CN106760436B - A kind of method and apparatus mounting wall ceramic mosaic graphic pattern automatically using small-sized tile - Google Patents
A kind of method and apparatus mounting wall ceramic mosaic graphic pattern automatically using small-sized tile Download PDFInfo
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- CN106760436B CN106760436B CN201611172201.5A CN201611172201A CN106760436B CN 106760436 B CN106760436 B CN 106760436B CN 201611172201 A CN201611172201 A CN 201611172201A CN 106760436 B CN106760436 B CN 106760436B
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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
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
- E04F21/1844—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one
- E04F21/1872—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one using suction-cups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44C—PRODUCING DECORATIVE EFFECTS; MOSAICS; TARSIA WORK; PAPERHANGING
- B44C3/00—Processes, not specifically provided for elsewhere, for producing ornamental structures
- B44C3/12—Uniting ornamental elements to structures, e.g. mosaic plates
- B44C3/126—Devices for making mosaic constructs automatically
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Producing Shaped Articles From Materials (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Finishing Walls (AREA)
Abstract
The invention discloses a kind of method and apparatus for mounting wall ceramic mosaic graphic pattern automatically using small-sized tile, which includes shifting roller, chassis, laser ranging position indicator, eccentric vibrating Pneumatic suction cup, X-axis motion platform, high-power stepper motor, cement slurry sprayer, tooth form synchronous belt, column, crossbeam slide unit, tile typology loader, handhold box controller, man-machine interface, Z axis motion platform, mechanical arm, twin shaft cylinder and fixture；Mechanical arm pedestal is mounted on the upper surface of Z axis motion platform, mechanical arm is mounted on mechanical arm submounts, fixture is mounted on the upper surface of twin shaft cylinder, laser ranging position indicator, eccentric vibrating Pneumatic suction cup, tile typology loader and cement slurry sprayer are placed side by side on the upper surface of chassis, and handhold box controller is equipped with MANUAL CONTROL mode and program control mode selection key.The present invention has the effect of high-efficient attachment, labor intensity, significantly reduces cost of labor compared with traditional artificial attachment tile.
Description
Technical field
The present invention relates to building decoration technology field more particularly to it is a kind of utilize small-sized tile carry out wall ceramic mosaic graphic pattern
Automatically the method and apparatus mounted.
Background technique
With rapid development of the real estate industry over 30 years, China's architectural decoration is started to walk since the mid-90,
Still developing and increasing with annual 15% or so speed at present.In Traditional Architecture Decoration industry, a large amount of public building, commodity
House and the finishing of commercial building are all to have worker to have been manually done, especially the ceramic tile attachment of metope, need technical experience
Experienced operator could complete.In recent years with the arrival of internet+epoch, development in science and technology road is vigorously advocated in the whole nation, to tradition
Building decoration and fitment industry is put forward new requirements.On the one hand, the cost of labor of experienced operator sharply increases；Another aspect people
Individual demand it is more and more significant.In this case, building decoration and fitment enterprise is faced with new evolutionary path.It is filled in building
There are many metopes to need to mount ceramic tile during repairing, in building, especially in some shopping centers, star hotel, personalization
Workplace, luxurious swimming pool and toilet etc. are local, in order to pursue personalized visual effect, need using various small-sized tiles
The ceramic mosaic graphic pattern of different-effect is mounted out, this proposes new technical requirements to ceramic tile attachment worker.Traditional tile attachment needs
Want experienced operator is pure to have been manually done, process is many and diverse, heavy workload, ununified sticking Quality standard；Simultaneously in multi-person synergy
In the tile attachment engineering of completion, since the difference of everyone experimental technology is easy to appear the difference of sticking Quality, to influence
Overall effect.On the other hand, the ceramic mosaic graphic pattern of furring tile is all that ceramic tile producer is designed in advance currently on the market, can only
It is mounted according to the order of setting, pattern can not be modified, and be difficult to meet the individual demand of owner.This how is solved to ask
Topic, it has also become the technical bottleneck of construction and decoration industry future development.If developing a kind of automatic mounting machine of tile replaces people
Work completes the attachment work of various ceramic mosaic graphic pattern ceramic tiles with machine, can not only mitigate the labor intensity of worker, guarantee to make
The quality of industry reduces cost, can also meet the individual demand of people, by the warp with important application and popularizations Huge value
Ji meaning.
