CN110259069B - Brick paving primary-secondary machine and connecting method of primary-secondary machine frame and brick conveying machine - Google Patents
Brick paving primary-secondary machine and connecting method of primary-secondary machine frame and brick conveying machine Download PDFInfo
- Publication number
- CN110259069B CN110259069B CN201910522549.XA CN201910522549A CN110259069B CN 110259069 B CN110259069 B CN 110259069B CN 201910522549 A CN201910522549 A CN 201910522549A CN 110259069 B CN110259069 B CN 110259069B
- Authority
- CN
- China
- Prior art keywords
- machine
- brick
- frame
- tile
- paving
- 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.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Road Paving Machines (AREA)
Abstract
The invention provides a tile laying primary and secondary machine and a connecting method of a primary and secondary machine frame and a tile conveying machine, wherein the tile laying primary and secondary machine comprises: conveying and paving bricks; the method is characterized in that: the brick conveying machine and the brick paving machine can be automatically connected and automatically arranged together in a detachable mode; when the bricks need to be repaired, the brick conveying machine is automatically separated from the brick paving machine to pick the bricks, and the bricks can be automatically returned to the brick paving machine to be reconnected with the brick paving machine after the bricks are picked; the brick paving machine comprises a main-sub machine frame and an industrial personal computer, wherein the lower end of the main-sub machine frame can be supported on the ground, and the industrial personal computer is arranged on the main-sub machine frame and used for controlling the brick paving machine to execute brick paving actions and is in communication connection with the brick conveying machine. Based on the brick paving primary and secondary machine and the connecting method of the primary and secondary machine frame and the brick conveying machine, the brick paving primary and secondary machine can realize the automatic brick suction and automatic brick paving processes, and can improve the brick paving efficiency in a room.
Description
Technical Field
The invention relates to the field of buildings, in particular to a brick paving primary-secondary machine and a connecting method of a primary-secondary machine frame and a brick conveying machine.
Background
In the field of building, whether the indoor layout of living buildings, the layout of working building environments or the layout of other buildings, the floor tile laying is a common building process.
At present, the floor tiles are laid by manual operation, a large amount of manpower can be consumed by manually laying the floor tiles, the preset laying precision can not be achieved by manual mode in the process of laying the floor tiles in some scenes, and the working efficiency can not meet the requirement.
Disclosure of Invention
In view of the above, the present invention provides a tile-laying sub-master and a method of connecting a sub-master frame and a tile conveyor that overcomes or at least partially solves the above mentioned problems.
According to one aspect of the invention, the brick paving primary and secondary machine comprises a brick conveying machine and a brick paving machine; the method is characterized in that:
the brick conveying machine and the brick paving machine can be automatically connected and automatically arranged together in a detachable mode; when the bricks need to be repaired, the brick conveying machine is automatically separated from the brick paving machine to pick the bricks, and the bricks can be automatically returned to the brick paving machine to be reconnected with the brick paving machine after the bricks are picked;
the brick paving primary and secondary machine comprises a primary and secondary machine frame and an industrial personal computer, wherein the lower end of the primary and secondary machine frame is supported on the ground, and the industrial personal computer is arranged on the primary and secondary machine frame and is used for controlling the brick paving machine to execute brick paving actions and is in communication connection with the brick conveying machine.
Optionally, the brick conveying machine comprises a guiding vehicle and a brick conveying frame arranged on the guiding vehicle, the sub-main frame spans over the guiding vehicle and the brick conveying frame, the lower portion of the sub-main frame is arranged with the brick conveying frame through a magnetic attraction structure to achieve automatic connection or automatic disconnection between the guiding vehicle and the brick conveying frame, and preferably, the guiding vehicle is an AGV trolley.
Optionally, the brick conveying frame comprises a bearing part and at least one connecting column formed on the bearing part, a first magnet is arranged at the free end of the connecting column, and a second magnet corresponding to the first magnet of the connecting column is arranged on the main-sub machine frame;
the first magnet and the second magnet are combined in a magnetic attraction manner under the condition that current passes through the first magnet and the second magnet, so that the brick conveying machine is connected with the son-mother machine frame in a magnetic attraction manner; otherwise, the separation is carried out.
Optionally, the brick paving machine further comprises a linear module arranged on the master-slave machine frame, and a manipulator arranged on the linear module and used for taking and placing bricks; the linear module can provide three-directional motion of the robot X, Y, Z and can also provide movement and adjustment of the Z-axis of rotation.
Optionally, the linear module is arranged vertically, and the manipulator is a suction cup fixed at the bottom of the linear module.
