CN107288325A - Machine for sticking ceramic tile - Google Patents
Machine for sticking ceramic tile Download PDFInfo
- Publication number
- CN107288325A CN107288325A CN201610226344.3A CN201610226344A CN107288325A CN 107288325 A CN107288325 A CN 107288325A CN 201610226344 A CN201610226344 A CN 201610226344A CN 107288325 A CN107288325 A CN 107288325A
- Authority
- CN
- China
- Prior art keywords
- ceramic tile
- binding material
- machine
- sticking
- suction nozzle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Finishing Walls (AREA)
Abstract
The Machine for sticking ceramic tile of the present invention, itself is adjusted to by horizontality by pose adjustment unit, ceramic tile installation region is applied and spreads smooth binding material by control binding material application device, it will be transported using ceramic tile transport establishment by the ceramic tile of suction from take-off location to installation site, while carrying out installation alignment control using alignment means.Using the present invention, manually a small amount of cooperating is only needed, the automation that tile setter is made can be realized.
Description
Technical field
It is specifically a kind of the Machine for sticking ceramic tile of ceramic tile to be installed on ground the invention belongs to construction and decoration automation equipment.
Background technology
The installation of ceramic tile is using a job widely in building decoration engineering, current tiling is mainly by manually carrying out, therefore need a kind of machine that can carry out ceramic tile installation automatically to replace artificial construction, will necessarily be significantly improved in terms of efficiency, quality and security.
《Automatic tiling robot system》The automatic tiling system based on 6DOF mechanical arm of one text description.Its usage is complex, it is necessary to which off-line programing works so that require higher to user, and needs to use in fixed occasion.
A kind of mobile model tile laying machine described in patent document CN104775604A, it realizes relevant action using hydraulic pressure, is a kind of human assistance instrument.
From these recorded in the market status and various existing documents there is the machine of tiling function to enter accommodating, efficient tile setter in being difficult to real typically now construction and decoration to make.
The content of the invention
The present invention is exactly proposed for solving this problem, for ground tiling, and with the floating function in ground, its is simple in construction easy to use and with higher precision, efficiency.
The present invention provides a kind of Machine for sticking ceramic tile, including：Main part（Also referred to as main body）, for carrying and installing other each component units；Pose adjustment unit, for supporting and adjusting the angle of inclination of main part with respect to the horizontal plane；Suction nozzle module, the negative-pressure adsorption ceramic tile provided by outside；Binding material application device, smooth binding material is spread for being applied in ceramic tile installation region；Switching mechanism, for being switched between smearing mode of operation in suction nozzle mode of operation and binding material；Ceramic tile transport establishment, installation site is moved to for driving by the ceramic tile of suction from take-off location, and driving binding material application device carries out binding material and smears operation；Alignment means, for obtaining alignment control information when ceramic tile is installed；Control unit, input setting and alignment means from user obtain control information, send control signal and binding material smearing is carried out to installation region, and absorption, transport and alignment of the control to ceramic tile are installed.
Using above-mentioned Machine for sticking ceramic tile, when installing ceramic tile operation beginning, main part is adjusted to horizontality by attitude-adjusting system（Other have the slope of certain angle be obviously also can with, for simplify discuss herein be horizontality）.It is rotatably mounted on because the horizontal rotating arm in ceramic tile transport establishment is horizontal in main body, that is, when main part is adjusted to horizontality, its horizontal rotating arm is also at horizontality, while vertical transport establishment therein is also at vertical state.
Then the installation process of ceramic tile is exactly：Control unit control ceramic tile transport establishment driving suction nozzle is moved to ceramic tile take-off location absorption ceramic tile, then drives ceramic tile to be moved to a small distance above installation site, while rotating seat rotates ceramic tile to the alignment angles needed, reduction suction nozzle release ceramic tile completes to install.Here ceramic tile installation process quite simplifies.
Attitude-adjusting system includes three controllable telescopic outriggers (for example, linear electric motors), and measures the sensor at main body inclination angle.The bottom of main part is arranged on to controllable supporting leg appropriate intervals, can be stretched under the control of the control unit, whole Machine for sticking ceramic tile can be supported when supporting leg extends suitable length, and horizontality can be adjusted to.Obliquity sensor has confirmable position relationship with main part, and the inclination angle of main body with respect to the horizontal plane can be obtained by its data.
Control unit controls the stroke of three telescopic outriggers to support and adjust the inclination angle of main part in the horizontal plane by reading the inclination angle of obliquity sensor data acquisition main part in the horizontal plane, and control method here uses PID control technology（PID control is technology used in automation control area）.There is the horizontal or vertical position relationship of identical because the track of ceramic tile transport establishment is fixedly mounted in main body, and with main part, therefore can just make to be horizontal by suction ceramic tile to horizontal attitude by adjusting main part.
Ceramic tile transport establishment spatially transports ceramic tile to installation site from take-off location, it is made up of horizontal transport mechanism and vertical transport establishment's two parts, respectively it is horizontally arranged at the two joint horizontal rotating arm in main body, wherein, one end of first rotating arm is rotatably connected in main body, and other end rotatable connection has the second turning arm；And it is vertically installed at the vertical transport establishment of the second turning arm outer free end of horizontal rotating arm（Such as linear electric motors）.Also include encoder, for sending the movement position information of ceramic tile transport establishment to control unit as electric signal.
