CN108487013A - The road surface of high degree of automation ground brick masonry Work robot - Google Patents
The road surface of high degree of automation ground brick masonry Work robot Download PDFInfo
- Publication number
- CN108487013A CN108487013A CN201810279186.7A CN201810279186A CN108487013A CN 108487013 A CN108487013 A CN 108487013A CN 201810279186 A CN201810279186 A CN 201810279186A CN 108487013 A CN108487013 A CN 108487013A
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- China
- Prior art keywords
- walking
- fillers
- fixed
- turntable
- platform
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
- E01C19/524—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones using suction devices
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
- E01C19/522—Apparatus for laying the elements by rolling or unfolding, e.g. for temporary pavings
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
- E01C2301/20—Screed or paver accessories for paving joint or edge treatment
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the road surface of high degree of automation brick masonry Work robot, including crawler unit, running gear system, electrical turntable, delta parallel institutions, suction means and brickwork joint filler device, running gear system is symmetrically arranged at left and right sides of crawler unit, electrical turntable is located at crawler unit upper end center position, delta parallel institutions are between electrical turntable and suction means, and delta parallel institutions lower end is connected with electrical turntable, delta parallel institutions upper end is connected with suction means, the brickwork joint device that fillers is located at right over suction means.The multiple functions such as fixed that the present invention integrates compound walking, multiple degrees of freedom orientation is adjusted, floor tile is drawn and brickwork joint fillers, ground tile paving operation can be carried out to municipal pavement, and high degree of automation, laying speed are fast and laying aesthetics is good, it is big to solve existing ground tile paving appropriation of labour power, it is low to be laid with efficiency, is laid with the problems such as cost is big.
Description
Technical field
The present invention relates to road work machinery field, the specifically road surface of high degree of automation ground brick masonry working rig
Device people.
Background technology
Floor tile is a kind of floor decorative material, is also floor tile, is fired with clay, and specification is a variety of, and matter is hard, pressure resistance is resistance to
Mill, can be moisture-proof, and some has decoration function, be chiefly used in the ground and floor of public building and civil buildings through glazing treatment；Ground
Brick designs and varieties are very more, and alternative leeway is very big, can be divided into glazed tile, all-body tile (anti-skid brick), polished bricks by material
With vitrified tile etc., the floor tile of unlike material is suitable for different occasions, and floor tile master occasion to be applied has people's row of municipal works
Road, the surrounding edge of street greening, the ground of gardens construction, the ground of interior decoration, surface of the street, highway safe edge etc..
At present for the laying of floor tile mostly use it is artificial be laid with operation, be not only laid with that of high cost, laying speed is slow, paving in this way
If efficiency is low and occupies a large amount of labour, and workers with long time bends over to be engaged in ground tile paving operation, be easy to cause lumbar vertebrae neck
The occupational diseases such as vertebra are unfavorable for the physical and mental health of human body.In consideration of it, a kind of the present invention provides road surface brick masonry work machine
People.
Invention content
In order to make up for the deficiencies of the prior art, the present invention provides a kind of road surface brick masonry Work robot.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of road surface ground brick masonry Work robot, including crawler unit, running gear system, electrical turntable,
Delta parallel institutions, suction means and brickwork joint filler device；The running gear system quantity is four, and running on wheels fills
It sets and is symmetrically arranged at left and right sides of crawler unit, electrical turntable is located at crawler unit upper end center position,
And electrical turntable is connected with crawler unit, delta parallel institutions are between electrical turntable and suction means, and delta
Parallel institution lower end is connected with electrical turntable, and delta parallel institutions upper end is connected with suction means, and brickwork joint fillers device position
Right over suction means.
As a further improvement on the present invention, the crawler unit includes chassis, driving motor, drive shaft, row
Belt wheel, tight locking button and traveling crawler are walked, and the quantity of driving motor, tight locking button and traveling crawler is two, drive shaft and walking
Belt wheel quantity is four；The chassis is in rectangular configuration, and chassis rear and front end offers mounting groove respectively, and driving motor is solid respectively
It is scheduled in the mounting groove of chassis front and rear sides, and driving motor uses Biaxial synchronous output motor, drive shaft one end and driving electricity
Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel
It is fixed, traveling crawler both ends are evenly arranged with semicircle anti-skidding on the outside of traveling crawler rotating around being sleeved on walking belt wheel
Item.
As a further improvement on the present invention, the running gear system includes walking fixed plate, walking sliding rail, walking
Sliding block, walking ear mount, No.1 shaft, mobile holder, No. two shafts, walking supporting rod, moving block, movable motor, movable motor
Frame, walking axle and walking runner；The walking sliding rail is fixed on walking fixed plate lower face, and walking sliding block is mounted on walking
On sliding rail, and upper end of slide block of walking is concave structure, and walking sliding block lower end is the U-shaped structure to stand upside down, and walking ear mount is located at walking
At sliding rail rear end position, and ear mount of walking is connected with walking fixed plate, and mobile holder upper end passes through No.1 shaft and walking ear mount
It is connected, walking connecting rod is provided at mobile holder medium position, walking supporting rod one end is slided by No. two shafts and walking
Block lower end is connected, and the walking supporting rod other end is connected by moving block with the walking connecting rod in the middle part of mobile holder, and row
It is pneumatic telescopic structure to walk supporting rod, and movable motor is fixed on by movable motor frame on mobile holder lateral wall, and row
It walks electric machine main shaft with walking axle to be connected, walking axle both ends are separately fixed on the left and right madial wall of mobile holder lower end, walking
Runner is mounted at walking axle medium position.
