CN108222471A - A kind of ground surface finishing brick paving machine - Google Patents
A kind of ground surface finishing brick paving machine Download PDFInfo
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- CN108222471A CN108222471A CN201810108107.6A CN201810108107A CN108222471A CN 108222471 A CN108222471 A CN 108222471A CN 201810108107 A CN201810108107 A CN 201810108107A CN 108222471 A CN108222471 A CN 108222471A
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- China
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- measuring sensor
- gyroscope
- holder
- ultrasonic distance
- regulating device
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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
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
Abstract
The present invention provides a kind of ground surface finishing brick paving machine, including body, drives crawler belt, cement smoothes out baffle, and monitoring camera is first, control panel, regulating device one, gyroscope one, ultrasonic distance-measuring sensor one, regulating device two, monitoring camera two, gyroscope two, ultrasonic distance-measuring sensor two, holder transversal driving mechanism, hydraulic lifting post, hydraulic pipeline, holder longitudinal driving mechanism, holder, gyroscope, vacuum cup, vibrator, vacuum pipe and ultrasonic distance-measuring sensor three, the body is by driving crawler belt mobile working position；The forward lower part of the body is equipped with cement and smoothes out baffle, and it is 5 centimetres to 15 centimetres that cement, which smoothes out baffle adjustment height,.The regulating device of the present invention, controller, gyroscope, the setting of ultrasonic distance-measuring sensor and monitoring camera is simple in structure, securely and reliably, improves intelligence degree, ensures the speed and quality of tile work, construction efficiency is improved, convenient for marketing and use.
Description
Technical field
The invention belongs to brick paving machine technical field more particularly to a kind of ground surface finishing brick paving machines.
Background technology
With the continuous improvement of people's living standards, either shop, restaurant or oneself live house, carrying out
When house is decorate, be essentially all using ceramic tile floor file, it is not only beautiful, economical and practical, and be easy to sweep and clear up, very
It is welcomed by the people.
In mainly artificial laying current, that laying ceramic tile relies on, a large amount of manpower can be wasted in this way, in the process of laying
In, the spacing between ceramic tile also is difficult to reach standard, needs that calibration is ceaselessly compared, also the bottom of by before ceramic tile is laid with
The cement flattening in portion will also ceaselessly beat the quadrangle of ceramic tile after being laid with, if it find that ceramic tile is uneven or even also to raise weight
It is newly laid with, the laying efficiency for not only resulting in manpower is greatly reduced, and can also be likely to cause the damage of ceramic tile.
China Patent Publication No. be 206299098 U of CN, innovation and creation it is entitled it is a kind of efficiently automatic Machine for sticking ceramic tile,
Including tiling body, there are four universal wheel, four universal wheels pass through vehicle for the bottom symmetrical setting of the tiling body
Wheel carrier is fixedly installed on the bottom plate of tiling body, and the front and rear sides of tiling body are respectively arranged with material feeding funnel and deashing
Besom, and ceramic tile box is symmetrically arranged at left and right sides of tiling body, the ceramic tile box passes through double ender and tiling body
Bottom plate be connected, the top of tiling body is provided with FPGA controller and turntable, and the upper surface of the turntable is provided with first
Telescopic mast and motor housing, the motor housing are connected with the first telescopic mast, and first telescopic mast is connected with second by telescopic arm
Telescopic arm, second telescopic arm is connected with patch porcelain operation panel, but there is complicated, intelligence degrees for existing brick paving machine
It is not high, the problem of manipulation is inconvenient, and structure cannot be adjusted according to the size of floor tile, and equipment applicability is bad.
Therefore, a kind of ground surface finishing is invented to be very necessary with brick paving machine.
Invention content
It is complicated to solve in order to solve the above technical problem, the present invention provides a kind of ground surface finishing brick paving machine, intelligence
It is not high that degree can be changed, the problem of manipulation is inconvenient, and structure cannot be adjusted according to the size of floor tile, and equipment applicability is bad, one
Kind ground surface finishing brick paving machine including body, drives crawler belt, and cement smoothes out baffle, and monitoring camera is first, control panel, adjusts
Device one, gyroscope one, ultrasonic distance-measuring sensor one, regulating device two, monitoring camera two, gyroscope two, ultrasound
Away from sensor two, holder transversal driving mechanism, hydraulic lifting post, hydraulic pipeline, holder longitudinal driving mechanism, holder, gyroscope
Three, vacuum cup, vibrator, vacuum pipe and ultrasonic distance-measuring sensor three, the body is by driving crawler belt to move work
Make position；The forward lower part of the body is equipped with cement and smoothes out baffle, and cement smoothes out baffle and adjusts highly for 5 centimetres extremely
15 centimetres；The first middle part in front of body of the monitoring camera；The control panel is embedded in body upper side
Face, and pass through the controller of conducting wire connection internal body；The regulating device one is fixed on one end above body, and adjusts dress
It puts a top and gyroscope one is installed, lower section is equipped with ultrasonic distance-measuring sensor one；The regulating device two is fixed on tune
The lower section of regulating device one, and two top of regulating device is equipped with gyroscope two, lower section is equipped with ultrasonic distance-measuring sensor two；Institute
The monitoring camera two stated is mounted on the side of regulating device two；The holder transversal driving mechanism be mounted on body below with
The junction of hydraulic lifting post, wherein hydraulic lifting post connect the hydraulic pump of internal body by hydraulic pipeline；The holder
Longitudinal driving mechanism is mounted below hydraulic lifting post and the junction of holder；The holder upper center is equipped with gyroscope
Three, and lower section one end of holder is equipped with ultrasonic distance-measuring sensor three；Four angles of the holder are mounted on vacuum cup
Or vibrator, wherein vacuum cup connect the vacuum pump of internal body by vacuum pipe.