Two turning arms of horizontal transport mechanism can form a plane parallel to ceramic tile mounting surface when coordinating rotation, and it can drive vertical transport establishment to be moved to any position above installation region.The lower end of vertical transport establishment can stretch and be connected with rotating seat, and rotating seat is provided with suction nozzle module, when suction ceramic tile can in the vertical direction be driven to installation site, that is, realize the Bit andits control to ceramic tile in the vertical direction.
As previously described after main part is adjusted to horizontality, the transport action of ceramic tile spatially is decomposed, ceramic tile transport establishment coordinates the transport for completing ceramic tile using independent horizontal transport mechanism and vertical transport establishment, compared to common 6DOF robot system, it transports control and is simplified, and is more easily performed.
Suction nozzle module is installed, suction nozzle module be connected by air delivering pipeline and magnetic valve with outside negative pressure source on rotating seat, control unit is by the break-make of solenoid valve control outside negative pressure to control the absorption and release to ceramic tile.Suction nozzle is arranged on rotating seat bottom downwards, and when main body is adjusted to horizontality, the ceramic tile that suction nozzle is adsorbed also is at horizontality.
That is when the negative pressure that suction nozzle is provided by outside holds ceramic tile, mechanism driving spatially occurred level displacement and vertical displacement can be transported ceramic tile is transported to installation region and installed.
Rotating seat can be rotated by driving around vertical axes, be rotated so as to drive by the ceramic tile of suction around vertical axes, to adjust the deflection angle of ceramic tile in the horizontal plane, that is, realize the drift angle alignment control to ceramic tile.
Before ceramic tile is installed, it is necessary to smear the smooth tile bonding material of one layer of suitable thickness in installation site（Can be special glue for tile or common cement mortar）, this is completed by binding material application device.
It is adjacent with suction nozzle module installed in rotating seat side that binding material smears module and switching mechanism.Binding material application device includes discharging gate and floating device, binding material can be continuously smeared in the driving bottom discharge mouth of ceramic tile transport establishment in installation region, it is simultaneously floating in installation region by floating device, formed in the smooth binding material in one layer of ceramic tile installation region, will be by binding material firm pasting when ceramic tile is installed in installation region.
Switching mechanism can switch Machine for sticking ceramic tile and be in suction nozzle mode of operation or binding material smearing mode of operation.Binding material application device can be switched mechanism in the vertical direction driving and be subjected to displacement, so as to produce the alternate position spike on vertical direction with suction nozzle, binding material is at when the position of its in the vertical direction is lower than suction nozzle and smears mode of operation, suction nozzle mode of operation is at when its position is higher than suction nozzle.
That is when binding material application device to be reduced to the position lower than suction nozzle, and when make it that floating device is in the height of ceramic tile mounting surface, by controlling discharging gate to installation region smearing binding material, the binding material application device of ceramic tile transport establishment driving simultaneously is moved back and forth in installation region, it is possible to realize installation region smearing the smooth tile bonding material of last layer.
Here binding material smear from two different operation process of installation of ceramic tile, using simply switching with regard to the selection of function can be completed.When carrying out binding material and smearing operation, can also once smear it is larger the region of polylith ceramic tile can be installed, behind continuous polylith ceramic tile is installed.This causes Machine for sticking ceramic tile of the present invention to have higher efficiency.
Here, described Machine for sticking ceramic tile obtains to carry out the control information required for automatic tiling from user and alignment means.User sets the information such as gap spacing when dimension information and the ceramic tile installation of ceramic tile, and ceramic tile take-off location information by the operation interface of control unit.The automatic aligning mode based on machine vision can be used in alignment means, it is possible to use the artificial alignment thereof based on cross laser device.
Using above-mentioned Machine for sticking ceramic tile, when alignment means are image capturing unit, it is by shooting camera and laser constitution, by floor installation in the side of the rotating seat position relative with binding material application device, wherein shoot one end that camera is arranged on base straight down, laser is arranged on base other end and down deviation camera side, and when laser sends a wordline laser irradiation ceramic tile surface, line of the laser between the straight line and camera and laser that ceramic tile surface is formed is vertical.And it can be rotated with rotating seat, in the vertical direction is in the position higher than suction nozzle module.
When carrying out registration process, ceramic tile transport establishment driving alignment means are moved to ceramic tile top position, open laser and send laser irradiation ceramic tile surface, camera is shot to shoot the image of ceramic tile and be sent to control unit, laser rays and the corner of at least one ceramic tile that captured image must be produced comprising laser, and cause the corner of ceramic tile to be located at the centre of image as far as possible, control unit calculates ceramic tile relative to the positional information and deflection information for shooting camera using image processing techniques.
It can be determined further as camera relative to the position of main part and deflection information by the encoder information in ceramic tile delivery unit, the deflection angle of rotating seat and camera installation site, be fixed on the reference frame in main part to express for ease of discussion selection here（For example in the optional main body of reference frame turning arm installation axle center is origin, to the right for X just, forward for Y just, downwards for Z just）.Therefore having installed the positional information and deflection information of ceramic tile can be expressed in reference frame.
