CN110259069A - A kind of connection method of tile work composite aircraft and primary and secondary machine frame and brick carrying machine - Google Patents
A kind of connection method of tile work composite aircraft and primary and secondary machine frame and brick carrying machine Download PDFInfo
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- CN110259069A CN110259069A CN201910522549.XA CN201910522549A CN110259069A CN 110259069 A CN110259069 A CN 110259069A CN 201910522549 A CN201910522549 A CN 201910522549A CN 110259069 A CN110259069 A CN 110259069A
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- brick
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- machine frame
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
Abstract
The present invention provides the connection method of a kind of tile work composite aircraft and primary and secondary machine frame and brick carrying machine, which includes: brick carrying machine, brick paving machine；It is set together it is characterized by: the brick carrying machine and brick paving machine can connect automatically with automatically departing；When needing to mend brick, the brick carrying machine automatically disengages brick paving machine and goes to take brick, again can auto-returned brick paving machine and brick paving machine reconnect after the completion of taking brick；The brick paving machine includes primary and secondary machine frame and industrial personal computer, and the lower end of the primary and secondary machine frame is sustainable on the ground, and the industrial personal computer is arranged on primary and secondary machine frame, for control the brick paving machine execute tile work movement and with the brick carrying machine communication connection.The connection method of tile work composite aircraft and primary and secondary machine frame and brick carrying machine is provided based on the present invention, tile work composite aircraft can realize the process of automatic sucking brick and automatic tile work, can improve the tile work efficiency in room.
Description
Technical field
The present invention relates to building fields, more particularly to the connection of a kind of tile work composite aircraft and primary and secondary machine frame and brick carrying machine
Method.
Background technique
In the field of construction, either the indoor arrangement of people's utility buildings, work architectural environment layout or its
The layout that he builds, being laid with floor tile is then a kind of more universal construction process.
Currently, multi-pass is crossed and manually performed when carrying out ground tile paving, can not only be expended largely using manually carrying out being laid with floor tile
Manpower, and preset laying precision may be not achieved in mode that may be artificial during some scene ground tile pavings,
And working efficiency is also unable to satisfy requirement.
Summary of the invention
In view of the above problems, overcome the above problem the present invention provides a kind of or at least be partially solved the above problem
A kind of connection method of tile work composite aircraft and primary and secondary machine frame and brick carrying machine.
According to an aspect of the invention, there is provided a kind of tile work composite aircraft, including brick carrying machine, brick paving machine；Its feature exists
In:
The brick carrying machine and brick paving machine can connect automatically to be set together with automatically departing；When needing to mend brick, institute
State brick carrying machine and automatically disengage brick paving machine and go to take brick, after the completion of taking brick again can auto-returned brick paving machine and brick paving machine reconnect；
The brick paving machine includes primary and secondary machine frame and industrial personal computer, and the lower end of the primary and secondary machine frame is sustainable on the ground,
The industrial personal computer is arranged on primary and secondary machine frame, for controlling the brick paving machine execution tile work movement and communicating with the brick carrying machine
Connection.
Optionally, the brick carrying machine includes a pilot trolley, and the bed of brick frame on pilot trolley, the composite aircraft
Frame is crossed on the top of pilot trolley and its bed of brick frame, its underpart and the bed of brick frame and is arranged by magnetic structure one
It rises, to realize connecting or automatically disengaging automatically between the two, the preferred pilot trolley is AGV trolley.
Optionally, the bed of brick frame includes supporting part and at least one connecting column being formed on supporting part, described
The free end of connecting column is provided with the first magnet, is provided on the primary and secondary machine frame corresponding with the first magnet of the connecting column
The second magnet；
First magnet and the second magnet magnetic in the case where there is electric current to pass through combine, make the brick carrying machine with it is described
The connection of primary and secondary machine frame magnetic；Conversely, being detached from.
Optionally, the brick paving machine further includes in the straight line mould group being arranged on primary and secondary machine frame and setting straight line mould group
Manipulator is set, and the manipulator is for taking brick, putting brick；The straight line mould group can provide manipulator X, Y, Z movement in tri- directions,
The movement and adjustment of Z rotary shaft can be also provided.
