CN110242029A - Glue for tile is laid with component and the tile paving machine device people with it - Google Patents
Glue for tile is laid with component and the tile paving machine device people with it Download PDFInfo
- Publication number
- CN110242029A CN110242029A CN201910679034.0A CN201910679034A CN110242029A CN 110242029 A CN110242029 A CN 110242029A CN 201910679034 A CN201910679034 A CN 201910679034A CN 110242029 A CN110242029 A CN 110242029A
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- China
- Prior art keywords
- tile
- glue
- laid
- component
- nozzle
- Prior art date
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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
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Coating Apparatus (AREA)
Abstract
Component is laid with the present invention provides a kind of glue for tile and with its tile paving machine device people, wherein glue for tile is laid with component, comprising: bracket；Nozzle mechanism, nozzle mechanism are arranged on bracket, and nozzle mechanism includes material box, nozzle and valve, and material box has tapping channel, and nozzle is arranged on material box and can be connected to tapping channel, and valve is arranged between tapping channel and nozzle.Technical solution of the present invention efficiently solves the problems, such as that glue for tile in the prior art is laid with the water clock that component occurs when being laid with glue for tile.
Description
Technical field
The present invention relates to the technical fields of construction, are laid with component in particular to a kind of glue for tile and have it
Tile paving machine device people.
Background technique
In places such as large public buildings such as hospital, municipal building, since the area that floor tile is integrally laid with is larger, in floor tile
It is laid with this working procedure and needs to put into a large amount of human and material resources and financial resources, and be laid with low efficiency, input cost is high.
Currently, common ground tile paving method mostly uses greatly artificial laying, the degree of automation is not high, and working efficiency is low,
It is unfavorable for project progress quickening, and needs to consume a large amount of labours.The position that floor tile needs to be laid with floor tile now is laid with using machine
Laying glue for tile is set, glue for tile is fluid, and control is improper to will lead to glue for tile water clock, causes the waste of glue for tile in this way, dirty
Environment is contaminated.
Summary of the invention
Component is laid with the main purpose of the present invention is to provide a kind of glue for tile and with its tile paving machine device people, with
Solve the problems, such as that glue for tile in the prior art is laid with the water clock that component occurs when being laid with glue for tile.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of glue for tile is laid with component, comprising:
Bracket；Nozzle mechanism, nozzle mechanism are arranged on bracket, and nozzle mechanism includes material box, nozzle and valve, and material box has
Expect channel, nozzle is arranged on material box and can be connected to tapping channel, and valve is arranged between tapping channel and nozzle.
Further, material box successively includes feed inlet, pressure maintaining room and tapping channel, and nozzle mechanism further includes pressure sensing
Device, pressure sensor are arranged on material box to measure the pressure in material box.
Further, nozzle mechanism further includes attachment base, and attachment base can be connect up or down with bracket.
Further, attachment base includes traverse rod, mounting base and driving motor, driving motor be arranged on traverse rod and with installation
Seat, which is connected, to be moved with drive installation seat along traverse rod, and mounting base is movably mounted on traverse rod, and nozzle is mounted in mounting base.
Further, mounting base includes interconnecting piece and adjustment section, and interconnecting piece is movably coupled to traverse rod, adjustment section and company
Socket part movably connects, and material box is mounted in adjustment section.
Further, nozzle is multiple, and adjustment section is two, and two adjustment sections are mounted on the left and right sides of interconnecting piece, more
A nozzle is separately mounted in two adjustment sections.
Further, there are two long holes for setting in adjustment section, and two long holes are parallel, and the extending direction and traverse rod of long hole
Axis direction it is identical.
Further, mounting base further includes fixed sliding sleeve, and nozzle is mounted in fixed sliding sleeve.
Further, it further includes idler wheel mechanism that glue for tile, which is laid with component, and idler wheel mechanism is mounted on traverse rod.
Further, it further includes electric putter that glue for tile, which is laid with component, and one end of electric putter is mounted on tile paving machine device people
In main body, the other end of electric putter is connected with bracket.
According to another aspect of the present invention, a kind of tile paving machine device people, including robot body and glue for tile are provided
It is laid with component, glue for tile is laid with component and is mounted on robot body, and it is above-mentioned glue for tile laying group that glue for tile, which is laid with component,
Part.