Summary of the invention
Process is mounted for the current personalized small-sized tile of wall ceramic mosaic graphic pattern, the present invention proposes
It is a kind of to carry out the method and apparatus that wall ceramic mosaic graphic pattern mounts automatically using small-sized tile.To achieve the goals above, this hair
Bright proposition combines laser ranging location technology and multi-freedom robot control technology to realize wall ceramic mosaic graphic pattern certainly
The new thought of dynamic attachment.This method mounts the data information of metope using the measurement of laser ranging position indicator, defeated by man-machine interface
The text information for entering ceramic tile attachment ceramic mosaic graphic pattern sets multiple degrees of freedom on the basis of selecting small-sized tile size and color
The path planning parameter of mechanical hand and the spray parameters of cement binder automatically generate attachment and execute program, handhold box controller
Binder spraying, tile negative pressure absorbing, positioning attachment and level are sequentially completed according to process control Multi-freedom-degreemanipulator manipulator is executed
Measurement, is finally completed the automatic attachment of wall tile ceramic mosaic graphic pattern.Party's process is simple, forming efficiency is high, quality standard, can
To complete the individual demand of owner, the wall ceramic mosaic graphic pattern of different pattern, different Dimension Types is mounted out.
The technical solution adopted by the present invention to solve the technical problems: a kind of to mount wall Marseille automatically using small-sized tile
The method of gram pattern, comprising the following steps:
Step 1: open handhold box controller, and be arranged to MANUAL CONTROL mode, respectively to X-axis servo motor, stand
Column motor, high-power stepper motor, Z axis servo motor, rotating electric machine, forearm motor and large arm motor carry out servo and power on tune
Examination；
Step 2: by the button above handhold box controller, controlling the rotation of high-power stepper motor, and pass through tooth form
Synchronous belt drives the rotation of shifting roller, is moved to parallel with attachment metope by chassis and is maintained at the position of 40-60cm distance
It sets；
Step 3: the rotation of control column motor, and pass through the rotation of accurate tooth form belt wheel, drive crossbeam slide unit in column
Above, the position apart from the 1 meter of distance in chassis upper surface is moved up and down；
Step 4: control X-axis servo motor, Z axis servo motor, the rotating electric machine in mechanical arm, forearm motor and large arm electricity
The rotation of machine adjusts the spatial attitude of large arm and forearm, and fixture is moved to the top of laser ranging position indicator, controls twin shaft gas
The on-off of cylinder makes clamp laser ranging position indicator and takes out；
Step 5: opening laser ranging position indicator, by the spatial attitude of mobile chassis and adjustment mechanical arm, utilize laser
Ranging localization instrument measures the data information of attachment metope, replaces after the completion and by laser ranging position indicator；
Step 6: opening man-machine interface, the furring tile ceramic mosaic graphic pattern text information of design is inputted, and according to laser
The attachment metope data information that ranging localization instrument is measured selects the size and color type of small-sized tile, sets mechanical arm
The spray parameters of path planning parameter and cement binder automatically generate attachment and execute program；
Step 7: according to the tile size and color type of selection, required small-sized ceramic tile being put by color and type
In tile typology loader, required cement bonding agent is input in cement slurry sprayer by the spray parameters according to setting；
Step 8: handhold box controller is set as Program Mode, handhold box controller executes program according to the attachment generated,
Whole device is controlled, mechanical arm takes out cement slurry sprayer first with fixture, according to metope data information to porcelain
Piece pasting area carries out the automatic spraying of cement bonding agent slurry, and the thickness of coating is controlled by control extruded velocity, thus
Guarantee to paste smooth；
Step 9: replacing cement slurry sprayer after the completion of spraying, mechanical arm takes out eccentric vibrating gas using fixture
Dynamic sucker, according to furring tile ceramic mosaic graphic pattern information, according to the path planning of setting, movement of the Pneumatic suction cup in mechanical arm
Under, ceramic tile is successively taken out from tile typology loader, is controlled the eccentric vibration apparatus after sucker after reaching paste position, is carried out
Suitable frequency vibration is completed to paste, and guarantees that the unification for pasting ceramic tile face is smooth；
Step 10: after executing the attachment that program completes entire metope according to attachment, mechanical arm takes out Laser Measuring using fixture
Away from position indicator, horizontal measurement is carried out to the furring tile after attachment, is finally completed the automatic attachment of wall tile ceramic mosaic graphic pattern.