Optionally, the straight line mould group is vertical setting, and the manipulator is the suction for being fixed on the straight line mould group bottom
Disk.
Optionally, the brick paving machine is additionally provided with image collecting device, communicates to connect with the industrial personal computer, what acquisition was grabbed
Brick feature and the position feature for needing to put brick, so that the industrial personal computer can control brick movement of the straight line mould group by required laying
To the target position, by the brick laying of crawl to the target position.
Optionally, the brick paving machine further include:
Fixed frame is connect by telescopic push rod with the composite aircraft extensible, described image acquisition device
It is fixedly installed on the fixed frame；Flexible realization and the primary and secondary machine frame of the fixed frame by the push rod
Scalable connection.
Optionally, the tile work composite aircraft further includes a power-supply device, which is arranged in the primary and secondary machine frame
On, it is that the brick paving machine and/or the brick carrying machine charge.
Optionally, the tile work composite aircraft further includes at least one sensor being set on the primary and secondary machine frame, institute
Stating sensor includes laser measurement sensor and/or level measuring sensors, for measuring brick paving machine primary and secondary machine frame and fortune brick
The position of robot, to realize the automatic connection of brick paving machine and brick carrying machine.
Optionally, the tile work composite aircraft further includes communication agency, is communicated to connect with the industrial personal computer, in the work
Carry out data transmission between control machine and the brick carrying machine.
According to a further aspect of the invention, the connection method of a kind of primary and secondary machine frame and brick carrying machine is additionally provided, it is special
Sign is, is applied to the described in any item tile work composite aircrafts of claim 1-10, which comprises
Detect the first position coordinate of brick paving machine primary and secondary machine frame and the second position coordinate of brick carrying machine；
Determine that the position of the primary and secondary machine frame and brick carrying machine is closed based on the first position coordinate, second position coordinate
System；
According to the positional relationship of the primary and secondary machine frame and brick carrying machine, paving machine can be connected by controlling the brick carrying machine and moving to
The position of primary and secondary machine frame；
The brick carrying machine and the primary and secondary machine frame is set to complete connection.
Optionally, described that the primary and secondary machine frame and fortune brick are determined based on the first position coordinate, second position coordinate
The positional relationship of machine, comprising:
The primary and secondary machine frame is determined based on the first position coordinate, second position coordinate and transports the distance difference of brick group
And/or orientation angles.
Optionally, the positional relationship based on the primary and secondary machine frame and brick carrying machine, controls the brick carrying machine and is moved
It is dynamic, comprising:
Using the distance difference and/or the relative azimuth angle as the mobile data of the brick carrying machine, based on described
Mobile data controls the brick carrying machine and is moved.
Optionally, the positional relationship based on the primary and secondary machine frame and brick carrying machine, controls the brick carrying machine and is moved
It is described before connecting the brick carrying machine and the primary and secondary machine frame after the brick carrying machine completes movement after dynamic, further includes:
For the brick carrying machine after completing movement, the industrial personal computer being arranged on Xiang Suoshu primary and secondary machine frame sends mobile completion letter
Number.
It is optionally, described to connect the brick carrying machine and the primary and secondary machine frame after the brick carrying machine completes movement, comprising:
After the industrial personal computer receives the mobile completion signal that the brick carrying machine is sent, starts and set on the primary and secondary machine frame
The second magnet set makes the brick carrying machine and the primary and secondary machine frame magnetic in conjunction with the first magnet magnetic on the brick carrying machine
Inhale connection.
Optionally, further includes:
Current brick quantity is detected by the brick carrying machine, and when the current brick quantity is lower than preset quantity, by described
Industrial personal computer controls after the brick carrying machine is detached from the primary and secondary machine frame and executes fortune brick movement.
The brick paving machine is tile work robot, and brick carrying machine is brick carrying machine device people, and the guide car is AGV trolley.