Further, tile paving machine device people further includes glue for tile container and screw pump, the import of screw pump and glue for tile
The outlet of container is connected, and the outlet of screw pump is connected with nozzle mechanism.
It applying the technical scheme of the present invention, nozzle mechanism includes material box, nozzle and valve, when spraying glue for tile,
Valve is opened, and glue for tile sprays to designated position by nozzle from material box, and spraying finishes late gate closing, and valve is logical in discharging
Closer apart from nozzle between road and nozzle, such glue for tile is not in water clock.Technical solution of the present invention efficiently solves
Glue for tile in the prior art is laid with the problem of water clock that component occurs when being laid with glue for tile.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 shows the stereochemical structure signal of the nozzle mechanism of the embodiment of glue for tile laying component according to the present invention
Figure；
Fig. 2 shows the schematic perspective views that Fig. 1 glue for tile is laid with component；And
The glue for tile that Fig. 3 shows Fig. 1 is laid with the attachment structure schematic diagram of component and glue for tile container.
Wherein, the above drawings include the following reference numerals:
10, bracket；20, nozzle mechanism；21, material box；22, nozzle；23, valve；24, attachment base；241, traverse rod；242,
Mounting base；243, driving motor；25, pressure sensor；30, idler wheel mechanism；40, electric putter；50, glue for tile container；60, screw rod
Pump.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Now, the illustrative embodiments according to the application are more fully described with reference to the accompanying drawings.However, these are exemplary
Embodiment can be implemented by many different forms, and should not be construed to be limited solely to embodiment party set forth herein
Formula.It should be understood that it is thoroughly and complete to these embodiments are provided so that disclosure herein, and these are shown
The design of example property embodiment is fully conveyed to those of ordinary skill in the art, in the accompanying drawings, for the sake of clarity, expands layer
With the thickness in region, and make that identical device is presented with like reference characters, thus description of them will be omitted.
As shown in figures 1 and 3, it includes: bracket 10 and nozzle mechanism 20 that the glue for tile of the present embodiment, which is laid with component,.Nozzle machine
Structure 20 is arranged over the mount 10, and nozzle mechanism 20 includes material box 21, nozzle 22 and valve 23, and material box 21 has discharging logical
Road, nozzle 22 are arranged on material box 21 and can be connected to tapping channel, and valve 23 is arranged between tapping channel and nozzle 22.
Using the technical solution of the present embodiment, nozzle mechanism 20 includes material box 21, nozzle 22 and valve 23, sprays ceramic tile
When glue, valve 23 is opened, and glue for tile sprays to designated position by nozzle 22 from material box 21, and spraying finishes late gate 23
It closes, valve 23 is between tapping channel and nozzle 22, and relatively close apart from nozzle 22, such glue for tile is not in water clock.This reality
The technical solution for applying example efficiently solves glue for tile in the prior art and is laid with what component occurred when being laid with glue for tile
The problem of water clock.
It should be noted that in the technical scheme of this embodiment, valve 23 is V-shaped valve door.
As shown in Figure 1, in the technical scheme of this embodiment, material box 21 successively includes feed inlet, pressure maintaining room and discharging
Channel, nozzle mechanism 20 further include pressure sensor 25, and pressure sensor 25 is arranged on material box 21 to measure material box 21
Interior pressure.It further includes linear motor that the glue for tile of the present embodiment, which is laid with component, and linear motor drives V-type valve cylinder by material
Passageway break.Glue for tile is sent into pressure maintaining room through feed inlet by screw pump, and the indoor glue for tile of pressure maintaining is full of rear pressure rise, is reached
After the predetermined value of pressure sensor 25, linear motor drives cylinder, and tapping channel is unimpeded, and glue for tile is to stablize flow velocity outflow ceramic tile
Glue carries out stone.During stone, pressure sensor 25 detects pressure maintaining chamber pressure at any time, if pressure decline is excessive, first
Close valve 23, etc. pressure recoveries it is normal after be further continued for stone.
