CN108487013B

CN108487013B - High-automation-degree robot for road surface floor tile masonry operation

Info

Publication number: CN108487013B
Application number: CN201810279186.7A
Authority: CN
Inventors: 朱秋容; 其他发明人请求不公开姓名
Original assignee: 吴彬
Current assignee: Shandong Leixin Construction Group Co.,Ltd.
Priority date: 2016-06-23
Filing date: 2016-06-23
Publication date: 2019-12-24
Anticipated expiration: 2036-06-23
Also published as: CN108487013A; CN106087672A; CN108457159A; CN108468266A; CN108487012B; CN108487012A; CN106087672B

Abstract

The invention relates to a robot for high-automation-degree pavement floor tile masonry, which comprises a crawler walking device, a wheel walking device, an electric rotary table, a delta parallel mechanism, a suction device and a brick joint mud filling device, wherein the wheel walking device is symmetrically arranged on the left side and the right side of the crawler walking device respectively, the electric rotary table is positioned at the central position of the upper end of the crawler walking device, the delta parallel mechanism is positioned between the electric rotary table and the suction device, the lower end of the delta parallel mechanism is connected with the electric rotary table, the upper end of the delta parallel mechanism is connected with the suction device, and the brick joint mud filling device is positioned right above the suction device. The invention integrates multiple functions of composite walking, multi-degree-of-freedom direction adjustment, floor tile suction, brickwork joint mud filling fixation and the like, can carry out floor tile laying operation on municipal sidewalks, has high automation degree, high laying speed and good laying attractiveness, and solves the problems of large labor occupation, low laying efficiency, high laying cost and the like of the conventional floor tile laying.

Description

High-automation-degree robot for road surface floor tile masonry operation

Technical Field

The invention relates to the field of road operation machinery, in particular to a robot for building pavement floor tiles.

Background

The floor tile is a ground decorative material, also called floor tile, and is fired by clay, has various specifications, is firm, pressure-resistant and wear-resistant, can prevent moisture, has a decorative effect after glazing treatment, and is mainly used for the ground and floor of public buildings and civil buildings; the floor tiles have very many colors and varieties and can be selected in a wide range, the floor tiles can be divided into glazed tiles, full-body tiles (anti-skid tiles), polished tiles, vitrified tiles and the like according to materials, the floor tiles made of different materials are suitable for different occasions, and the occasions mainly applied by the floor tiles comprise sidewalks of municipal engineering, surrounding edges of street greening, ground of garden construction, ground of interior decoration, street pavements, protective edges of roads and the like.

At present, the floor tiles are paved by adopting manual paving operation, so that the paving cost is high, the paving speed is low, the paving efficiency is low, a large amount of labor is occupied, workers bend down for a long time to conduct floor tile paving operation, occupational diseases such as lumbar vertebra and cervical vertebra are easily caused, and the physical and mental health of a human body is not facilitated. In view of the above, the invention provides a robot for road floor tile masonry operation.

Disclosure of Invention

In order to make up the defects of the prior art, the invention provides a robot for the pavement floor tile masonry operation.

The technical problem to be solved by the invention is realized by adopting the following technical scheme.

A robot for the pavement and floor tile masonry operation comprises a crawler traveling device, a wheel type traveling device, an electric rotary table, a delta parallel mechanism, a suction device and a brick joint mud filling device; the quantity of the wheel type traveling devices is four, the wheel type traveling devices are respectively and symmetrically arranged on the left side and the right side of the crawler traveling device, the electric rotary table is located at the center of the upper end of the crawler traveling device and fixedly connected with the crawler traveling device, the delta parallel mechanism is located between the electric rotary table and the suction device, the lower end of the delta parallel mechanism is connected with the electric rotary table, the upper end of the delta parallel mechanism is connected with the suction device, and the brick joint mud filling device is located right above the suction device.

As a further improvement of the invention, the crawler traveling device comprises a chassis, a driving motor, a driving shaft, a traveling belt wheel, a locking buckle and a traveling crawler, wherein the number of the driving motor, the number of the locking buckle and the number of the traveling crawler are two, and the number of the driving shaft and the number of the traveling belt wheel are four; the chassis be the rectangle structure, the mounting groove has been seted up respectively at both ends around the chassis, driving motor fixes respectively in the mounting groove of both sides around the chassis, and driving motor adopts biax synchronous output motor, drive shaft one end is connected with the driving motor output shaft, the drive shaft other end is connected with the walking band pulley, and fixes through locking the knot between drive shaft and the walking band pulley, walking track both ends are respectively around the cover on the walking band pulley, and the walking track outside evenly is provided with semi-circular antislip strip.

As a further improvement of the invention, the wheel type walking device comprises a walking fixing plate, a walking slide rail, a walking slider, a walking lug seat, a first rotating shaft, a walking bracket, a second rotating shaft, a walking support rod, a rotating block, a walking motor frame, a walking shaft and a walking rotating wheel; the walking slide rail is fixed on the lower end surface of the walking fixed plate, the walking slide block is arranged on the walking slide rail, the upper end of the walking slide block is of a concave structure, the lower end of the walking slide block is of an inverted U-shaped structure, the walking ear seat is positioned at the rear end position of the walking slide rail and is fixedly connected with the walking fixed plate, the upper end of the walking bracket is connected with the walking ear seat through a first rotating shaft, the middle position of the walking bracket is provided with a walking connecting rod, one end of the walking supporting rod is connected with the lower end of the walking slide block through a second rotating shaft, the other end of the walking supporting rod is connected with the walking connecting rod in the middle of the walking bracket through a rotating block, the walking supporting rod is of a pneumatic telescopic structure, the walking motor is fixed on the outer side wall of the walking bracket through a walking, the walking rotating wheel is arranged at the middle part of the walking shaft.