Optionally, the brick paving machine is further provided with an image acquisition device which is in communication connection with the industrial personal computer to acquire the captured brick characteristics and the position characteristics of the bricks to be laid, so that the industrial personal computer can control the linear module to move the bricks to be laid to the target position, and the captured bricks are laid to the target position.
Optionally, the tile paving machine further includes:
the fixed frame is in telescopic connection with the master-slave machine frame through a telescopic push rod, and the image acquisition device is fixedly arranged on the fixed frame; the fixed frame is connected with the extension-type of the master-slave machine frame through the extension-type of the push rod.
Optionally, the tile paving primary and secondary machine further comprises a power supply device, and the power supply device is arranged on the primary and secondary machine frame and supplies power to the tile paving machine and/or the tile conveying machine.
Optionally, the tile paving master-slave machine further comprises at least one sensor arranged on the master-slave machine frame, wherein the sensor comprises a laser measurement sensor and/or a horizontal measurement sensor, and is used for measuring the positions of the tile paving master-slave machine frame and the position of the tile conveying machine so as to realize the automatic connection of the tile paving machine and the tile conveying machine.
Optionally, the tile paving primary and secondary machine further comprises a communication mechanism, wherein the communication mechanism is in communication connection with the industrial personal computer and is used for data transmission between the industrial personal computer and the tile conveying machine.
According to another aspect of the invention, a method for connecting a primary and secondary machine frame and a brick conveying machine is further provided, and is characterized in that the method is applied to the tile paving primary and secondary machine, and comprises the following steps:
detecting a first position coordinate of a composite frame of the brick paving machine and a second position coordinate of a brick conveying machine;
determining the position relation between the main-sub machine frame and the brick conveying machine based on the first position coordinate and the second position coordinate;
controlling the brick conveying machine to move to a position where the paving machine primary and secondary machine frames can be connected according to the position relation between the primary and secondary machine frames and the brick conveying machine;
and connecting the brick conveying machine and the son-mother machine frame.
Optionally, the determining the position relationship between the sub-frame and the brick conveying machine based on the first position coordinate and the second position coordinate includes:
and determining the distance difference and/or the orientation angle of the main-sub machine frame and the brick transporting group based on the first position coordinate and the second position coordinate.
Optionally, the controlling the brick conveying machine to move based on the position relationship between the main-sub machine frame and the brick conveying machine includes:
and taking the distance difference and/or the azimuth angle as movement data of the brick conveying machine, and controlling the brick conveying machine to move based on the movement data.
Optionally, after controlling the brick conveying machine to move based on the position relationship between the sub-parent-machine frame and the brick conveying machine, before connecting the brick conveying machine and the sub-parent-machine frame after the brick conveying machine completes moving, the method further includes: and after the brick conveying machine finishes moving, sending a movement completion signal to an industrial personal computer arranged on the sub-main machine frame.
Optionally, the connecting the brick conveyor and the sub-rack after the brick conveyor finishes moving includes: and after receiving the movement completion signal sent by the brick conveying machine, the industrial personal computer starts a second magnet arranged on the frame of the main and sub machines, and the second magnet is combined with the first magnet on the brick conveying machine in a magnetic attraction manner, so that the brick conveying machine is connected with the frame of the main and sub machines in a magnetic attraction manner.
Optionally, the method further comprises:
and detecting the current brick number through the brick conveying machine, and controlling the brick conveying machine to separate from the main-sub machine frame and then executing brick conveying action by the industrial personal computer when the current brick number is lower than the preset number.
The brick paving machine is a brick paving robot, the brick conveying machine is a brick conveying robot, and the guiding vehicle is an AGV trolley.