A kind of method and apparatus mounting wall ceramic mosaic graphic pattern automatically using small-sized tile, comprising: shifting roller, bottom
Disk, laser ranging position indicator, eccentric vibrating Pneumatic suction cup, X-axis motion platform, high-power stepper motor, cement slurry sprayer,
Tooth form synchronous belt, column, crossbeam slide unit, tile typology loader, handhold box controller, man-machine interface, Z axis motion platform, machine
Tool arm, twin shaft cylinder and fixture；
Shifting roller is mounted on the lower section on chassis, and is connected by tooth form synchronous belt with high-power stepper motor, and control is big
The rotation of power stepping motor may be implemented the movement of shifting roller, and then realize the Bit andits control on chassis；
Column is mounted on the top on chassis, and column motor is mounted on the upper left side of column, and is connected with accurate tooth form belt wheel,
Crossbeam slide unit is mounted on the polished rod of column, controls the rotation of column motor, by the movement of accurate tooth form belt wheel, realizes crossbeam
Slide unit moving up and down on column；
The X-axis motion platform, which is bolted, to be mounted on above crossbeam slide unit, and Z axis motion platform is mounted on X-axis fortune
Above moving platform, X-axis servo motor is connected by shaft coupling with precision lead screw, and Z may be implemented in control X-axis servo motor rotation
Axis motion platform moves left and right in the X-axis direction；
The mechanical arm pedestal is mounted on the upper surface of Z axis motion platform, controls the rotation of Z axis servo motor, realizes tool arm
Pedestal moving up and down in the z-axis direction, and then adjust the posture of mechanical arm；
The mechanical arm is mounted on mechanical arm submounts, and rotating electric machine is connect by bolt with mechanical arm pedestal, large arm
It is connected with forearm by large arm motor, twin shaft cylinder is mounted on the front end of forearm, controls the rotation of rotating electric machine, realizes large arm
Rotation controls the rotation of large arm motor, realizes swinging up and down for forearm, controls the rotation of forearm motor, realizes twin shaft cylinder
Swing；
The fixture is mounted on the upper surface of twin shaft cylinder, by control twin shaft cylinder on-off, it can be achieved that fixture clamping
It is acted with release, meets the switching of different function modular device；
The laser ranging position indicator, eccentric vibrating Pneumatic suction cup, tile typology loader and cement slurry sprayer are simultaneously
Row is placed on the upper surface of chassis, controls the spatial attitude of mechanical arm and the opening and closing of twin shaft cylinder, can clamping by fixture and pine
It opens, realizes the replacement of laser ranging position indicator, eccentric vibrating Pneumatic suction cup, tile typology loader and cement slurry sprayer,
Cement bonding agent spraying, tile negative pressure absorbing, positioning vibration attachment and horizontal measurement are sequentially completed according to program is executed；
The man-machine interface can support input and the editor of personalized furring tile ceramic mosaic graphic pattern design text, can
The size and color type for selecting small-sized tile, set the path planning parameter of mechanical arm and the spray parameters of cement binder,
It automatically generates attachment and executes program；
It is equipped with Multi-axis motion control and PLC control module in the handhold box controller, and is watched by control bus and X-axis
Take motor, column motor, high-power stepper motor, Z axis servo motor, rotating electric machine, forearm motor and large arm motor and laser
Ranging localization instrument, eccentric vibrating Pneumatic suction cup, tile typology loader are connected with cement slurry sprayer；
The handhold box controller is equipped with MANUAL CONTROL mode and program control mode selection key, when selection manually controls
When mode, the rotation of each motor can be controlled by the control button of each motor on handhold box controller, works as option program
Control model, handhold box controller complete the control of each motor and functional module according to program is executed, it is complete to carry out automatic patch block
At metope ceramic mosaic graphic pattern.
The method have the benefit that:
1. the present invention is combined using laser ranging location technology and multi-freedom robot control technology, Lai Shixian wall
The automatic attachment of ceramic mosaic graphic pattern tile can ensure that the mounting quality of tile according to the technical parameter strict control of setting
Standard, eliminate due to artificial technology's difference existing for deficiency；
2. the present invention supports input and the editor of personalized furring tile ceramic mosaic graphic pattern design text, can be according to design
It is required that mounting out the wall ceramic mosaic graphic pattern of different pattern, different Dimension Types, solving traditional ceramic mosaic graphic pattern can not be modified,
The deficiency that must be mounted according to the order of ceramic tile factory settings, meets the individual demand of people；
3. the present invention compared with traditional artificial attachment tile, have mount high-efficient, labor intensity, significant decrease manually at
This effect.
Detailed description of the invention
Fig. 1 is the automatic mounting system schematic diagram of multiple degrees of freedom robotic arm ceramic tile that the method for the present invention uses；
Fig. 2 is the automatic mounting system operation schematic diagram of multiple degrees of freedom robotic arm ceramic tile in the method for the present invention；
Fig. 3 is the mechanical hand partial schematic diagram in inventive method；
Fig. 4 is that 1 furring tile Mosaic with lattice like pattern pattern of embodiment of the present invention method mounts schematic diagram；
Fig. 5 is that 2 furring tile flying bird ceramic mosaic graphic pattern of embodiment of the present invention method mounts schematic diagram；
In figure:
1- shifting roller (1-1,1-2), the chassis 2-, 3- accurate tooth form belt wheel (3-1,3-2,3-3,3-4), 4- Laser Measuring
Away from position indicator, 5- eccentric vibrating Pneumatic suction cup, 6-X axis servo motor, 7-X axis motion platform, 8- precision lead screw, 9- column electricity
Machine, 10- high-power stepper motor, 11- cement slurry sprayer, 12- tooth form synchronous belt, 13- mechanical arm pedestal, 14- column,
15- crossbeam slide unit, 16- tile typology loader, 17- control bus, 18- handhold box controller, 19- man-machine interface, 20- wall
Face, 21-Z axis motion platform, 22-Z axis servo motor, 23- mechanical arm, 23-1- rotating electric machine, 23-2- large arm, 23-3- forearm,
23-4- twin shaft cylinder, 23-5- forearm motor, 23-6- large arm motor, 23-7- fixture.