On the other hand, the artificial alignment schemes based on cross laser device can be used, this cross laser device is arranged on rotating seat side centre position downwards, and the position relative with binding material application device can send cross line laser downwards.User controls ceramic tile transport establishment by the operation interface of Machine for sticking ceramic tile, driving laser is moved to the position of a segment distance above ceramic tile, and the cross line laser that laser is sent is overlapped with a square edge of ceramic tile, you can obtain the horizontal position information and deflection information of this block ceramic tile.It can be determined for the elevation information of ceramic tile by the way that suction nozzle is reduced into ceramic tile surface.The ceramic tile positional information and deflection information equally obtained here can be expressed in reference frame.
Ceramic tile is placed on one before installing to be had on the ceramic tile placement mechanism of fixed position relation with main body, the mechanism is made up of three mutually perpendicular faces, one bottom surface and two sides, bottom surface are used to carry ceramic tile and have identical horizontal attitude relation with main body, sideways for positioning ceramic tile.Ceramic tile multiple-layer horizontal can be stacked together up and down, and be close to two sides, and the take-off location information of such ceramic tile is determined and can expressed in foregoing reference frame, and is set in a control unit.Suction nozzle module carries out absorption pickup by position relationship in the center of ceramic tile.This ceramic tile placement mechanism can be provided with multiple.
As previously described, the initial pick-up situation information of ceramic tile and required installment state information can controlled unit obtain, and it is expressed in identical reference frame, therefore ceramic tile is adsorbed and picks up and be installed to installation site by control unit from take-off location exactly by using these control parameters.
Control unit also includes being used to receive the equipment that user inputs information（Such as mouse, keyboard or touch-screen）And display device.
The bottom of above-mentioned Machine for sticking ceramic tile is also equipped with for mobile wheel, when needing to move Machine for sticking ceramic tile to some construction location, supporting leg is withdrawn, wheel plays a supportive role and can moved.
In summary, itself is adjusted to horizontality by Machine for sticking ceramic tile of the present invention using pose adjustment unit, use level transport establishment and vertical transport establishment carry out the space transoportation of ceramic tile, the deflection control to ceramic tile is realized by rotating seat, control information needed for installing alignment is obtained by alignment means, and binding material smearing work can be carried out simultaneously, automatic tile setter work is carried out so under being uniformly controlled of control unit.It can be seen that it can realize the purpose of automatic tiling, and with very high precision and efficiency, less need for artificial operation, automaticity is high, using simple.
Brief description of the drawings
By the more specific description for the exemplary embodiment of the invention being shown in the drawings, above and other objects, features and advantages of each embodiment of the invention will be made apparent from.Accompanying drawing is without drawn to scale, and emphasis, which falls, is showing the principle of the present invention.
Fig. 1 is the overview of the Machine for sticking ceramic tile of the exemplary embodiment according to the present invention；
Fig. 2 is the schematic diagram for the pose adjustment unit for eliminating part-structure；
Fig. 3 is the side view of mounting head；
Fig. 4 is the schematic diagram of binding material application device and switching mechanism；
Fig. 5 is alignment means schematic diagram；
Fig. 6 is ceramic tile placement mechanism schematic diagram；
Fig. 7 is the structural schematic block diagram of control unit and associated components.
Embodiment
Hereinafter, based on Figure of description, the preferred forms to the present invention are described.
Reference picture 1, includes main body 100, pose adjustment unit 200, mounting head 300, ceramic tile transport establishment 400, alignment means 500, control unit 600 and ceramic tile placement mechanism 700 according to the automatic Machine for sticking ceramic tile of the exemplary embodiment of the present invention.
Main body 100, its anterior position is ceramic tile installation region, wherein there is installation site P2, there is ceramic tile take-off location P1 side.Ceramic tile transport establishment 400 is arranged in main body 100, and the installation site P2 of any installation region, and ceramic tile take-off location P1 can be moved in the anterior position drive installation first 300 of main body 100.Therefore, the suction nozzle module 310 in mounting head 300（Reference picture 3）The negative pressure that can be provided by outside holds the ceramic tile B on take-off location P1, and is moved to installation site P2 installation ceramic tiles B in the driving of ceramic tile transport establishment 400.
Further, ceramic tile transport establishment 400 includes：Horizontal transport mechanism 410, vertical transport establishment 420.Horizontal transport mechanism 410 is made up of the turning arm 412 of first rotating arm 411 and second, the one end of first rotating arm 411 is arranged in main body 100 by rotary shaft, the other end is rotatably installed with the second turning arm 412, and both, which coordinate to be rotated, can just realize the control of horizontal displacement to mounting head 300.Vertical transport establishment 420 is arranged on the outside end of the second turning arm 412.Mounting head 300 is vertically installed at the lower end of vertical transport establishment 420.So the transport carried out to ceramic tile B spatially can be just realized by controlling ceramic tile delivery unit 400 to be moved along horizontal direction and vertically.