When the walking wheel type walking device travels on a flat road surface, the walking slide block moves outwards on the walking slide rail to drive the walking support rod to extend outwards anticlockwise, the walking support rod is linked with the walking support, so that the walking support is driven to rotate outwards anticlockwise by taking the first rotating shaft as a rotating center, when the walking rotating wheel contacts the ground, the whole wheel type walking device is separated from the ground and is in a lifted state, and meanwhile, the walking motor drives the walking rotating wheel to rotate, so that the walking movement of the wheel type walking device is realized, the walking speed is high, and the problem of low walking speed of the wheel type walking device is solved; when the walking wheel falls off the ground, the whole crawler traveling device is contacted with the ground, the driving motor rotates to drive the traveling belt wheel to rotate, so that the traveling crawler is driven to move, the crawler traveling device is mainly used for traveling, moving and steering, and the crawler traveling device is more convenient for traveling of pothole terrain by adopting a crawler-type structure, so that the applicability of the invention is stronger; the walking capability of the invention is improved by the matching and conversion of the crawler walking device and the wheel walking device.

As a further improvement of the invention, the delta parallel mechanism comprises a fixed platform, a movable platform, a motor base, a parallel motor, a first rotating shaft, a first connecting rod, a rotating pin, a second connecting rod, a second rotating shaft, a rotating base and a limiting spring; the fixed platform and the movable platform are both in a circular structure, the movable platform is positioned right above the fixed platform, the number of the motor bases and the rotating bases is three, the motor bases are fixed on the upper end surface of the fixed platform in a regular triangle shape by taking the circle center of the fixed platform as the center, the rotating bases are arranged on the lower end surface of the movable platform in a regular triangle shape by taking the circle center of the movable platform as the center, the mounting positions of the motor bases and the mounting positions of the rotating bases are respectively in one-to-one correspondence, the parallel motors are fixedly mounted through the motor bases and adopt speed-adjustable double-shaft output motors, one end of a first rotating shaft is connected with a main shaft of the parallel motor, the other end of the first rotating shaft is connected with the upper end of the first connecting rod, the lower end of the first connecting rod is connected with the upper end of a second connecting rod through a rotating pin, the lower end of the second connecting rod is connected, the rotating bearing is fixed with the upper end face of the movable platform, the upper end of the rotating base is provided with a double-end sleeve matched with the second rotating shaft, the middle part of the inner side of the first connecting rod and the middle part of the inner side of the second connecting rod are respectively provided with a first mounting seat and a second mounting seat, the limiting spring is positioned between the first mounting seat and the second mounting seat, the upper end of the limiting spring is connected with the first mounting seat, and the lower end of the limiting spring is connected with the second mounting seat; when the device works, the rotation of the parallel motor drives the rotation of the first rotating shaft, the first connecting rod is coaxially connected with the first rotating shaft, so that the rotation of the first connecting rod drives the rotation of the second connecting rod, further the motion of the movable platform is driven, the jitter of the delta parallel mechanism during motion is reduced through the limiting spring, the motion stability of the delta parallel mechanism is improved, the delta parallel mechanism has larger rigidity, flexible motion, stable structure, strong bearing capacity and high fine motion precision compared with the serial mechanism, the delta parallel mechanism can move in six freedom directions of three translation and three rotation in space, the motion space is small, the motion speed is high, the motion flexibility is good, the application of the delta parallel mechanism in the invention plays a role in adjusting the whole azimuth angle of the suction device and the brick gap mud filling device on one hand, the device is convenient for carrying out all-direction high-precision brick laying operation of various postures, on the other hand, the absorption device and the brick joint mud filling device have a damping effect, so that the absorption device and the brick joint mud filling device are always in a horizontal and stable state in a walking and bumping state, and the phenomenon that the shaking property is too large to influence the brick laying efficiency and accuracy of the absorption device and the brick joint mud filling device is avoided.

As a further improvement of the invention, the suction device comprises a suction pedestal, a suction slide rail, a suction slide seat, a suction turntable, a suction bracket, an angle adjusting mechanism, a suction holding mechanism and a pushing mechanism; the lower end of the absorption pedestal is provided with a connecting disc, the upper end of the absorption pedestal is provided with a fixed table, a connecting column is arranged between the connecting disc and the fixed table, the number of the absorption slide rails is two, the absorption slide rails are respectively and symmetrically arranged on the front side and the rear side of the upper end face of the fixed table along the transverse central axis of the absorption pedestal, the front end and the rear end of the absorption pedestal are respectively installed on the absorption slide rails, the absorption slide seat consists of a horizontal plate and a vertical plate, a connecting rib plate is arranged between the horizontal plate and the vertical plate, the absorption rotary disc is fixed at the central position of the upper end face of the absorption slide seat, the absorption support is fixed right above the absorption rotary disc, the angle adjusting mechanism is positioned above the absorption support; the angle adjusting mechanism and the sucking and holding mechanism can be driven to move left and right by the sliding of the sucking sliding seat on the sucking sliding rail, so that the extending length of the sucking and holding mechanism can be adjusted when the sucking and holding mechanism sucks the floor tiles, the angle adjusting mechanism and the sucking and holding mechanism can be driven to rotate on the horizontal plane by the sucking rotating disc, and the local horizontal alignment adjustment of the sucking and holding mechanism can be realized.