Specific embodiment
Fig. 1 is to Fig. 5 and specific embodiment with reference to the accompanying drawing, and the present invention is described in detail, and the following examples can
To be applied in combination, also, the present invention can be realized using various forms, be not limited to each specific implementation described by this specification
Example, purpose of providing these embodiments is is easy to understand the disclosure more thorough and comprehensively.It needs further exist for
Illustrate, when a certain structure is fixed on another structure, including the structure be directly or indirectly fixed on another structure,
Or the structure is fixed on another structure by one or more of the other intermediate structure.When a structure connects another
Structure, including the structure is directly or indirectly connected to another structure, or the structure passed through one or more of the other
Intermediate structure is connected to another structure.
With reference to Fig. 1,2 and 3, a method of wall ceramic mosaic graphic pattern, including following step are mounted automatically using small-sized tile
It is rapid:
Step 1: open handhold box controller 18, and be arranged to MANUAL CONTROL mode, respectively to X-axis servo motor 6,
Column motor 9, high-power stepper motor 10, Z axis servo motor 22, rotating electric machine 23-1, forearm motor 23-5 and large arm motor
23-6 carries out servo and powers on debugging；
Step 2: by the button above handhold box controller 18, controlling the rotation of high-power stepper motor 10, and pass through
Tooth form synchronous belt 12 drives the rotation of shifting roller 1, is moved to parallel with attachment metope by chassis 2 and is maintained at 40-60cm
The position of distance；
Step 3: the rotation of control column motor 9, and pass through the rotation of accurate tooth form belt wheel 3, drive crossbeam slide unit 15 to exist
Above column 14, the position apart from the 21 meter of distance in upper surface of chassis is moved up and down；
Step 4: control X-axis servo motor 2, Z axis servo motor 22, the rotating electric machine 23-1 in mechanical arm 23, forearm electricity
The rotation of machine 23-5 and large arm motor 23-6 adjust the spatial attitude of large arm 23-2 and forearm 23-3, fixture 23-7 are moved to
The top of laser ranging position indicator 4 controls the on-off of twin shaft cylinder 23-4, and fixture 23-7 is made to clamp laser ranging position indicator 4 simultaneously
It takes out；
Step 5: opening laser ranging position indicator 4, by the spatial attitude of mobile chassis 2 and adjustment mechanical arm 23, utilize
Laser ranging position indicator 4 measures the data information of attachment metope, replaces after the completion and by laser ranging position indicator 4；
Step 6: opening man-machine interface 19, the furring tile ceramic mosaic graphic pattern text information of design is inputted, and according to sharp
The attachment metope data information that ligh-ranging position indicator 4 is measured, selects the size and color type of small-sized tile, and setting is mechanical
The path planning parameter of arm 23 and the spray parameters of cement binder automatically generate attachment and execute program；
Step 7: according to the tile size and color type of selection, required small-sized ceramic tile being put by color and type
In tile typology loader 16, required cement bonding agent is input to cement slurry sprayer by the spray parameters according to setting
In 11；
Step 8: setting handhold box controller 18 is Program Mode, and handhold box controller 18 executes journey according to the attachment of generation
Sequence controls whole device, and mechanical arm 23 takes out cement slurry sprayer 11 first with fixture 23-7, according to metope number
It is believed that breath carries out the automatic spraying of cement bonding agent slurry to tile pasting area, and coating is controlled by control extruded velocity
Thickness, thus guarantee paste it is smooth；
Step 9: replacing cement slurry sprayer 11 after the completion of spraying, mechanical arm 23 is taken out inclined using fixture 23-7
The heart vibrates Pneumatic suction cup 5, and according to furring tile ceramic mosaic graphic pattern information, according to the path planning of setting, Pneumatic suction cup 5 is in machinery
Under the movement of arm 23, ceramic tile is successively taken out from tile typology loader 16, controls the bias after sucker 5 after reaching paste position
Vibration device carries out suitable frequency vibration and completes to paste, and guarantees that the unification for pasting ceramic tile face is smooth；
Step 10: after executing the attachment that program completes entire metope according to attachment, mechanical arm 23 is taken out using fixture 23-7
Laser ranging position indicator 4 carries out horizontal measurement to the furring tile after attachment, is finally completed wall tile ceramic mosaic graphic pattern oneself
Dynamic attachment.