In addition, horizontal transport mechanism 410 also includes the motor 411a of first rotating arm 411；The motor 412a of second turning arm 412；Vertical transport establishment 420 can drive the device that suction nozzle module 310 is subjected to displacement along vertical direction, for example, linear electric motors.Motor 411a and motor 412a and vertical transport establishment can include being used to recognize the device of the movement position information of mounting head 300, such as encoder 430 respectively.
Reference picture 2, pose adjustment unit 200 is provided with the bottom of aforementioned body 100, for main body 100 operationally to be adjusted into horizontality.
Three controllable extensible supporting legs 210 of the lower position of main body 100 installation are specifically included in, and have the obliquity sensor 220 that can determine that installation site relation with main body 100.Wherein the front side of main body 100 is most left and least significant is respectively mounted a controllable extensible supporting leg 210, and a controllable extensible supporting leg 210 is installed in rear side centre position, and 3 structures so formed can provide stable support.These three controllable extensible supporting legs 210 and main body 100 have three fixed connection points C1, C2, C3, and this 3 points uniquely determine a plane（Here it is the bottom surface of main body）, therefore its horizontal attitude can just reflect the heeling condition of main part in the horizontal plane.By controlling the stroke of three controllable extensible supporting legs 210 just to adjust the height of C1, C2, C3 from the ground, the purpose of adjustment main body 100 posture in the horizontal plane is realized.
Further controllable extensible supporting leg 210 includes linear electric motors 211 and encoder 212 mounted thereto, by controlling circuit to be connected to control unit 600.Control unit 600 determines the heeling condition of the relative level of current topic 100, further according to the dbjective state to be adjusted to by reading the data of obliquity sensor 220（Level）, the deviation to be adjusted is calculated, by using the stroke of three controllable extensible supporting legs 210 of PID control technical controlling by the pose adjustment of main body 100 to dbjective state.
Due to installation site relation of the ceramic tile transport establishment 400 in main body 100, when main body 100 is adjusted to horizontality, horizontal transport mechanism 410 and vertical transport establishment 420 in ceramic tile transport establishment 400 are also just in horizontality and vertical shape body naturally.Therefore compared to the mode using 6DOF mechanical arm, transport actions of the ceramic tile B in installation process is simplified the transport for being decomposed into horizontal direction and the transport of vertical direction.
Referring next to Fig. 3, mounting head 300 includes suction nozzle module 310, binding material application device 320, switching mechanism 330, rotating seat 350 and alignment means 500.
Suction nozzle module 310 is arranged on the bottom of rotating seat 350 straight down, it is connected by pipeline and magnetic valve with outside negative pressure source, control unit 600 provides suction nozzle module 310 or disconnected negative pressure by solenoid valve control, to carry out the pickup of the absorption to ceramic tile B or release installation action.Suction nozzle module 310 can also be with rotating seat 350 around vertical direction under the control of control unit 600 rotary shaft rotated, to adjust the deflection angle of adsorbed ceramic tile B in the horizontal plane, carry out installation alignment control.
Here rotating seat 350 further comprises electric rotating machine 351, mounting seat 352, in addition to the encoder on motor.
Need installation site P2 smearing the smooth tile bonding material of last layer before ceramic tile B is installed, this is automatically performed by binding material application device 320.
Reference picture 4, binding material application device 320 is arranged on a side position of rotating seat 350, mainly include floating device 321 and discharging gate 322, wherein discharging gate 322 is arranged on the floating inclined-plane of floating device 321, and be connected by pipeline and control valve with outside feeding device, wherein control valve can controlled unit 600 control, after subjective posture leveling, the lower edge of floating device 321 is parallel with installation region.The both sides of floating device 321, which also have, to be used to prevent the excessive baffle plate 323 of binding material.
So under the control of control unit 600, mounting head 300 is moved to installation region, while reducing height the lower edge of floating device 321 is fitted with mounting surface.Control unit 600 controls discharging gate 322 to expect installation region with certain speed output tile bonding, while floating device 321 is floating by the binding material of output to the side continuous moving of discharging gate 322 under the driving of ceramic tile transport establishment 400.The direction of floating device 321 and discharging gate 322 can be adjusted by the rotation of rotating seat 350, to carry out smearing operation back and forth, desired zone is applied and spreads smooth tile bonding material.
Here the installation region for being applied to identical height of the installation of ceramic tile and binding material is carried out, it is therefore desirable to which switching mechanism 330 carrys out switching working mode.
Reference picture 4, switching mechanism 330 includes guide rail 331, cylinder 332 and supporting member 333.Guide rail 331 is arranged on supporting member 333, and the binding material application device 320 that its can be made installed above is moved up and down.Therefore binding material application device 320 can be moved up and down by the drives edge guide rail 331 of cylinder 332, when it is moved to bottom than the also low position of suction nozzle module 310, it is at binding material and smears mode of operation, the smearing of binding material can be carried out, when it is moved upwards up to extreme higher position, suction nozzle mode of operation is at, the absorption installation operation of ceramic tile can be now carried out.Here mode of operation is smeared in binding material in Fig. 4.
Control switching mechanism 330 carries out the switching between both mode of operations to control unit 600 as needed in ceramic tile installation process.