The invention provides a more convenient and efficient brick paving primary and secondary machine and a corresponding method for connecting a primary and secondary machine frame and a brick conveying machine. By adopting the fully automatic tile paving primary and secondary machine, the design area is small, the space is fully utilized, the movement is sensitive, the tile paving efficiency in a room can be improved, and the efficiency can be 6 times as high as that of manpower through test. And when the brick quantity is low, the brick transporting machine can be separated from the main-sub machine frame to automatically remove the material supplement, and the main-sub machine frame is automatically connected after the material supplement. The tile paving assembly of the main-sub machine frame can continue brick paving when the brick conveying machine is separated from the frame, so that the brick paving efficiency is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 shows an overall schematic view of a tile master and slave according to an embodiment of the invention;
FIG. 2 shows a side view of the tile master and slave machine of FIG. 1;
FIG. 3 shows an overall schematic view of a tile master and slave according to another embodiment of the invention;
FIG. 4 shows a side view of the tile master and slave of FIG. 3;
FIG. 5 shows a schematic structural diagram of a brick conveying machine according to an embodiment of the invention;
FIG. 6 shows a schematic view of a portion of a tile assembly according to an embodiment of the invention;
fig. 7 is a flow chart illustrating a method for connecting a sub-frame and a brick conveying machine according to an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 to 4 show an overall schematic view and a side view of a tile son-mother according to an embodiment of the present invention, and as can be seen from fig. 1, a tile son-mother provided by an embodiment of the present invention may include: the brick conveying machine 300 and the brick paving machine 400 are arranged together in an automatic connection and automatic detachable manner; when the bricks need to be repaired, the brick conveying machine 300 can automatically separate from the brick paving machine to pick up the bricks, and can automatically return to the brick paving machine 400 to be reconnected with the brick paving machine 400 after the bricks are picked up. The brick paving machine 400 provided by the embodiment may be a brick paving robot, and the brick conveying machine 300 may be a brick conveying robot.
Alternatively, the tile-laying sub-master may include a sub-master frame 100 and an industrial personal computer 200, and a lower end of the sub-master frame 100 is supported on the ground, for example, the sub-master frame 100 may be supported on the ground by providing fixed length legs or retractable legs. The industrial personal computer 200 is arranged on the sub-main frame 100, controls the brick paving machine 400 to execute brick paving action and is in communication connection with the brick conveying machine 300. In addition, the industrial personal computer 200 can also be in communication connection with the brick conveying machine 300 in a WiFi (wireless fidelity) mode and the like, and can timely acquire information such as brick conveying states of the brick conveying machine or the number of the currently conveyed bricks. In this embodiment, the industrial personal computer 200 is arranged on the primary-secondary machine frame 100, and meanwhile, the effect of balancing weight is achieved, so that the instability of the integral gravity center of the tile laying primary-secondary machine is avoided.
Referring to fig. 1-4, the daughter frame 100 may be a frame having a cubic structure, and a plurality of partitions may be disposed on the daughter frame 100 to place various components. The sub-unit frame 100 may have a receiving space for receiving the tile spreader 400, and parallel guide rails 110 for the tile spreader 400 to slide, wherein the guide rails 110 are parallel to the tile spreading surface on which the tiles are to be spread. The tile paving machine 400 can slide in and out of the accommodating space based on the guide rail 110, so that the space is saved when the tile paving primary-secondary machine stops working. Fig. 1 and 3 show schematic diagrams of the tile paving machine 400 sliding out of and into the receiving space of the sub-parent machine frame 100, respectively.
Referring to fig. 5, in the embodiment, referring to fig. 5, the brick conveying machine 300 in the embodiment may include a guiding Vehicle, preferably an AGV (Automated Guided Vehicle) Vehicle 310, and a brick conveying frame 320 disposed on the AGV Vehicle 310; the sub-host frame 100 is spanned above the AGV trolley 310 and the brick conveying frame 320 thereof, and the lower part of the sub-host frame is arranged with the brick conveying frame 320 through a magnetic attraction structure, so that the sub-host frame and the brick conveying frame can be automatically connected or separated.
In the brick conveying machine 300 shown in fig. 5, the brick conveying frame 320 includes a bearing part 321 and at least one connecting column 322 formed on the bearing part 321, a first magnet 323 is arranged at a free end of the connecting column 322, a second magnet 120 corresponding to the first magnet 323 of the connecting column 322 is arranged on the sub-host frame 100, and the first magnet 323 and the second magnet 120 are magnetically attracted and combined under the condition that current passes through, so that the brick conveying machine 300 is magnetically attracted and connected with the sub-host frame 100; otherwise, the separation is carried out. That is, the sub-rack frame 100 and the brick conveyor 300 can be connected by supplying current, and the sub-rack frame can be disconnected by power failure.
In addition, the bearing portion 321 is provided with at least one movable limiting column 324 to adjust the position of bricks with different sizes. The limiting post 324 may be formed by extending from the supporting portion 321 to a direction away from the AGV cart 310, or other forms, but the invention is not limited thereto. The size of the brick conveying frame 320 can be matched with the size of the brick, and the brick can be accurately fixed. The number of the limiting posts 324 can be set according to different requirements, and each limiting post 324 can be moved to clamp bricks of 800 × 800mm, 600 × 600mm or other sizes.