A kind of device mounting wall ceramic mosaic graphic pattern automatically using small-sized tile of the invention, specifically includes that mobile rolling
Take turns 1, chassis 2, laser ranging position indicator 4, eccentric vibrating Pneumatic suction cup 5, X-axis motion platform 7, high-power stepper motor 10, water
Material-mud sprayer 11, tooth form synchronous belt 12, column 14, crossbeam slide unit 15, tile typology loader 16, handhold box controller
18, man-machine interface 19, Z axis motion platform 21, mechanical arm 23, twin shaft cylinder 23-4 and fixture 23-7.
It is characterized in that shifting roller 1(1-1,1-2) it is mounted on the lower section on chassis 2, and pass through tooth form synchronous belt 12
It is connected with high-power stepper motor 10, controls the rotation of high-power stepper motor 10, the movement of shifting roller 1 may be implemented, into
And realize the Bit andits control on chassis 2；
The column 14 is mounted on the top on chassis 2, and column motor 9 is mounted on the upper left side of column 14, and with accurate tooth
Shape belt wheel 3(3-1,3-2,3-3,3-4) it is connected, crossbeam slide unit 15 is mounted on the polished rod of column 14, and control column motor 9 turns
It is dynamic, by the movement of accurate tooth form belt wheel 3, the moving up and down on column 14 of crossbeam slide unit 15 may be implemented；
The X-axis motion platform 7, which is bolted, is mounted on 15 top of crossbeam slide unit, and Z axis motion platform 21 is mounted on X
Above axis motion platform 7, X-axis servo motor 6 is connected by shaft coupling with precision lead screw 8, and control X-axis servo motor 6 rotates, can
To realize that Z axis motion platform 21 moves left and right in the X-axis direction；
The mechanical arm pedestal 13 is mounted on the upper surface of Z axis motion platform 21, controls the rotation of Z axis servo motor, can be with
It realizes the moving up and down in the z-axis direction of tool arm pedestal 13, and then adjusts the posture of mechanical arm 23；
The mechanical arm 23 is mounted on above mechanical arm pedestal 13, and rotating electric machine 23-1 passes through bolt and mechanical arm pedestal 13
Connection, large arm 23-2 are connected with forearm 23-3 by large arm motor 23-1, and twin shaft cylinder 23-4 is mounted on the front end of forearm 23-3,
The rotation of large arm 23-2 may be implemented in the rotation for controlling rotating electric machine 23-1, controls the rotation of the 23-6 of large arm motor, Ke Yishi
Existing forearm 23-3's swings up and down, and controls the rotation of forearm motor 23-5, swinging for twin shaft cylinder 23-4 may be implemented；
The fixture 23-7 is mounted on the upper surface of twin shaft cylinder 23-4, can be real by controlling the on-off of twin shaft cylinder 23-4
The clamping and release movement of existing fixture 23-7, meets the switching of different function modular device；
The laser ranging position indicator 4, eccentric vibrating Pneumatic suction cup 5, tile typology loader 16 and cement slurry spraying
Device 11 is placed side by side on the upper surface of chassis 2, controls the spatial attitude of mechanical arm 23 and the opening and closing of twin shaft cylinder 23-4, can pass through
Laser ranging position indicator 4, eccentric vibrating Pneumatic suction cup 5,16 and of tile typology loader are realized in the clamping and release of fixture 23-7
The replacement of cement slurry sprayer 11 is sequentially completed cement bonding agent spraying, tile negative pressure absorbing, positioning vibration according to program is executed
Dynamic attachment and horizontal measurement；
The man-machine interface 19 can support input and the editor of personalized furring tile ceramic mosaic graphic pattern design text, energy
The size and color type of small-sized tile are enough selected, the path planning parameter of mechanical arm 23 and the spraying ginseng of cement binder are set
Number automatically generates attachment and executes program；
Be equipped with Multi-axis motion control and PLC control module in the handhold box controller 18, and by control bus 17 with
All motors (X-axis servo motor 6, column motor 9, high-power stepper motor 10, Z axis servo motor 22, rotating electric machine 23-1,
Forearm motor 23-5 and large arm motor 23-6) He Si great functional module (laser ranging position indicator 4, eccentric vibrating Pneumatic suction cup 5,
Tile typology loader 16 and cement slurry sprayer 11) it is connected；
The handhold box controller 18 is equipped with MANUAL CONTROL mode and program control mode selection key, when selection control manually
When molding formula, the rotation of each motor can be controlled by the control button of each motor on handhold box controller 18, works as selection
Program control mode, handhold box controller 18 complete the control of each motor and functional module according to program is executed, and carry out automatic
Metope ceramic mosaic graphic pattern is completed in patch block.
