CN109098416A - A kind of ceramic tile laying gripper of industrial robot - Google Patents
A kind of ceramic tile laying gripper of industrial robot Download PDFInfo
- Publication number
- CN109098416A CN109098416A CN201811198798.XA CN201811198798A CN109098416A CN 109098416 A CN109098416 A CN 109098416A CN 201811198798 A CN201811198798 A CN 201811198798A CN 109098416 A CN109098416 A CN 109098416A
- Authority
- CN
- China
- Prior art keywords
- bottom plate
- clamping part
- ceramic tile
- driving lever
- industrial robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Finishing Walls (AREA)
Abstract
The invention discloses a kind of ceramic tiles to be laid with gripper of industrial robot, fixture is connected in main the tip of the axis, the fixture includes the bottom plate in rectangle, the L shape clamping part that can be clamped at tile corner is respectively arranged in four edges of the bottom plate, the clamping part can be slided along the centroid of the sliding slot towards bottom plate；Connecting rod is provided in the sliding slot, driving lever is can be slidably inserted into the other end of the hydraulic casing, the other end of the driving lever is connected on sliding sleeve, the sliding sleeve is set on main shaft, the present invention has an advantage that compared with prior art to be grabbed by the corner to Non-smooth surface furring tile, and the clamping of ceramic tile can be realized under the movement of main shaft and is loosened, it can guarantee that brickwork joint is uniform simultaneously, construction effect is beautiful, and jointing agent can be filled automatically, functional good, structure is simple, easy to spread.
Description
Technical field
The present invention relates to Industrial Robot Technology fields, particularly belong to a kind of industrial robot dedicated for being laid with ceramic tile
Handgrip.
Background technique
The ceramic tile of the prior art is laid with, and is laid with mostly or using artificial, construction quality is difficult to ensure, is laid with low efficiency
Under, and used semi-automatic ceramic tile installation apparatus in the market, it is the principle of the sucked type used, it is artificial after ceramic tile is sucked up
It is laid with, in this way to facilitate the crawl and positioning of ceramic tile, however the equipment can only be directed to the smooth ceramic tile of face and use, for normal
The external wall brick seen, surface are provided with the structure for increasing beautiful or imitated stone material, and sucker principle can not use, and
There is presently no the full automatic ceramic tile installation apparatus for being directed to such ceramic tile.
Summary of the invention
In view of the deficiencies of the prior art, the present invention intends to provide a kind of industry being laid with dedicated for ceramic tile
Robot clamp, especially for surface irregularity rectangular tile using effect more preferably.
To achieve the above object, the present invention provides the following technical scheme that a kind of ceramic tile is laid with gripper of industrial robot, packet
The rotatable shaft for being connected to industrial robot movable arm end is included, is connected with fixture in main the tip of the axis, it is characterised in that: institute
Stating fixture includes the bottom plate in rectangle, and connecting hole is offered at the center of bottom plate, and the main the tip of the axis can be turned by bearing
Dynamic is connected in connecting hole；The L clevis that can be clamped at tile corner is respectively arranged in four edges of the bottom plate
Portion is held, is also provided with the sliding slot to match with the clamping part on the bottom plate, the clamping part can be along the sliding slot bottom of towards
The centroid of plate is slided；Connecting rod is provided in the sliding slot, described connecting rod one end is hingedly on the holder portion for pushing and pulling clamping part
Mobile, the other end can be slidably inserted into one end of a L-shaped hydraulic casing, can be slidably inserted into the other end of the hydraulic casing
There is driving lever, filled with hydraulic oil for actively in the cavity between the driving lever end and connecting rod end of the hydraulic casing
Linkage between bar and connecting rod；The driving lever is parallel with main shaft, and the other end of the driving lever is connected on sliding sleeve, the cunning
It is set on main shaft, the sliding sleeve is provided with internal screw thread, matching external screw thread is provided on corresponding main shaft, in main shaft
When rotation, sliding sleeve lower can be moved being threadedly engaged along main-shaft axis.