As shown in fig. 1 to 4, a plurality of universal wheels 700 are provided on the sub-frame 100, and the sub-frame 100 is supported on the ground by the universal wheels 700 and is movable. Alternatively, the sub-main frame 100 may be provided with a plurality of supporting legs, and the supporting legs on the sub-main frame 100 may be respectively provided with a universal wheel 700. In addition, a spring may be further disposed at the connection between the universal wheel 700 and the supporting leg of the sub-unit frame 100 to improve the stability of the whole machine. In this embodiment, the AGV cart 310 can be automatically navigated and positioned, and the brick paving machine 400 installed by matching the brick paving mother-son machines can lay bricks by walking through the AGV cart 310, so that the construction efficiency can be improved, and one brick can be laid in only about 120 seconds at the fastest speed. In addition, the brick conveying machine 300 in this embodiment can also monitor the current brick number, when the brick number is low, the brick conveying machine 300 is detached from the mother machine frame 100 to automatically feed materials, and the mother and son machine frames 100 can be automatically connected after feeding materials. The brick paving mechanism 400 arranged on the combined machine frame 100 can continue brick paving when the brick conveying machine 300 is deionized from the combined machine frame 100, so that the brick paving efficiency is improved.
With continued reference to fig. 4, the tile paving machine 400 includes a linear module 410 disposed on the sub-sub frame, and a manipulator 420 disposed on the linear module, the manipulator 420 being configured to pick and place tiles. The linear module 410 can provide the movement of the robot 420 in three directions X, Y, Z, as well as the movement and adjustment (e.g., rotation) in the Z-axis. Where X and Y may be two perpendicular axes parallel to the ground and Z is an axis perpendicular to the ground. Alternatively, the linear module 410 is vertically disposed, and the robot 420 is a suction cup fixed to the bottom of the linear module 410. The linear module 410 may provide the robot 420 with a target position of the brick, and after the robot 420 grasps the brick, control the robot 420 to move to the target position to lay the grasped brick to the target position. The linear module in the embodiment of the invention can be a linear module, a rectangular coordinate robot, a linear sliding table and other mechanisms which can realize linear and curvilinear motion of load.
In this embodiment, tile paving machine 400 may further include a tamping mechanism (not shown) disposed on the sub-rack frame for tamping the tiles as they are being paved.
As described above, the tile pallets may include an industrial personal computer 200 communicatively coupled to the tile transport 300, and the tile spreader 400 may include a linear module 410 and a robot 420. Alternatively, a controller of the tile paving machine 400, such as a controller of the linear module 410, an electromagnetic valve of the manipulator 420, etc., may be installed in the industrial personal computer 200 to control the tile paving machine 400 to complete tile paving.
As can be seen by continuing to refer to fig. 2 and 6, the brick paving machine 400 is further provided with at least one image acquisition device 430 (such as a camera, etc.) in communication with the industrial personal computer 200 to obtain the characteristics of the brick to be grabbed and the characteristics of the position where the brick needs to be placed, so that the industrial personal computer 200 can control the linear module 410 to move the brick to be paved to a target position, and lay the grabbed brick to the target position.
Tile paving machine 400 may further include: a fixed frame 440 telescopically connected with the main-auxiliary machine frame 100 through a telescopic push rod 450, and an image acquisition device 430 fixedly arranged on the fixed frame 440; the fixing frame 440 is telescopically coupled to the sub-parent frame 100 by the extension and contraction of the push rod 450. Alternatively, different clamps of the image capturing device 430 may be installed on the mother machine frame under different conditions and requirements, for example, a retractable clamp may be installed to adjust the field of view of the image capturing device 430, and the number, size, precision of the image capturing devices 430, and the identification scheme (identifying different position point coordinates of different shape bricks) set on the image capturing device 430 may also be adjusted according to different requirements, which is not limited in the present invention.
The main and sub unit frame 100 is provided with a fixing rod 130 in a vertical direction and a connecting rod 140 perpendicular to the fixing rod 130; the free end of the fixing rod 130 is rotatably connected with the push rod 450, and the free end of the connecting rod 140 is rotatably connected with the fixing frame 440; the push rod 450 is telescopically coupled between the fixing frame 440 and the fixing rod 130. Fig. 1 and 4 show schematic views of extension and retraction, respectively, of the push rod 450. The mother-daughter frame 100 may also be provided with a light source to enable construction in environments with poor lighting.