Embodiment 1: furring tile Mosaic with lattice like pattern pattern attachment
Handhold box controller 18 is opened, and is arranged to MANUAL CONTROL mode, servo is carried out to all motors and powers on tune
Chassis 2 is moved to parallel with attachment metope and is maintained at 40-60cm by examination by the button above handhold box controller 18
Crossbeam slide unit 15 is moved to the position apart from the 21 meter of distance in upper surface of chassis by the position of distance；Control the space of mechanical arm 23
The on-off of posture and twin shaft cylinder 23-4 makes fixture 23-7 clamp laser ranging position indicator 4 and takes out；Open laser ranging positioning
Instrument 4 is measured the data information of attachment metope using laser ranging position indicator 4, put back to after the completion and by laser ranging position indicator 4
Original place；Man-machine interface 19 is opened, the furring tile Mosaic with lattice like pattern pattern text information of design is inputted, and according to measuring
Metope data information is mounted, selects the size of small-sized tile for 20x20x5mm, color is white, brown and three kinds light yellow；
The path mode of mechanical arm 23 is set as raster scanning mode, tile spacing is 2mm, and cement bonding agent is with a thickness of 5mm, spraying
Extruded velocity is 10mm/s, and the parameter according to setting automatically generates attachment and executes program；By required small-sized ceramic tile by color and
Type is put into tile typology loader 16, and required cement bonding agent is input in cement slurry sprayer 11；Setting
Handhold box controller 18 is Program Mode, and handhold box controller 18 executes program according to the attachment of generation, carries out to whole device
Control, first taking-up cement slurry sprayer 11 carry out cement bonding agent slurry according to metope data information to tile pasting area
The automatic spraying of material；Cement slurry sprayer 11 is replaced after the completion of spraying, takes out eccentric vibrating Pneumatic suction cup 5, foundation
Furring tile ceramic mosaic graphic pattern information is successively taken out ceramic tile from tile typology loader 16, is arrived according to the path planning of setting
Suitable frequency vibration is carried out up to paste position to complete to paste, and guarantees that the unification for pasting ceramic tile face is smooth；The patch of entire metope
After the completion of dress, laser ranging position indicator 4 is taken out, horizontal measurement is carried out to the furring tile after attachment, is finally completed wall tile
The automatic attachment of ceramic mosaic graphic pattern.
Embodiment 2: furring tile flying bird ceramic mosaic graphic pattern attachment
Handhold box controller 18 is opened, and is arranged to MANUAL CONTROL mode, servo is carried out to all motors and powers on tune
Chassis 2 is moved to parallel with attachment metope and is maintained at 40-60cm by examination by the button above handhold box controller 18
Crossbeam slide unit 15 is moved to the position apart from the 21 meter of distance in upper surface of chassis by the position of distance；Control the space of mechanical arm 23
The on-off of posture and twin shaft cylinder 23-4 makes fixture 23-7 clamp laser ranging position indicator 4 and takes out；Open laser ranging positioning
Instrument 4 is measured the data information of attachment metope using laser ranging position indicator 4, put back to after the completion and by laser ranging position indicator 4
Original place；Man-machine interface 19 is opened, the furring tile flying bird ceramic mosaic graphic pattern text information of design is inputted, and according to measuring
Metope data information is mounted, selects the size of small-sized tile for 30x30x5mm, color is black, brown and three kinds of peony；
The path mode of mechanical arm 23 is set as raster scanning mode, tile spacing is 2.5mm, and cement bonding agent is with a thickness of 6mm, spray
Painting extruded velocity is 15mm/s, and the parameter according to setting automatically generates attachment and executes program；Required small-sized ceramic tile is pressed into color
It is put into tile typology loader 16 with type, required cement bonding agent is input in cement slurry sprayer 11；If
Determine handhold box controller 18 be Program Mode, handhold box controller 18 according to generation attachment execute program, to whole device into
Row control, first taking-up cement slurry sprayer 11 carry out cement bonding agent according to metope data information to tile pasting area
The automatic spraying of slurry；Cement slurry sprayer 11 is replaced after the completion of spraying, takes out eccentric vibrating Pneumatic suction cup 5, according to
According to furring tile ceramic mosaic graphic pattern information, according to the path planning of setting, ceramic tile successively is taken out from tile typology loader 16,
It reaches paste position and carries out suitable frequency vibration completion stickup, and guarantee that the unification for pasting ceramic tile face is smooth；Entire metope
After the completion of attachment, laser ranging position indicator 4 is taken out, horizontal measurement is carried out to the furring tile after attachment, is finally completed wall porcelain
The automatic attachment of brick ceramic mosaic graphic pattern.
Above embodiment is the preferred embodiment of the invention patent, be not for limit the implementation of the invention patent with
Interest field, the equivalence changes and modification that content described in all protection scopes of Patent Applications according to the present invention is made,
It should be included in present patent application the scope of the patents.