The body includes ceramic tile and stores cabin, partition board, equipment storage area, power supply, conducting wire, controller, vacuum pump and liquid
Press pump, ceramic tile storage cabin top are provided with equipment storage area, and ceramic tile storage cabin or the connection of equipment storage area
Place is provided with partition board；The power supply is fixed on one end of equipment storage area, and the power supply is arranged in order connection by conducting wire
There are controller, vacuum pump or hydraulic pump, wherein hydraulic pump is connected with fuel tank by pipeline.
The controller includes microcontroller, voltage changing module, I/O input units, I/O output units, relay, vacuum pump
Drive module, motor drive module one, motor drive module two, motor drive module three and hydraulic pump drive module, it is described
Microcontroller upper end is connected by control panel or voltage changing module with power supply；The I/O input units are connected with gyroscope one,
Gyroscope two, gyroscope three, ultrasonic distance-measuring sensor one, ultrasonic distance-measuring sensor two, ultrasonic distance-measuring sensor three, prison
Control camera one or monitoring camera two；The I/O output units are connected by relay with vibrator, I/O outputs
Unit is connected by vacuum pump drive module with vacuum pump, and I/O output units pass through motor drive module one and driving crawler belt
It is connected；The I/O output units are connected by motor drive module two with displacement motor, which passes through motor
Drive module three is connected with balance motor, and I/O output units are connected by hydraulic pump drive module with hydraulic pump；The liquid
Press pump drive module includes three-position four-way electromagnetic directional valve, and wherein three-position four-way electromagnetic directional valve includes electromagnet Y1 and electromagnet
Y2, three-position four-way electromagnetic directional valve is in left position, hydraulic lifting post elongation, when electromagnet Y2 obtains electric when electromagnet Y1 obtains electric
Three-position four-way electromagnetic directional valve is in right position, and hydraulic lifting post is shunk, when electromagnet Y1 or electromagnet Y2 all must not electricity when three
Position four-way electromagnetic reversing valve is in middle position, and hydraulic lifting post is lockked motionless.
The regulating device one is identical with the structure of regulating device two；The regulating device one includes fixed plate, puts down
Weigh motor and cross bar, and described fixed plate one end is fixed on the top of body, and the other end is in 90 by balance motor and cross bar
Degree connection；Installation gyroscope one above the cross bar, downside is equipped with ultrasonic distance-measuring sensor one.
The holder transversal driving mechanism is identical with holder longitudinal driving mechanism driving structure and driving principle；Described
Holder transversal driving mechanism includes fixed case, displacement motor, leading screw, work box, bearing, connecting shaft, nut and ground way, institute
The displacement motor stated is fixed on one end of fixed case, which is connected with leading screw；The leading screw passes through bearing branch
Support is in the inside of work box；The nut is connected through a screw thread with leading screw, and nut peripheral solder has connecting shaft；The company
Spindle is moved back and forth by ground way, and one end of connecting shaft is connected with hydraulic lifting post.
The gyroscope one, gyroscope two or gyroscope three use fibre optic gyroscope, and wherein gyroscope one adjusts dress
One cross bar top is put, gyroscope two is mounted on the cross bar top of regulating device two, and gyroscope three is mounted on the top of holder,
Long lifespan, it is simple in structure, it is light-weight, be conducive to monitor in real time regulating device one and regulating device two cross bar or holder whether
Level ensures that equipment safety is reliably run.
The ultrasonic distance-measuring sensor one, ultrasonic distance-measuring sensor two or ultrasonic distance-measuring sensor three use
HC-SR04 ultrasonic sensors, wherein ultrasonic distance-measuring sensor one are mounted on the cross bar upper end of regulating device one, ultrasound
The cross bar upper end of regulating device two is mounted on away from sensor two, and ultrasonic distance-measuring sensor three is mounted on the downside of holder；
Distance is h1 between the ultrasonic distance-measuring sensor one and ground are laid with the ceramic tile finished；The ultrasonic ranging sensing
Distance is h2 between device two and ultrasonic distance-measuring sensor three；The ultrasonic distance-measuring sensor one is sensed with ultrasonic ranging
Distance is h3 between device two, is gradually increased with the elongation h2 of hydraulic lifting post, and as h2+h3=h1, ceramic tile is contacted with ground,
The laying of ceramic tile is completed, is conducive to the change in location of ceramic tile after precisely monitoring ceramic tile to be laid and being laid with, convenient for being carried out to ceramic tile
It is precisely laid with, securely and reliably.