Further, it plants and is provided with anti-slip layer on the clamping face of the clamping part, be provided in the back side of the clamping part
The width of triangle gusset, the gusset is gradually reduced with far from bottom plate.
Further, the base plate interior is provided with a circular passage, the circular passage be connected to four grout outlets and
One grouting port, the grout outlet is in gap-like and corresponding side is parallel with bottom plate, pair of the grout outlet and clamping part
Answer side flush for the gap filling jointing agent between ceramic tile.
Further, pouring orifice is additionally provided on the hydraulic casing.
The present invention has an advantage that compared with prior art to be grabbed by the corner to Non-smooth surface furring tile, and energy
The clamping of ceramic tile is enough realized under the movement of main shaft and is loosened, while can guarantee that brickwork joint is uniform, and construction effect is beautiful, and can be certainly
Dynamic filling jointing agent, functional good, structure is simple, easy to spread.
Detailed description of the invention
Fig. 1 is schematic view of the front view of the invention；
Fig. 2 is right view of the invention；
Fig. 3 is A-A cross-sectional view of the invention
In figure: 1- main shaft, 2- bottom plate, the circular passage 21-, 22- grout outlet, 23- grouting port, 3- clamping part, 31- gusset,
4- sliding slot, 5- connecting rod, the hydraulic casing of 6-, 61- pouring orifice, 7- driving lever, 8- hydraulic oil, 9- sliding sleeve.
Specific embodiment
Gripper of industrial robot embodiment is laid with to a kind of ceramic tile of the present invention referring to figs. 1 to Fig. 3 to be described further.
A kind of ceramic tile laying gripper of industrial robot, the rotatable shaft including being connected to industrial robot movable arm end
1, it is connected with fixture in the end of main shaft 1, the fixture includes the bottom plate 2 in rectangle, and connection is offered at the center of bottom plate 2
The end in hole, the main shaft 1 is rotatably connected in connecting hole by bearing, is rotated in main shaft 1, bottom plate 2 is not with 1 turn of main shaft
It is dynamic；The L shape clamping part 3 that can be clamped at tile corner is respectively arranged in four edges of the bottom plate 2, in the bottom plate
The sliding slot 4 to match with the clamping part 3 is also provided on 2, the clamping part 3 can be slided along the centroid of the sliding slot 4 towards bottom plate 2
It is dynamic；Connecting rod 5 is provided in the sliding slot 4, described 5 one end of connecting rod is hinged on clamping part 3 for pushing and pulling the movement of clamping part 3,
The other end can be slidably inserted into one end of a L-shaped hydraulic casing 6, can be slidably inserted into the other end of the hydraulic casing 6
Driving lever 7 is used in the cavity between 5 end of 7 end of driving lever and connecting rod of the hydraulic casing 6 filled with hydraulic oil 8
Linkage between driving lever 7 and connecting rod 5；The driving lever 7 is parallel with main shaft 1, and the other end of the driving lever 7 is connected to sliding sleeve
On 9, the sliding sleeve 9 is set on main shaft 1, and the sliding sleeve 9 is provided with internal screw thread, is provided on corresponding main shaft 1 matching
External screw thread, when main shaft 1 rotates, sliding sleeve 9 lower can be moved being threadedly engaged along 1 axis of main shaft.
It plants and is provided with anti-slip layer on the clamping face of the clamping part 3, the back side of the clamping part 3 is provided with triangle muscle
The width of plate 31, the gusset 31 is gradually reduced with far from bottom plate 2.
It is internally provided with a circular passage 21 in the bottom plate 2, the circular passage 21 is connected to four grout outlets 22 and one
A grouting port 23, the grout outlet 22 is in gap-like and corresponding side is parallel with bottom plate 2, the grout outlet 22 and clamping part
3 corresponding sides flush is used for the gap filling jointing agent between ceramic tile.
Pouring orifice 61 is additionally provided on the hydraulic casing.
In use, clamping part 3 to be aligned to four angles of ceramic tile, main shaft 1 is rotated at this time, and sliding sleeve 9 is moved down in the drive of main shaft 1
It is dynamic, and then drive the driving lever 7 being connected on sliding sleeve 9 mobile, since the movement of driving lever 7 makes to generate negative pressure in hydraulic casing 6,
The end of connecting rod 5 is forced to bounce back, connecting rod 5 drives clamping part 34 to move along the chute to the centroid of bottom plate 2, to press from both sides to ceramic tile
Tightly, after being placed into setting position after ceramic tile being clamped, main shaft 1 is rotated backward, and the above process inversely just loosens ceramic tile；It is putting
When setting ceramic tile, jointing agent can be injected circular passage 21 by grouting port 23 by external grouting device, then is injected by grout outlet 22
In the gap of ceramic tile, complete the laying of ceramic tile, due to be retaining part be ceramic tile corner side wall, can be adapted for non-light
The automatic clamping of sliding surface ceramic tile, it is easy to use.
Due to the position-limiting action of clamping part 3, brickwork joint straight uniform after ceramic tile can be made to be laid with is also beneficial to the alignment of ceramic tile
And the intensity of clamping part 3 can be improved in positioning, 31 one side of stiffener plate of triangle, on the other hand facilitates after unloading smoothly
It extracts clamping part 3 from brickwork joint out, hydraulic drive is used between driving lever 7 and connecting rod 5, greatly enhances clamping part 3
Clamping force buffering range, prevent destruction of the clamping part 3 to tile corner, using effect is good.
The present invention has an advantage that compared with prior art to be grabbed by the corner to Non-smooth surface furring tile, and energy
The clamping of ceramic tile is enough realized under the movement of main shaft and is loosened, while can guarantee that brickwork joint is uniform, and construction effect is beautiful, and can be certainly
Dynamic filling jointing agent, functional good, structure is simple, easy to spread.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of ceramic tile laying gripper of industrial robot, the rotatable shaft including being connected to industrial robot movable arm end,
Fixture is connected in main the tip of the axis, it is characterised in that: the fixture includes the bottom plate in rectangle, is opened up at the center of bottom plate
There is connecting hole, the main the tip of the axis is rotatably connected in connecting hole by bearing；In four edges of the bottom plate
It is respectively arranged with the L shape clamping part that can be clamped at tile corner, is also provided on the bottom plate and the clamping part phase
The sliding slot matched, the clamping part can be slided along the centroid of the sliding slot towards bottom plate；Connecting rod is provided in the sliding slot, it is described to connect
Bar one end is hingedly mobile for pushing and pulling clamping part on the holder portion, and the other end can be slidably inserted into one end of a L-shaped hydraulic casing
In, it can be slidably inserted into driving lever in the other end of the hydraulic casing, driving lever end and connecting rod in the hydraulic casing
Filled with hydraulic oil for the linkage between driving lever and connecting rod in cavity between end；The driving lever is parallel with main shaft,
The other end of the driving lever is connected on sliding sleeve, and the sliding sleeve is set on main shaft, and the sliding sleeve is provided with internal screw thread, accordingly
Main shaft on be provided with matching external screw thread, in main axis, sliding sleeve lower can be moved being threadedly engaged along main-shaft axis.
2. a kind of ceramic tile according to claim 1 is laid with gripper of industrial robot, it is characterised in that: plant the clamping part
It is provided with anti-slip layer on clamping face, the back side of the clamping part is provided with triangle gusset, the width of the gusset is with separate
Bottom plate is gradually reduced.