Claims (2)
1. a kind of method for mounting wall ceramic mosaic graphic pattern automatically using small-sized tile, which comprises the following steps:
Step 1: opening handhold box controller, and be arranged to MANUAL CONTROL mode, respectively to X-axis servo motor, column electricity
Machine, high-power stepper motor, Z axis servo motor, rotating electric machine, forearm motor and large arm motor carry out servo and power on debugging；
Step 2: by the button above handhold box controller, controlling the rotation of high-power stepper motor, and pass through toothed synchronous
With the rotation for driving shifting roller, chassis is moved to parallel with attachment metope and is maintained at the position of 40-60cm distance；
Step 3: the rotation of control column motor, and pass through the rotation of accurate tooth form belt wheel, drive crossbeam slide unit on column,
Move up and down the position apart from the 1 meter of distance in chassis upper surface；
Step 4: controlling X-axis servo motor, Z axis servo motor, the rotating electric machine in mechanical arm, forearm motor and large arm motor
Rotation adjusts the spatial attitude of large arm and forearm, and fixture is moved to the top of laser ranging position indicator, control twin shaft cylinder
On-off makes clamp laser ranging position indicator and takes out；
Step 5: opening laser ranging position indicator, by the spatial attitude of mobile chassis and adjustment mechanical arm, utilize laser ranging
Position indicator measures the data information of attachment metope, replaces after the completion and by laser ranging position indicator；
Step 6: opening man-machine interface, the furring tile ceramic mosaic graphic pattern text information of design is inputted, and according to laser ranging
The attachment metope data information that position indicator is measured selects the size and color type of small-sized tile, sets the path of mechanical arm
The spray parameters of projecting parameter and cement binder automatically generate attachment and execute program；
Step 7: according to the tile size and color type of selection, required small-sized ceramic tile being put into ceramic tile by color and type
Classify in loader, required cement bonding agent is input in cement slurry sprayer by the spray parameters according to setting；
Step 8: setting handhold box controller as Program Mode, handhold box controller executes program according to the attachment generated, to whole
A device is controlled, and mechanical arm takes out cement slurry sprayer first with fixture, is pasted according to metope data information to tile
Region is filled, the automatic spraying of cement bonding agent slurry is carried out, and controls the thickness of coating by control extruded velocity, to guarantee
That pastes is smooth；
Step 9: replacing cement slurry sprayer after the completion of spraying, mechanical arm takes out eccentric vibrating using fixture and pneumatically inhales
Disk, according to furring tile ceramic mosaic graphic pattern information, according to the path planning of setting, Pneumatic suction cup under the movement of mechanical arm, according to
It is secondary that ceramic tile is taken out from tile typology loader, the eccentric vibration apparatus after sucker is controlled after reaching paste position, it is suitable to carry out
Frequency vibration complete paste, and guarantee paste ceramic tile face unification it is smooth；
Step 10: after executing the attachment that program completes entire metope according to attachment, mechanical arm is fixed using fixture taking-up laser ranging
Position instrument carries out horizontal measurement to the furring tile after attachment, is finally completed the automatic attachment of wall tile ceramic mosaic graphic pattern.
2. a kind of mount wall ceramic mosaic graphic pattern device using small-sized tile automatically characterized by comprising shifting roller, bottom
Disk, laser ranging position indicator, eccentric vibrating Pneumatic suction cup, X-axis motion platform, high-power stepper motor, cement slurry sprayer,
Tooth form synchronous belt, column, crossbeam slide unit, tile typology loader, handhold box controller, man-machine interface, Z axis motion platform, machine
Tool arm, twin shaft cylinder and fixture；
Shifting roller is mounted on the lower section on chassis, and is connected by tooth form synchronous belt with high-power stepper motor, controls high-power
The rotation of stepper motor may be implemented the movement of shifting roller, and then realize the Bit andits control on chassis；
Column is mounted on the top on chassis, and column motor is mounted on the upper left side of column, and is connected with accurate tooth form belt wheel, crossbeam
Slide unit is mounted on the polished rod of column, controls the rotation of column motor, by the movement of accurate tooth form belt wheel, realizes crossbeam slide unit
Moving up and down on column；
The X-axis motion platform, which is bolted, to be mounted on above crossbeam slide unit, and it is flat that Z axis motion platform is mounted on X-axis movement
Above platform, X-axis servo motor is connected by shaft coupling with precision lead screw, and Z axis fortune may be implemented in control X-axis servo motor rotation
