotation, pulley pass through steel by chain or synchronous belt Silk connection hoistable platform realizes lifting.
Above-mentioned steel wire motor or motor coaxle are equipped with encoder, and encoder is used to know the height and position of hoistable platform, Encoder is connected with control system, can then be made by control system hoistable platform be moved to specified height 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, the mode that multiple frame main bodies stack combinations in the height direction can be used assembles At the frame main body for meeting construction height requirement.The design of stack combinations can make frame main body storage when the space occupied more It is small, it is more convenient mobile and transport.
Preferably, the 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 to move, you can unlock and by controlling System drive universal wheel rotates to realize movement.
Since hoistable platform needs to connect work head, and paving work head also needs to crawl Wall or floor tile, and the arm of force is larger;Or it rises For drop platform when being moved to frame main body the top, the arm of force is also larger, therefore preferably, can be arranged in the first rack can Pouring weight is allocated, adjustable counter balance block adjusts weight as needed, so that frame main body is stablized.Preferably, the adjustable pouring weight In the first rack, it is such as mounted on the one end of the first rack far from hoistable platform.The setting of adjustable pouring weight is for reducing The power of hoistable platform driving motor, makes frame main body more balance.
For the purposes of keeping frame main body more firm in construction, the frame main body lower part can be arranged several scalable Elongation bar, elevating mechanism is connected by elongation bar with frame main body bottom, and described elongation bar one end is mounted on frame main body Bottom, the elongation bar other end connect elevating mechanism.In the occasion for needing enhancing frame main body stability, elongation bar can be stretched It is long, so that frame main body support range increases.
The frame main body of the present invention includes the first rack, the second rack and third rack;Second rack and third rack point Not Wei Yu the first rack both sides, and hinged with a side of the first rack, hinged design can make the second rack or the Three racks are folded with the first rack, reduce volume, convenient for collecting.When in use, the second rack or third rack can be made At an angle with the first rack, frame main body can stand on the ground, such as make the second rack and third rack with first Rack is in 90 degree, keeps frame main body in T shape, frame main body can consolidate standing.When at metope edge or having the environment of obstruction It when construction, also can meet construction requirement by the folding between rack, the appearance at construction dead angle be avoided, with to the most right of a certain metope For end carries out wall brick paving, the rack on the right of the first rack may hinder hoistable platform to reach metope most when opening Right end can be such that the rack being located on the right of the first rack is folded with the first rack, keep frame main body L-shaped, hoistable platform is at this time The right end for reaching metope to be onstructed makes metope not construct dead angle.
For the ease of folding, in folding process, it can first control the elevating mechanism below that rack to be folded and receive It rises, coupled universal wheel i.e. can be liftoff, is folded to realize.Preferably, the hoistable platform is mounted in the first rack, And on this side being hinged with the second rack or third rack.
Preferably, it is equipped with out between first rack and the second rack and between the first rack and third rack Attach together and set, closing device is controlled by control system, closing device for realizing the automatic shutter between rack, and it is lockable face to face Position between rack, such as can be locked when angle of first rack with the second rack or with third rack is 0 or 90 °.It is 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 telescopic rod with Frame main body bottom is connected.Elevating mechanism connect universal wheel, if the distribution of elevating mechanism so that frame main body in all directions Inclination it is adjustable.Preferably, the first bottom of the frame both ends are respectively provided with an elevating mechanism, second rack It is all provided with that there are one elevating mechanisms with bottom of the frame of the third rack far from hinged side.
The camera of Wall or floor tile for identification is installed above the frame main body, camera is connected with control system, Camera identifies the position of Wall or floor tile, and the centre of sucker alignment Wall or floor tile is made to be drawn;When camera recognizes sucker When the centre of misalignment Wall or floor tile, that is, sends out alarm or universal wheel movement is driven by control system, until sucker is aligned The centre of Wall or floor tile.When using two or more suckers, then the geometric center of multiple suckers may make to be directed at Wall or floor tile Centre.