Next, reference picture 5 is illustrated to the alignment means 500 of the present embodiment.
Alignment means 500 are used to obtain alignment control information required when ceramic tile is installed, using the automatic aligning processing mode based on machine vision, including shooting the word laser 520 of camera 510 and one, by pedestal 530 installed in the side of rotating seat 350 position relative with binding material application device 320, and it is in the position higher than suction nozzle module 310 in vertical direction.One end that camera 510 is arranged on pedestal 530 is shot, lens direction is straight down；One word laser 520 is arranged on the other end of pedestal 530, and down to the inclination of the side of camera 510 is shot, its linear laser sent and the line shot between camera 510 and laser are vertical.
Control unit 600 is connected to alignment means 500 by circuit, when obtain installation alignment control information, the control ceramic tile of control unit 600 transport establishment 400 drives alignment means 500 to be moved to above ceramic tile position at about 200mm, and causes the corner of ceramic tile to be located near picture centre as far as possible.Open laser and send laser irradiation ceramic tile surface, shoot the image that the ceramic tile surface being irradiated with a laser comprises at least one corner of ceramic tile.Control unit 600 calculates horizontal position information, elevation information and the deflection angle information of ceramic tile according to the image of shooting, and records these information as installation alignment control information.
Reference picture 6, ceramic tile B needs to be placed on the confirmable take-off location P1 of positional information in a pre-installation, and this can use to have with main body 100 and determine the ceramic tile placement mechanism 700 of position relationship to handle.Ceramic tile placement mechanism 700 is the component of three rectangular relations in face, and side is longer on one side, and slightly shorter on one side in addition, longer one side is fitted in the side of main body 100, and bottom surface can carry ceramic tile and have identical horizontal attitude relation with main body 100.When main body 100 is in horizontality, the ceramic tile on ceramic tile placement mechanism 700 is at horizontality.Ceramic tile should be close to two sides when placing, be so because of ceramic tile B size known to, therefore ceramic tile B take-off location information is to determine, and is recorded in control unit 600.
Referring next to Fig. 7, the control system to this implementation is illustrated.
Control unit 600 is arranged on the appropriate area inside main body mechanism 100, main to have the main control computer 610 of image-capable including one and be installed on processing control program therein.
In addition, control unit 600 also includes electric machine controller 620, motor driver 630, laser controller 640, suction nozzle control device 650 and floating control device 660.
Display device 670 is also associated with above-mentioned main control computer 610, the running state information for showing Machine for sticking ceramic tile, and provide man machine operation interface for user.
Electric machine controller 620 and motor driver 630 are used for above-mentioned horizontal transport mechanism motor 411a and 412a, vertical transport establishment 420（Linear electric motors）, controllable extensible supporting leg motor 210 and rotating seat motor 351 be controlled.
Suction nozzle control device 650 and floating control device 660 are respectively used to control suction nozzle module 310 and binding material application device 320.
Main control computer 610 also carries out shooting control to shooting camera 510, and controls laser 520 to send laser irradiation ceramic tile surface when shooting by laser controller 640.
Reference picture 1, the bottom of main body 100 is provided with for mobile wheel W, is separately mounted to four corner positions of main body 100.When controllable extensible supporting leg 210 is in collapsed state in the position higher than wheel, now wheel W supports whole machine and can moved.
The operating process of the Machine for sticking ceramic tile according to exemplary embodiment of the invention is described below.
Reference picture 1, user is determined to carry out ceramic tile installation to some region, and determines the setting height(from bottom) of ceramic tile and make marks, and Machine for sticking ceramic tile is moved to before installation region, and ceramic tile B is neatly placed on take-off location P1, the positional information is recorded in control unit 600.
Then, control unit 600 sends control information and Machine for sticking ceramic tile is adjusted into horizontality to pose adjustment unit 200.
First block of ceramic tile will be now installed, user controls 400 drive installations of ceramic tile transport establishment first 300 to be moved near installation site P2 by the operation interface of control unit 600, and be switched to binding material and smear mode of operation（Reference picture 4）, the height of reduction mounting head 300 causes the lower edge of floating device 321 in the setting height(from bottom) marked before, and records in control unit 600 this elevation information.Discharging gate is controlled to export binding material to installation region P2, while controlling mounting head 300 to move back and forth repeatedly in this region, so that floating one piece can accommodate the region of ceramic tile.Then, control ceramic tile transport establishment 400, which rises mounting head 300 and is moved to take-off location P1, draws ceramic tile B, then the drive installation of ceramic tile transport establishment 400 head returns to installation region P2, user adjusts the horizontal level and deflection angle of ceramic tile by control unit 600, and observe repeatedly until ceramic tile B is in the position needed, release ceramic tile B completes to install.Now ceramic tile B horizontal position information and drift angle information are equally recorded in control unit 600.
Here the ceramic tile B got off recorded in control unit 600 setting height(from bottom) information, horizontal position information and deflection angle information, the alignment control information needed for being installed as follow-up ceramic tile.Control unit 600 plans follow-up ceramic tile installation site according to these information automatically.Then, user only need to will install the position of ceramic tile by the selection of control unit 600, and Machine for sticking ceramic tile will be automatically performed installment work.