The fixed frame 440 provided by the embodiment of the invention can enable the camera to take a picture when extending out, and can be retracted when the image acquisition device 430 is not needed for data acquisition, so that the whole volume of the tile laying master-slave machine is reduced, and the tile laying master-slave machine can enter and exit a room. The fixing frame 440 can ensure that the position of the image capturing device 430 is still the same when the image capturing device 430 is extended after each retraction, and the position of the image capturing device 430 does not move, so that no error or negligible error can be ensured when data acquisition is performed. The telescopic fixing frame 440 can be installed to enable the overall design area of the tile paving primary-secondary machine to be smaller, fully utilize space and move flexibly, and further improve the tile paving efficiency in a room.
In an alternative embodiment of the present invention, the tile pallets may further include a power supply 500, where the power supply 500 is disposed on the pallet frame 100 to supply power to the tile spreader 400 and/or the tile conveyor 300. The power supply device 500 may be a storage battery or a rechargeable battery, for example, to supply power to the industrial personal computer 200, the second magnet 120, and the first magnet 323 on the brick conveyor 300. In addition, power supply unit 500 also provides the effect of counter weight, avoids the whole focus of tiling primary and secondary machine unstability. In practical application, the power supply condition of the power supply assembly can be detected regularly, and the power supply assembly automatically navigates to a charging station to charge when the electric quantity is insufficient.
In addition to the above description, the tile son-mother machine provided in this embodiment may further include: at least one sensor (not shown) disposed on the sub-sub frame 100, the sensor including a laser measuring sensor and/or a leveling sensor, is used to measure the position of the sub-sub frame 100 and the brick conveyor 300 of the brick paving machine 400 to enable automatic connection of the brick paving machine 400 and the brick conveyor 300.
The tile laying primary and secondary machine can further comprise a communication mechanism 600 which is in communication connection with the industrial personal computer 200 and used for data transmission between the industrial personal computer 200 and the tile conveying machine 300. The communication mechanism 600 may be a wireless router or other communication components, and the invention is not limited thereto.
In addition, different actuators (e.g., mechanisms in module pitch and yaw degrees of freedom) may be mounted to the parent-child frame to improve tile accuracy. And the working states of the tile paving master-slave machine and all parts on the tile paving master-slave machine can be regularly detected, and if abnormal states exist, the alarm can be given out in an emergency stop mode.
Based on the same inventive concept, an embodiment of the present invention further provides a method for connecting a primary and secondary machine frame and a brick conveying machine, which is applied to the tile paving primary and secondary machines provided in any of the embodiments described above, and as can be seen from fig. 7, the method for connecting the primary and secondary machine frame and the brick conveying machine provided in this embodiment may include:
and S701, detecting a first position coordinate of the frame of the main-sub machine and a second position coordinate of the brick conveying machine. In this embodiment, the detection may be performed by a preset sensor, which may be a distance measuring sensor disposed on the mother-son unit frame, such as a laser distance measuring sensor or other sensors capable of measuring distance or position. Before determining the first position coordinates of the master-slave frame and the second position coordinates of the brick conveying machine, a coordinate origin point can be selected in the current space to construct a three-dimensional coordinate system, and the first position coordinates of the master-slave frame and the second position coordinates of the brick conveying machine are determined based on the coordinate origin point and the positions of the master-slave frame and the brick conveying machine in the three-dimensional coordinate system respectively.
And S702, determining the position relation between the main-sub frame and the brick conveying machine based on the first position coordinate and the second position coordinate. When the position relation between the main-sub machine frame and the brick conveying machine is determined, the distance difference and/or the orientation angle between the main-sub machine frame and the brick conveying set can be determined based on the first position coordinate and the second position coordinate. That is, after the first position coordinates of the mother-son machine frame and the second position coordinates of the brick conveying machine are determined, the distance difference between the mother-son machine frame and the brick conveying machine and the azimuth angle of the mother-son machine frame and the brick conveying machine can be calculated according to the first position coordinates and the second position coordinates, and when calculation is specifically executed, the difference can be calculated based on the two position coordinates, or determination can be performed by combining other calculation methods.
And S703, controlling the brick conveying machine to move to a position where the paving machine primary and secondary machine frames can be connected according to the position relation between the primary and secondary machine frames and the brick conveying machine.
And step S704, connecting the brick conveying machine and the son-mother machine frame.
As described above, the distance difference and/or the azimuth angle between the sub-frame and the brick transporting unit can be determined according to the first position coordinate and the second position coordinate, the distance difference and the azimuth angle between the sub-frame and the brick transporting unit can be calculated and then used as the movement data of the brick transporting unit, and the brick transporting unit is controlled to move to the position where the brick transporting unit can be connected to the sub-frame based on the movement data.