As a further improvement of the invention, the angle adjusting mechanism comprises an adjusting hinge, an adjusting support plate, a motor support, a bidirectional output motor, a contraction wheel, an adjusting steel wire rope and an adjusting lug seat; the adjusting support plate is positioned at the front end of the absorbing support, the adjusting support plate is connected with the absorbing support through an adjusting hinge, the motor support is positioned at the central position of the rear end of the absorbing support, the bottom end of the motor support is connected with the upper end face of the absorbing support, the top end of the motor support is connected with the middle part of the bidirectional output motor, the number of the contraction wheel, the adjusting steel wire rope and the adjusting lug seat is two, the contraction wheel is fixed on the main shaft of the bidirectional output motor, one end of the adjusting steel wire rope is fixed on the contraction wheel, the other end of the adjusting steel wire rope is wound on the adjusting lug seat, and the adjusting; the positive and negative rotation through two-way output motor drives the positive and negative rotation of shrink wheel to drive and adjust receiving and releasing of wire rope, and adjust wire rope and adjust the ear seat and be connected, and then drive and adjust the extension board and use the regulation hinge to carry out positive and negative rotation as the rotation axis, realized the angle modulation on the suction mechanism perpendicular, the going on of the tile work of being convenient for more, also realized the floor tile laying function on horizontal plane and inclined plane, the suitability is strong.

As a further improvement of the invention, the holding mechanism comprises a vacuum generator, a lifting pneumatic push rod and a vacuum sucker; the vacuum generator penetrates through the center of the adjusting support plate, the middle of the vacuum generator is fixed with the adjusting support plate, the lower end of the vacuum generator is connected with the vacuum chuck, one end of the lifting pneumatic push rod is connected with the adjusting support plate, the other end of the lifting pneumatic push rod is connected with the vacuum chuck, the vacuum chuck is of a square hollow shell structure with an opening at the lower end, suction nozzles are uniformly arranged at the lower end of the vacuum chuck, and the vacuum chuck is made of flexible rubber materials; when the vacuum chuck is attached to the upper surface of the floor tile, the vacuum chuck is pumped into a vacuum state under the action of the vacuum generator, the floor tile is tightly sucked by the vacuum chuck under the action of internal and external pressure difference, and the lifting pneumatic push rod can drive the vacuum chuck to vertically move up and down, so that the lifting and lowering functions of the floor tile are realized.

As a further improvement of the invention, the pushing mechanism comprises a pushing support plate, a pushing push rod and a return spring; the bottom end of the pushing support plate is fixed on the suction pedestal, the pushing push rod is positioned on the outer side surface of the pushing support plate, the front end of the pushing push rod is connected with the suction slide seat, the rear end of the pushing push rod is connected with the pushing support plate, the pushing push rod is linearly arranged at equal intervals along the longitudinal direction of the pushing support plate, and the return spring is wound at the front end of the pushing push rod; the left and right directions of the suction device can be adjusted through the pushing mechanism.

During operation, the angle adjusting mechanism and the suction mechanism can be driven to move left and right through the sliding of the pushing mechanism and the suction sliding seat on the suction sliding rail, so that the adjustment of the extension length of the suction mechanism when the suction mechanism sucks the floor tile is realized, the angle adjusting mechanism and the suction mechanism can be driven to rotate on the horizontal plane through the suction turntable, and the adjustment of local horizontal alignment of the suction mechanism can be realized; then the floor tile is sucked and clamped through the sucking and holding mechanism; and the angle adjusting mechanism can realize the laying of the floor tiles on the horizontal ground and the inclined plane, so that the adaptability is strong, and the operation objects are wide.