After Machine for sticking ceramic tile completes the installation exercise of all ceramic tiles in present scope, pack up the controllable extensible supporting leg 210 of pose adjustment unit 200, Machine for sticking ceramic tile is moved to next job position, because movement causes machine to keep original identical installation site relation, at this moment alignment control information is installed, it is necessary to be obtained by alignment means 500 from the ceramic tile installed in order to keep alignment relation with the ceramic tile installed before.
User controls 400 drive installations of ceramic tile transport establishment first 300 to be moved at mounted certain block ceramic tile top position 200mm by control unit 600, and a corner of ceramic tile is tried one's best positioned at the center of image.Laser 520 is opened by control unit 600 and sends a wordline laser irradiation ceramic tile surface, send shooting signal and shoot tile image to camera 510 is shot, the positional information and deflection information of the ceramic tile are calculated according to captured image, the control parameter installed as alignment.
Now, it has been recorded as its positional information of the ceramic tile of alignment and deflection information, same control unit 600 plans follow-up ceramic tile installation site according to these information automatically.User selects the region for needing to install ceramic tile from control unit 600, while ceramic tile is placed on into take-off location P1, Machine for sticking ceramic tile will be automatically performed the installment work of follow-up ceramic tile.
Aforesaid operations process is repeated, you can complete to make the tile setter in all regions.
The use of Machine for sticking ceramic tile involved in the present invention is relatively easy as can be seen from the above description, it is only necessary to a small amount of simple artificial operation, it is possible to achieve the automatic purpose for installing ceramic tile.
System described here can be performed on any type of computer, or be implemented in client-server system (network system).Any computer may include processor, for storage program data and make its perform memory, permanent memory (such as hard disk), the COM1 for being communicated with external device (ED), user's interface device (including display, keyboard, mouse).When being related to software module, these software modules are stored in the executable programmed instruction or computer-readable code on computer-readable medium (for example, hard disk, CD, SSD).In the computer system that computer-readable medium can also be distributed in and network so that computer-readable code is stored and performed in the way of distribution.
Can present invention is described according to functional block components and various process steps.These functional modules are realized by any amount of hardware and/or component software that are configured to perform specific function.For example, various integrated circuit packages (for example, memory component, treatment element, logic element etc.) can be used in the present invention, the integrated circuit package can perform various functions under the control of one or more microprocessor or other control devices.Similarly, software of the present invention is implemented using any programming or script (such as C, C++, Java, assembler language) and the various methods implemented by using the combination of any data structure, object, processing procedure, program or other program components.
Specific implementation illustrated and described herein is the exemplary example of the present invention, and the scope of the present invention is not limited in any way.For simplicity, traditional electronics aspect, control system, software development and other function aspects of system are not described in.In addition, the connecting line and connector that are shown in each accompanying drawing provided are used to represent that physics or logic between example functional relationships and/or various elements to be combined.It should be understood that optional or other functional relationship, physical connector or logical connector may be present in actual device.
In order to deepen the understanding of the principle to the present invention, the preferred embodiment shown in accompanying drawing is described, and these embodiments are described using specific word.However, these specific words are not used in limitation the scope of the present invention, the present invention should be interpreted as including all embodiments that those of ordinary skill in the art usually can expect.Other modes such as alignment means 500 can also use binocular vision are realized, are all the equal replacements to this programme.Should all be in the protection domain of this patent.
Claims (11)
1. a kind of Machine for sticking ceramic tile, it is characterised in that including：
Main part, for carrying and installing other each component units；
Pose adjustment unit, for supporting and adjusting the angle of inclination of main part with respect to the horizontal plane；
Suction nozzle module, the negative-pressure adsorption ceramic tile provided by outside；
Binding material application device, smooth binding material is spread for being applied in ceramic tile installation region；
Switching mechanism, for being switched between smearing mode of operation in suction nozzle mode of operation and binding material；
Ceramic tile transport establishment, installation site is moved to for driving by the ceramic tile of suction from take-off location, and driving binding material application device carries out binding material and smears operation；
Alignment means, for obtaining alignment control information when ceramic tile is installed；
Control unit, input setting and alignment means from user obtain control information, send control signal and binding material smearing is carried out to installation region, and absorption, transport and alignment of the control to ceramic tile are installed.
2. Machine for sticking ceramic tile according to claim 1, it is characterised in that
The pose adjustment unit includes：
Obliquity sensor, for measuring the angle of inclination of main part with respect to the horizontal plane；
Controllable extensible supporting leg installed in main part bottom, for the angle of inclination of main part with respect to the horizontal plane to be supported and adjusted when Machine for sticking ceramic tile works.
3. Machine for sticking ceramic tile according to claim 1, it is characterised in that
The binding material application device includes：
Binding material discharging gate, for the binding material conveyed by pipeline from outside to be applied into installation region；
Floating device, the binding material for will be applied to installation region by binding material discharging gate is floating whole.
4. Machine for sticking ceramic tile according to claim 1, it is characterised in that
The switching mechanism, by controlling binding material application device with respect to the position of suction nozzle module in the vertical direction come switching working mode, when binding material application device smears mode of operation when vertical direction is less than suction nozzle module in binding material, suction nozzle mode of operation is in when binding material application device is being vertically higher than suction nozzle module.
5. Machine for sticking ceramic tile according to claim 1, it is characterised in that
The ceramic tile delivery unit includes horizontal transport mechanism and vertical transport establishment, wherein：
Horizontal transport mechanism is two joint horizontal rotating arm, drives ceramic tile to be subjected to displacement in the horizontal direction by spinning movement, wherein, one end of first rotating arm is rotatably connected in main body, and other end rotatable connection has the second turning arm；
Vertical transport establishment is linear electric motors, is vertically installed at the second turning arm lateral ends of horizontal transport mechanism, its lower end retractable, for driving ceramic tile to be subjected to displacement in vertical direction；
Also include encoder, in horizontal transport mechanism and vertical transport establishment, for sending the movement position information of ceramic tile transport establishment to control unit as electric signal.
6. Machine for sticking ceramic tile according to claim 1, it is characterised in that
The alignment means are image capturing unit, can shoot the image of ceramic tile, and send the image of shooting to control unit, for automatic aligning processing, including：
Laser, the laser irradiation ceramic tile surface linear for sending；
Shooting camera, the image for shooting ceramic tile, and by captured image transmitting to control unit.
7. Machine for sticking ceramic tile according to claim 1, it is characterised in that
The alignment means are cross laser device, the laser in cross wire shaped can be sent, for artificial registration process.
8. Machine for sticking ceramic tile according to claim 1, it is characterised in that
Also include ceramic tile placement mechanism, there is fixed position relationship with main body, for placing ceramic tile and ceramic tile is in the take-off location determined.
9. Machine for sticking ceramic tile according to claim 1, it is characterised in that
The main part bottom is provided with for mobile wheel.
10. Machine for sticking ceramic tile according to claim 5, it is characterised in that
Also include the rotating seat installed in the lower section free end of the vertical transport establishment, suction nozzle module, binding material application device, switching device and alignment means are installed for carrying, and these parts installed can be driven to be rotated around vertical axes.
11. Machine for sticking ceramic tile according to claim 6, it is characterised in that
Described image shooting unit is taken pictures to ceramic tile downwards above ceramic tile, and captured image includes the corner of at least one ceramic tile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610226344.3A CN107288325A (en) | 2016-04-13 | 2016-04-13 | Machine for sticking ceramic tile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610226344.3A CN107288325A (en) | 2016-04-13 | 2016-04-13 | Machine for sticking ceramic tile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107288325A true CN107288325A (en) | 2017-10-24 |
Family
ID=60093285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610226344.3A Pending CN107288325A (en) | 2016-04-13 | 2016-04-13 | Machine for sticking ceramic tile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107288325A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108222449A (en) * | 2017-11-29 | 2018-06-29 | 江苏阿尔博装饰工程有限公司 | A kind of vertical automatic Wall brick device of construction |
| CN108412159A (en) * | 2018-03-26 | 2018-08-17 | 段沛荣 | A kind of full-automatically tile application device |
| CN108412174A (en) * | 2018-03-26 | 2018-08-17 | 段沛荣 | A kind of building block of Machine for sticking ceramic tile |
| CN109227565A (en) * | 2018-10-23 | 2019-01-18 | 广东博智林机器人有限公司 | A kind of both arms ground tile paving robot system having all-around mobile function |
| CN109760463A (en) * | 2018-12-29 | 2019-05-17 | 广东博智林机器人有限公司 | Wallpaper piece alignment means and the method for carrying out the alignment of wallpaper seam using it |
| CN109958265A (en) * | 2019-03-30 | 2019-07-02 | 广东博智林机器人有限公司 | Grabbing device, patch block equipment, object space determine method and computer storage medium |
| CN110158931A (en) * | 2019-06-17 | 2019-08-23 | 广东博智林机器人有限公司 | A kind of tile work composite aircraft and tile work method |
| CN110259069A (en) * | 2019-06-17 | 2019-09-20 | 广东博智林机器人有限公司 | A kind of connection method of tile work composite aircraft and primary and secondary machine frame and brick carrying machine |
| CN110259070A (en) * | 2019-06-17 | 2019-09-20 | 广东博智林机器人有限公司 | A kind of tile work composite aircraft and mortar laydown machine combined system and interlock method |