In addition, after the brick conveying machine finishes moving, a movement completion signal is sent to an industrial personal computer arranged on the main-sub machine frame. And after receiving the movement completion signal sent by the brick conveying machine, the industrial personal computer starts a second magnet arranged on the frame of the main-sub machine to be magnetically combined with the first magnet on the brick conveying machine, so that the brick conveying machine is magnetically connected with the frame of the main-sub machine. That is to say, after the brick conveying machine finishes moving, a first magnet on the brick conveying machine needs to be corresponding to a second magnet on the primary-secondary machine frame, meanwhile, the brick conveying machine can send a signal reaching a corresponding position to an industrial personal computer arranged on the primary-secondary machine frame, the industrial personal computer controls the second magnet to start, the brick conveying machine is connected with the primary-secondary machine frame through the first magnet and the second magnet, and information of successful connection is sent to the industrial personal computer, so that the industrial personal computer controls other components to execute subsequent brick laying actions.
As mentioned above, the tile-laying sub-master executes the tile-conveying action or the tile-laying action through the tile-conveying machine and the tile-laying component, respectively. During the tile work performed by the tile work assembly, there may be instances where the number of tiles is insufficient. Optionally, the method provided in this embodiment may further include: the current brick number is detected through the brick conveying machine, and when the current brick number is lower than the preset number, the industrial personal computer controls the brick conveying machine to separate from the sub-main machine frame and then to carry out brick conveying action. That is to say, when the tile paving assemblies in the tile paving primary and secondary machines pave tiles, the tile conveying machine can detect the current number of the tiles of the tile paving primary and secondary machines in real time or at intervals of preset time, and when the number of the tiles is smaller than a preset value (such as 3 tiles, 5 tiles and the like), the industrial personal computer can stop supplying power to the second magnet on the primary and secondary machine frame to separate the first magnet from the second magnet, so that the primary and secondary machine frame is separated from the tile conveying machine, and further control the tile conveying machine to execute tile conveying action, so that material supplementing is realized.
In this embodiment, the brick transporting machine and the industrial personal computer on the master-slave machine frame can communicate in a WiFi (wireless fidelity), EtherCAT (ethernet control automation technology) or other manners to send the brick quantity information to the industrial personal computer, which is not limited in the present invention.
The embodiment of the invention provides a more convenient and efficient brick paving primary and secondary machine and a corresponding connecting method of a primary and secondary machine frame and a brick conveying machine. By adopting the fully automatic tile paving primary and secondary machine, the design area is small, the space is fully utilized, the movement is sensitive, the tile paving efficiency in a room can be improved, and the efficiency can be 6 times as high as that of manpower through test. And when the brick quantity is low, the brick transporting machine can be separated from the main-sub machine frame to automatically remove the material supplement, and the main-sub machine frame is automatically connected after the material supplement. The tile paving assembly of the main-sub machine frame can continue brick paving when the brick conveying machine is separated from the frame, so that the brick paving efficiency is improved.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (16)
1. A tile paving primary and secondary machine comprises a tile conveying machine and a tile paving machine; the method is characterized in that:
the brick conveying machine and the brick paving machine can be automatically connected and automatically arranged together in a detachable mode; when the bricks need to be repaired, the brick conveying machine is automatically separated from the brick paving machine to pick the bricks, and the bricks can be automatically returned to the brick paving machine to be reconnected with the brick paving machine after the bricks are picked;
the brick paving primary and secondary machine comprises a primary and secondary machine frame and an industrial personal computer, wherein the lower end of the primary and secondary machine frame is supported on the ground, and the industrial personal computer is arranged on the primary and secondary machine frame and is used for controlling the brick paving machine to execute brick paving action and is in communication connection with the brick conveying machine; the main-sub machine frame is provided with an accommodating space for accommodating the brick paving machine;
the brick conveying machine comprises a brick conveying frame, the sub-main machine frame is arranged above the brick conveying frame in a spanning mode, and the lower portion of the sub-main machine frame and the brick conveying frame can be automatically connected and separated through a magnetic attraction structure.
2. A tile-laying primary and secondary machine according to claim 1, wherein the tile-conveying machine includes a guiding vehicle, the tile-conveying frame is mounted on the guiding vehicle, the primary and secondary machine frame is spanned above the guiding vehicle and the tile-conveying frame, and the lower part of the primary and secondary machine frame is mounted with the tile-conveying frame by a magnetic structure, so as to realize automatic connection or automatic disconnection between the two.