As a further improvement of the invention, the brickwork joint mud filling device comprises a mud filling support, a mud filling rotary table, a telescopic support, a locking cover, a mud filling lifting rod, a vibration spring, a vibration support, a mud filling slide block and a mud filling leakage basket; the mud filling machine is characterized in that mud filling support rods are arranged at four top corners of the lower end of the mud filling support, an installation platform is arranged at the upper end of the mud filling support, the mud filling rotary table is fixed at the central position of the installation platform at the upper end of the mud filling support, the rear end of the telescopic support is installed on the mud filling rotary table, the telescopic support and the mud filling rotary table are fixedly locked by a locking cover, the mud filling lifting rods are positioned under the front end of the telescopic support, the upper end of the mud filling lifting rods is connected with the telescopic support, the lower end of the mud filling lifting rods is fixed with the vibration support, the vibration springs are positioned between the telescopic support and the vibration support, the vibration springs are uniformly arranged along the circumferential direction of the mud filling lifting rods, the upper end of the vibration springs is connected with the telescopic support, the lower end of the vibration support is connected with the vibration support, the upper end of, the mud filling sliding block is installed on the guide sliding rod at the lower end of the vibration support, the mud filling leakage basket is fixed under the mud filling sliding block, the mud filling leakage basket is of a hollow rectangular box body structure with an opening at the upper end, and discharge holes are uniformly formed in the bottom end face of the mud filling leakage basket. After the floor tiles are placed on a paving surface, the movement of the brick joint mud filling device in three freedom directions of two translations and one rotation in a space can be realized through the matched movement of the mud filling rotary table, the telescopic support and the mud filling lifting rod, so that the accurate position of the mud filling basket aligned to the gaps among the floor tiles can be locally adjusted; then can drive through filling the mud slider and fill the reciprocating motion that makes a round trip of mud hourglass basket on the direction slide bar of vibration support lower extreme, and through filling the shake nature of mud lifter and vibrating spring multiplicable mud hourglass basket, the cement paste that fills in the mud hourglass basket leaks through filling the discharge opening of mud hourglass basket bottom under the vibration condition, realized filling and fixing the ceramic tile to the gap between the ceramic tile, and the brickwork joint fills the mud device and moves in a flexible way, counterpoint the accuracy, the operating efficiency is high.

Compared with the prior art, the invention has the following advantages:

(1) the invention integrates multiple functions of composite walking, multi-degree-of-freedom direction adjustment, floor tile suction, brickwork joint mud filling fixation and the like, can carry out floor tile laying operation on municipal sidewalks, has high automation degree, high laying speed and good laying attractiveness, and solves the problems of large labor occupation, low laying efficiency, high laying cost and the like of the conventional floor tile laying.

(2) The crawler traveling device and the wheel type traveling device are matched and converted for use, are convenient and quick to convert, and can be suitable for traveling on different ground conditions.

(3) The delta parallel mechanism can move in six freedom directions of three translation and three rotation in space, has small movement space, high movement speed and good movement flexibility, and when the delta parallel mechanism is applied to the invention, on one hand, the adjustment of the integral azimuth angle of the suction device and the brick joint mud filling device is realized, thereby facilitating the implementation of all-around high-precision brick laying operation in various postures, and on the other hand, the shock absorption effect is realized on the suction device and the brick joint mud filling device, so that the suction device and the brick joint mud filling device are always in a horizontal and stable state under the walking and bumping state of the invention, and the influence on the brick laying efficiency and the accuracy of the suction device and the brick joint mud filling device due to overlarge jitter is prevented.

(4) The suction device provided by the invention realizes suction and clamping of the floor tiles by adopting a vacuum air pressure difference principle, has high suction speed and high suction firmness, can realize suction of the floor tiles at the positions of a horizontal plane and an inclined plane through the angle adjusting mechanism, and has strong applicability and wide operation objects.

(5) The brick joint mud filling device can move in three freedom directions of two translation and one rotation in space, so that the accurate position of the mud filling leakage basket aligned to the gap between the floor tiles can be locally adjusted, the cement paste can be discharged by a shaking principle, the gap between the floor tiles can be filled and the floor tiles can be fixed, and the brick joint mud filling device is flexible in movement, accurate in alignment and high in operation efficiency.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic perspective view of the crawler and wheeled bogies of the present invention;

FIG. 3 is a perspective view of the wheeled walker of the present invention;

FIG. 4 is a schematic perspective view of a delta parallel mechanism, a suction device and a brickwork joint mud filling device of the invention when the delta parallel mechanism, the suction device and the brickwork joint mud filling device are matched;

FIG. 5 is a schematic perspective view of a delta parallel mechanism of the present invention;

FIG. 6 is a schematic perspective view of the suction device and the brickwork joint mud-filling device of the present invention;

FIG. 7 is a schematic perspective view (from top to bottom) of the suction device of the present invention;

FIG. 8 is a schematic perspective view of the suction device of the present invention (from bottom to top);

FIG. 9 is a schematic perspective view of the apparatus for filling joints with bricks;

fig. 10 is a schematic perspective view of the vibrating support, the mud-filling slide block and the mud-filling strainer in combination according to the present invention.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.

As shown in fig. 1 to 10, a robot for paving floor tiles comprises a crawler walking device 1, a wheel walking device 2, an electric rotary table 3, a delta parallel mechanism 4, a suction device 5 and a brickwork joint mud filling device 6; the quantity of the wheel type traveling devices 2 is four, the wheel type traveling devices 5 are respectively and symmetrically arranged on the left side and the right side of the crawler belt traveling device 1, the electric rotary table 3 is located at the center of the upper end of the crawler belt traveling device 1, the electric rotary table 3 is fixedly connected with the crawler belt traveling device 1, the delta parallel mechanism 4 is located between the electric rotary table 3 and the suction device 5, the lower end of the delta parallel mechanism 4 is connected with the electric rotary table 3, the upper end of the delta parallel mechanism 4 is connected with the suction device 5, and the brick joint mud filling device 6 is located right above the suction device 5.