As shown in Fig. 2, in the technical scheme of this embodiment, nozzle mechanism 20 further includes attachment base 24, attachment base 24 with
Bracket 10 can connect up or down.Above structure expands the versatility that glue for tile is laid with component.For example, when paving location compared with
Nozzle 22 can be reduced when low, when the position of laying is higher, can increase nozzle 22.Realize that attachment base 24 is opposite
It is many in the mode that bracket 10 moves up and down, such as gear & rack structure, rail structure etc., then for example matched by electric putter 40
The lever construction etc. of conjunction.
As shown in Fig. 2, in the technical scheme of this embodiment, attachment base 24 includes traverse rod 241, mounting base 242 and driving
Motor 243, driving motor 243, which is arranged on traverse rod 241 and is connected with mounting base 242, to be moved with drive installation seat 242 along traverse rod 241
Dynamic, mounting base 242 is movably mounted on traverse rod 241, and nozzle 22 is mounted in mounting base 242.Above structure makes ceramic tile
Laying machine people is not in the case where needing be mobile, it will be able to be laid with multiple ceramic tiles.Specifically, the extending direction of traverse rod 241 is
Left and right directions horizontal extension, the direction of advance of tile paving machine device people are front.
As shown in Figures 2 and 3, in the technical scheme of this embodiment, mounting base 242 includes interconnecting piece and adjustment section, is connected
Socket part is movably coupled to traverse rod 241, and adjustment section is movably connect with interconnecting piece, and material box 21 is mounted in adjustment section.
Above structure further expansion glue for tile is laid with the use scope of component.For example, by adjusting the phase of interconnecting piece and adjustment section
To position, it is adapted to different size of ceramic tile.
As shown in Fig. 2, in the technical scheme of this embodiment, nozzle 22 be it is multiple, adjustment section is two, two adjustment sections
It is mounted on the left and right sides of interconnecting piece, multiple nozzles 22 are separately mounted in two adjustment sections.By adjusting the tune of the left and right sides
The whole positional relationship between interconnecting piece can change the spacing between two adjustment sections.Specifically, an adjustment section installation
There are four nozzles 22.
As shown in Fig. 2, in the technical scheme of this embodiment, there are two long hole, two long holes are equal for setting in adjustment section
Row, and the extending direction of long hole is identical as the axis direction of traverse rod 241.Above structure processing cost is lower, easy to adjust.Specifically
Ground, interconnecting piece include first horizontal plate and vertical plate, and first horizontal plate and vertical plate, which vertically connect, forms L-type, L-type and traverse rod
241 cooperation, interconnecting piece further includes second horizontal plate, and first horizontal plate is connected with the first side of vertical plate, second horizontal plate and
The second side of vertical plate is connected, and the first side and second side of vertical plate are to be oppositely arranged, and first horizontal plate is to vertical plate
Leading flank extend, second horizontal plate extends to the trailing flank of vertical plate, be provided with fixation hole at left and right sides of second horizontal plate,
Bolt passes through fixation hole and long hole, is consolidated interconnecting piece and adjustment section by screw bolt and nut after adjustment section is located at suitable position
It is fixed.
As depicted in figs. 1 and 2, in the technical scheme of this embodiment, mounting base 242 further includes fixed sliding sleeve, nozzle 22
It is mounted in fixed sliding sleeve.Above structure is easy for installation, and processing cost is lower.Sliding sleeve be it is multiple, be equipped in each adjustment section
Multiple sliding sleeves, the arranged direction of multiple sliding sleeves are the direction of front and back.
As shown in Fig. 2, in the technical scheme of this embodiment, it further includes idler wheel mechanism 30, idler wheel that glue for tile, which is laid with component,
Mechanism 30 is mounted on traverse rod 241.The setting of idler wheel mechanism 30 is so that glue for tile laying component is more steady when operation.
The adjustable paving location to adapt to different height of the height of idler wheel mechanism 30.
As shown in Fig. 2, in the technical scheme of this embodiment, it further includes electric putter 40, electric putter that glue for tile, which is laid with component,
40 one end is mounted on tile paving machine device human agent, and the other end of electric putter 40 is connected with bracket 10.Electric putter 40 is set
It sets so that glue for tile laying component is more flexible relative to the relative position adjustment of tile paving machine device human agent.Electric putter is two
It is a, the axis of electric putter in vertical direction with certain angle, specifically, the axis of electric putter diagonally downward with the folder of vertical direction
Angle is between 30 degree to 70 degree ranges.
By it is above-mentioned it is found that the present embodiment technical solution, ceramic tile be laid with before by nobody on tile paving machine device people
Machine is completed to pass through the three-dimensional measurement for being laid with ground based on binocular vision (being provided with laser radar on tile paving machine device people)
SLAM (simultaneous localization and mapping is positioned and map structuring immediately) navigation is combined house type to believe
Breath completes the positioning of all-in-one machine in a room.The terrestrial information fed back by unmanned plane, tile paving machine device people move to work
Position control screw pump realizes quantitative conveying and the exact distributing of glue for tile, and glue for tile overflows after avoiding hollowing phenomenon and being laid with
Out.It is mounted on the electric putter 40 of tile paving machine device people, the lifting of paving system may be implemented by stretching motion, avoids non-work
It collides as the time and destroys glue for tile laying component.Castor is housed on idler wheel mechanism 30, can realize auxiliary branch in process of deployment
Support, and height can be arbitrarily adjusted according to demand.Glue for tile is laid with component structure and realizes horizontal cloth by traverse rod, passes through synchronous belt
Transmission is realized and is efficiently precisely controlled, and laying width can be freely adjusted, and meets different tile specification requirements.It is equipped on material box solid
Determine sliding sleeve, nozzle is mounted in fixed sliding sleeve, realizes injector spacing by sliding on the fixed injection nozzle carrier slided on material box
Freely adjust, after adjustment use holding screw locking positioning.
Present invention also provides a kind of tile paving machine device people, including robot body and glue for tile to be laid with component, ceramic tile
Glue is laid with component and is mounted on robot body.It is that above-mentioned glue for tile is laid with component that glue for tile, which is laid with component,.Tile paving machine
Device people further includes glue for tile container 50 and screw pump 60, and the import of screw pump 60 is connected with the outlet of glue for tile container 50, spiral shell
The outlet of bar pump 60 is connected with nozzle mechanism 20.The setting of screw pump 60 is so that the discharging of glue for tile is more accurate.Ceramic tile paving
If robot further includes ceramic tile grasping mechanism, after the completion of glue for tile is laid with, ceramic tile is placed on scheduled position by ceramic tile grasping mechanism.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (12)
1. a kind of glue for tile is laid with component characterized by comprising
Bracket (10)；
Nozzle mechanism (20), the nozzle mechanism (20) are arranged on the bracket (10), and the nozzle mechanism (20) includes object
Magazine (21), nozzle (22) and valve (23), the material box (21) have tapping channel, and the nozzle (22) is arranged described
It can be connected on material box (21) and with the tapping channel, the valve (23) is arranged in the tapping channel and the nozzle
(22) between.
2. glue for tile according to claim 1 is laid with component, which is characterized in that the material box (21) successively includes charging
Mouth, pressure maintaining room and tapping channel, the nozzle mechanism (20) further include pressure sensor (25), and the pressure sensor (25) sets
Set the pressure measured in the material box (21) on the material box (21).
3. glue for tile according to claim 2 is laid with component, which is characterized in that the nozzle mechanism (20) further includes connection
Seat (24), the attachment base (24) can connect up or down with the bracket (10).
4. glue for tile according to claim 3 is laid with component, which is characterized in that the attachment base (24) includes traverse rod
(241), mounting base (242) and driving motor (243), the driving motor (243) be arranged on the traverse rod (241) and with institute
It states mounting base (242) to be connected to drive the mounting base (242) mobile along traverse rod (241), the mounting base (242) is movably
It is mounted on the traverse rod (241), the nozzle (22) is mounted on the mounting base (242).
5. glue for tile according to claim 4 is laid with component, which is characterized in that the mounting base (242) includes interconnecting piece
And adjustment section, the interconnecting piece are movably coupled to the traverse rod (241), the adjustment section and the interconnecting piece are moveable
Connection, the material box (21) are mounted in the adjustment section.
6. glue for tile according to claim 5 is laid with component, which is characterized in that the nozzle (22) is multiple, the tune
Whole is two, and described two adjustment sections are mounted on the left and right sides of the interconnecting piece, and the multiple nozzle (22) is installed respectively
In described two adjustment sections.