The vacuum cup or vibrator are mounted on the quadrangle of holder using four, simple in structure, are conducive to root
According to the flatness for the holder that gyroscope three detects, the vibrator positioned at the high angle of departure of holder is made to start to shake, until the angle being higher by
Drop to horizontal position, ensure that the flatness for being laid with ceramic tile, improve the applicability of equipment.
The balance motor or displacement motor are connected with power supply using stepper motor by conducting wire, often add one
Pulse signal, stepper motor will rotate a step angle, and no accumulation rotation error, kinematic accuracy is high, position precise control.
Compared with prior art, the present invention has the advantages that：
1. the setting of the gyroscope of the present invention, long lifespan is simple in structure, light-weight, is conducive to monitor regulating device in real time
Whether one is horizontal with the cross bar or holder of regulating device two, ensures that equipment safety is reliably run.
2. the ultrasonic distance-measuring sensor of the present invention is provided with to be conducive to ceramic tile after precisely monitoring ceramic tile to be laid and being laid with
Change in location, convenient for being precisely laid with to ceramic tile, securely and reliably.
3. the setting of the vibrator of the present invention, is conducive to the flatness of the holder detected according to gyroscope three, makes to be located at
The vibrator of the high angle of departure of holder starts to shake, until the angle being higher by drops to horizontal position, ensure that the flatness for being laid with ceramic tile,
Improve the applicability of equipment.
4. the setting of the monitoring camera of the present invention is conducive to monitoring camera acquisition information of road surface, and will be collected
Data are sent to microcontroller, and microcontroller carries out binary conversion treatment to the data received, by corner and have completed the sideline of ceramic tile
It extracts, the route to advance according to sideline and corner position analysis next step machine.
Description of the drawings
Fig. 1 is the structure diagram of the present invention.
Fig. 2 is the body device structure schematic diagram of the present invention.
Fig. 3 is the levelling device structure diagram of the present invention.
Fig. 4 is the motion structure diagram of the present invention.
Fig. 5 is the A-A enlarged diagrams of the present invention.
Fig. 6 is the laying principle schematic of the present invention.
Fig. 7 is the electrical block diagram of the present invention.
In figure：
1- bodies, 1a- ceramic tiles storage cabin, 1b- partition boards, 1c- equipment storage areas, 1d- power supplys, 1e- conducting wires, 1f- controllers,
1f0- microcontrollers, 1f1- voltage changing modules, 1f2-I/O input units, 1f3-I/O output units, 1f4- relays, 1f5- vacuum pumps
Drive module, 1f6- motor drive modules one, 1f7- motor drive modules two, 1f8- motor drive modules three, 1f9- hydraulic pumps
Drive module, 1g- vacuum pumps, 1h- hydraulic pumps, 2- driving crawler belts, 3- cement smooth out baffle, and 4- monitoring cameras are first, 5- manipulations
Panel, 6- regulating devices one, 61- fixed plates, 62- balance motors, 63- cross bars, 7- gyroscopes one, 8- ultrasonic distance-measuring sensors
One, 9- regulating device two, 10- monitoring cameras two, 11- gyroscopes two, 12- ultrasonic distance-measuring sensors two, 13- holders are lateral
Driving mechanism, 131- fixed cases, 132- displacement motors, 133- leading screws, 134- work boxs, 135- bearings, 136- connecting shafts, 137-
Nut, 138- ground ways, 14- hydraulic lifting posts, 15- hydraulic pipelines, 16- holder longitudinal driving mechanisms, 17- holders, 18- tops
Spiral shell instrument three, 19- vacuum cups, 20- vibrators, 21- vacuum pipes, 22- ultrasonic distance-measuring sensors three.
Specific embodiment
The present invention is described further below in conjunction with attached drawing：
Embodiment：
As shown in attached drawing 1 to attached drawing 7
The present invention provides a kind of ground surface finishing brick paving machine, including body 1, drives crawler belt 2, cement smoothes out baffle 3, monitoring
Camera 1, control panel 5, regulating device 1, gyroscope 1, ultrasonic distance-measuring sensor 1, regulating device 29, prison
Control camera 2 10, gyroscope 2 11, ultrasonic distance-measuring sensor 2 12, holder transversal driving mechanism 13, hydraulic lifting post 14,
Hydraulic pipeline 15, holder longitudinal driving mechanism 16, holder 17, gyroscope 3 18, vacuum cup 19, vibrator 20, vacuum pipe
21 and ultrasonic distance-measuring sensor 3 22, the body 1 is by driving 2 mobile working position of crawler belt；Before the body 1
Square lower part is equipped with cement and smoothes out baffle 3, and it is 5 centimetres to 15 centimetres that cement, which smoothes out the adjustment height of baffle 3,；The monitoring is taken the photograph
The middle part for being mounted on 1 front of body as first 4；The control panel 5 is embedded in 1 top side of body, and is connected by conducting wire
The controller 1f to pick inside body 1；The regulating device 1 is fixed on 1 top one end of body, and one 6 top of regulating device
Gyroscope 1 is installed, lower section is equipped with ultrasonic distance-measuring sensor 1；The regulating device 29 is fixed on regulating device
One 6 lower section, and 29 top of regulating device is equipped with gyroscope 2 11, lower section is equipped with ultrasonic distance-measuring sensor 2 12；Institute
The monitoring camera 2 10 stated is mounted on the side of regulating device 29；The holder transversal driving mechanism 13 is mounted on body 1
Lower section and the junction of hydraulic lifting post 14, wherein hydraulic lifting post 14 connect the hydraulic pressure inside body 1 by hydraulic pipeline 15
Pump 1h；The holder longitudinal driving mechanism 16 is mounted on 14 lower section of hydraulic lifting post and the junction of holder 17；The cloud
17 upper center of platform is equipped with gyroscope 3 18, and lower section one end of holder 17 is equipped with ultrasonic distance-measuring sensor 3 22；Institute
Four angles for stating holder 17 are mounted on vacuum cup 19 or vibrator 20, and wherein vacuum cup 19 is connected by vacuum pipe 21
The vacuum pump 1g to pick inside body 1.
The body 1 includes ceramic tile and stores cabin 1a, partition board 1b, equipment storage area 1c, power supply 1d, conducting wire 1e, controller
1f, vacuum pump 1g and hydraulic pump 1h, ceramic tile storage cabin 1a tops are provided with equipment storage area 1c, and the ceramic tile is stored
Cabin 1a or equipment storage area 1c junctions are provided with partition board 1b；The power supply 1d is fixed on one end of equipment storage area 1c,
And the power supply 1d is arranged in order by conducting wire 1e and is connected with controller 1f, vacuum pump 1g or hydraulic pump 1h, wherein hydraulic pump
1h is connected with fuel tank by pipeline.
The controller 1f includes microcontroller 1f0, voltage changing module 1f1, I/O input unit 1f2, I/O output unit
1f3, relay 1f4, vacuum pump drive module 1f5, one 1f6 of motor drive module, two 1f7 of motor drive module, motor driving
Three 1f8 of module and hydraulic pump drive module 1f9, the microcontroller 1f0 upper ends pass through control panel 5 or voltage changing module 1f1
It is connected with power supply 1d；The I/O input units 1f2 is connected with gyroscope 1, gyroscope 2 11, gyroscope 3 18, ultrasonic wave
Distance measuring sensor 1, ultrasonic distance-measuring sensor 2 12, ultrasonic distance-measuring sensor 3 22, monitoring camera first 4 or monitoring
Camera 2 10；The I/O output units 1f3 is connected by relay 1f4 with vibrator 19, and I/O output units 1f3 leads to
It crosses vacuum pump drive module 1f5 with vacuum pump 1g to be connected, and I/O output units 1f3 passes through one 1f6 of motor drive module and driving
Crawler belt 2 is connected；The I/O output units 1f3 is connected by two 1f7 of motor drive module with displacement motor 132, and the I/O is defeated
Go out unit 1f3 by three 1f8 of motor drive module with balance motor 62 to be connected, and I/O output units 1f3 passes through hydraulic pump drive
Module 1f9 is connected with hydraulic pump 1h；The hydraulic pump drive module 1f9 includes three-position four-way electromagnetic directional valve, wherein three
Four-way electromagnetic reversing valve includes electromagnet Y1 and electromagnet Y2, and three-position four-way electromagnetic directional valve is in a left side when electromagnet Y1 obtains electric
Position, hydraulic lifting post 14 extends, and three-position four-way electromagnetic directional valve is in right position when electromagnet Y2 obtains electric, and hydraulic lifting post 14 is received
Contracting, when electromagnet Y1 or electromagnet Y2 all must not electricity when three-position four-way electromagnetic directional valve be in middle position, hydraulic lifting post 14 is locked
It is firmly motionless.
The regulating device 1 is identical with the structure of regulating device 29；The regulating device 1 includes fixed plate
61, balance motor 62 and cross bar 63, described 61 one end of fixed plate are fixed on the top of body 1, and the other end passes through and balances electricity
Machine 62 is with cross bar 63 in 90 degree of connections；The 63 top installation gyroscope 1 of cross bar, downside is equipped with ultrasonic ranging biography
Sensor 1.
The holder transversal driving mechanism 13 is identical with 16 driving structure of holder longitudinal driving mechanism and driving principle；Institute
The holder transversal driving mechanism 13 stated includes fixed case 131, displacement motor 132, leading screw 133, work box 134, bearing 135, company
Spindle 136, nut 137 and ground way 138, the displacement motor 132 are fixed on one end of fixed case 131, displacement electricity
132 one end of machine is connected with leading screw 133；The leading screw 133 is supported on the inside of work box 134 by bearing 135；The spiral shell
Mother 137 is connected through a screw thread, and 137 peripheral solder of nut has connecting shaft 136 with leading screw 133；The connecting shaft 136 passes through solid
Standing way 138 moves back and forth, and one end of connecting shaft 136 is connected with hydraulic lifting post 14.