3. The tile-laying sub-master according to claim 2, wherein the tile-conveying frame includes a bearing part and at least one connection post formed on the bearing part, a first magnet is provided at a free end of the connection post, and a second magnet corresponding to the first magnet of the connection post is provided on the sub-master frame;
the first magnet and the second magnet are combined in a magnetic attraction manner under the condition that current passes through the first magnet and the second magnet, so that the brick conveying machine is connected with the son-mother machine frame in a magnetic attraction manner; otherwise, the separation is carried out.
4. A tile paving primary and secondary machine according to any one of claims 1-3, wherein the tile paving machine further comprises a linear module arranged on the primary and secondary machine frame, and a manipulator arranged on the linear module, wherein the manipulator is used for taking and placing tiles; the linear module can provide three-directional motion of the robot X, Y, Z and can also provide movement and adjustment of the Z-axis of rotation.
5. A tile-laying primary and secondary machine according to claim 4, wherein the linear module is arranged vertically, and the manipulator is a suction cup fixed at the bottom of the linear module.
6. The tile paving primary and secondary machine as claimed in claim 5, wherein the tile paving machine is further provided with an image acquisition device which is in communication connection with the industrial personal computer to obtain the characteristics of the grabbed tiles and the characteristics of the positions where the tiles need to be laid, so that the industrial personal computer can control the linear module to move the tiles which need to be laid to a target position and lay the grabbed tiles to the target position.
7. The tile paving parent-subsidiary machine according to claim 6, wherein the tile paving machine further comprises:
the fixed frame is in telescopic connection with the master-slave machine frame through a telescopic push rod, and the image acquisition device is fixedly arranged on the fixed frame; the fixed frame is connected with the extension-type of the master-slave machine frame through the extension-type of the push rod.
8. The tile-laying sub-master according to claim 1, wherein the tile-laying sub-master further comprises a power supply device disposed on the sub-master frame for supplying power to the tile-laying machine and/or the tile-conveying machine.
9. A tile work machine according to any one of claims 1 to 3, wherein the tile work machine further comprises at least one sensor mounted on the machine frame, the sensor including a laser measuring sensor and/or a leveling sensor for measuring the position of the machine frame and the tile conveyor to effect automatic connection of the tile work machine to the tile conveyor.
10. A tile work unit according to any one of claims 1 to 3, further comprising a communication mechanism communicatively connected to the industrial personal computer for data transmission between the industrial personal computer and the tile transport machine.
11. A tile paving machine as claimed in claim 2, wherein the tile paving machine is a tile paving robot, the tile conveying machine is a tile conveying robot, and the guiding vehicle is an AGV cart.
12. A method of connecting a parent machine frame to a brick conveyor, the method being applied to a tile-laying parent machine according to any one of claims 1 to 11, the method comprising:
detecting a first position coordinate of a composite frame of the brick paving machine and a second position coordinate of a brick conveying machine;
determining the position relation between the main-sub machine frame and the brick conveying machine based on the first position coordinate and the second position coordinate;
controlling the brick conveying machine to move to a position where the paving machine primary and secondary machine frames can be connected according to the position relation between the primary and secondary machine frames and the brick conveying machine;
connecting the brick conveying machine and the son-mother machine frame;
and detecting the current brick number through the brick conveying machine, and controlling the brick conveying machine to separate from the main-sub machine frame and then executing brick conveying action by the industrial personal computer when the current brick number is lower than the preset number.
13. The method of claim 12, wherein determining the positional relationship of the sub-sub frame and brick conveyor based on the first and second positional coordinates comprises:
and determining the distance difference and/or the orientation angle of the main-sub machine frame and the brick transporting group based on the first position coordinate and the second position coordinate.
14. The method of claim 13, wherein controlling the brick conveyor to move based on the positional relationship of the sub-frame and the brick conveyor comprises:
and taking the distance difference and/or the azimuth angle as movement data of the brick conveying machine, and controlling the brick conveying machine to move based on the movement data.
15. The method of claim 12, wherein after controlling the brick conveyor to move based on the positional relationship between the sub-frame and the brick conveyor, and before connecting the brick conveyor to the sub-frame after the brick conveyor has completed moving, further comprising:
and after the brick conveying machine finishes moving, sending a movement completion signal to an industrial personal computer arranged on the sub-main machine frame.