7. glue for tile according to claim 6 is laid with component, which is characterized in that there are two long for setting in the adjustment section
Hole, described two long holes are parallel, and the extending direction of the long hole is identical as the axis direction of the traverse rod (241).
8. glue for tile according to claim 5 is laid with component, which is characterized in that the mounting base (242) further includes fixing
Sliding sleeve, the nozzle (22) are mounted in the fixed sliding sleeve.
9. glue for tile according to claim 4 is laid with component, which is characterized in that it further includes rolling that the glue for tile, which is laid with component,
It takes turns mechanism (30), the idler wheel mechanism (30) is mounted on the traverse rod (241).
10. glue for tile according to claim 1 is laid with component, which is characterized in that the glue for tile is laid with component and further includes
One end of electric putter (40), the electric putter (40) is mounted on tile paving machine device human agent, the electric putter (40) it is another
One end is connected with bracket (10).
11. a kind of tile paving machine device people, including robot body and glue for tile are laid with component, the glue for tile is laid with component peace
On the robot body, which is characterized in that it is described in any one of claims 1 to 10 that the glue for tile, which is laid with component,
Glue for tile be laid with component.
12. tile paving machine device people according to claim 11, which is characterized in that the tile paving machine device people further includes
Glue for tile container (50) and screw pump (60), the import of the screw pump (60) are connected with the outlet of the glue for tile container (50)
Logical, the outlet of the screw pump (60) is connected with the nozzle mechanism (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910679034.0A CN110242029B (en) | 2019-07-25 | 2019-07-25 | Tile glue laying assembly and tile laying robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910679034.0A CN110242029B (en) | 2019-07-25 | 2019-07-25 | Tile glue laying assembly and tile laying robot with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110242029A true CN110242029A (en) | 2019-09-17 |
| CN110242029B CN110242029B (en) | 2021-07-06 |
Family
ID=67893549
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910679034.0A Active CN110242029B (en) | 2019-07-25 | 2019-07-25 | Tile glue laying assembly and tile laying robot with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110242029B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110593530A (en) * | 2019-09-23 | 2019-12-20 | 广东博智林机器人有限公司 | Glue discharging device and wall surface ceramic tile gluing and paving robot |
| CN110607896A (en) * | 2019-09-23 | 2019-12-24 | 广东博智林机器人有限公司 | Wall ceramic tile rubber coating device and wall ceramic tile rubber coating shop pastes robot |
| CN111851963A (en) * | 2020-08-24 | 2020-10-30 | 广东博智林机器人有限公司 | Panel positioning mechanism and panel paving equipment |
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| CN202831574U (en) * | 2012-10-03 | 2013-03-27 | 李刚 | Portable tile-seam filling device |
| CN103470013A (en) * | 2013-09-23 | 2013-12-25 | 林时开 | Automatic puttying machine |
| CN105822044A (en) * | 2016-02-26 | 2016-08-03 | 三汽车制造有限公司 | Brick tiling device |
| CN205713004U (en) * | 2016-06-21 | 2016-11-23 | 广州乐匠建筑材料有限公司 | A kind of automatic stirring glue for tile spray gun |
| CN109441076A (en) * | 2018-12-25 | 2019-03-08 | 苏州驰彭电子科技有限公司 | A kind of ceramic tile U.S. seam is robbed with gluing |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202831574U (en) * | 2012-10-03 | 2013-03-27 | 李刚 | Portable tile-seam filling device |
| CN103470013A (en) * | 2013-09-23 | 2013-12-25 | 林时开 | Automatic puttying machine |
| CN105822044A (en) * | 2016-02-26 | 2016-08-03 | 三汽车制造有限公司 | Brick tiling device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110593530A (en) * | 2019-09-23 | 2019-12-20 | 广东博智林机器人有限公司 | Glue discharging device and wall surface ceramic tile gluing and paving robot |
| CN110607896A (en) * | 2019-09-23 | 2019-12-24 | 广东博智林机器人有限公司 | Wall ceramic tile rubber coating device and wall ceramic tile rubber coating shop pastes robot |
| CN111851963A (en) * | 2020-08-24 | 2020-10-30 | 广东博智林机器人有限公司 | Panel positioning mechanism and panel paving equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110242029B (en) | 2021-07-06 |
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