The gyroscope 1, gyroscope 2 11 or gyroscope 3 18 use fibre optic gyroscope, wherein gyroscope 1
The cross bar top of regulating device 1, gyroscope 2 11 is mounted on the cross bar top of regulating device 29, and gyroscope 3 18 is installed
On the top of holder 17, long lifespan is simple in structure, light-weight, is conducive to monitor regulating device one and regulating device two in real time
Whether cross bar or holder are horizontal, ensure that equipment safety is reliably run.
The ultrasonic distance-measuring sensor 1, ultrasonic distance-measuring sensor 2 12 or ultrasonic distance-measuring sensor three
22 use HC-SR04 ultrasonic sensors, and wherein ultrasonic distance-measuring sensor 1 is mounted on the cross bar upper end of regulating device 1,
Ultrasonic distance-measuring sensor 2 12 is mounted on the cross bar upper end of regulating device 29, and ultrasonic distance-measuring sensor 3 22 is mounted on
The downside of holder 17；Distance is h1 between the ultrasonic distance-measuring sensor 1 and ground are laid with the ceramic tile finished；It is described
Ultrasonic distance-measuring sensor 2 12 and ultrasonic distance-measuring sensor 3 22 between distance be h2；The ultrasonic ranging sensing
Distance is h3 between device 1 and ultrasonic distance-measuring sensor 2 12, gradually increases with the elongation h2 of hydraulic lifting post 14, works as h2
Ceramic tile is contacted with ground during+h3=h1, completes the laying of ceramic tile, is conducive to ceramic tile after precisely monitoring ceramic tile to be laid and being laid with
Change in location, convenient for being precisely laid with to ceramic tile, securely and reliably.
The vacuum cup 19 or vibrator 20 use four, and are mounted on the quadrangle of holder 17, simple in structure, have
Conducive to the flatness of holder 17 detected according to gyroscope 3 18, the vibrator 20 positioned at 17 high angle of departure of holder is made to start to shake
It is dynamic, it until the angle being higher by drops to horizontal position, ensure that the flatness for being laid with ceramic tile, improve the applicability of equipment.
The balance motor 62 or displacement motor 132 are connected with power supply 1d using stepper motor by conducting wire, often
Add a pulse signal, stepper motor will rotate a step angle, and no accumulation rotation error, kinematic accuracy is high, position control
Accurately.
Operation principle
Machine is placed on the cement plastering cover of ceramic tile to be laid with first, because machine is used as travel wheel using driving crawler belt 2,
So without worrying that machine can not advance on cement plastering cover or knockdown occurs for fuselage.It is opened on control panel 4 first
Vehicle switchs, and is powered to machine and prepares to start to work, monitoring camera first 4 or information collection camera two after machine is powered
10 start to acquire information of road surface, and collected data are sent to the microcontroller 1f0 in controller 1f, and microcontroller 1f0 is to receiving
The data arrived carry out binary conversion treatment, corner and the sideline for having completed ceramic tile are extracted, according to sideline and corner position
The route that next step machine advances is analyzed, cement smoothes out baffle 3 and smoothes out the concrete grey on ground during advance, before machine
Into distance calculated by the encoder on driving crawler belt 2, and result of calculation is sent to microcontroller 1f0, work as forward travel distance
When reaching the length of one block of ceramic tile, machine, which halts, is parked in original place.Displacement motor 132, which starts to rotate counterclockwise, at this time makes holder
17 to ceramic tile storage cabin 1a upper directions (holder 12 on leading screw 9c position can pass through motor turn the number of turns and leading screw lift angle
It acquires).When holder 17 is moved to above ceramic tile storage cabin 1a, 132 stop motion of displacement motor.Microcontroller 1f0 passes through control
Hydraulic pump drive module 1f9 makes hydraulic pump start oil suction work, while in microcontroller 1f0 control three-position four-way electromagnetic directional valves
Electromagnet Y1 obtains electric, and three-position four-way electromagnetic directional valve is in left position, and hydraulic lifting post 14 extends, when the ultrasonic wave of 17 lower section of holder
The distance of 3 22 detecting distance ceramic tile of distance measuring sensor reach it is preset apart from when i.e. vacuum cup 19 can be connect with ceramic tile
When touching, electromagnet Y1 or electromagnet Y2 in microcontroller 1f0 control three-position four-way electromagnetic directional valves must not be electric, 3-position 4-way
Solenoid directional control valve is in middle position, and hydraulic lifting post 14 is lockked motionless.Microcontroller 1f0 is controlled by vacuum pump control module 1f5 at this time
Vacuum cup 19 is evacuated by vacuum pump 1g processed, and the electromagnet Y2 in microcontroller 1f0 control three-position four-way electromagnetic directional valves is obtained
Electricity, three-position four-way electromagnetic directional valve are in right position, and hydraulic lifting post 14 is shunk, when being retracted to initial position, microcontroller 1f0 controls
Electromagnet Y1 or electromagnet Y2 in three-position four-way electromagnetic directional valve processed all must not electric hydraulic lifting post 14 keep current location,
The hydraulic oil of hydraulic pump 1h outputs returns to fuel tank by pipeline.Microcontroller 1f0 controls two 1f7 of motor drive module makes displacement motor
132 together with leading screw 133 reversely rotate by holder 17 send out certain distance (this distance and just now holder 17 reach ceramic tile storage cabin 1a
The distance of movement is equal, has record in microcontroller 1f0) top for wanting tile work is reached, microcontroller 1f0 is controlled after reaching designated position
Electromagnet Y1 in three-position four-way electromagnetic directional valve obtain it is electric make hydraulic lifting post 14 downwards extend.
The distance extended downwards is acquired by the distance that ultrasonic distance-measuring sensor returns, ultrasonic distance-measuring sensor 1 with
Distance is h1 between ground is laid with the ceramic tile finished, between ultrasonic distance-measuring sensor 2 12 and ultrasonic distance-measuring sensor 3 22
Distance is h2, and distance is h3 between ultrasonic distance-measuring sensor 1 and ultrasonic distance-measuring sensor 2 12, with hydraulic lifting post
14 elongation h2 gradually increases, and as h2+h3=h1, ceramic tile is contacted with ground, and the posture of ceramic tile is acquired by gyroscope 3 18
And it is sent to microcontroller 1f0 and judges whether ceramic tile is horizontal by the AD conversion function of microcontroller 1f0.On the basis of h2+h3=h1
If upper ceramic tile has some angle to be higher by horizontal position, the vibrator 20 of corresponding position by microcontroller 1f0 control relay 1f4 so as to
Vibrator 20, which starts vibrations, makes respective corners distance decline until whole reach horizontal position.In regulating device 1 or adjust dress
It puts and gyroscope 1 or gyroscope 2 11 is installed on the cross bar 63 of 29 tops, whether monitoring cross bar 63 is horizontal in real time, avoids
It is unhorizontal to cause to form error when calculating h2+h3=h1.When gyroscope 1 or gyroscope 2 11 are sent to microcontroller 1f0
Data when finding that cross bar 63 is not horizontal through analysis, the balance motor 62 of 63 one end of cross bar rotates corresponding angle γ 1, and γ 2 is adjusted
The a length of h4 of cross bar of regulating device 29, the one 6 a length of h5 of top cross bar of regulating device, so h2 is calculated as h1+h5*sin γ at this time
2- (h2*sin γ 1)=h3.
Hydraulic lifting post 14 is retracted to initial position upwards when the laying of one block of ceramic tile finishes.First 4 acquisition of monitoring camera
Data be sent to microcontroller 1f0 analysis advance route, and by microcontroller 1f0 control one 1f6 of motor drive module carry out driving
Band 2 travels forward.Monitoring camera 10 on rear side of body collects floor tile and the cement plastering cover that lastblock has been laid with
Boundary line when machine halt and start to be laid with next piece of floor tile.
Using technical solutions according to the invention or those skilled in the art under the inspiration of technical solution of the present invention,
Similar technical solution is designed, and reaches above-mentioned technique effect, is to fall into protection scope of the present invention.
Claims (9)
1. a kind of ground surface finishing brick paving machine, it is characterised in that：Including body (1), driving crawler belt (2), cement smoothes out baffle
(3), monitoring camera is first (4), control panel (5), regulating device one (6), gyroscope one (7), ultrasonic distance-measuring sensor one
(8), regulating device two (9), monitoring camera two (10), gyroscope two (11), ultrasonic distance-measuring sensor two (12), holder are horizontal
To driving mechanism (13), hydraulic lifting post (14), hydraulic pipeline (15), holder longitudinal driving mechanism (16), holder (17), gyro
Instrument three (18), vacuum cup (19), vibrator (20), vacuum pipe (21) and ultrasonic distance-measuring sensor three (22), it is described
Body (1) is by driving crawler belt (2) mobile working position；The forward lower part of the body (1) is equipped with cement and smoothes out baffle
(3), and cement floating baffle (3) adjustment height is 5 centimetres to 15 centimetres；The monitoring camera first (4) is mounted on body
(1) middle part in front of；The control panel (5) is embedded in side above body (1), and is connected in body (1) by conducting wire
The controller (1f) in portion；The regulating device one (6) is fixed on one end above body (1), and pacifies above regulating device one (6)
Equipped with gyroscope one (7), lower section is equipped with ultrasonic distance-measuring sensor one (8)；The regulating device two (9) is fixed on adjusting
The lower section of device one (6), and gyroscope two (11) is installed above regulating device two (9), lower section is equipped with ultrasonic ranging biography
Sensor two (12)；The monitoring camera two (10) is mounted on the side of regulating device two (9)；The holder is laterally driven
Mechanism (13) passes through hydraulic pressure below body (1) with the junction of hydraulic lifting post (14), wherein hydraulic lifting post (14)
The internal hydraulic pump (1h) of pipeline (15) connection body (1)；The holder longitudinal driving mechanism (16) is mounted on hydraulic lifting
Below column (14) and the junction of holder (17)；Described holder (17) upper center is equipped with gyroscope three (18), and holder
(17) lower section one end is equipped with ultrasonic distance-measuring sensor three (22)；Four angles of the holder (17) are mounted on vacuum suction
Disk (19) or vibrator (20), wherein vacuum cup (19) connect the internal vacuum pump of body (1) by vacuum pipe (21)
(1g)。
2. ground surface finishing brick paving machine as described in claim 1, it is characterised in that：The body (1) is stored including ceramic tile
Cabin (1a), partition board (1b), equipment storage area (1c), power supply (1d), conducting wire (1e), controller (1f), vacuum pump (1g) and hydraulic pressure
Pump (1h), equipment storage area (1c) be provided with above ceramic tile storage cabin (1a), and ceramic tile storage cabin (1a) or
Equipment storage area (1c) junction is provided with partition board (1b)；The power supply (1d) is fixed on one end of equipment storage area (1c),
And the power supply (1d) is arranged in order by conducting wire (1e) and is connected with controller (1f), vacuum pump (1g) or hydraulic pump (1h),
Wherein hydraulic pump (1h) is connected with fuel tank by pipeline.
3. ground surface finishing brick paving machine as claimed in claim 2, it is characterised in that：The controller (1f) is including microcontroller
(1f0), voltage changing module (1f1), I/O input units (1f2), I/O output units (1f3), relay (1f4), vacuum pump driving
Module (1f5), motor drive module one (1f6), motor drive module two (1f7), motor drive module three (1f8) and hydraulic pump
Drive module (1f9), the microcontroller (1f0) upper end pass through control panel (5) or voltage changing module (1f1) and power supply (1d)
It is connected；The I/O input units (1f2) are connected with gyroscope one (7), gyroscope two (11), gyroscope three (18), ultrasonic wave
Distance measuring sensor one (8), ultrasonic distance-measuring sensor two (12), ultrasonic distance-measuring sensor three (22), monitoring camera are first (4)
Or monitoring camera two (10)；The I/O output units (1f3) are connected by relay (1f4) with vibrator (20), should
I/O output units (1f3) are connected by vacuum pump drive module (1f5) with vacuum pump (1g), and I/O output units (1f3) are logical
Motor drive module one (1f6) is crossed with driving crawler belt (2) to be connected；The I/O output units (1f3) pass through motor drive module
Two (1f7) are connected with displacement motor (132), which passes through motor drive module three (1f8) and balance electricity
Machine (62) is connected, and I/O output units (1f3) are connected by hydraulic pump drive module (1f9) with hydraulic pump (1h)；The liquid
Press pump drive module (1f9) includes three-position four-way electromagnetic directional valve, and wherein three-position four-way electromagnetic directional valve includes electromagnet (Y1)
With electromagnet (Y2).
4. ground surface finishing brick paving machine as described in claim 1, it is characterised in that：The regulating device one (6) is with adjusting
The structure of device two (9) is identical；The regulating device one (6) includes fixed plate (61), balance motor (62) and cross bar (63),
Described fixed plate (61) one end is fixed on the top of body (1), and the other end is in by balance motor (62) and cross bar (63)
90 degree of connections；Installation gyroscope one (7) above the cross bar (63), downside is equipped with ultrasonic distance-measuring sensor one (8).
5. ground surface finishing brick paving machine as described in claim 1, it is characterised in that：The holder transversal driving mechanism (13)
It is identical with holder longitudinal driving mechanism (16) driving structure and driving principle；The holder transversal driving mechanism (13) is including solid
Determine case (131), displacement motor (132), leading screw (133), work box (134), bearing (135), connecting shaft (136), nut (137)
With ground way (138), the displacement motor (132) is fixed on one end of fixed case (131), the displacement motor (132) one
End is connected with leading screw (133)；The leading screw (133) is supported on the inside of work box (134) by bearing (135)；Described
Nut (137) is connected through a screw thread with leading screw (133), and nut (137) peripheral solder has connecting shaft (136)；The connection
Axis (136) is moved back and forth by ground way (138), and one end of connecting shaft (136) is connected with hydraulic lifting post (14).
6. ground surface finishing brick paving machine as described in claim 1, it is characterised in that：The gyroscope one (7), gyroscope two
(11) or gyroscope three (18) is using the cross bar top of fibre optic gyroscope, wherein gyroscope one (7) regulating device one (6), top
Spiral shell instrument two (11) is mounted on the cross bar top of regulating device two (9), and gyroscope three (18) is mounted on the top of holder (17).