3. a kind of ceramic tile according to claim 2 is laid with gripper of industrial robot, it is characterised in that: in the base plate interior
Be provided with a circular passage, the circular passage is connected to four grout outlets and a grouting port, the grout outlet in gap-like simultaneously
Corresponding side is parallel with bottom plate, and the corresponding sides flush of the grout outlet and clamping part is for filling out the gap between ceramic tile
Fill jointing agent.
4. a kind of ceramic tile according to claim 1 is laid with gripper of industrial robot, it is characterised in that: in the hydraulic casing
On be additionally provided with pouring orifice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811198798.XA CN109098416A (en) | 2018-10-15 | 2018-10-15 | A kind of ceramic tile laying gripper of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811198798.XA CN109098416A (en) | 2018-10-15 | 2018-10-15 | A kind of ceramic tile laying gripper of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109098416A true CN109098416A (en) | 2018-12-28 |
Family
ID=64868852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811198798.XA Pending CN109098416A (en) | 2018-10-15 | 2018-10-15 | A kind of ceramic tile laying gripper of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109098416A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110042938A (en) * | 2019-03-09 | 2019-07-23 | 中铁城市规划设计研究院有限公司 | A kind of building external wall energy-saving insulating layer constructing device and construction method |
| CN114775969A (en) * | 2022-04-28 | 2022-07-22 | 合肥天启创展科技有限责任公司 | Energy-saving intelligent decoration system suitable for green concept |
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|---|---|---|---|---|
| KR20100098196A (en) * | 2009-02-27 | 2010-09-06 | 진은규 | Gripper for separator |
| CN103625935A (en) * | 2013-12-15 | 2014-03-12 | 彭智勇 | Clamping and holding mechanism provided with turnover chucks and capable of synchronously clamping and holding two ceramic tile cases |
| CN203808476U (en) * | 2014-04-30 | 2014-09-03 | 宁波华宝石节能科技股份有限公司 | Mounting tool for clamping surface mounted stone |
| CN107443414A (en) * | 2017-08-29 | 2017-12-08 | 无为县鑫品石业有限公司 | A kind of pickup handgrip of Dali stone ceramic tile |
| CN108532925A (en) * | 2018-04-24 | 2018-09-14 | 刘福敏 | A kind of assisted tiles device |
| US20180283019A1 (en) * | 2017-03-31 | 2018-10-04 | Canvas Construction, Inc. | Automated drywalling system and method |
-
2018
- 2018-10-15 CN CN201811198798.XA patent/CN109098416A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100098196A (en) * | 2009-02-27 | 2010-09-06 | 진은규 | Gripper for separator |
| CN103625935A (en) * | 2013-12-15 | 2014-03-12 | 彭智勇 | Clamping and holding mechanism provided with turnover chucks and capable of synchronously clamping and holding two ceramic tile cases |
| CN203808476U (en) * | 2014-04-30 | 2014-09-03 | 宁波华宝石节能科技股份有限公司 | Mounting tool for clamping surface mounted stone |
| US20180283019A1 (en) * | 2017-03-31 | 2018-10-04 | Canvas Construction, Inc. | Automated drywalling system and method |
| CN107443414A (en) * | 2017-08-29 | 2017-12-08 | 无为县鑫品石业有限公司 | A kind of pickup handgrip of Dali stone ceramic tile |
| CN108532925A (en) * | 2018-04-24 | 2018-09-14 | 刘福敏 | A kind of assisted tiles device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110042938A (en) * | 2019-03-09 | 2019-07-23 | 中铁城市规划设计研究院有限公司 | A kind of building external wall energy-saving insulating layer constructing device and construction method |
| CN114775969A (en) * | 2022-04-28 | 2022-07-22 | 合肥天启创展科技有限责任公司 | Energy-saving intelligent decoration system suitable for green concept |
| CN114775969B (en) * | 2022-04-28 | 2024-01-26 | 合肥天启创展科技有限责任公司 | Energy-saving intelligent decoration system suitable for environment-friendly idea |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181228 |
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| WD01 | Invention patent application deemed withdrawn after publication |