As shown in fig. 2, the crawler belt walking device 1 includes a chassis 11, a driving motor 12, a driving shaft 13, a walking belt wheel 14, a locking buckle 15 and a walking crawler belt 16, wherein the number of the driving motor 12, the number of the locking buckle 15 and the number of the walking crawler belt 16 are two, and the number of the driving shaft 13 and the number of the walking belt wheel 14 are four; the chassis 11 is of a rectangular structure, mounting grooves are formed in the front end and the rear end of the chassis 11 respectively, the driving motor 12 is fixed in the mounting grooves in the front side and the rear side of the chassis 11 respectively, the driving motor 12 adopts a double-shaft synchronous output motor, one end of the driving shaft 13 is connected with an output shaft of the driving motor 12, the other end of the driving shaft 13 is connected with the traveling belt wheel 14, the driving shaft 13 and the traveling belt wheel 14 are fixed through the locking buckle 15, two ends of the traveling crawler 16 are respectively wound on the traveling belt wheel 14, and semicircular anti-slip strips are uniformly arranged on the outer side of.

As shown in fig. 2 and 3, the wheel type traveling device 2 includes a traveling fixing plate 21, a traveling slide rail 22, a traveling slider 23, a traveling lug 24, a first rotating shaft 25, a traveling bracket 26, a second rotating shaft 27, a traveling support rod 28, a rotating block 29, a traveling motor 210, a traveling motor frame 211, a traveling shaft 212 and a traveling wheel 213; the walking slide rail 22 is fixed on the lower end face of the walking fixing plate 21, the walking slide block 23 is installed on the walking slide rail 22, the upper end of the walking slide block 23 is of a concave structure, the lower end of the walking slide block 23 is of an inverted U-shaped structure, the walking ear seat 24 is positioned at the rear end position of the walking slide rail 22, the walking ear seat 24 is fixedly connected with the walking fixing plate 21, the upper end of the walking bracket 26 is connected with the walking ear seat 24 through a first rotating shaft 25, a walking connecting rod is arranged at the middle position of the walking bracket 26, one end of the walking supporting rod 28 is connected with the lower end of the walking slide block 23 through a second rotating shaft 27, the other end of the walking supporting rod 28 is connected with the walking connecting rod at the middle part of the walking bracket 26 through a rotating block 29, the walking supporting rod 28 is of a pneumatic telescopic structure, the walking motor 210, two ends of the walking shaft 212 are respectively fixed on the left and right inner side walls at the lower end of the walking bracket 26, and the walking wheel 213 is installed at the middle position of the walking shaft 212.

As shown in fig. 1 to 3, when the crawler traveling device travels on a flat road surface, the outward movement of the traveling slider 23 on the traveling rail 22 drives the traveling support rod 28 to extend counterclockwise to the outside, and the traveling support rod 28 is linked with the traveling bracket 26, so as to drive the traveling bracket 26 to rotate counterclockwise to the outside with the first rotating shaft 25 as a rotation center, when the traveling wheel 213 contacts the ground, the whole crawler traveling device 1 is separated from the ground and is in a lifted state, and meanwhile, the traveling motor 210 drives the traveling wheel 213 to rotate, so that the traveling movement of the wheel type traveling device 2 is realized, the traveling speed is high, and the problem of slow traveling speed of the crawler traveling device 1 is solved; when the crawler belt type walking device meets a pothole ground, the walking slide block 23 moves inwards on the walking slide rail 22 to drive the walking support rod 28 to do clockwise inwards contraction movement, the walking support rod 28 is linked with the walking support 26, so that the walking support 26 is driven to do clockwise inwards rotation movement by taking the first rotating shaft 25 as a rotating center, the contraction of the wheel type walking device 2 is realized, when the walking rotating wheel 213 is separated from the ground, the whole crawler belt type walking device 1 is in contact with the ground, the walking belt wheel 14 is driven to rotate by the rotation of the driving motor 12, so that the walking crawler belt 16 is driven to move, the crawler belt type walking device 1 is mainly used for walking, moving and steering of the crawler belt type walking device 1, and the crawler belt type walking device 1 is more convenient for walking under pothole ground conditions by adopting a crawler belt type structure, so that; the running ability of the invention is improved by the matching and conversion of the crawler running gear 1 and the wheel running gear 2.