7. ground surface finishing brick paving machine as described in claim 1, it is characterised in that：The ultrasonic distance-measuring sensor one
(8), ultrasonic distance-measuring sensor two (12) or ultrasonic distance-measuring sensor three (22) be using HC-SR04 ultrasonic sensors,
Wherein ultrasonic distance-measuring sensor one (8) is mounted on the cross bar upper end of regulating device one (6), ultrasonic distance-measuring sensor two (12)
Mounted on the cross bar upper end of regulating device two (9), and ultrasonic distance-measuring sensor three (22) is mounted on the downside of holder (17)；
Distance is h1 between the ultrasonic distance-measuring sensor one (8) and ground are laid with the ceramic tile finished；The ultrasonic ranging
Distance is h2 between sensor two (12) and ultrasonic distance-measuring sensor three (22)；The ultrasonic distance-measuring sensor one (8)
Distance is h3 between ultrasonic distance-measuring sensor two (12).
8. ground surface finishing brick paving machine as described in claim 1, it is characterised in that：The vacuum cup (19) or vibration
Device (20) is mounted on the quadrangle of holder (17) using four.
9. ground surface finishing brick paving machine as claimed in claim 4, it is characterised in that：The balance motor (62) or displacement
Motor (132) is connected with power supply (1d) using stepper motor, and by conducting wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810108107.6A CN108222471A (en) | 2018-02-02 | 2018-02-02 | A kind of ground surface finishing brick paving machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810108107.6A CN108222471A (en) | 2018-02-02 | 2018-02-02 | A kind of ground surface finishing brick paving machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108222471A true CN108222471A (en) | 2018-06-29 |
Family
ID=62670658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810108107.6A Withdrawn CN108222471A (en) | 2018-02-02 | 2018-02-02 | A kind of ground surface finishing brick paving machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108222471A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109137691A (en) * | 2018-09-11 | 2019-01-04 | 中建路桥集团有限公司 | A kind of concrete prefabricated paving unit spelling, which is mated formation, sets |
| CN109162180A (en) * | 2018-09-11 | 2019-01-08 | 中建路桥集团有限公司 | A kind of highway pavement spells paving vehicle automatically |
| CN109338858A (en) * | 2018-11-13 | 2019-02-15 | 张子林 | A kind of ground tile paving machine |
| CN110219446A (en) * | 2019-05-16 | 2019-09-10 | 广东博智林机器人有限公司 | Automatic tile work method |
| CN110259066A (en) * | 2019-06-04 | 2019-09-20 | 广东博智林机器人有限公司 | Patch block device and its patch block method |
| CN110565915A (en) * | 2019-09-19 | 2019-12-13 | 南京理工大学紫金学院 | Semi-automatic multi-functional integrated brick paving machine |
| CN112148007A (en) * | 2020-09-17 | 2020-12-29 | 安徽科技学院 | Automatic tile sticking machine based on single chip microcomputer foundation |
| CN114250956A (en) * | 2020-09-21 | 2022-03-29 | 广东博智林机器人有限公司 | Tile laying mechanism and control method with same |
| CN115182219A (en) * | 2022-05-18 | 2022-10-14 | 南通市达欣工程股份有限公司 | Municipal administration pavement is with shop brick device |
-
2018
- 2018-02-02 CN CN201810108107.6A patent/CN108222471A/en not_active Withdrawn
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109137691A (en) * | 2018-09-11 | 2019-01-04 | 中建路桥集团有限公司 | A kind of concrete prefabricated paving unit spelling, which is mated formation, sets |
| CN109162180A (en) * | 2018-09-11 | 2019-01-08 | 中建路桥集团有限公司 | A kind of highway pavement spells paving vehicle automatically |
| CN109338858A (en) * | 2018-11-13 | 2019-02-15 | 张子林 | A kind of ground tile paving machine |
| CN109338858B (en) * | 2018-11-13 | 2021-12-10 | 安徽品茗建设工程项目管理有限公司 | Floor tile laying machine |
| CN110219446A (en) * | 2019-05-16 | 2019-09-10 | 广东博智林机器人有限公司 | Automatic tile work method |
| CN110259066A (en) * | 2019-06-04 | 2019-09-20 | 广东博智林机器人有限公司 | Patch block device and its patch block method |
| CN110565915A (en) * | 2019-09-19 | 2019-12-13 | 南京理工大学紫金学院 | Semi-automatic multi-functional integrated brick paving machine |
| CN112148007A (en) * | 2020-09-17 | 2020-12-29 | 安徽科技学院 | Automatic tile sticking machine based on single chip microcomputer foundation |
| CN114250956A (en) * | 2020-09-21 | 2022-03-29 | 广东博智林机器人有限公司 | Tile laying mechanism and control method with same |
| CN115182219A (en) * | 2022-05-18 | 2022-10-14 | 南通市达欣工程股份有限公司 | Municipal administration pavement is with shop brick device |
| CN115182219B (en) * | 2022-05-18 | 2023-09-15 | 南通市达欣工程股份有限公司 | Brick laying device for municipal sidewalk |
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Application publication date: 20180629 |
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