The present invention provides a kind of more convenient and efficient tile work composite aircraft and corresponding primary and secondary machine frames and brick carrying machine
Connection method, based on tile work composite aircraft provided by the invention carry out brick laying when, tile work composite aircraft directly can be moved to brick
Target position, realize automatic sucking brick and the automatic process for being laid with brick.It is designed by using full automatic tile work composite aircraft
Area is smaller, makes full use of space, activity sensitive, can improve the tile work efficiency in room, and obtaining efficiency through experimental test can be high
To artificial 6 times.And when brick quantity is low, brick carrying machine can be detached from primary and secondary machine frame and go feed supplement automatically, automatic after feed supplement
Connect composite aircraft frame.The tile work component of primary and secondary machine frame can also continue tile work when brick carrying machine is detached from frame, improve paving
Brick efficiency.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
The above and other objects, advantages and features of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows the overall schematic of tile work composite aircraft according to an embodiment of the invention；
Fig. 2 shows the side views of tile work composite aircraft shown in Fig. 1；
Fig. 3 shows the overall schematic of tile work composite aircraft according to another embodiment of the present invention；
Fig. 4 shows the side view of tile work composite aircraft shown in Fig. 3；
Fig. 5 shows brick carrying machine structural schematic diagram according to an embodiment of the present invention；
Fig. 6 shows tile work components schematic diagram according to an embodiment of the present invention；
Fig. 7 shows primary and secondary machine frame and brick carrying machine connection method flow diagram according to an embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Fig. 1-Fig. 4 shows the overall schematic and side view of tile work composite aircraft according to an embodiment of the present invention, referring to
Fig. 1 is it is found that tile work composite aircraft provided in an embodiment of the present invention may include: brick carrying machine 300, brick paving machine 400, brick carrying machine and tile work
Machine can connect automatically to be set together with automatically departing；When needing to mend brick, brick carrying machine 300 can automatically disengage brick paving machine and go
Brick is taken, it can auto-returned brick paving machine 400 and the reconnect of brick paving machine 400 after the completion of taking brick.Brick paving machine provided in this embodiment
400 can be tile work robot, and brick carrying machine 300 can be brick carrying machine device people.
Optionally, brick paving machine 400 may include primary and secondary machine frame 100 and industrial personal computer 200, the lower end of primary and secondary machine frame 100
It is supported on the ground, such as primary and secondary machine frame 100 can be supported on by ground by setting regular length leg or retractable legs
On.Industrial personal computer 200 is arranged on primary and secondary machine frame 100, and control brick paving machine 400 executes tile work movement and communicates with brick carrying machine 300
Connection.In addition, industrial personal computer 200 can also carry out communication connection by modes such as WiFi with brick carrying machine 300, brick is transported with timely learning
The fortune bricked state of machine or currently the information such as the quantity of brick are transported.In the present embodiment, by being arranged industrial personal computer 200 in primary and secondary
On machine frame 100, while the effect of counterweight is also functioned to, avoids tile work composite aircraft entirety gravity center instability.
It, can on primary and secondary machine frame 100 referring to Fig. 1-4 it is found that primary and secondary machine frame 100 can be the frame of cube structure
Multiple partitions are arranged to place different components.And primary and secondary machine frame 100 can be equipped with the accommodating space of receiving brick paving machine 400,
And the parallel guide rail 110 slided for brick paving machine 400, guide rail 110 are parallel with needing to carry out the tile work face of brick.Brick paving machine
400 can be slid in and out from accommodating space based on the guide rail 110, to stop working time save space in tile work composite aircraft.Fig. 1,
Fig. 3 respectively illustrates the schematic diagram that brick paving machine 400 skidded off and slided into 100 accommodating space of primary and secondary machine frame.
Referring to Fig. 5 it is found that in the present embodiment referring to Fig. 5 it is found that the brick carrying machine 300 in the present embodiment may include drawing
Guide-car, preferably AGV (Automated Guided Vehicle, automated guided vehicle) trolley 310 and it is set to AGV trolley
Bed of brick frame 320 on 310；Primary and secondary machine frame 100 is crossed on the top of AGV trolley 310 and its bed of brick frame 320, its underpart
Be set together with bed of brick frame 320 by magnetic structure, with realize between the two automatically connect or automatically disengage.