As shown in fig. 4 and 5, the delta parallel mechanism 4 includes a fixed platform 41, a movable platform 42, a motor base 43, a parallel motor 44, a first rotating shaft 45, a first connecting rod 46, a rotating pin 47, a second connecting rod 48, a second rotating shaft 49, a rotating base 410 and a limit spring 411; the fixed platform 41 and the movable platform 42 are both in a circular structure, the movable platform 42 is located under the fixed platform 41, the number of the motor bases 43 and the rotary bases 410 is three, the motor bases 43 are fixed on the lower end surface of the fixed platform 41 in an equilateral triangle shape with the center of circle of the fixed platform 41 as the center, the rotary bases 410 are arranged on the upper end surface of the movable platform 42 in an equilateral triangle shape with the center of circle of the movable platform 42 as the center, the installation positions of the motor bases 43 and the installation positions of the rotary bases 410 are respectively in one-to-one correspondence, the parallel motors 44 are fixedly installed through the motor bases 43, the parallel motors 44 adopt speed-adjustable double-shaft output motors, one end of a first rotating shaft 45 is connected with the main shaft of the parallel motors 44, the other end of the first rotating shaft 45 is connected with the upper end of a first connecting rod 46, the lower end of the first connecting rod 46 is connected with the upper end of a second connecting rod 48 through a rotating pin, the other end of the second rotating shaft 49 is installed on the rotating base 410, a rotating bearing is arranged at the lower end of the rotating base 410 and is fixed with the upper end face of the movable platform 42, a double-end sleeve matched with the second rotating shaft 49 is arranged at the upper end of the rotating base 410, a first installation seat and a second installation seat are respectively arranged in the middle of the inner side of the first connecting rod 46 and the middle of the inner side of the second connecting rod 48, the limiting spring 411 is located between the first installation seat and the second installation seat, the upper end of the limiting spring 411 is connected with the first installation seat, and the lower end of the limiting spring 411 is connected with the second installation seat; during specific work, the parallel motor 44 rotates to drive the first rotating shaft 45 to rotate, the first connecting rod 46 is coaxially connected with the first rotating shaft 45, the second connecting rod 48 is driven to rotate through the rotation of the first connecting rod 46, the movable platform 42 is driven to move, the jitter of the delta parallel mechanism 4 during movement is reduced through the limiting spring 411, the movement stability of the delta parallel mechanism 4 is improved, compared with a serial mechanism, the delta parallel mechanism 4 is large in rigidity, flexible in movement, stable in structure, high in bearing capacity and high in fine movement precision, the delta parallel mechanism 4 can move in six freedom directions of three-translation and three-rotation in space, and is small in movement space, high in movement speed and good in movement flexibility; the delta parallel mechanism 4 is applied to the invention, on one hand, the adjustment of the whole azimuth angle of the suction device 5 and the brick joint mud filling device 6 is realized, the omnibearing high-precision brick paving operation in various postures of the invention is facilitated, and on the other hand, the shock absorption effect is realized on the suction device 5 and the brick joint mud filling device 6, so that the suction device 5 and the brick joint mud filling device 6 are always in a horizontal and stable state in a walking and bumping state of the invention, and the influence of overlarge jitter on the brick paving efficiency and the accuracy of the suction device 5 and the brick joint mud filling device 6 is prevented.

As shown in fig. 6 to 8, the suction device 5 includes a suction pedestal 51, a suction slide rail 52, a suction slide 53, a suction turntable 54, a suction bracket 55, an angle adjusting mechanism 56, a suction holding mechanism 57, and a pushing mechanism 58; the lower end of the sucking pedestal 51 is provided with a connecting disc, the upper end of the sucking pedestal 51 is provided with a fixed table, a connecting column is arranged between the connecting disc and the fixed table, the number of the sucking slide rails 52 is two, the sucking slide rails 52 are respectively and symmetrically arranged at the front and rear sides of the upper end face of the fixed table along the transverse central axis of the sucking pedestal 51, the front and rear ends of the sucking pedestal 51 are respectively arranged on the sucking slide rails 52, the sucking slide seat 53 consists of a horizontal plate and a vertical plate, a connecting rib plate is arranged between the horizontal plate and the vertical plate, the sucking turntable 54 is fixed at the central position of the upper end face of the sucking slide seat 53, the sucking bracket 55 is fixed right above the sucking turntable 54, the angle adjusting mechanism 56 is positioned above the sucking bracket 55, the sucking mechanism 57 is arranged at the front end; the angle adjusting mechanism 56 and the suction holding mechanism 57 can be driven to move left and right by the sliding of the suction slide base 53 on the suction slide rail 52, so that the adjustment of the extension length of the suction holding mechanism 57 when the floor tile is sucked is realized, the angle adjusting mechanism 56 and the suction holding mechanism 57 can be driven to rotate on the horizontal plane by the suction turntable 54, and the adjustment of the local horizontal alignment of the suction holding mechanism 57 can be realized.

As shown in fig. 6 to 8, the angle adjusting mechanism 56 includes an adjusting hinge 561, an adjusting support plate 562, a motor support 563, a bidirectional output motor 564, a retracting wheel 565, an adjusting wire 566 and an adjusting ear seat 567; the adjusting support plate 562 is positioned at the front end of the absorbing support 55, the adjusting support plate 562 is connected with the absorbing support 55 through an adjusting hinge 561, the motor strut 563 is positioned at the center of the rear end of the absorbing support 55, the bottom end of the motor strut 563 is connected with the upper end face of the absorbing support 55, the top end of the motor strut 563 is connected with the middle of the bidirectional output motor 564, the number of the contraction wheel 565, the number of the adjusting steel wire rope 566 and the number of the adjusting lug seat 567 are two, the contraction wheel 565 is fixed on the main shaft of the bidirectional output motor 564, one end of the adjusting steel wire rope 566 is fixed on the contraction wheel 565, the other end of the adjusting steel wire rope 566 is wound on the adjusting lug seat 567, and the adjusting lug seat 56; the positive and negative rotation of the contraction wheel 565 is driven by the positive and negative rotation of the bidirectional output motor 564, so that the adjustable steel wire rope 566 is driven to be retracted and retracted, the adjustable steel wire rope 566 is connected with the adjustable ear seat 567, the adjustable support plate 562 is driven to rotate positively and negatively by taking the adjustable hinge 561 as a rotating shaft, the angle adjustment on the vertical surface of the suction holding mechanism 57 is realized, the brick paving operation is more convenient, the floor tile paving function of the horizontal plane and the inclined plane is realized, and the applicability is strong.

As shown in fig. 6 to 8, the holding mechanism 57 includes a vacuum generator 571, a lifting pneumatic push rod 572, and a vacuum suction cup 573; the vacuum generator 571 penetrates through the center of the adjusting support plate 562, the middle part of the vacuum generator 571 is fixed with the adjusting support plate 562, the lower end of the vacuum generator 571 is connected with a vacuum sucker 573, one end of a lifting pneumatic push rod 572 is connected with the adjusting support plate 562, the other end of the lifting pneumatic push rod 572 is connected with the vacuum sucker 573, the vacuum sucker 573 is of a square hollow shell structure with an opening at the lower end, suction nozzles are uniformly arranged at the lower end of the vacuum sucker 573, and the vacuum sucker 573 is made of flexible rubber materials; when the vacuum suction cups 573 are attached to the upper surface of the floor tile, the vacuum generator 571 is used to vacuumize the vacuum suction cups 573, the floor tile is tightly sucked by the vacuum suction cups 573 under the action of the pressure difference between the inside and the outside, and the pneumatic push rod 572 can be lifted to drive the vacuum suction cups 573 to vertically move up and down, thereby realizing the function of lifting and lowering the floor tile.

As shown in fig. 6 to 8, the pushing mechanism 58 includes a pushing plate 581, a pushing rod 582 and a return spring 583; the bottom end of the pushing support plate 581 is fixed on the absorbing pedestal 51, the pushing push rod 582 is positioned on the outer side surface of the pushing support plate 581, the front end of the pushing push rod 582 is connected with the absorbing slide seat 53, the rear end of the pushing push rod 582 is connected with the pushing support plate 581, the pushing push rod 582 is linearly arranged at equal intervals along the longitudinal direction of the pushing support plate 581, and the return spring 583 is wound at the front end of the pushing push rod 582; the left-right orientation of the suction device 5 can be adjusted by the pushing mechanism 58.

As shown in fig. 6 to 8, during operation, the pushing mechanism 58 and the sucking slide 53 slide on the sucking slide rail 52 to drive the angle adjusting mechanism 56 and the sucking mechanism 57 to move left and right, so as to adjust the extending length of the sucking mechanism 57 when sucking the floor tile, and the sucking turntable 54 can drive the angle adjusting mechanism 56 and the sucking mechanism 57 to rotate on the horizontal plane, so as to adjust the local horizontal alignment of the sucking mechanism 57; then the suction and clamping of the floor tile is realized through the suction and holding mechanism 57; and the angle adjusting mechanism 56 can realize the laying of the floor tiles on the horizontal ground and the inclined plane, thereby having strong adaptability and wide operation objects.

As shown in fig. 9 and 10, the brickwork joint mud filling device 6 comprises a mud filling support, a mud filling rotary table 62, a telescopic support 63, a locking cover 64, a mud filling lifting rod 65, a vibration spring 66, a vibration support 67, a mud filling slide block 68 and a mud filling basket 69; the mud filling support is characterized in that mud filling support rods are arranged at four top corners of the lower end of the mud filling support, a mounting platform is arranged at the upper end of the mud filling support, the mud filling rotary table 62 is fixed at the central position of the mounting platform at the upper end of the mud filling support, the rear end of a telescopic support 63 is mounted on the mud filling rotary table 62, a locking cover 64 is adopted between the telescopic support 63 and the mud filling rotary table 62 for fixing and locking, the mud filling lifting rods 65 are positioned under the front end of the telescopic support 63, the upper end of the mud filling lifting rods 65 is connected with the telescopic support 63, the lower end of the mud filling lifting rods 65 is fixed with a vibration support 67, a vibration spring 66 is positioned between the telescopic support 63 and the vibration support 67, the vibration spring 66 is circumferentially and uniformly arranged along the mud filling lifting rods 65, the upper end of the vibration spring 66 is connected with the telescopic support 63, the lower end of the vibration spring 66 is connected with the vibration support 67, the upper end of the, the mud filling sliding block 68 is installed on a guide sliding rod at the lower end of the vibration support 67, the mud filling leakage basket 69 is fixed under the mud filling sliding block 68, the mud filling leakage basket 69 is of a hollow rectangular box body structure with an opening at the upper end, and discharge holes are uniformly formed in the bottom end face of the mud filling leakage basket 69. After the floor tiles are placed on a paving surface, the movement of the brick joint mud filling device 6 in three freedom directions of two translation and one rotation in a space can be realized through the matching movement of the mud filling rotary table 62, the telescopic support 63 and the mud filling lifting rod 65, so that the accurate position of the mud filling basket 69 aligned to the gaps between the floor tiles can be locally adjusted; then, the mud filling and leaking basket 69 can be driven to reciprocate back and forth on the guide slide rod at the lower end of the vibration support 67 through the mud filling slide block 68, the shaking property of the mud filling and leaking basket 69 can be increased through the mud filling lifting rod 65 and the vibration spring 66, cement paste stored in the mud filling and leaking basket 69 leaks through a discharge hole at the bottom end of the mud filling and leaking basket 69 under the vibration condition, the filling of gaps among floor tiles and the fixing of the floor tiles are realized, and the brick gap mud filling device 6 is flexible in movement, accurate in alignment and high in operation efficiency.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A working method of a robot for road surface floor tile masonry is characterized in that: the robot comprises a crawler walking device, a wheel walking device, an electric turntable, a delta parallel mechanism, a suction device and a brickwork joint mud filling device; wheeled running gear quantity be four, and wheeled running gear symmetrical arrangement respectively is in the crawler travel device left and right sides, electric turntable is located crawler travel device upper end central point and puts the department, and electric turntable links firmly with crawler travel device, delta parallel mechanism is located between electric turntable and the suction means, and delta parallel mechanism lower extreme is connected with electric turntable, delta parallel mechanism upper end is connected with suction means, the brickwork joint mud filling device is located directly over the suction means, wherein:

the delta parallel mechanism comprises a fixed platform, a movable platform, a motor base, a parallel motor, a first rotating shaft, a first connecting rod, a rotating pin, a second connecting rod, a second rotating shaft, a rotating base and a limiting spring; the fixed platform and the movable platform are both in a circular structure, the movable platform is positioned right above the fixed platform, the number of the motor bases and the rotating bases is three, the motor bases are fixed on the upper end surface of the fixed platform in a regular triangle shape by taking the circle center of the fixed platform as the center, the rotating bases are arranged on the lower end surface of the movable platform in a regular triangle shape by taking the circle center of the movable platform as the center, the mounting positions of the motor bases and the mounting positions of the rotating bases are respectively in one-to-one correspondence, the parallel motors are fixedly mounted through the motor bases and adopt speed-adjustable double-shaft output motors, one end of a first rotating shaft is connected with a main shaft of the parallel motor, the other end of the first rotating shaft is connected with the upper end of the first connecting rod, the lower end of the first connecting rod is connected with the upper end of a second connecting rod through a rotating pin, the lower end of the second connecting rod is connected, the rotating bearing is fixed with the upper end face of the movable platform, the upper end of the rotating base is provided with a double-end sleeve matched with the second rotating shaft, the middle part of the inner side of the first connecting rod and the middle part of the inner side of the second connecting rod are respectively provided with a first mounting seat and a second mounting seat, the limiting spring is positioned between the first mounting seat and the second mounting seat, the upper end of the limiting spring is connected with the first mounting seat, and the lower end of the limiting spring is connected with the second mounting seat;

the suction device comprises a suction pedestal, a suction slide rail, a suction slide seat, a suction turntable, a suction bracket, an angle adjusting mechanism, a suction holding mechanism and a pushing mechanism; the lower end of the absorption pedestal is provided with a connecting disc, the upper end of the absorption pedestal is provided with a fixed table, a connecting column is arranged between the connecting disc and the fixed table, the number of the absorption slide rails is two, the absorption slide rails are respectively and symmetrically arranged on the front side and the rear side of the upper end face of the fixed table along the transverse central axis of the absorption pedestal, the front end and the rear end of the absorption pedestal are respectively installed on the absorption slide rails, the absorption slide seat consists of a horizontal plate and a vertical plate, a connecting rib plate is arranged between the horizontal plate and the vertical plate, the absorption rotary disc is fixed at the central position of the upper end face of the absorption slide seat, the absorption support is fixed right above the absorption rotary disc, the angle adjusting mechanism is positioned above the absorption support, the;

the brickwork joint mud filling device comprises a mud filling support, a mud filling rotary table, a telescopic support, a locking cover, a mud filling lifting rod, a vibration spring, a vibration support, a mud filling sliding block and a mud filling basket; the mud filling machine is characterized in that mud filling support rods are arranged at four top corners of the lower end of the mud filling support, an installation platform is arranged at the upper end of the mud filling support, the mud filling rotary table is fixed at the central position of the installation platform at the upper end of the mud filling support, the rear end of the telescopic support is installed on the mud filling rotary table, the telescopic support and the mud filling rotary table are fixedly locked by a locking cover, the mud filling lifting rods are positioned under the front end of the telescopic support, the upper end of the mud filling lifting rods is connected with the telescopic support, the lower end of the mud filling lifting rods is fixed with the vibration support, the vibration springs are positioned between the telescopic support and the vibration support, the vibration springs are uniformly arranged along the circumferential direction of the mud filling lifting rods, the upper end of the vibration springs is connected with the telescopic support, the lower end of the vibration support is connected with the vibration support, the upper end of, the mud filling sliding block is arranged on a guide sliding rod at the lower end of the vibration support, the mud filling leakage basket is fixed under the mud filling sliding block, the mud filling leakage basket is of a hollow rectangular box structure with an opening at the upper end, and discharge holes are uniformly formed in the bottom end face of the mud filling leakage basket;

the working method comprises the following steps: when the walking rotating wheel is separated from the ground, the whole crawler traveling device is in contact with the ground, the walking belt wheel is driven to rotate through the rotation of the driving motor, so that the walking crawler is driven to move, the crawler traveling device is mainly used for walking, moving and steering, and the crawler traveling device is more convenient to walk under hollow terrain conditions by adopting a crawler type structure;

when the robot for the pavement floor tile masonry operation advances, when the robot walks on a flat pavement, the outward movement of the walking slider on the walking slide rail drives the walking support rod to move in an anticlockwise and outward extending mode, and the walking support rod is linked with the walking support, so that the walking support is driven to rotate in an anticlockwise and outward mode by taking a first rotating shaft as a rotating center.