| CN110685429A (en) * | 2019-11-22 | 2020-01-14 | 陈烁 | Positioning device for horizontal laying of ceramic tiles |
| CN111502313A (en) * | 2020-05-14 | 2020-08-07 | 中物智建(武汉)科技有限公司 | Man-machine cooperation wall building robot and system |
| CN111648573A (en) * | 2020-06-16 | 2020-09-11 | 何小红 | Vertical automatic wall tile sticking device for building construction |
| CN112276934A (en) * | 2019-07-25 | 2021-01-29 | 广东博智林机器人有限公司 | Control method, control device, tile paving system, storage medium and processor |
| CN113565300A (en) * | 2021-08-03 | 2021-10-29 | 王献 | Tile work device |
-
2016
- 2016-04-13 CN CN201610226344.3A patent/CN107288325A/en active Pending
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108222449A (en) * | 2017-11-29 | 2018-06-29 | 江苏阿尔博装饰工程有限公司 | A kind of vertical automatic Wall brick device of construction |
| CN108412159A (en) * | 2018-03-26 | 2018-08-17 | 段沛荣 | A kind of full-automatically tile application device |
| CN108412174A (en) * | 2018-03-26 | 2018-08-17 | 段沛荣 | A kind of building block of Machine for sticking ceramic tile |
| CN108412159B (en) * | 2018-03-26 | 2019-11-01 | 南通沃特光电科技有限公司 | A kind of full-automatically tile application device |
| CN108412174B (en) * | 2018-03-26 | 2019-10-18 | 台州市黄岩法奥塑模股份有限公司 | A kind of building block of Machine for sticking ceramic tile |
| CN109227565A (en) * | 2018-10-23 | 2019-01-18 | 广东博智林机器人有限公司 | A kind of both arms ground tile paving robot system having all-around mobile function |
| CN109760463A (en) * | 2018-12-29 | 2019-05-17 | 广东博智林机器人有限公司 | Wallpaper piece alignment means and the method for carrying out the alignment of wallpaper seam using it |
| CN109958265A (en) * | 2019-03-30 | 2019-07-02 | 广东博智林机器人有限公司 | Grabbing device, patch block equipment, object space determine method and computer storage medium |
| CN110259070A (en) * | 2019-06-17 | 2019-09-20 | 广东博智林机器人有限公司 | A kind of tile work composite aircraft and mortar laydown machine combined system and interlock method |
| CN110259069A (en) * | 2019-06-17 | 2019-09-20 | 广东博智林机器人有限公司 | A kind of connection method of tile work composite aircraft and primary and secondary machine frame and brick carrying machine |
| CN110158931A (en) * | 2019-06-17 | 2019-08-23 | 广东博智林机器人有限公司 | A kind of tile work composite aircraft and tile work method |
| CN110259070B (en) * | 2019-06-17 | 2021-03-09 | 广东博智林机器人有限公司 | Combined system and linkage method of brick paving primary and secondary machines and mortar paving machine |
| CN112276934A (en) * | 2019-07-25 | 2021-01-29 | 广东博智林机器人有限公司 | Control method, control device, tile paving system, storage medium and processor |
| CN112276934B (en) * | 2019-07-25 | 2022-04-22 | 广东博智林机器人有限公司 | Control method, control device, tile paving system, storage medium and processor |
| CN110685429A (en) * | 2019-11-22 | 2020-01-14 | 陈烁 | Positioning device for horizontal laying of ceramic tiles |
| CN111502313A (en) * | 2020-05-14 | 2020-08-07 | 中物智建(武汉)科技有限公司 | Man-machine cooperation wall building robot and system |
| CN111648573A (en) * | 2020-06-16 | 2020-09-11 | 何小红 | Vertical automatic wall tile sticking device for building construction |
| CN111648573B (en) * | 2020-06-16 | 2022-07-26 | 广东省正联钢构工程有限公司 | Vertical automatic wall tile sticking device for building construction |
| CN113565300A (en) * | 2021-08-03 | 2021-10-29 | 王献 | Tile work device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107288325A (en) | Machine for sticking ceramic tile | |
| CN110036162B (en) | System and method for placing an object on a surface | |
| CN107327130A (en) | Wall floating, flush coater | |
| CN105908953A (en) | Building external wall face screeding and spray-coating device | |
| CN213174670U (en) | Multifunctional intelligent wall surface processing robot | |
| CN201646006U (en) | Laser marking system | |
| CN110405773A (en) | A kind of floor mounting method and robot | |
| KR102048042B1 (en) | Manufacturing system and manufacturing method | |
| CN110242030A (en) | Ground tile paving robot and ground tile paving method | |
| US9266288B2 (en) | Three-dimensional printing apparatus | |
| CN110397253B (en) | Wallboard installation robot | |
| CN104608458A (en) | Joint linking machine and joint linking method | |
| CN202275262U (en) | Automatic alignment machine | |
| WO2021047413A1 (en) | Wallpaper laying robot | |
| JP2016537184A5 (en) | ||
| CN108561389B (en) | Substrate adsorption jig and method for carrying out substrate adsorption by adopting same | |
| CN102152595A (en) | Method for lamination alignment in manufacturing process of touch screen or flat-panel display | |
| CN104175309B (en) | A kind of vallum robot | |
| CN108637850A (en) | A kind of the milling robot system and control method of movement locus self study | |
| CN102794970B (en) | Method and device for bonding multilayer plates | |
| CN108518047A (en) | A kind of plastering machine for painting wall | |
| CN110424483A (en) | Screeding machines people | |
| WO2014103027A1 (en) | Working machine and positional deviation data acquisition method | |
| CN106516696B (en) | One kind taking film device | |
| CN110303814A (en) | A kind of piece alignment means and its control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171024 |
|
| WD01 | Invention patent application deemed withdrawn after publication |