In brick carrying machine 300 shown in Fig. 5, bed of brick frame 320 includes supporting part 321 and is formed on supporting part 321
At least one connecting column 322, the free end of connecting column 322 are provided with the first magnet 323, be provided on primary and secondary machine frame 100 with
Corresponding second magnet 120 of the first magnet 323 of connecting column 322, the first magnet 323 and the second magnet 120 are having electric current to pass through
In the case where magnetic combine, connect brick carrying machine 300 with 100 magnetic of primary and secondary machine frame；Conversely, being detached from.That is, by mentioning
Primary and secondary machine frame 100 and brick carrying machine 300 can be allowed to realize that connection, power-off can be realized disengaging for electric current.
In addition, supporting part 321 is additionally provided at least one moveable restriction column 324, carried out with adapting to various sizes of brick
Position adjustment.Wherein, limit column 324 can from supporting part 321 to far from 310 direction of AGV trolley also extend to form or other
Mode is formed, and the present invention is without limitation.Wherein, the size of bed of brick frame 320 can match each other with the size of brick, can accurately
Fixed brick.The quantity for limiting column 324 can be configured according to different needs, and each column 324 that limits can be allowed with shift position
Bed of brick frame clamps the brick of 800*800mm, 600*600mm or other sizes.
As shown in Figs 1-4, multiple universal wheels 700 are provided on primary and secondary machine frame 100, primary and secondary machine frame 100 passes through universal
Wheel 700 is supported on the ground and is moved.Optionally, multiple support legs, primary and secondary machine frame has can be set in primary and secondary machine frame 100
Universal wheel 700 can be respectively arranged in each support leg on 100.In addition, the support of universal wheel 700 and primary and secondary machine frame 100
Foot junction is also provided with spring, to improve complete machine stability.In the present embodiment, AGV trolley 310 is able to carry out leads automatically
Boat and positioning, by being walked using AGV trolley 310, the brick paving machine 400 for matching the installation of tile work composite aircraft carries out brick laying,
Construction efficiency can be improved, one piece of spreading for brick most only needs 120 seconds or so fastly.In addition, the brick carrying machine energy 300 in the present embodiment can also
Current brick quantity is monitored, when brick quantity is low, brick carrying machine energy 300 is detached from 100 automatic feedings of primary and secondary machine frame, can be automatic after feed supplement
Connect composite aircraft frame 100.The tile work mechanism 400 being arranged on primary and secondary machine frame 100 is detached from primary and secondary machine frame in brick carrying machine 300
It can also continue tile work when 100, improve tile work efficiency.
With continued reference to Fig. 4 it is found that brick paving machine 400 includes the straight line mould group 410 being arranged on primary and secondary machine frame and setting
Manipulator 420 is set in straight line mould group, and manipulator 420 is for taking brick, putting brick.Wherein, straight line mould group 410 can provide manipulator
420 tri- direction X, Y, Z movement, and movement and adjustment (as rotate) in Z axis.Wherein, X and Y can be parallel to ground
Two vertical axis in face, Z are then perpendicular to the axis on ground.Optionally, straight line mould group 410 is vertical setting, manipulator
420 be the sucker for being fixed on 410 bottom of straight line mould group.Straight line mould group 410 can provide the target position of brick to manipulator 420,
After manipulator 420 grabs brick, control manipulator 420 is moved to target position, by the brick laying of crawl to the target position.
Straight line mould group in the embodiment of the present invention can be linear mould group, Cartesian robot, straight line slide unit etc. and may be implemented to load
Straight line, curvilinear motion mechanism.
In the present embodiment, brick paving machine 400 can also include the concrete vibrating mechanism that is arranged on primary and secondary machine frame (not in figure
Show), for vibrating when tile work, brick is compacted into.
Described above, brick paving machine 400 may include can be with the industrial personal computer 200 of 300 communication connection of brick carrying machine, straight line mould group
410 and manipulator 420.Optionally, the controller of brick paving machine 400, such as straight line mould group can be installed in industrial personal computer 200
410 controller, solenoid valve of manipulator 420 etc. complete tile work to control brick paving machine 400.
With continued reference to Fig. 2, Fig. 6 it is found that brick paving machine 400 is additionally provided at least one 430 (such as camera of image collecting device
Deng), it is communicated to connect with industrial personal computer 200, the grabbed brick feature of acquisition and the position feature for needing to put brick, so that industrial personal computer 200
Straight line mould group 410 can be controlled, the brick of required laying is moved to target position, by the brick laying of crawl to the target position
It sets.
Brick paving machine 400 can also include: fixed frame 440, can with primary and secondary machine frame 100 by telescopic push rod 450
It is telescopically connected to, image collecting device 430 is fixedly installed on fixed frame 440；Fixed frame 440 passes through the flexible of push rod 450
Realize the scalable connection with primary and secondary machine frame 100.Optionally, can pacify on machine tool frame in different situations and demand
The fixture of different image collecting devices 430 is filled, such as telescopic clamp can be installed to adjust the view of image collecting device 430
Open country, the in addition quantity of image collecting device 430, visual field size, precision, and the identification being arranged on image collecting device 430
Scheme (the different location point coordinates of identification different shape brick) can also be adjusted according to different demands, and the present invention does not limit
It is fixed.
The fixed link 130 and the connecting rod vertical with fixed link 130 of vertical direction are provided on primary and secondary machine frame 100
140；The free end of fixed link 130 is rotatably connected with push rod 450, and the free end of connecting rod 140 and fixed frame 440 can be rotated
Connection；Push rod 450 telescopically connects between fixed frame 440 and fixed link 130.Fig. 1, Fig. 4 respectively illustrate push rod 450
Extend and retract schematic diagram.Light source can also be arranged in primary and secondary machine frame 100, can also construct in the bad environment of light.
Fixed frame 440 provided in an embodiment of the present invention is taken pictures stretching Shi Nengrang camera, and image collector is not needed
It can shrink and when setting 430 carry out data acquisition, allow tile work composite aircraft overall volume to become smaller, room can be passed in and out.When this fixed frame
Frame 440 can guarantee every time shrink come after, 430 position of image collecting device when stretching still in same position, adopt by image
430 position of acquisition means, which is not moved, ensures that can carry out not having when data acquisition error or error can ignore does not remember.Energy is installed
Flexible fixed frame 440 can allow tile work composite aircraft whole design area to become smaller, make full use of space, activity sensitive, into
And improve the tile work efficiency in room.
In an alternate embodiment of the present invention, tile work composite aircraft can also include power-supply device 500, the power-supply device 500
It is arranged on primary and secondary machine frame 100, is that brick paving machine 400 and/or brick carrying machine 300 are powered.Such as to industrial personal computer 200, the second magnet 120
And each component power supply of the first magnet 323 on brick carrying machine 300, the power-supply device 500 can be battery or rechargeable battery.This
Outside, power-supply device 500 also provides the effect of counterweight, avoids tile work composite aircraft entirety gravity center instability.It, can be regular in practical application
The power supply situation for detecting power supply module, self-navigation is to charging station charging when not enough power supply.
In addition to above-mentioned introduction, tile work composite aircraft provided in this embodiment can also include: to be set to primary and secondary machine frame
At least one sensor (being not shown) on 100, sensor include laser measurement sensor and/or horizontal measurement sensing
Device, for measuring the primary and secondary machine frame 100 of brick paving machine 400 and the position of brick carrying machine 300, to realize brick paving machine 400 and brick carrying machine
300 automatic connection.
Tile work composite aircraft can also include communication agency 600, communicate to connect with industrial personal computer 200, in 200 He of industrial personal computer
Carry out data transmission between brick carrying machine 300.Communication agency 600 can be wireless router or other communication components, the present invention
Without limitation.
Furthermore it is also possible to install different executing agencies (such as in the pitching of mould group and yaw freedom in primary and secondary machine frame
Mechanism) to promote the accuracy of tile work.But also it can be with each component on periodic detection tile work composite aircraft and tile work composite aircraft
Working condition, will urgent-stop alarm if any abnormality.
Based on the same inventive concept, the embodiment of the invention also provides the connection sides of a kind of primary and secondary machine frame and brick carrying machine
Method, applied to the tile work composite aircraft that any of the above-described embodiment provides, referring to Fig. 7 it is found that primary and secondary machine frame provided in this embodiment
With the connection method of brick carrying machine, may include:
Step S701 detects the first position coordinate of primary and secondary machine frame and the second position coordinate of brick carrying machine.In this implementation
In example, it can be detected by default sensor, default sensor, which can be to be set on primary and secondary machine frame, carries out distance
Measurement sensor, such as laser range sensor or the sensor that other can carry out distance or position measures.Determining composite aircraft
Before the second position coordinate of frame first position coordinate and brick carrying machine, a coordinate original can be first chosen in current spatial
Point, constructs three-dimensional system of coordinate, and then based on the coordinate origin and primary and secondary machine frame and brick carrying machine respectively in three-dimensional system of coordinate
Position determine the second position coordinate of primary and secondary machine frame first position coordinate and brick carrying machine.
Step S702 determines the position of primary and secondary machine frame and brick carrying machine based on the first position coordinate, second position coordinate
Set relationship.When determining the positional relationship of primary and secondary machine frame and brick carrying machine, the first position coordinate, the second position can be based on
Coordinate determines primary and secondary machine frame and transports the distance difference and/or orientation angles of brick group.That is, determining primary and secondary machine frame
After the second position coordinate of one position coordinates and brick carrying machine, so that it may be calculated according to first position coordinate and second position coordinate
The orientation angles of the distance between primary and secondary machine frame and brick carrying machine difference and the two when specific execution calculates, can be based on two
A position coordinates carry out asking poor, or other calculations is combined to be determined.
Step S703 controls the brick carrying machine and moves to energy according to the positional relationship of the primary and secondary machine frame and brick carrying machine
Connect the position of paving machine primary and secondary machine frame.
Step S704 makes the brick carrying machine and the primary and secondary machine frame complete connection.
It introduces above, primary and secondary machine frame can be determined according to first position coordinate and second position coordinate and transports the distance of brick group
Difference and/or orientation angles are calculated after the distance between primary and secondary machine frame and brick carrying machine difference and orientation angles just
It can be moved as the mobile data of brick carrying machine, and then based on mobile data control brick carrying machine, to be moved to
It can be connected on the position of primary and secondary machine frame.
In addition, the industrial personal computer that brick carrying machine after completing movement, is arranged on primary and secondary machine frame sends mobile completion signal.Work
After control machine receives the mobile completion signal of brick carrying machine transmission, start the second magnet being arranged on composite aircraft frame, with brick carrying machine
On the first magnet magnetic combine, connect brick carrying machine with the primary and secondary machine frame magnetic.That is, completing to move in brick carrying machine
, need to be corresponding by the second magnet on the first magnet and primary and secondary machine frame on brick carrying machine after dynamic, at the same time, brick carrying machine can be to
The industrial personal computer being arranged on primary and secondary machine frame sends the signal for reaching corresponding position, and then controls the starting of the second magnet by industrial personal computer and allow
Brick carrying machine and primary and secondary machine frame are realized by the first magnet and the second magnet to be connected, and the information of successful connection is sent to industry control
Machine acts to execute subsequent tile work by industrial personal computer control other component.
Mentioned above, tile work composite aircraft is to execute the movement of fortune brick or tile work movement by brick carrying machine and tile work component respectively
's.During tile work component executes tile work movement, it is possible that the situation that brick quantity is inadequate.Optionally, the present embodiment
The method of offer can also include: to detect current brick quantity by brick carrying machine, and when current brick quantity is lower than preset quantity, by
Industrial personal computer controls after brick carrying machine is detached from primary and secondary machine frame and executes fortune brick movement.That is, the tile work component in tile work composite aircraft
When carrying out tile work, brick carrying machine can in real time or interval preset time detects the current brick quantity of tile work composite aircraft, when its quantity is small
When default value (such as 3 pieces, 5 pieces), industrial personal computer can stop the power supply of the second magnet on primary and secondary machine frame, make the first magnetic
Iron and magnet separation, and then example primary and secondary machine frame and brick carrying machine separation, and further control brick carrying machine executes fortune brick movement,
Realize feed supplement.
In the present embodiment, the industrial personal computer on brick carrying machine and primary and secondary machine frame can pass through such as WiFi, EtherCAT (ether network control
Automatic technique processed) etc. modes realize communication, brick quantity information is sent to industrial personal computer, the present invention is without limitation.
The embodiment of the invention provides a kind of more convenient and efficient tile work composite aircraft and corresponding primary and secondary machine frame and
The connection method of brick carrying machine can be directly by tile work when tile work composite aircraft based on the embodiment of the present invention carries out brick laying
Machine tool is moved to the target position of brick, realizes automatic sucking brick and the automatic process for being laid with brick.By using full automatic paving
Brick composite aircraft design area is smaller, makes full use of space, activity sensitive, the tile work efficiency in room can be improved, through experimental test
Obtaining efficiency may be up to artificial 6 times.And when brick quantity is low, brick carrying machine can be detached from primary and secondary machine frame and go to mend automatically
Material, connects composite aircraft frame automatically after feed supplement.The tile work component of primary and secondary machine frame can also be after when brick carrying machine is detached from frame
Continuous tile work, improves tile work efficiency.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any
Can in any combination mode come using.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (17)
1. a kind of tile work composite aircraft, including brick carrying machine, brick paving machine；It is characterized by:
The brick carrying machine and brick paving machine can connect automatically to be set together with automatically departing；When needing to mend brick, the fortune
Brick machine automatically disengages brick paving machine and goes to take brick, again can auto-returned brick paving machine and brick paving machine reconnect after the completion of taking brick；
The brick paving machine includes primary and secondary machine frame and industrial personal computer, and the lower end of the primary and secondary machine frame is sustainable on the ground, described
Industrial personal computer is arranged on primary and secondary machine frame, connects for controlling the brick paving machine and executing tile work movement and communicate with the brick carrying machine
It connects.
2. tile work composite aircraft according to claim 1, which is characterized in that the brick carrying machine includes a guide car, and is set to
Bed of brick frame on guide car, the primary and secondary machine frame are crossed on the top of guide car and its bed of brick frame, its underpart with it is described
Bed of brick frame is set together by magnetic structure, with realize between the two automatically connect or automatically disengage.
3. tile work composite aircraft according to claim 2, which is characterized in that the bed of brick frame includes supporting part and formation
At least one connecting column on supporting part, the free end of the connecting column are provided with the first magnet, on the primary and secondary machine frame
It is provided with the second magnet corresponding with the first magnet of the connecting column；
First magnet and the second magnet magnetic in the case where there is electric current to pass through combine, and make the brick carrying machine and the primary and secondary
The connection of machine frame magnetic；Conversely, being detached from.
4. tile work composite aircraft according to claim 1-3, which is characterized in that the brick paving machine further includes that setting exists
Manipulator is set in the straight line mould group and straight line mould group on primary and secondary machine frame, and the manipulator is for taking brick, putting brick；It is described straight
Line mould group can provide manipulator X, Y, Z movement in tri- directions, can also provide the movement and adjustment of Z rotary shaft.
5. tile work composite aircraft according to claim 4, which is characterized in that the straight line mould group is vertical setting, the machine
Tool hand is the sucker for being fixed on the straight line mould group bottom.
6. tile work composite aircraft according to claim 5, which is characterized in that the brick paving machine is additionally provided with image collecting device,
It is communicated to connect with the industrial personal computer, the grabbed brick feature of acquisition and the position feature for needing to put brick, so that the industry control function
Enough the brick of required laying is moved to the target position by control straight line mould group, by the brick laying of crawl to the target position
It sets.
7. tile work composite aircraft according to claim 6, which is characterized in that the brick paving machine further include:
Fixed frame is connect by telescopic push rod with the composite aircraft extensible, and described image acquisition device is fixed
It is set on the fixed frame；The fixed frame passes through the flexible realization of the push rod and stretching for the primary and secondary machine frame
Contracting connection.
8. tile work composite aircraft according to claim 1, which is characterized in that the tile work composite aircraft further includes that a power supply is set
Standby, which is arranged on the primary and secondary machine frame, is that the brick paving machine and/or the brick carrying machine charge.
9. tile work composite aircraft according to claim 1-8, which is characterized in that the tile work composite aircraft further includes setting
At least one sensor being placed on the primary and secondary machine frame, the sensor include laser measurement sensor and/or horizontal survey
Quantity sensor, for measuring the position of brick paving machine primary and secondary machine frame and brick carrying machine device people, with realize brick paving machine and brick carrying machine from
Dynamic connection.
10. -9 described in any item tile work composite aircrafts according to claim 1, which is characterized in that the tile work composite aircraft further includes
Communication agency is communicated to connect with the industrial personal computer, for carrying out data transmission between the industrial personal computer and the brick carrying machine.
11. -10 described in any item tile work composite aircrafts according to claim 1, which is characterized in that the brick paving machine is tile work machine
People, brick carrying machine are brick carrying machine device people, and the guide car is AGV trolley.
12. a kind of connection method of primary and secondary machine frame and brick carrying machine, which is characterized in that be applied to any one of claim 1-11 institute
The tile work composite aircraft stated, which comprises
Detect the first position coordinate of brick paving machine primary and secondary machine frame and the second position coordinate of brick carrying machine；
The positional relationship of the primary and secondary machine frame and brick carrying machine is determined based on the first position coordinate, second position coordinate；
According to the positional relationship of the primary and secondary machine frame and brick carrying machine, paving machine primary and secondary can be connected by controlling the brick carrying machine and moving to
The position of machine frame；
The brick carrying machine and the primary and secondary machine frame is set to complete connection.
13. 2 method stated according to claim 1, which is characterized in that described to be sat based on the first position coordinate, the second position
Mark determines the positional relationship of the primary and secondary machine frame and brick carrying machine, comprising:
Based on the first position coordinate, second position coordinate determine the primary and secondary machine frame and transport brick group distance difference and/
Or orientation angles.
14. according to the method for claim 13, which is characterized in that the position based on the primary and secondary machine frame and brick carrying machine
Relationship is set, the brick carrying machine is controlled and is moved, comprising:
Using the distance difference and/or the relative azimuth angle as the mobile data of the brick carrying machine, it is based on the movement
Data control the brick carrying machine and are moved.
15. according to the method for claim 12, which is characterized in that the position based on the primary and secondary machine frame and brick carrying machine
Set relationship, control the brick carrying machine carry out it is mobile after, it is described the brick carrying machine complete it is mobile after connect the brick carrying machine and
Before the primary and secondary machine frame, further includes:
For the brick carrying machine after completing movement, the industrial personal computer being arranged on Xiang Suoshu primary and secondary machine frame sends mobile completion signal.
16. according to the method for claim 15, which is characterized in that it is described the brick carrying machine complete it is mobile after described in connection
Brick carrying machine and the primary and secondary machine frame, comprising:
After the industrial personal computer receives the mobile completion signal that the brick carrying machine is sent, starts and be arranged on the primary and secondary machine frame
Second magnet connects the brick carrying machine and the primary and secondary machine frame magnetic in conjunction with the first magnet magnetic on the brick carrying machine
It connects.
17. the described in any item methods of 2-16 according to claim 1, which is characterized in that further include:
Current brick quantity is detected by the brick carrying machine, and when the current brick quantity is lower than preset quantity, by the industry control
Machine controls after the brick carrying machine is detached from the primary and secondary machine frame and executes fortune brick movement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910522549.XA CN110259069B (en) | 2019-06-17 | 2019-06-17 | Brick paving primary-secondary machine and connecting method of primary-secondary machine frame and brick conveying machine |
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| CN201910522549.XA CN110259069B (en) | 2019-06-17 | 2019-06-17 | Brick paving primary-secondary machine and connecting method of primary-secondary machine frame and brick conveying machine |
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| CN110259069B CN110259069B (en) | 2021-08-24 |
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