Moving platform moves left and right in the X-axis direction；
The mechanical arm pedestal is mounted on the upper surface of Z axis motion platform, controls the rotation of Z axis servo motor, realizes tool arm pedestal
Moving up and down in the z-axis direction, and then adjust the posture of mechanical arm；
The mechanical arm is mounted on mechanical arm submounts, and rotating electric machine is connect by bolt with mechanical arm pedestal, large arm with it is small
Arm is connected by large arm motor, and twin shaft cylinder is mounted on the front end of forearm, controls the rotation of rotating electric machine, realizes the rotation of large arm
Turn, control the rotation of large arm motor, realize swinging up and down for forearm, control the rotation of forearm motor, realizes twin shaft cylinder
It swings；
The fixture is mounted on the upper surface of twin shaft cylinder, by control twin shaft cylinder on-off, it can be achieved that fixture clamping and pine
Work is started, the switching of different function modular device is met；
The laser ranging position indicator, eccentric vibrating Pneumatic suction cup, tile typology loader and cement slurry sprayer simultaneously discharge
The opening and closing of the spatial attitude that mechanical arm is controlled on the upper surface of chassis and twin shaft cylinder is set, it can be real by the clamping and release of fixture
The replacement of existing laser ranging position indicator, eccentric vibrating Pneumatic suction cup, tile typology loader and cement slurry sprayer, according to holding
Line program is sequentially completed cement bonding agent spraying, tile negative pressure absorbing, positioning vibration attachment and horizontal measurement；
The man-machine interface can support input and the editor of personalized furring tile ceramic mosaic graphic pattern design text, can select
The size and color type of small-sized tile, set the path planning parameter of mechanical arm and the spray parameters of cement binder, automatically
It generates attachment and executes program；
It is equipped with Multi-axis motion control and PLC control module in the handhold box controller, and passes through control bus and X-axis servo electricity
Machine, column motor, high-power stepper motor, Z axis servo motor, rotating electric machine, forearm motor and large arm motor and laser ranging
Position indicator, eccentric vibrating Pneumatic suction cup, tile typology loader are connected with cement slurry sprayer；
The handhold box controller is equipped with MANUAL CONTROL mode and program control mode selection key, when selection MANUAL CONTROL mode
When, the rotation of each motor can be controlled by the control button of each motor on handhold box controller, when selection process control
Mode, handhold box controller complete the control of each motor and functional module according to program is executed, and carry out automatic patch block and complete wall
Face ceramic mosaic graphic pattern.
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| CN201611172201.5A CN106760436B (en) | 2016-12-17 | 2016-12-17 | A kind of method and apparatus mounting wall ceramic mosaic graphic pattern automatically using small-sized tile |
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| CN201611172201.5A CN106760436B (en) | 2016-12-17 | 2016-12-17 | A kind of method and apparatus mounting wall ceramic mosaic graphic pattern automatically using small-sized tile |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107989338A (en) * | 2017-11-17 | 2018-05-04 | 浙江海洋大学 | A kind of civil engineering machine and its control method |
| CN109441077A (en) * | 2018-12-13 | 2019-03-08 | 张幸 | Patch block method and its patch block system, storage medium |
| CN110017012B (en) * | 2019-05-21 | 2021-05-04 | 广东博智林机器人有限公司 | Spray coating robot, control method, and computer-readable storage medium |
| CN110107067A (en) * | 2019-06-17 | 2019-08-09 | 浙江建设职业技术学院 | A kind of engineering construction tile work auxiliary device |
| CN110397256B (en) * | 2019-08-19 | 2021-06-22 | 广东博智林机器人有限公司 | Paving and pasting robot |
| CN110549324A (en) * | 2019-09-19 | 2019-12-10 | 刘邵宏 | mosaic image paving robot |
| CN113309328A (en) * | 2021-06-29 | 2021-08-27 | 江苏城乡建设职业学院 | Method and device for controlling ceramic tile sticking robot |
| CN114293748B (en) * | 2022-01-19 | 2024-03-01 | 安徽信息工程学院 | Full-automatic tiling device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3521884B2 (en) * | 2001-05-29 | 2004-04-26 | ニチハ株式会社 | How to paint ceramic building boards |
| CN102140836B (en) * | 2010-01-29 | 2012-10-17 | 华煜建设集团有限公司 | Construction method of large-size floor tile |
| CN202176101U (en) * | 2011-07-20 | 2012-03-28 | 湖南望新建设集团股份有限公司 | Tool for paving and sticking paper pattern facing tiles |
| CN103225253A (en) * | 2013-05-12 | 2013-07-31 | 程明 | Automatic brick paving machine |
| CN104786723B (en) * | 2015-03-24 | 2017-11-28 | 辽宁省交通高等专科学校 | A kind of mosaic automatic assembling machine |
| CN104775604B (en) * | 2015-04-24 | 2017-02-22 | 衢州图艺工业设计有限公司 | Movable ceramic tile laying machine |
| US9689168B1 (en) * | 2016-07-28 | 2017-06-27 | Ryan Shawn Corness | Floor-transition setting systems |
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