When the present invention advances, when flat road surface is walked, pass through outward movement of the sliding block on walking sliding rail of walking
Walking supporting rod stretching routine outward counterclockwise is driven, and supporting rod of walking links with mobile holder, to drive walking branch
Frame carries out rotary motion outward counterclockwise by rotation center of No.1 shaft, on walking rotatable wheel contacts ground, entire crawler belt
Running gear is detached with ground, is in by lift dummy status, while passing through the rotation that movable motor drives walking runner, is realized
The walking movement of running gear system, and the speed of travel is fast, overcome the slow problem of the crawler unit speed of travel；Work as chance
When to hogwallow, by walking, inwardly movement of the sliding block on walking sliding rail drives walking supporting rod to receive inwardly clockwise
It contracts and moves, and supporting rod of walking links with mobile holder, to drive mobile holder suitable as rotation center progress using No.1 shaft
Hour hands rotary motion inwardly, realizes the contraction of running gear system, when runner of walking is detached from ground, entire crawler travel
Device is contacted with ground, and the rotation of walking belt wheel is driven by the rotation of driving motor, to drive the movement of traveling crawler, is carried out
With running gear be mainly used for the present invention walk, move and turn to, and crawler unit by using track structure more
Add the walking of convenient for hollow topography condition so that applicability of the invention is stronger；It is filled by crawler unit and running on wheels
The cooperation conversion set, improves the locomotor activity of the present invention.
As a further improvement on the present invention, the delta parallel institutions include fixed platform, moving platform, motor cabinet, simultaneously
Join motor, first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second shaft, rotating basis and limit spring；Described determines
Platform and moving platform structure in rounded shape, moving platform are located at right over fixed platform, and the quantity of motor cabinet and rotating basis is
Three, motor cabinet is fixed in positive triangle shape on fixed platform upper surface centered on the center of circle of fixed platform, and rotating basis is with dynamic flat
It is arranged on moving platform lower face in positive triangle shape centered on the center of circle of platform, and motor cabinet installation site and rotating basis installation
Position corresponds respectively, and installation is fixed by motor cabinet in parallel-connected induction motors, and parallel-connected induction motors are exported using adjustable speed twin shaft
Motor, first rotating shaft one end are connected with parallel-connected induction motors main shaft, and the first rotating shaft other end is connected with first connecting rod upper end, and first
It is attached using rotational pin between connecting rod lower end and second connecting rod upper end, second connecting rod lower end is connected with second shaft one end
It connects, the second shaft other end is mounted on rotating basis, and rotating basis lower end is provided with swivel bearing, and swivel bearing is put down with dynamic
Platform upper surface is mutually fixed, and rotating basis upper end is provided with and the matched double end sleeve of the second shaft, first connecting rod middle inside
Respectively be provided with the first mounting base and the second mounting base with second connecting rod middle inside, limit spring be located at the first mounting base and
Between second mounting base, and limit spring upper end is connected with the first mounting base, and limit spring lower end is connected with the second mounting base
It connects；When specific works, the rotation of first rotating shaft, and first connecting rod and the coaxial phase of first rotating shaft are driven by the rotation of parallel-connected induction motors
Connection to drive the rotation of second connecting rod by the rotation of first connecting rod, and then drives the movement of moving platform, and passes through limit
Jitter when spring reduces the movement of delta parallel institutions, increases the stationarity of delta parallel institutions movement, and delta is in parallel
Mechanism rigidity compared with serial mechanism is big, and movement is flexible, stable structure, and bearing capacity is strong and fine motion precision is high, delta parallel machines
Structure can carry out the movement in the total six-freedom degree direction of three translations three rotation in space, and space is small, movement velocity is fast, fortune
Dynamic flexibility is good, and delta parallel institutions are applied in the present invention, on the one hand plays and fillers device to suction means and brickwork joint
Whole orientation angles adjusting, convenient for the progress of the various comprehensive high-precision tile work operations of posture of the present invention, on the other hand
The effect of damping is played to suction means and the brickwork joint device that fillers so that suction means and brickwork joint filler device in row of the present invention
It walks under jounce condition and to be in horizontal plateau always, prevent jitter excessive to influence suction means and brickwork joint fillers device
Tile work efficiency and accuracy.
As a further improvement on the present invention, the suction means include draw pedestal, draw sliding rail, draw slide,
It draws turntable, draw holder, angle adjusting mechanism, holding mechanism and delivery device；The absorption pedestal lower end is provided with company
Disk is connect, pedestal upper end is drawn and is provided with fixed station, and be provided with connecting pole between terminal pad and fixed station, drawing sliding rail quantity is
Two, it draws sliding rail and is symmetrically arranged at fixed station upper surface front and rear sides along the central transverse axis for drawing pedestal, draw and slide
Seat rear and front end is separately mounted to draw on sliding rail, draws slide and is made of level board and vertical panel, and level board and vertical panel
Between be provided with connection floor, draw turntable and be fixed on and draw slide upper surface center position, draw holder and be fixed on absorption
Right over turntable, angle adjusting mechanism, which is located at, to be drawn above holder, and holding mechanism is mounted on the positive front end of angle adjusting mechanism, push
Mechanism, which is located at, draws sliding base rear end；Angle adjusting mechanism and sticking machine can be driven by drawing sliding of the slide on drawing sliding rail
The side-to-side movement of structure, the adjusting of extension elongation when to realize holding mechanism sticking floor tile can drive angle by drawing turntable
The rotary motion of regulating mechanism and holding mechanism in the horizontal plane, to realize the adjusting of holding mechanism local horizontal contraposition.
As a further improvement on the present invention, the angle adjusting mechanism includes adjusting hinge, adjusting support plate, motor branch
Column, Shrinking wheel, adjusts steel wire rope and adjusts ear mount Bidirectional output electric machine；The adjusting support plate, which is located at, draws holder front end, and
It adjusts and is attached between support plate and absorption holder by adjusting hinge, motor pillar, which is located at, draws back-end support center
Place, and motor pillar bottom end is connected with pedestal upper end face is drawn, and is connected in the middle part of motor pillar top and Bidirectional output electric machine,
The quantity of Shrinking wheel, adjusting steel wire rope and adjusting ear mount is two, and Shrinking wheel is fixed on Bidirectional output electric machine main shaft, adjusts steel
Cord one end is fixed in Shrinking wheel, is adjusted the steel wire rope other end and is wrapped in adjusting ear mount, is adjusted ear mount and is fixed on adjusting branch
On plate upper surface；The positive and negative rotation that Shrinking wheel is driven by the positive and negative rotation of Bidirectional output electric machine, to drive adjusting steel wire rope
Folding and unfolding, and adjust steel wire rope with adjust ear mount be connected, and then drive adjust support plate using adjust hinge as rotary shaft progress just
Reverse turn realizes the angular adjustment on holding mechanism vertical plane, easily facilitates the progress of tile work operation, also achieves horizontal plane
With the ground tile paving function of inclined surface, strong applicability.
As a further improvement on the present invention, the holding mechanism includes vacuum generator, lifting air-leg and true
Suction disk；The vacuum generator, which passes through, adjusts support plate center, and is mutually fixed with adjusting support plate in the middle part of vacuum generator,
Vacuum generator lower end is connected with vacuum cup, and lifting air-leg one end is connected with support plate is adjusted, and lifts air-leg
The other end is connected with vacuum cup, and vacuum cup is in the rectangular hollow shell structure of lower ending opening, and vacuum cup lower end is uniform
It is provided with suction nozzle, and vacuum cup material is flexible rubber material；When vacuum cup is mutually close to floor tile upper surface, by true
The effect of empty generator to be evacuated state in vacuum cup, and under the action of interior ambient pressure difference, floor tile is by vacuum
Sucker is tightly sucked, and can drive the vertical movement up and down of vacuum cup by lifting air-leg, realizes lifting for floor tile
With the function of decentralization.
As a further improvement on the present invention, the delivery device includes push support plate, push push rod and returning spring；
The push support plate bottom end, which is fixed on, draws on pedestal, and push push rod is located on push support plate lateral surface, pushes push rod front end
It is connected with slide is drawn, push putting back-end is connected with push support plate, and pushes push rod and be in along push support plate longitudinal direction
Straight line is equally spaced, returning spring around be sleeved on push push rod front position at；A suction means left side can be realized by delivery device
The adjusting of right bit.
When operation, angular adjustment machine can be driven by the sliding of delivery device and absorption slide on drawing sliding rail first
The side-to-side movement of structure and holding mechanism, the adjusting of extension elongation when to realize holding mechanism sticking floor tile, by drawing turntable
The rotary motion of angle adjusting mechanism and holding mechanism in the horizontal plane can be driven, to realize holding mechanism local horizontal pair
The adjusting of position；Then realize that the absorption to floor tile is clamped by holding mechanism；It can be realized to level by angle adjusting mechanism again
The laying on ground and inclined surface floor tile, adaptable, manipulating object is wide.
As a further improvement on the present invention, the brickwork joint device that fillers includes filler holder, the turntable that fillers, flexible branch
Frame, locking lid, the elevating lever that fillers, vibration tension spring, vibration mounting, filler sliding block and the leakage basket that fillers；The pedestal lower end that fillers
Four vertex be provided with the supporting rod that fillers, the pedestal upper end that fillers is provided with mounting platform, and the turntable that fillers is fixed on branch of fillering
The center position of frame upper end mounting platform, telescope support rear end are mounted on and filler on turntable, and telescope support and the turntable that fillers
Between locking is fixed using locking lid, the elevating lever that fillers is located at immediately below telescope support front end, and elevating lever upper end of fillering
It is connected with telescope support, elevating lever lower end of fillering mutually is fixed with vibration mounting, and vibrating spring is located at telescope support and vibration branch
Between seat, and vibrating spring is in be arranged circumferentially along the elevating lever that fillers, and vibrating spring upper end is connected with telescope support, vibration
Lower spring end is connected with vibration mounting, and vibration mounting upper end is in the U-shaped structure to stand upside down, its longitudinal center of vibration mounting lower end edge
Axis has been symmetrically arranged guiding slide bar, and the sliding block that fillers is mounted on the guiding slide bar of vibration mounting lower end, and the leakage basket that fillers is solid
It is scheduled on immediately below the sliding block that fillers, and the leakage basket that fillers is in the hollow rectangle box body structure of upper end opening, on the leakage basket bottom face that fillers
It is even to offer discharge hole.After floor tile is placed into paved surface, matching by the turntable that fillers, telescope support and the elevating lever that fillers first
Resultant motion can realize brickwork joint filler device in space two translation one rotation altogether three degree of freedom direction movement, so as to office
Portion adjusts the accurate location that the leakage basket that fillers is directed at gap between floor tile；Then the leakage basket that fillers can be driven to vibrate by the sliding block that fillers
The reciprocating movement back and forth of bearing lower end being oriented on slide bar, and by fillering elevating lever and vibrating spring can increase the leakage basket that fillers
Jitter, the cement paste for leaking and being stored in basket that fillers are leaked out by the discharge hole for leakage basket bottom end of fillering, are realized under vibrating conditions
Between floor tile gap fill up and fixation to floor tile, and brickwork joint fillers that device movement is flexible, and contraposition is accurate, operating efficiency
It is high.
Compared with prior art, the present invention has the following advantages：
(1) multiple functions such as fixed that the present invention collects compound walking, multiple degrees of freedom orientation is adjusted, floor tile is drawn and brickwork joint fillers are in one
Body can carry out municipal pavement ground tile paving operation, and high degree of automation, laying speed are fast and laying aesthetics is good, solution
Existing ground tile paving appropriation of labour power of having determined is big, is laid with the problems such as efficiency is low, and laying cost is big.
(2) crawler unit of the invention and running gear system cooperation conversion use, and conversion is convenient and efficient, can fit
The walking of Ying Yu differently conditions, crawler unit are mainly used for the walking of hogwallow, and running gear system is mainly used for putting down
The walking on smooth ground, the speed of travel are fast.
(3) delta parallel institutions of the invention can carry out the total six-freedom degree direction of three translations three rotation in space
Movement, and space is small, movement velocity is fast, kinematic dexterity is good, and delta parallel institutions are applied in the present invention, a side
Face play to suction means and brickwork joint filler device whole orientation angles adjusting, it is comprehensive convenient for the various postures of the present invention
High-precision tile work operation progress, the effect of damping on the other hand is played to suction means and the brickwork joint device that fillers so that
Suction means and brickwork joint filler device the present invention walk jounce condition under always be in horizontal plateau, prevent jitter mistake
Greatly to influence suction means and brickwork joint fillers the tile work efficiency and accuracy of device.
(4) suction means of the invention realizes the clamping of the absorption to floor tile, capture velocity using vacuum pressure difference principle
Soon, it is high to draw fastness, and it can realize the absorption of the position floor tile to horizontal plane and inclined surface by angle adjusting mechanism, fit
Strong with property, manipulating object is wide.
(5) the brickwork joint of the invention device that fillers can carry out the fortune in two translations one rotation three degree of freedom direction altogether in space
It is dynamic, it fillers so as to local modulation and leaks the accurate location that basket is directed at gap between floor tile, and water is realized by shaking principle
The discharging of mud paste, realize between floor tile gap fill up and the fixation to floor tile, and brickwork joint device movement of fillering is flexible,
Contraposition is accurate, and operating efficiency is high.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Dimensional structure diagram when Fig. 2 is crawler unit and running gear system cooperation of the present invention；
Fig. 3 is the dimensional structure diagram of running gear system of the present invention；
Fig. 4 be delta parallel institutions, suction means and brickwork joint of the present invention filler device cooperation when dimensional structure diagram；
Fig. 5 is the dimensional structure diagram of delta parallel institutions of the present invention；
Fig. 6 be suction means and brickwork joint of the present invention filler device cooperation when dimensional structure diagram；
Fig. 7 is the dimensional structure diagram (viewed from above) of suction means of the present invention；
Fig. 8 is the dimensional structure diagram (seeing from the bottom up) of suction means of the present invention；
Fig. 9 is that brickwork joint of the present invention fillers the dimensional structure diagram of device；
Figure 10 is vibration mounting of the present invention, filler sliding block and filler leakage basket cooperation when dimensional structure diagram.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 10, a kind of road surface ground brick masonry Work robot, including crawler unit 1, running on wheels
Device 2, electrical turntable 3, delta parallel institutions 4, suction means 5 and brickwork joint filler device 6；The running gear system 2 counts
Amount is four, and running gear system 5 is symmetrically arranged at 1 left and right sides of crawler unit, and electrical turntable 3 is located at crawler belt row
At 1 upper end center position of walking apparatus, and electrical turntable 3 is connected with crawler unit 1, and delta parallel institutions 4 are located at electric rotating
Between platform 3 and suction means 5, and 4 lower end of delta parallel institutions is connected with electrical turntable 3,4 upper end of delta parallel institutions with
Suction means 5 is connected, and the brickwork joint device 6 that fillers is located at right over suction means 5.
As shown in Fig. 2, the crawler unit 1 includes chassis 11, driving motor 12, drive shaft 13, walking belt wheel
14, tight locking button 15 and traveling crawler 16, and the quantity of driving motor 12, tight locking button 15 and traveling crawler 16 is two, drive shaft
13 and walking 14 quantity of belt wheel be four；The chassis 11 is in rectangular configuration, and 11 rear and front end of chassis offers mounting groove respectively,
Driving motor 12 is separately fixed in the mounting groove of 11 front and rear sides of chassis, and driving motor 12 is using Biaxial synchronous output electricity
Machine, 13 one end of drive shaft are connected with 12 output shaft of driving motor, and 13 other end of drive shaft is connected with walking belt wheel 14, and drives
Moving axis 13 and walking belt wheel 14 between be fixed by tight locking button 15,16 both ends of traveling crawler rotating around be sleeved on walking belt wheel 14
On, and 16 outside of traveling crawler is evenly arranged with semicircle tread plate.
As shown in Figures 2 and 3, the running gear system 2 includes walking fixed plate 21, walking sliding rail 22, walking cunning
Block 23, walking ear mount 24, No.1 shaft 25,26, No. two shafts 27 of mobile holder, walking supporting rod 28, moving block 29, walking electricity
Machine 210, movable motor frame 211, walking axle 212 and walking runner 213；The walking sliding rail 22 is fixed on walking fixed plate 21
On lower face, walking sliding block 23 is mounted on walking sliding rail 22, and 23 upper end of sliding block of walking is concave structure, is walked under sliding block 23
End is the U-shaped structure to stand upside down, and walking ear mount 24 is located at walking 22 back-end location of sliding rail, and walk ear mount 24 and walking fixed plate
21 are connected, and 26 upper end of mobile holder is connected by No.1 shaft 25 with walking ear mount 24, is set at 26 medium position of mobile holder
It is equipped with walking connecting rod, walking 28 one end of supporting rod is connected by No. two shafts 27 with 23 lower end of walking sliding block, walking support
28 other end of bar is connected by moving block 29 with the walking connecting rod at 26 middle part of mobile holder, and supporting rod 28 of walking is pneumatic
Telescopic structure, movable motor 210 is fixed on by movable motor frame 211 on 26 lateral wall of mobile holder, and movable motor
210 main shafts are connected with walking axle 212, and 212 both ends of walking axle are separately fixed on the left and right madial wall of 26 lower end of mobile holder,
Runner 213 of walking is mounted at 212 medium position of walking axle.
As shown in Figure 1 to Figure 3, when the present invention advances, when flat road surface is walked, by walking, sliding block 23 is slided in walking
Movement outward on rail 22 drives walking supporting rod 28 stretching routine outward counterclockwise, and walk supporting rod 28 and walking branch
Frame 26 links, to drive mobile holder 26 to carry out rotary motion outward counterclockwise with No.1 shaft 25 for rotation center, when
Runner 213 of walking contacts on ground, and entire crawler unit 1 is detached with ground, in by lift dummy status, passes through simultaneously
Movable motor 210 drives the rotation of walking runner 213, realizes the walking movement of running gear system 2, and the speed of travel is fast,
Overcome the slow problem of 1 speed of travel of crawler unit；When encountering hogwallow, by sliding block 23 of walking in walking sliding rail
Movement inwardly on 22 drives walking supporting rod 28 contractile motion inwardly clockwise, and walk supporting rod 28 and mobile holder
26 linkages are realized to drive mobile holder 26 to carry out rotary motion inwardly clockwise with No.1 shaft 25 for rotation center
The contraction of running gear system 2, when runner 213 of walking is detached from ground, entire crawler unit 1 is contacted with ground, logical
Overdrive motor 12 rotation drive walking belt wheel 14 rotation, to drive the movement of traveling crawler 16, crawler unit 1
It is mainly used for walking, move and turning to for the present invention, and crawler unit 1 easily facilitates hollow by using track structure
Topography condition walking so that applicability of the invention is stronger；Pass through the cooperation of crawler unit 1 and running gear system 2
Conversion improves the locomotor activity of the present invention.
As shown in Figure 4 and Figure 5, the delta parallel institutions 4 include fixed platform 41, moving platform 42, motor cabinet 43, simultaneously
Join motor 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod 48, the second shaft 49, rotating basis 410 and limit
Position spring 411；Fixed platform 41 and moving platform 42 structure in rounded shape, moving platform 42 are located at right over fixed platform 41,
The quantity of motor cabinet 43 and rotating basis 410 is three, and motor cabinet 43 is in positive triangle shape centered on the center of circle of fixed platform 41
It is fixed on 41 upper surface of fixed platform, rotating basis 410 is arranged in centered on the center of circle of moving platform 42 in positive triangle shape dynamic
On 42 lower face of platform, and 43 installation site of motor cabinet and 410 installation site of rotating basis correspond respectively, parallel-connected induction motors 44
Be fixed installation by motor cabinet 43, and parallel-connected induction motors 44 use adjustable speed twin shaft output motor, 45 one end of first rotating shaft with
44 main shaft of parallel-connected induction motors is connected, and 45 other end of first rotating shaft is connected with 46 upper end of first connecting rod, 46 lower end of first connecting rod with
It being attached using rotational pin 47 between 48 upper end of second connecting rod, 48 lower end of second connecting rod is connected with 49 one end of the second shaft,
Second shaft, 49 other end is mounted on rotating basis 410, and 410 lower end of rotating basis is provided with swivel bearing, and swivel bearing
Mutually fixed with 42 upper surface of moving platform, 410 upper end of rotating basis be provided with 49 matched double end sleeve of the second shaft, first
46 middle inside of connecting rod and 48 middle inside of second connecting rod are respectively provided with the first mounting base and the second mounting base, limit spring
411 between the first mounting base and the second mounting base, and 411 upper end of limit spring is connected with the first mounting base, limits bullet
411 lower end of spring is connected with the second mounting base；When specific works, the rotation of first rotating shaft 45 is driven by the rotation of parallel-connected induction motors 44
Turn, and first connecting rod 46 is coaxially connected with first rotating shaft 45, to drive second connecting rod 48 by the rotation of first connecting rod 46
Rotation, and then drive moving platform 42 movement, and by limit spring 411 reduce delta parallel institutions 4 move when shake
Property, the stationarity of the movement of delta parallel institutions 4 is increased, the rigidity compared with serial mechanism of delta parallel institutions 4 is big, movement spirit
Living, stable structure, bearing capacity is strong and fine motion precision is high, and delta parallel institutions 4 can carry out three translations three rotation altogether in space
The movement in six-freedom degree direction, and space is small, movement velocity is fast, kinematic dexterity is good；Delta parallel institutions 4 are answered
Use in the present invention, on the one hand play to suction means 5 and brickwork joint filler device 6 whole orientation angles adjusting, be convenient for
On the other hand the progress of the various comprehensive high-precision tile work operations of posture of the present invention fillers device 6 to suction means 5 and brickwork joint
Play the effect of damping so that suction means 5 and the brickwork joint device 6 that fillers are in water always in the case where the present invention walks jounce condition
Flat plateau prevents jitter excessive to influence suction means 5 and brickwork joint fillers the tile work efficiency and accuracy of device 6.
As shown in Figure 6 to 8, the suction means 5 includes drawing pedestal 51, drawing sliding rail 52, draw slide 53, inhale
It takes turntable 54, draw holder 55, angle adjusting mechanism 56, holding mechanism 57 and delivery device 58；Under the absorption pedestal 51
End is provided with terminal pad, draws 51 upper end of pedestal and is provided with fixed station, and be provided with connecting pole between terminal pad and fixed station, inhales
It is two to take 52 quantity of sliding rail, draws sliding rail 52 and is symmetrically arranged at fixed station upper end along the central transverse axis for drawing pedestal 51
Face front and rear sides draw 51 rear and front end of slide and are separately mounted to draw on sliding rail 52, and absorption slide 53 is by level board and vertically
Board group is at and being provided with connection floor, draw turntable 54 and be fixed on and draw in 53 upper surface of slide between level board and vertical panel
It at heart position, draws holder 55 and is fixed on right over absorption turntable 54, angle adjusting mechanism 56, which is located at, draws 55 top of holder, suction
It holds mechanism 57 and is mounted on 56 positive front end of angle adjusting mechanism, delivery device 58, which is located at, draws 53 rear end of slide；By drawing slide
53 sliding on drawing sliding rail 52 can drive the side-to-side movement of angle adjusting mechanism 56 and holding mechanism 57, to realize sticking
The adjusting of extension elongation when 57 sticking floor tile of mechanism can drive angle adjusting mechanism 56 and holding mechanism 57 by drawing turntable 54
Rotary motion in the horizontal plane, to realize the adjusting of 57 local horizontal of holding mechanism contraposition.
As shown in Figure 6 to 8, the angle adjusting mechanism 56 includes adjusting hinge 561, adjusting support plate 562, motor branch
Column 563, Shrinking wheel 565, adjusts steel wire rope 566 and adjusts ear mount 567 Bidirectional output electric machine 564；The adjusting support plate 562
Positioned at 55 front end of absorption holder, and adjusts and be attached between support plate 562 and absorption holder 55 by adjusting hinge 561, motor
Pillar 563, which is located at, to be drawn at 55 back-end central position of holder, and 563 bottom end of motor pillar is connected with 55 upper surface of holder is drawn
It connects, 563 top of motor pillar is connected with 564 middle part of Bidirectional output electric machine, and Shrinking wheel 565 adjusts steel wire rope 566 and adjusts ear
The quantity of seat 567 is two, and Shrinking wheel 565 is fixed on 564 main shaft of Bidirectional output electric machine, adjusts 566 one end of steel wire rope and fixes
It in Shrinking wheel 565, adjusts 566 other end of steel wire rope and is wrapped in adjusting ear mount 567, adjust ear mount 567 and be fixed on adjusting branch
On 562 upper surface of plate；The positive and negative rotation that Shrinking wheel 565 is driven by the positive and negative rotation of Bidirectional output electric machine 564 is adjusted to drive
The folding and unfolding of steel wire rope 566 is saved, and adjusts steel wire rope 566 and is connected with ear mount 567 is adjusted, and then drives and adjusts support plate 562 to adjust
It is that rotary shaft carries out positive and negative rotation to save hinge 561, realizes the angular adjustment on 57 vertical plane of holding mechanism, easily facilitates tile work
The progress of operation also achieves the ground tile paving function of horizontal plane and inclined surface, strong applicability.
As shown in Figure 6 to 8, the holding mechanism 57 includes vacuum generator 571, lifting air-leg 572 and true
Suction disk 573；The vacuum generator 571, which passes through, adjusts 562 center of support plate, and 571 middle part of vacuum generator and tune
Section 562 phase of support plate is fixed, and 571 lower end of vacuum generator is connected with vacuum cup 573, lifting 572 one end of air-leg and tune
Section support plate 562 is connected, and lifting 572 other end of air-leg is connected with vacuum cup 573, and vacuum cup 573 is opened in lower end
The rectangular hollow shell structure of mouth, 573 lower end of vacuum cup is evenly arranged with suction nozzle, and 573 material of vacuum cup is flexible rubber
Glue material；When vacuum cup 573 is mutually close to floor tile upper surface, vacuum cup is made by the effect of vacuum generator 571
State is evacuated in 573, under the action of interior ambient pressure difference, floor tile is tightly sucked by vacuum cup 573, and passes through liter
Drop air-leg 572 can drive the vertical movement up and down of vacuum cup 573, realize the function of lifting with decentralization of floor tile.
As shown in Figure 6 to 8, the delivery device 58 includes push support plate 581, push push rod 582 and returning spring
583；581 bottom end of push support plate, which is fixed on, draws on pedestal 51, and push push rod 582 is located at push 581 lateral surface of support plate
On, push 582 front end of push rod is connected with slide 53 is drawn, and push 582 rear end of push rod is connected with push support plate 581, and pushes away
Push rod 582 is sent linearly to be equally spaced along push 581 longitudinal direction of support plate, returning spring 583 is before being sleeved on push push rod 582
At end position；The adjusting in 5 or so orientation of suction means can be realized by delivery device 58.
As shown in Figure 6 to 8, when operation, first by delivery device 58 and absorption slide 53 on drawing sliding rail 52
Sliding can drive the side-to-side movement of angle adjusting mechanism 56 and holding mechanism 57, when to realize 57 sticking floor tile of holding mechanism
The adjusting of extension elongation can drive the rotation of angle adjusting mechanism 56 and holding mechanism 57 in the horizontal plane by drawing turntable 54
Movement, to realize the adjusting of 57 local horizontal of holding mechanism contraposition；Then the suction to floor tile is realized by holding mechanism 57
Take clamping；The laying to level ground and inclined surface floor tile, adaptable, operation pair can be realized by angle adjusting mechanism 56 again
As wide.
As shown in Figure 9 and Figure 10, the brickwork joint filler device 6 include filler holder 61, filler turntable 62, telescope support
63, locking lid 64, the elevating lever 65 that fillers, vibration tension spring 66, vibration mounting 67, filler sliding block 68 and filler leakage basket 69；Described
Four vertex of 61 lower end of holder of fillering are provided with the supporting rod that fillers, and 61 upper end of holder of fillering is provided with mounting platform, fillers
Turntable 62 is fixed on the center position for the 61 upper end mounting platform of holder that fillers, and 63 rear end of telescope support is mounted on the turntable 62 that fillers
On, and locking is fixed using locking lid 64 between telescope support 63 and the turntable 62 that fillers, the elevating lever 65 that fillers is located at flexible
Immediately below 61 front end of holder, and 65 upper end of elevating lever of fillering is connected with telescope support 63, filler 65 lower end of elevating lever and vibration
67 phase of bearing is fixed, and vibrating spring 66 is between telescope support 63 and vibration mounting 67, and vibrating spring 66 is along lifting of fillering
Bar 65 is in being arranged circumferentially, and 66 upper end of vibrating spring is connected with telescope support 63,66 lower end of vibrating spring and vibration mounting
67 are connected, and 67 upper end of vibration mounting is in the U-shaped structure to stand upside down, and 67 lower end edge of vibration mounting its longitudinal center axis is respectively symmetrically
It is provided with guiding slide bar, the sliding block 68 that fillers is mounted on the guiding slide bar of 67 lower end of vibration mounting, and the leakage basket 69 that fillers, which is fixed on, to be filled out
Immediately below muddy and slippery piece 68, and the leakage basket 69 that fillers is in the hollow rectangle box body structure of upper end opening, on leakage 69 bottom face of basket that fillers
It is even to offer discharge hole.After floor tile is placed into paved surface, pass through the turntable 62 that fillers, telescope support 63 and the elevating lever that fillers first
65 with resultant motion can realize brickwork joint filler device 6 in space two translation one rotation altogether three degree of freedom direction movement, from
And the leakage basket 69 that can be fillered with local modulation is directed at the accurate location in gap between floor tile；Then it can be driven and be filled out by the sliding block 68 that fillers
Mud leaks the back and forth reciprocating movement that is oriented to slide bar on of the basket 69 in 67 lower end of vibration mounting, and passes through elevating lever 65 and the vibration bullet of fillering
Spring 66 can increase the jitter for the leakage basket 69 that fillers, and the cement paste for leakage 69 inner storage of basket of fillering is under vibrating conditions by leakage of fillering
The discharge hole of 69 bottom end of basket leaks out, realize between floor tile gap fill up and the fixation to floor tile, and brickwork joint fillers device 6
Movement is flexible, and contraposition is accurate, and operating efficiency is high.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (2)
1. a kind of road surface brick masonry Work robot working method, it is characterised in that：The robot includes crawler travel dress
It sets, running gear system, electrical turntable, delta parallel institutions, suction means and brickwork joint filler device；The running on wheels
Device quantity is four, and running gear system is symmetrically arranged at left and right sides of crawler unit, and electrical turntable, which is located at, to be carried out
At band running gear upper end center position, and electrical turntable is connected with crawler unit, and delta parallel institutions are located at electric rotating
Between platform and suction means, and delta parallel institutions lower end is connected with electrical turntable, delta parallel institutions upper end and absorption
Device is connected, and the brickwork joint device that fillers is located at right over suction means, wherein：
The delta parallel institutions include fixed platform, moving platform, motor cabinet, parallel-connected induction motors, first rotating shaft, first connecting rod, turn
Dynamic pin, second connecting rod, the second shaft, rotating basis and limit spring；The fixed platform and moving platform structure in rounded shape,
Moving platform is located at right over fixed platform, and the quantity of motor cabinet and rotating basis is three, during motor cabinet is with the center of circle of fixed platform
The heart is fixed in positive triangle shape on fixed platform upper surface, and rotating basis is in positive triangle shape cloth centered on the center of circle of moving platform
It sets on moving platform lower face, and motor cabinet installation site and rotating basis installation site correspond respectively, parallel-connected induction motors are logical
It crosses motor cabinet and installation is fixed, and parallel-connected induction motors use adjustable speed twin shaft output motor, first rotating shaft one end and parallel-connected induction motors
Main shaft is connected, and the first rotating shaft other end is connected with first connecting rod upper end, between first connecting rod lower end and second connecting rod upper end
It is attached using rotational pin, second connecting rod lower end is connected with second shaft one end, and the second shaft other end is mounted on rotation
On pedestal, rotating basis lower end is provided with swivel bearing, and swivel bearing is mutually fixed with moving platform upper surface, rotating basis upper end
Be provided with the matched double end sleeve of the second shaft, first connecting rod middle inside and second connecting rod middle inside are respectively arranged
There are the first mounting base and the second mounting base, limit spring is between the first mounting base and the second mounting base, and in limit spring
End is connected with the first mounting base, and limit spring lower end is connected with the second mounting base；
The suction means includes drawing pedestal, drawing sliding rail, draw slide, draw turntable, draw holder, angular adjustment machine
Structure, holding mechanism and delivery device；The absorption pedestal lower end is provided with terminal pad, draws pedestal upper end and is provided with fixation
Platform, and connecting pole is provided between terminal pad and fixed station, it is two to draw sliding rail quantity, draws sliding rail along the transverse direction for drawing pedestal
Central axis is symmetrically arranged at fixed station upper surface front and rear sides, draws slide rear and front end and is separately mounted to draw sliding rail
On, it draws slide and is made of level board and vertical panel, and be provided with connection floor between level board and vertical panel, it is solid to draw turntable
It is scheduled on and draws slide upper surface center position, draw holder and be fixed on right over absorption turntable, angle adjusting mechanism, which is located at, to be inhaled
It takes above holder, holding mechanism is mounted on the positive front end of angle adjusting mechanism, and delivery device, which is located at, draws sliding base rear end；
The brickwork joint filler device include filler holder, the turntable that fillers, telescope support, locking lid, the elevating lever that fillers, vibration draw
Spring, vibration mounting, filler sliding block and the leakage basket that fillers；Four vertex of the pedestal lower end that fillers are provided with support of fillering
Bar, the pedestal upper end that fillers are provided with mounting platform, and the turntable that fillers is fixed on the center position for the pedestal upper end mounting platform that fillers,
Telescope support rear end is mounted on and fillers on turntable, and locking is fixed using locking lid between telescope support and the turntable that fillers,
The elevating lever that fillers is located at immediately below telescope support front end, and elevating lever upper end of fillering is connected with telescope support, and filler elevating lever
Lower end is mutually fixed with vibration mounting, and vibrating spring is between telescope support and vibration mounting, and vibrating spring is along lifting of fillering
Bar is in being arranged circumferentially, and vibrating spring upper end is connected with telescope support, and vibrating spring lower end is connected with vibration mounting, shakes
In the U-shaped structure to stand upside down, its longitudinal center axis of vibration mounting lower end edge has been symmetrically arranged guiding slide bar for dynamic bearing upper end,
The sliding block that fillers is mounted on the guiding slide bar of vibration mounting lower end, and the leakage basket that fillers is fixed on immediately below the sliding block that fillers, and leakage of fillering
Basket is in the hollow rectangle box body structure of upper end opening, and discharge hole is uniformly provided on the leakage basket bottom face that fillers；
The working method, including：When runner of walking is detached from ground, entire crawler unit is contacted with ground, is passed through
The rotation of driving motor drives the rotation of walking belt wheel, to drive the movement of traveling crawler, crawler unit to be mainly used for
The present invention's walks, moves and turns to, and crawler unit is by using track structure with easily facilitating hollow topography condition
Walking.
2. working method according to claim 1, it is characterised in that：The running gear system includes that walking is fixed
Plate, walking sliding rail, walking sliding block, walking ear mount, No.1 shaft, mobile holder, No. two shafts, walking supporting rod, moving block, row
Walk motor, movable motor frame, walking axle and walking runner；The walking sliding rail is fixed on walking fixed plate lower face, row
It walks sliding block to be mounted on walking sliding rail, and upper end of slide block of walking is concave structure, walking sliding block lower end is the U-shaped structure to stand upside down,
Ear mount of walking is located at walking sliding rail rear end position, and ear mount of walking is connected with walking fixed plate, and mobile holder upper end passes through one
Number shaft is connected with walking ear mount, and walking connecting rod is provided at mobile holder medium position, and walking supporting rod one end passes through
No. two shafts are connected with walking sliding block lower end, and the walking supporting rod other end is connected by the walking in the middle part of moving block and mobile holder
Extension bar is connected, and supporting rod of walking is pneumatic telescopic structure, and movable motor is fixed on walking branch by movable motor frame
On frame lateral wall, and movable motor main shaft is connected with walking axle, and walking axle both ends are separately fixed at a left side for mobile holder lower end
In right inner side wall, walking runner is mounted at walking axle medium position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810279186.7A CN108487013B (en) | 2016-06-23 | 2016-06-23 | High-automation-degree robot for road surface floor tile masonry operation |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610459341.4A CN106087672B (en) | 2016-06-23 | 2016-06-23 | A kind of road surface ground brick masonry Work robot |
| CN201810279186.7A CN108487013B (en) | 2016-06-23 | 2016-06-23 | High-automation-degree robot for road surface floor tile masonry operation |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610459341.4A Division CN106087672B (en) | 2016-06-23 | 2016-06-23 | A kind of road surface ground brick masonry Work robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108487013A true CN108487013A (en) | 2018-09-04 |
| CN108487013B CN108487013B (en) | 2019-12-24 |
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ID=57238139
Family Applications (5)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810279149.6A Active CN108487012B (en) | 2016-06-23 | 2016-06-23 | Automatic change high road surface ceramic tile of degree and build operation robot by laying bricks or stones |
| CN201810279171.0A Withdrawn CN108468266A (en) | 2016-06-23 | 2016-06-23 | Using robot progress road surface the construction method of brick masonry operation |
| CN201810279186.7A Active CN108487013B (en) | 2016-06-23 | 2016-06-23 | High-automation-degree robot for road surface floor tile masonry operation |
| CN201810279168.9A Withdrawn CN108457159A (en) | 2016-06-23 | 2016-06-23 | Using robot progress road surface the method for brick masonry operation |
| CN201610459341.4A Active CN106087672B (en) | 2016-06-23 | 2016-06-23 | A kind of road surface ground brick masonry Work robot |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810279149.6A Active CN108487012B (en) | 2016-06-23 | 2016-06-23 | Automatic change high road surface ceramic tile of degree and build operation robot by laying bricks or stones |
| CN201810279171.0A Withdrawn CN108468266A (en) | 2016-06-23 | 2016-06-23 | Using robot progress road surface the construction method of brick masonry operation |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810279168.9A Withdrawn CN108457159A (en) | 2016-06-23 | 2016-06-23 | Using robot progress road surface the method for brick masonry operation |
| CN201610459341.4A Active CN106087672B (en) | 2016-06-23 | 2016-06-23 | A kind of road surface ground brick masonry Work robot |
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| CN (5) | CN108487012B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106988549B (en) * | 2017-06-08 | 2019-05-24 | 成都煜明装饰工程有限公司 | A kind of architecture indoor finishing metope sweeps processor automatically |
| CN108098738B (en) * | 2017-08-30 | 2020-03-03 | 安徽工程大学 | Method and device for controlling operation stability of mobile manipulator based on parallel-serial mechanism |
| 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 |
| CN109750853B (en) * | 2019-03-14 | 2021-05-14 | 绍兴市侨陆智能科技有限公司 | Floor tile repairing robot |
| CN110228070A (en) * | 2019-05-16 | 2019-09-13 | 东莞理工学院 | A kind of Mobile Intelligent Robot of more maneuver models |
| CN110685426B (en) * | 2019-10-23 | 2020-11-20 | 熊振 | Intelligent ceramic tile joint repairing machine |
| CN113135507A (en) * | 2020-01-19 | 2021-07-20 | 中冶宝钢技术服务有限公司 | Manipulator for converter masonry |
| CN112758200B (en) * | 2021-02-04 | 2022-09-09 | 深圳市壹通道科技有限公司 | 5G message intelligent robot |
| CN115433595B (en) * | 2022-08-04 | 2023-07-18 | 中国一冶集团有限公司 | Coke oven body masonry system |
| CN116219846B (en) * | 2023-03-31 | 2023-08-15 | 青岛市政空间开发集团有限责任公司 | Curb mounting device for road construction and application method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108487012A (en) | 2018-09-04 |
| CN108487013B (en) | 2019-12-24 |
| CN106087672B (en) | 2018-06-26 |
| CN106087672A (en) | 2016-11-09 |
| CN108487012B (en) | 2019-12-20 |
| CN108468266A (en) | 2018-08-31 |
| CN108457159A (en) | 2018-08-28 |
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Effective date of registration: 20211206 Address after: 274000 north of Taishan Road and east of Qilihe West Road, high tech Zone, Heze City, Shandong Province Patentee after: Shandong Leixin Construction Group Co.,Ltd. Address before: 213000 Liaohe Road Changgong Institute, New North District, Changzhou City, Jiangsu Province Patentee before: Wu Bin |
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