The expansion end of the horizontal extension bar is equipped with laser pickoff, and laser pickoff is connected with control system. Laser pickoff is for receiving laser signal, in horizontal extension bar telescopic process, when laser pickoff receives laser signal Stop afterwards flexible.Preferably, the wall ground paving robot further includes laser beam emitting device;The Laser emission dress It sets transmitting and is parallel to the laser for waiting for paving construction face, laser forms laser datum face.When horizontal extension bar, which extends, carries out paving Once laser pickoff, which receives laser, stops elongation, show wall brick paving to setting regions, can Vibration on Start-up device into Row vibration.
The control system can be the chip of STM32F103C series, model STM32F103C8T6;In fact have Singlechip chip, the processor of standby floating-point operation ability can be used as the control system of the present invention, as supported floating-point operation ARM microcontrollers, Siemens, Mitsubishi PLC.The mode of control system driving motor or other executable mechanisms can there are two types of: One is motor is driven with integrated driving chip, volume passage aisle is more, and concrete model is:L298N and LMD18200;It is another It is that H bridge MOS drive circuit driving capabilities are strong, uses N ditches 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 may be reversed after capturing Wall or floor tile, convenient for carrying out scraping slurry to Wall or floor tile, i.e., Paving can be carried out to ground, can also carry out paving to metope.
The wall ground paving robot of the present invention keeps vertical state in real time, and benchmark is provided for paving operation;Camera is used In identification Wall or floor tile so that sucker draws Wall or floor tile centre, elevating mechanism vertical lift, and by the feedback of encoder and The control of control system reaches desired height;Wall or floor tile may be reversed, convenient for scraping slurry, and can be to metope paving.It leveling instrument and shakes 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 be unfolded, convenient for collecting.Can meet the needs of metope paving and ground paving simultaneously.
Description of the drawings
Fig. 1 is the structural schematic diagram of the paving work head of the present invention;
Fig. 2 is the structural schematic diagram 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 schematic diagram 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.
Strut 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 rack 13, the second rack 14, third rack 15, elevating mechanism 16, universal wheel 17, elongation bar 18, closing device 19, horizontal extension bar 20, camera 21, driving device 22, Air accumulator 23, air compressor machine 24, adjustable pouring weight 25, laser pickoff 26, testing for level difference device 71, pedestal 72, vibrating motor 73, shell 74, eccentric wheel 75, motor base 76.
Specific implementation mode
The present invention is further illustrated with embodiment with reference to the accompanying drawings of the specification.It should be noted that the present invention Embodiment for explaining the present invention, but under 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, specific embodiment of the wall ground paving work head for the present invention, wall in the present embodiment Face paving work head includes strut 1, swivel head 2, sucker fixed plate 3, sucker 4, described 2 one end of 1 one end of strut and swivel head Hinged, 2 other end of swivel head is connected with sucker fixed plate 3, and sucker 4 is mounted in sucker fixed plate 3, and strut 1 is cut with scissors with swivel head 2 It meets place and is equipped with retaining mechanism, it is preferred that retaining mechanism is electric lock mechanism, is controlled and is locked by electric drive by control system. In practical application, mechanical interlock mechanism can also be used, as adopt be tightened by bolts or similar Collapsible bicycle locking buckle Structure etc..
Sucker 4 waits for that paving floor tile or wall brick, sucker 4 can be connected with external vaccum-pumping equipment for generating negative pressure absorbing, Such as it is connected with vacuum pump, air pump, air compressor machine, sucker 4 also can first be connected with air accumulator, then be vacuumized by air accumulator and external Equipment is connected.Strut is for connecting external support equipment, such as rack or workbench, to which paving work head in wall ground to be fixed on Operation is used in support equipment, support equipment to be preferably moveable equipment.
2 one end of swivel head is hinged with 1 one end of strut so that the other end of swivel head 2 can be rotated around hinge joint, and strut 1 It is equipped with retaining mechanism with 2 hinged place of swivel head, can be locked when swivel head 2 rotates to any angle around hinge joint.At this In embodiment, swivel head 2 can accurately be locked when rotating to strut 1 in same plane when being in 0 degree with vertical plane When extremely or swivel head 2 rotates to horizontal position, i.e., can accurately it be locked when being in 90 ° with vertical plane.Swivel head 2 with it is vertical When face is in 0 degree, it can be used for drawing the Wall or floor tile 8 for waiting for paving, when being in 90 ° with vertical plane, Wall or floor tile 8 can be carried out to scrape slurry and progress The paving of metope.
Embodiment 2
On the basis of embodiment 1, sucker fixed plate 3 is equipped with bearing with around 2 junction of swivel head, and sucker fixed plate 3 can Around 2 axial-rotation of swivel head.It is drawn after paving Wall or floor tile in sucker, you can adjusted the angle by rotating, so that Wall or floor tile Angle it is consistent with paving region is waited for.
Embodiment 3
On the basis of Examples 1 and 2, the swivel head 2 be equipped with can around the swingle 5 of 2 axial-rotation of swivel head, Swingle 5 with around 2 junction of swivel head can be arranged bearing realize axial-rotation, swingle 5 is scalable, swingle 5 it is scalable 9 connection vibrator 6 of end and leveling instrument 7.After work head draws floor tile or wall brick and carries out paving, vibrator is with being close to wall Brick 8, the vibration substitution rubber hammer of vibrator 6 beat the operation of Wall or floor tile 8, and leveling instrument 7 is for measuring Wall or floor tile 8 with benchmark wall Whether brick 8 flushes.Vibrator 6 and leveling instrument 7 are respectively positioned on 5 expansion end 9 of swingle, since swingle 5 can be around swivel head 2 Axial-rotation, and since swingle 5 is scalable, vibrator and leveling instrument 7 can cover the major part of monoblock Wall or floor tile 8 Area (region of 5 non-telescoping part of swingle covering is mainly occupied by sucker 4).
Leveling instrument 7 is close to the Wall or floor tile and benchmark Wall or floor tile of paving, and leveling instrument 7 can be LED light, leveling instrument 7 That is close to Wall or floor tile sends out linear LED light on one side, if observer can not observe LED light, illustrates the Wall or floor tile and base of paving Quasi- Wall or floor tile maintains an equal level, and the construction precision at this reaches paving requirement, if observer observes LED light, with illustrating the wall of paving Brick and benchmark Wall or floor tile flush not yet, need Vibration on Start-up device to continue to vibrate, until reaching construction requirement.Benchmark Wall or floor tile is The Wall or floor tile for meeting paving required precision of paving on waiting for paving regional edge.The Wall or floor tile 8 of the present invention includes paving The wall brick of the floor tile and paving metope on ground.
Embodiment 4
In one embodiment of the invention, it on the basis of embodiment 1-3, is equipped in the sucker fixed plate 3 Handle 10, operates work head convenient for construction personnel, such as carries out the overturning of Wall or floor tile.
Embodiment 5
It as described in Figure 4 and 5, is compared in embodiment, the vibrating device and leveling instrument are integrated into one by the present embodiment Body constitute vibration leveling instrument, the vibration leveling instrument include testing for level difference device, horizontal slide rail, vibrating motor and partially Heart wheel;The testing for level difference device is mounted on horizontal slide rail and can be slided along horizontal slide rail, the eccentric wheel and vibration Motor is connected.When work, horizontal slide rail moves testing for level difference across paving Wall or floor tile and benchmark Wall or floor tile is waited for along horizontal slide rail Device, testing for level difference device feed back it at a distance from Wall or floor tile, paving Wall or floor tile and benchmark Wall or floor tile are waited for by feedback Whether the difference of distance meets construction precision requirement to decide whether Vibration on Start-up motor oscillating.Vibrating motor band movable eccentric wheel turns It is dynamic to be vibrated to realize.
Embodiment 6
As shown in Fig. 2, a specific embodiment of the wall ground paving robot for the present invention, the robot include The wall ground paving work head and wall ground construction auxiliary system, the wall ground construction auxiliary system includes rack master Body, inclined degree detection sensor 11, control system, hoistable platform 12, driving device 22, several elevating mechanisms 16 and with lifting The connected universal wheel 17 of mechanism 16;The inclined degree detection sensor 11 is mounted in frame main body, several elevating mechanisms 16 are located at frame main body bottom, and the hoistable platform 12 is mounted in frame main body, and vertical liter is driven by driving device 22 Drop, the control system receive 11 signal of inclined degree detection sensor and control the lifting of elevating mechanism 16, the control System processed is connect with driving device 22.
The inclined degree detection sensor 11 is used to detect the tilt condition of frame main body, and is sent to control system Instantly the tilt condition of frame main body can be that horizontal gyro, obliquity sensor etc. are used for measuring inclining with respect to the horizontal plane The equipment of angle variable quantity.Control system obtains judging whether after tilt condition to need to be adjusted, deterministic process can by with The form that given threshold compares;It is adjusted when being tilted more than given threshold.Adjustment mode system control lifting in order to control The lifting of mechanism 16, such as when frame main body is tilted towards a certain elevating mechanism, control system controls elevating mechanism rise, or Control elevating mechanism corresponding with the elevating mechanism declines;Through repeatedly adjusting the requirement until meeting control system.The present invention is logical Above-mentioned mechanism is crossed, rack can be made to make frame main body in moving process or when run-off the straight by adjusting elevating mechanism 16 It remains vertical position, lays the foundation for paving operation.
The control system can be the chip of STM32F103C series, model STM32F103C8T6.Control system The mode of driving motor or other executable mechanisms can there are two types of:One is drive motor, volume with integrated driving chip Passage aisle is more, and concrete model is:L298N and LMD18200;Another kind is that H bridge MOS drive circuit driving capabilities are strong, is used N ditches metal-oxide-semiconductor and its driving chip IR2184.
The vertical lifting in frame main body of hoistable platform 12, hoistable platform 12 is for loading wall ground paving work head, wall The strut 1 of ground paving work head is connected by horizontal extension bar 20 with hoistable platform 12.Since frame main body is vertical always, rise Drop platform 12 moves vertically in frame main body, and work head can be driven the construction for realizing vertical direction by hoistable platform 12.
Embodiment 7
On the basis of previous embodiment, the driving device 22 is motor, and motor drives reel, the steel wire in reel Around the pulley right over hoistable platform, hoistable platform is connect with fixation with steel wire, and pulley coaxle is equipped with encoder, coding Device is connected with control system.Hoistable platform is driven by motor realizes vertical lift, and encoder can be fed back to control system to be lifted The elevation information of platform.
Embodiment 8
On the basis of embodiment 7, for the ease of being additionally provided in the storage of the steel wire of pulley, the frame main body Another reel, steel wire are stored after being placed through the pulley right over hoistable platform by another reel, and motor drives two volumes Cylinder moves synchronously.
Embodiment 9
On the basis of previous embodiment 6, the driving device is motor, and motor is mounted on hoistable platform, motor Connection gear, in frame main body it is vertically-mounted have encoder is installed with the matched rack of the gear, motor coaxle, encode Device is connected with control system.
Embodiment 10
On the basis of previous embodiment 6, the driving device is motor, and motor to slide by chain or synchronous belt Wheel rotation, pulley connect hoistable platform by steel wire and realize lifting;
The motor of above-described embodiment 7-10 can learn the position (height) of hoistable platform by encoder.It then can be with So that hoistable platform 12 is moved to specified height progress paving by control system or slurry is scraped to Wall or floor tile, this is carried out to metope It is even more important when paving.
Embodiment 11
On the basis of previous embodiment, in the present embodiment, the universal wheel 17 is connected with control system, control system The locked and rolling of system control universal wheel 17, when needing frame main body motionless, you can realized, needed by locked universal wheel 17 When frame main body being wanted to move, you can unlock is to realize movement.
Embodiment 12
Since hoistable platform 12 needs to connect work head, and paving work head also needs to crawl Wall or floor tile, and the arm of force is larger;Or When hoistable platform 12 is moved to frame main body the top, the arm of force is also larger, therefore preferably, can be in the first rack 13 Adjustable pouring weight is set, and adjustable counter balance block adjusts weight as needed, so that frame main body is stablized.Preferably, described adjustable Clump weight is mounted in the first rack 13, is such as mounted on first one end of rack 13 far from hoistable platform 12.Adjustable pouring weight Power for reducing 12 driving motor of hoistable platform is set, frame main body is made more to balance.
Embodiment 13
For the purposes of keeping frame main body more firm in construction, the frame main body lower part can be arranged several scalable Elongation bar 18, elevating mechanism 16 is connected by elongation bar 18 with frame main body bottom, and described 18 one end of elongation bar is mounted on Frame main body bottom, 18 other end of elongation bar connect elevating mechanism 16.It, can be in the occasion for needing to enhance frame main body stability Elongation bar 18 is extended, so that frame main body support range increases.
Embodiment 14
On the basis of embodiment 6-13, in the present embodiment, frame main body includes the first rack 13,14 and of the second rack Third rack 15;Second rack 14 and third rack 15 are located at the both sides of the first rack 13, and with the one of the first rack 13 Side is hinged, and hinged design can be such that the second rack 14 or third rack 15 is folded with the first rack 13, reduction body It is long-pending, convenient for collecting.When in use, the second rack 14 or third rack 15 and the first rack 13 can be made at an angle, rack Main body can stand on the ground, and it is in 90 degree with the first rack 13 such as to make the second rack 14 and third rack 15, makes rack master Body is in T shape, and frame main body can consolidate standing.When metope edge or have obstruction environment construct when, can also pass through rack Between folding meet construction requirement, avoid construction dead angle appearance, by the right end of a certain metope carry out wall brick paving for, Rack positioned at 13 the right of the first rack may hinder hoistable platform 12 to reach the right end of metope when opening, and can make position at this time Rack in 13 the right of the first rack is folded with the first rack 13, keeps frame main body L-shaped, and hoistable platform 12 is i.e. reachable to be waited applying The right end of work metope makes metope not construct dead angle.
Embodiment 15
For the ease of folding, in folding process, the elevating mechanism 16 below that rack to be folded can be first controlled It packs up, coupled universal wheel 17 i.e. can be liftoff, is folded to realize.Preferably, the hoistable platform 12 is mounted on first In rack 13, and on this side being hinged with the second rack 14 or third rack 15.
Embodiment 16
On the basis of previous embodiment, in the present embodiment, between first rack 13 and the second rack 14 with And first be equipped with closing device 19 between rack 13 and third rack 15, closing device 19 is controlled by control system, folding dress 19 are set for realizing the automatic shutter between rack, and the position between lockable rack face to face, such as can the first rack 13 with Second rack 14 or while being 0 or 90 ° with the angle of third rack 15, are locked.The 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, can also pass through telescopic rod It is connected with frame main body bottom.Elevating mechanism 16 connects universal wheel 17, as long as the distribution of elevating mechanism 16 is so that frame main body exists Inclination in all directions is adjustable.On the basis of previous embodiment, in the present embodiment, 13 bottom of the first rack Portion both ends are respectively provided with the bottom of the frame of an elevating mechanism 16, second rack 14 and third rack 15 far from hinged side and are all provided with There are one elevating mechanisms 16.
Embodiment 18
In the present embodiment, the camera 21 of Wall or floor tile for identification, camera are installed above the frame main body 21 are connected with control system, and camera 21 identifies Wall or floor tile, and the centre of sucker alignment Wall or floor tile is made to be drawn;Work as camera shooting First 21 when recognizing the centre of sucker misalignment Wall or floor tile, i.e., drives universal wheel 17 to move by control system, until inhaling Disk is directed at the centre of Wall or floor tile, when using two or more suckers, as possible so that the geometric center alignment of multiple suckers The centre of Wall or floor tile.
Embodiment 19
The workflow that robot paving of the present invention is introduced with the artificial example of paving machine in wall ground shown in Fig. 2, in the example The wall ground paving working head structure of the ground Zhong Qiang paving robot is as shown in Figure 1, reality described in driving device selection example 6 Existing mode, vibration and the mode described in leveling instrument selection example 3:
A:Capture Wall or floor tile:
Frame main body is opened, it is in 90 degree with the first rack 13 to make the second rack 14 and third rack 15, by opening automatically It attaches together and sets 19 locked, frame main body is in T shape, and frame main body is i.e. firm to stand;It can according to 8 weight of the Wall or floor tile setting for waiting for paving The weight of pouring weight 25 is allocated, adjustable pouring weight 25 can be also increased and decreased according to actual conditions in operation process.Start robot, Robot is moved to Wall or floor tile 8 and stacks region, swivel head 2 is in 0 degree, i.e. 4 face level ground face of sucker, camera shooting with vertical plane First 21 start and identify 8 center of Wall or floor tile, by flexible and hoistable platform 12 the lifting of horizontal extension bar 20, make sucker 4 are eventually located at the center of Wall or floor tile 8, start air compressor machine 24, and sucker 4 generates suction and Wall or floor tile 8 is firmly sucked;
B:Wall or floor tile scrapes slurry
Robot is moved to and waits for paving region, hoistable platform 12 drives paving work head to rise to certain altitude, overturns Wall or floor tile 8 makes swivel head 2 with vertical plane in 90 degree and the hinged place of locked swivel head 2 and strut 1;Sucker fixed plate 3 is around rotation First 2 axial-rotation makes Wall or floor tile 8 adjust to all vertical state in two sides;
8 bottom surface of Wall or floor tile is carried out scraping slurry, slurry can be scraped manually by scraping slurry process, and other slurry ancillary equipments of scraping also may be selected and carry out Scrape slurry.
C1:Ground paving
Swivel head 2 and 1 hinged place of strut are unlocked, so that swivel head 2 is restored to vertical plane and locks, at this time Wall or floor tile 8 It is horizontal;Frame main body position is adjusted, Wall or floor tile 8 is made just to treat paving region.Slowly driving lifting is flat for driving device 22 Platform 12 declines, and 8 paving of Wall or floor tile is on waiting for paving region.
C2:Metope paving
Wall or floor tile 8 keeps vertical state after scraping slurry, adjust frame main body position and 12 position of hoistable platform, with making wall Brick 8 is just treating paving region.Elongation level telescopic rod 20 waits for 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 the horizontal extension bar 20 is equipped with laser pickoff 26, laser pickoff 26 is connected with control system.It is parallel with the metope of paving is waited for by laser transmitter projects in paving Linear laser, reference plane when plane is as robot paving where laser.When horizontal extension bar 20, which extends, carries out paving, one Laser pickoff receives laser and thinks that Wall or floor tile has arrived at the setting regions of metope on denier horizontal extension bar 20, and level is stretched Contracting bar 20 stop elongation, at this time can Vibration on Start-up device vibrated.
D:Vibration adjustment ensures paving precision
When 8 paving of Wall or floor tile is on metope or ground, by rotating rotary rods 5, the length at the extended end of adjustment, make to shake Dynamic device 6 is located at 8 region of Wall or floor tile for needing to vibrate, and is vibrated to Wall or floor tile 8;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 what leveling instrument 7 was close to Wall or floor tile sends out linear LED on one side Light, measurement method are:If observer can not 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 requirement, if observer observes LED light, illustrate that the Wall or floor tile of paving and benchmark Wall or floor tile do not have also It flushes, needs Vibration on Start-up device to continue to vibrate, until reaching construction requirement.Benchmark Wall or floor tile is on waiting for paving regional edge The Wall or floor tile for meeting paving required precision of paving.
Mobile vibrator and leveling instrument are vibrated and are measured to different zones, until meeting construction requirement.Paving is complete Air compressor machine makes sucker be detached with Wall or floor tile after finishing, and continues the paving of next Wall or floor tile.
Embodiment 21
The present embodiment uses the vibrator in integral type vibration leveling instrument substitution embodiment 20 as shown in Figure 4 and Figure 5 And leveling instrument;The vibration leveling instrument includes testing for level difference device, horizontal slide rail, vibrating motor and eccentric wheel;Institute The testing for level difference device stated is mounted on horizontal slide rail and can be slided along horizontal slide rail, the eccentric wheel and vibrating motor phase Even.
When 8 paving of Wall or floor tile is on metope or ground, by rotating rotary rods 5, the length at the extended end of adjustment, make to shake The horizontal slide rail of dynamic leveling instrument is across waiting for paving Wall or floor tile and benchmark Wall or floor tile.Testing for level difference dress is moved along horizontal slide rail Set, testing for level difference device i.e. feed back it at a distance from Wall or floor tile, by feedback wait for paving Wall or floor tile and benchmark Wall or floor tile away from From difference whether meet construction precision requirement and decide whether Vibration on Start-up motor oscillating.When Vibration on Start-up motor, vibration electricity Machine band movable eccentric wheel rotates to realize vibration, until meeting construction requirement.
Under the premise of without departing substantially from present inventive concept, in conjunction with prior art improvement made for the present invention or optimization, and All embodiments etc. still fall within protection scope of the present invention.

Claims (9)

1. a kind of wall ground paving work head, including sucker fixed plate and sucker, it is characterised in that further include strut and swivel head, Described strut one end is hinged with swivel head one end, and the swivel head other end is connected with sucker fixed plate, and sucker is solid mounted on sucker On fixed board, strut is equipped with retaining mechanism with swivel head hinged place;The sucker fixed plate can be revolved around the axial-rotation of swivel head Rotary head is equipped with can be around the swingle of swivel head axial-rotation, and swingle is scalable, and swingle expansion end is provided with vibration dress It sets and leveling instrument;The vibrating device and leveling instrument, which becomes one, constitutes vibration leveling instrument, and the vibration is surveyed Leveling device includes testing for level difference device, horizontal slide rail, vibrating motor and eccentric wheel;The testing for level difference device is mounted on It can be slided along horizontal slide rail on horizontal slide rail, the eccentric wheel is connected with vibrating motor.
2. a kind of wall ground paving robot, it is characterised in that including wall ground construction auxiliary system and described in claim 1 Wall ground paving work head, the wall ground construction auxiliary system include frame main body, inclined degree detection sensor, control System, hoistable platform, driving device, several elevating mechanisms and the universal wheel being connected with elevating mechanism;The inclined degree inspection It surveys sensor to be mounted in frame main body, several elevating mechanisms are located at frame main body bottom, and the hoistable platform is mounted on machine It on frame body, is driven and is vertically moved up or down by driving device, the control system receives inclined degree detection sensor signal simultaneously The lifting of elevating mechanism is controlled, the control system connect with driving device, passes through between the strut and hoistable platform Horizontal extension bar is connected.
3. wall ground paving robot according to claim 2, it is characterised in that the frame main body includes the first machine Frame, the second rack and third rack;Second rack and third rack are located at the both sides of the first rack, and with the first rack One side is hinged, and the hoistable platform is mounted on the side of the first rack, first rack and the second rack it Between and the first rack and third rack between be equipped with closing device, closing device is connected with control system, closing device control The opening and folding of the second rack and third rack relative to the first rack are made, and can be dead in arbitrary angle lock.
4. wall ground paving robot according to claim 2, it is characterised in that the driving device is motor, motor Synchronous to drive two reels, the steel wire in a reel is received after bypassing the pulley being located at right over hoistable platform by another reel It receives, hoistable platform is connect with fixation with steel wire, and pulley coaxle is equipped with encoder, and encoder is connected with control system;
Or the driving device is motor, motor is mounted on hoistable platform, motor connection gear, vertical in frame main body It is equipped with and encoder is installed with the matched rack of the gear, motor coaxle, encoder is connected with control system.
5. wall ground paving robot according to claim 2, it is characterised in that if the frame main body lower part is equipped with Telescopic elongation bar is done, elevating mechanism is connected by elongation bar with frame main body bottom, and described elongation bar one end is mounted on Frame main body bottom, the elongation bar other end connect elevating mechanism.
6. wall ground paving robot according to claim 3, it is characterised in that the frame main body is equipped with adjustable Clump weight, the adjustable pouring weight are mounted on the one end of the first rack far from hoistable platform.
7. wall ground paving robot according to claim 2, it is characterised in that be equipped with above the frame main body The camera of Wall or floor tile position, camera are connected with control system for identification.
8. wall ground paving robot according to claim 2, it is characterised in that the horizontal extension bar it is scalable End is equipped with laser pickoff, and laser pickoff is connected with control system.
9. wall ground paving robot according to claim 8, it is characterised in that the paving robot further includes swashing Light emitting devices;The laser beam emitting device transmitting is parallel to the laser datum face for waiting for paving construction face.
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