16. The method of claim 15, wherein said connecting the brick conveyor and the parent-child frame after the completion of the movement of the brick conveyor comprises:
and after receiving the movement completion signal sent by the brick conveying machine, the industrial personal computer starts a second magnet arranged on the frame of the main and sub machines, and the second magnet is combined with the first magnet on the brick conveying machine in a magnetic attraction manner, so that the brick conveying machine is connected with the frame of the main and sub machines in a magnetic attraction manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110259069A CN110259069A (en) | 2019-09-20 |
| CN110259069B true CN110259069B (en) | 2021-08-24 |
Family
ID=67918755
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910522549.XA Active 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110259069B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110158931B (en) * | 2019-06-17 | 2021-09-28 | 广东博智林机器人有限公司 | Brick paving primary and secondary machine and brick paving method |
| CN114575562B (en) * | 2020-12-02 | 2023-02-03 | 广东博智林机器人有限公司 | Paving robot, paving system with paving robot and paving method |
| CN115306125A (en) * | 2022-08-12 | 2022-11-08 | 北京卓兴建设集团有限公司 | Indoor split type automatic brick paving machine |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211114692U (en) * | 2019-06-17 | 2020-07-28 | 广东博智林机器人有限公司 | Brick paving primary and secondary machine |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101614071B (en) * | 2009-07-15 | 2011-01-26 | 王怀成 | Intelligent paving machine |
| NL1037930C2 (en) * | 2010-04-28 | 2011-11-01 | Lodewijk Bernardus Maria Pol | DEVICE FOR INSTALLING FLOOR ELEMENTS. |
| CN203769269U (en) * | 2014-02-13 | 2014-08-13 | 王越 | Full automatic intelligent tiling machine |
| CN107288325A (en) * | 2016-04-13 | 2017-10-24 | 宫超 | Machine for sticking ceramic tile |
| CN107305385B (en) * | 2016-04-22 | 2020-10-23 | 苏州宝时得电动工具有限公司 | Butt joint method of automatic walking equipment and automatic walking equipment |
| CN206299098U (en) * | 2016-12-21 | 2017-07-04 | 北京天文弘建筑装饰集团有限公司 | A kind of efficiently automatic Machine for sticking ceramic tile |
| CN107288326A (en) * | 2017-08-01 | 2017-10-24 | 合肥图森工业设计有限公司 | A kind of indoor marble floor decoration device and its control system |
| CN109080444B (en) * | 2018-08-08 | 2020-07-17 | 中国科学院深圳先进技术研究院 | Carrying device, carrying system and carrying method based on hub motor driving |
-
2019
- 2019-06-17 CN CN201910522549.XA patent/CN110259069B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211114692U (en) * | 2019-06-17 | 2020-07-28 | 广东博智林机器人有限公司 | Brick paving primary and secondary machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110259069A (en) | 2019-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110259070B (en) | Combined system and linkage method of brick paving primary and secondary machines and mortar paving machine | |
| CN110158931B (en) | Brick paving primary and secondary machine and brick paving method | |
| CN110259069B (en) | Brick paving primary-secondary machine and connecting method of primary-secondary machine frame and brick conveying machine | |
| CN110036162B (en) | System and method for placing an object on a surface | |
| CN108861289B (en) | Warehouse and order completion system | |
| CN105059811B (en) | A kind of warehousing system and its control method | |
| CA3119038C (en) | Semi-autonomous system for carrying and placing elongate objects | |
| CN106873623B (en) | Unmanned aerial vehicle rapid autonomous endurance system and method thereof | |
| CN105048540B (en) | A kind of charging device of greenhouse automatic detecting platform | |
| US20160236869A1 (en) | Transfer Robot System | |
| CN205771617U (en) | Automatic Conveying circuit board testing station | |
| US20220288793A1 (en) | Robot hand, robot, robot system, and transfer method | |
| US20120180424A1 (en) | Construction material handling method and apparatus | |
| CN211114692U (en) | Brick paving primary and secondary machine | |
| CN202701718U (en) | Installation device of side window glass | |
| CN105098885A (en) | Intelligent charging method of mobile monitoring platform for facilities | |
| WO2023216480A1 (en) | Supply system for electric energy supply and supplied vehicles of service base by means of internet of things architecture | |
| JP2011167042A (en) | Power supplying system | |
| CN208379839U (en) | A kind of large space robot module partition furred ceiling decorating apparatus | |
| JP2018060390A (en) | Mobile work robot support device and operation method for the same | |
| CN103567736B (en) | A kind of side window glass erecting device and installation method | |
| CN112814341B (en) | Cooperative control-based building construction brick laying robot system and control method | |
| CN211439958U (en) | Archive management robot | |
| CN207810548U (en) | A kind of handling system for cylinder type lithium battery workshop | |
| CN210685307U (en) | Floor tile laying robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |