CN110306771A - The method of automatic floor tile and tile work robot device - Google Patents
The method of automatic floor tile and tile work robot device Download PDFInfo
- Publication number
- CN110306771A CN110306771A CN201910678373.7A CN201910678373A CN110306771A CN 110306771 A CN110306771 A CN 110306771A CN 201910678373 A CN201910678373 A CN 201910678373A CN 110306771 A CN110306771 A CN 110306771A
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- Prior art keywords
- tile
- floor tile
- mechanical arm
- work robot
- mould group
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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 a kind of method of automatic floor tile and tile work robot devices, wherein the method for automatic floor tile includes: the control instruction crawl floor tile that a tile work robot receives industrial personal computer；Floor tile is placed on the designated position of industrial personal computer by b tile work robot；C tile work robot vibrates to floor tile, so that the laying of floor tile is met the requirements.Technical solution of the present invention efficiently solves the problems, such as that the precision difference being laid with when artificial laying floor tile in the prior art is biggish.
Description
Technical field
The present invention relates to the technical fields of ground tile paving equipment, a kind of method in particular to automatic floor tile and
Tile work robot device.
Background technique
In places such as large public buildings such as hospital, municipal building, since the area that floor tile is integrally laid with is larger, in floor tile
It is laid with this working procedure and needs to put into a large amount of human and material resources and financial resources, and be laid with low efficiency, input cost is high.
Currently, common ground tile paving method mostly uses greatly artificial laying, the degree of automation is not high, and working efficiency is low,
It is unfavorable for project progress quickening.Moreover, due to precision difference that the factors such as experience, the technical ability of different workers are laid with when ground tile paving
Larger, even if the floor tile being laid with by the same worker, precision difference when energetic and tired is also biggish.
Summary of the invention
The main purpose of the present invention is to provide a kind of method of automatic floor tile and tile work robot devices, existing to solve
The biggish problem of precision difference being laid with when having the artificial laying floor tile in technology.
To achieve the goals above, the present invention provides a kind of methods of automatic floor tile, comprising: a tile work robot connects
Floor tile is grabbed by the control instruction of industrial personal computer；Floor tile is placed on the designated position of industrial personal computer by b tile work robot；C tile work machine
People vibrates to floor tile, so that the laying of floor tile is met the requirements.
Further, before step a further include: mortar laying machine people whitewashes in designated position, so that tile work robot
By ground tile paving in designated position.
Further, step a further include: tile work robot receives the control instruction of industrial personal computer and is moved to paving location.
Further, tile work robot includes displacement regulating mechanism, floor tile grasping mechanism and fixed camera；Step b includes
Step b1: floor tile is moved within sweep of the eye by fixed camera by displacement regulating mechanism and floor tile grasping mechanism, then root
The shift position of displacement regulating mechanism is calculated according to fixed camera and the control instruction of industrial personal computer.
Further, tile work robot further includes levelness sensor, and step b further includes step b2: levelness sensor
The yaw in measurement measurement mortar face and pitching degree, then level floor tile.
Further, tile work robot further includes laser measurement sensor, and step b further includes step b3: laser measurement passes
Sensor measures the height in mortar face and floor tile, and controls floor tile and move down.
Further, step b further include: when floor tile is apart from tile work face predetermined altitude, repeat claim 4 to 6
The step of, to detect whether tile location meets the requirements.
Further, when tile location is met the requirements, floor tile apart from tile work face be 10mm when, start step c.
Further, when tile location is unsatisfactory for requiring, continue to repeat above-mentioned step, until tile location satisfaction is wanted
It asks.
Further, it is laid with and finishes after step c, and be sent to industrial personal computer for the instruction finished is laid with.
It include: tile work robot, mortar laying machine people and industry control the present invention also provides a kind of tile work robot device
Machine；Tile work robot includes that main body frame, displacement regulating mechanism and floor tile grasping mechanism, main body frame surround accommodation space；Position
It moves regulating mechanism to connect with main body frame, displacement regulating mechanism includes installation mechanical arm mould group and sliding mechanical arm mould group, wherein
Installation mechanical arm mould group is connect with main body frame, and is located in accommodation space, and sliding mechanical arm mould group is slidably disposed on peace
It fills in mechanical arm mould group, sliding mechanical arm mould group has the reception position being located in accommodation space, and in the horizontal plane along the
The extended position of one direction A stretching accommodation space；For floor tile grasping mechanism for adsorbing floor tile, floor tile grasping mechanism and sliding are mechanical
Arm mould group connection, to adjust horizontal position under the drive of sliding mechanical arm mould group.
Further, installation mechanical arm mould group includes: installation mechanical arm, and installation mechanical arm is fixedly connected with main body frame,
Installing mechanical arm is two, and two installation mechanical arms are spaced setting on the perpendicular second direction B with first direction A；The
One driving portion, the setting of the first driving portion is drivingly connected on installation mechanical arm and with sliding mechanical arm mould group, to drive sliding plane
The sliding motion between reception position and extended position of tool arm mould group.
Further, the top of installation mechanical arm mould group is arranged in sliding mechanical arm mould group, and sliding mechanical arm mould group includes:
Support plate, support plate are slidably disposed on two installation mechanical arms；Mechanical arm is slid, sliding mechanical arm is two, two
Slide mechanical arm setting on the supporting plate, and on second direction B separately.
Further, displacement regulating mechanism further includes linking arm, and the length direction of linking arm edge sliding mechanical arm is slidably
It is arranged on two sliding mechanical arms, floor tile grasping mechanism is connect by linking arm with sliding mechanical arm mould group, and mechanical arm is slid
Mould group further includes the second driving portion, and the setting of the second driving portion is drivingly connected on sliding mechanical arm and with linking arm.
Further, displacement regulating mechanism further includes mounting rail and third driving portion, wherein length of the mounting rail along linking arm
Degree direction is slidably connected with linking arm, and the setting of third driving portion is drivingly connected on the connecting arm and with mounting rail.
Further, B is arranged linking arm in a second direction, and mounting rail is arranged along the vertical direction.
Further, floor tile grasping mechanism position on the length direction of mounting rail is adjustably arranged.
Further, floor tile grasping mechanism includes: bracket, and bracket is connect with sliding mechanical arm mould group；Grasping mechanism driving
The first end in portion, grasping mechanism driving portion is fixed on bracket；The second end of sucker, grasping mechanism driving portion is connected with sucker,
Grasping mechanism driving portion has driving sucker close to the first position of bracket, and the second position far from bracket.
Further, floor tile grasping mechanism further includes vibration-proof structure, and vibration-proof structure is arranged on bracket, and mechanical with sliding
The connection of arm mould group is connected.
Further, floor tile grasping mechanism further includes vibrator, and vibrator is connected with bracket.
It applies the technical scheme of the present invention, when ground tile paving, tile work robot receives the control instruction of industrial personal computer, paving
Brick robot grabs floor tile, and floor tile is then placed on designated position, and tile work robot vibrates to floor tile, so that floor tile is spread
If meeting the requirements, such as the flatness of floor tile, the floor tile and the positional relationship of adjacent floor tile etc..By tile work robot to floor tile
It is laid with, is not influenced by factors such as artificial experience, technical ability and degree of fatigues, the precision being laid with is not much different.This hair
Bright technical solution efficiently solves the problems, such as that the precision difference being laid with when artificial laying floor tile in the prior art is biggish.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 shows the process flow diagram of the embodiment of the method for automatic floor tile according to the present invention；
Fig. 2 shows at the sliding mechanical arm mould group of the displacement regulating mechanism of the tile work robot of the method for automatic floor tile
When extended position, the structural schematic diagram of tile work robot；And
Fig. 3 shows the structural schematic diagram at another visual angle of the tile work robot in Fig. 1.
Wherein, the above drawings include the following reference numerals:
100, main body frame；101, accommodation space；200, it is displaced regulating mechanism；10, mechanical arm mould group is slid；300, floor tile
Grasping mechanism；20, mechanical arm mould group is installed；21, mechanical arm is installed；22, the first driving portion；11, support plate；12, sliding is mechanical
Arm；30, linking arm；13, the second driving portion；40, mounting rail；50, third driving portion；60, tank chain；400, electric cabinet；500,
AGV trolley；600, support frame；700, fixed camera；800, laser range sensor.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Now, the illustrative embodiments according to the application are more fully described with reference to the accompanying drawings.However, these are exemplary
Embodiment can be implemented by many different forms, and should not be construed to be limited solely to embodiment party set forth herein
Formula.It should be understood that it is thoroughly and complete to these embodiments are provided so that disclosure herein, and these are shown
The design of example property embodiment is fully conveyed to those of ordinary skill in the art, in the accompanying drawings, for the sake of clarity, expands layer
With the thickness in region, and make that identical device is presented with like reference characters, thus description of them will be omitted.
As shown in Figure 1, the method for the automatic floor tile of the present embodiment includes: the control that a tile work robot receives industrial personal computer
Instruction crawl floor tile.Floor tile is placed on the designated position of industrial personal computer by b tile work robot.C tile work robot shakes to floor tile
It smashes, so that the laying of floor tile is met the requirements.
Using the technical solution of the present embodiment, when ground tile paving, tile work robot receives the control instruction of industrial personal computer,
Tile work robot grabs floor tile, floor tile is then placed on designated position, tile work robot vibrates to floor tile, so that floor tile
Laying is met the requirements, such as the flatness of floor tile, the floor tile and the positional relationship of adjacent floor tile etc..Over the ground by tile work robot
Brick is laid with, and is not influenced by factors such as artificial experience, technical ability and degree of fatigues, and the precision being laid with is not much different.This
The technical solution of embodiment efficiently solves that the precision difference being laid with when artificial laying floor tile in the prior art is biggish to ask
Topic.The method of the automatic floor tile of the application using the application tile work robot device.
As shown in Figure 1, in the technical scheme of this embodiment, before step a further include: mortar laying machine people is specified
Position whitewashing, so that tile work robot is by ground tile paving in designated position.Mortar laying machine people whitewashing, so that each different
The comparison of coherence of the mortar spray of floor tile is strong.Specifically, be provided on mortar laying machine people matched with industrial personal computer it is wireless
Transmitter and wireless receiver are also equipped with the wireless transmitter and wireless receiving matched with industrial personal computer in tile work robot
Device controls the linkage of mortar laying machine people and tile work robot by industrial personal computer.
Industrial personal computer: for the connection respectively with mortar laying machine people and tile work robot, mortar laying machine people is received
It with the status data and other sensing datas of tile work robot, determines to act in next step with these information, and according to this decision
Action command is communicated to mortar laying machine people and tile work robot, allows different above-mentioned Liang Zhong robots to be able to cooperate completion pre-
Phase movement.Tile work again has been spread after mortar, has spread a line brick, then enter a new line.Above-mentioned Liang Zhong robot can arrive charging station charging automatically.
Mortar laying machine people can arrive mortar forage feeding station automatically and mend material when lacking material.Tile work robot can arrive automatically when lacking material
Floor tile forage feeding station mends floor tile.
Mortar laying machine people: can automatic mortar laying and stop-off slurry constantly and industrial computer communication convey mortar laying machine
The state (walk, battery condition, mortar surplus, Construction State) of people, receives the instruction of industrial personal computer.
Tile work robot: brick position is put using sensor identification in the position of robot ambulation to tile work, then tile work mechanism
Complete the movement of pick-and-place brick, accurately having a size of 800*800mm and floor tile paving below on the mortar position completed.
It can be automatically replenished having a size of 800*800mm and floor tile below, stop near tile work robot, it is constantly logical with industrial personal computer
News convey the state (walk, battery condition, mortar surplus, Construction State) of tile work robot, receive the finger of industrial personal computer
It enables.
Charging station: charging when out of power of tile work robot and mortar laying machine people can be allowed, it should be noted that paving
The charge port of brick robot and mortar laying machine people are that identical, above-mentioned in this way Liang Zhong robot can share charging station.
It mends brick station: can be arrived when tile work robot does not have brick and mend brick station benefit brick.
It mends mortar station: can be arrived when mortar robot does not have mortar and mend mortar station stop-off slurry.
It should be noted that industrial personal computer can extrapolate floor tile and place position according to Tile dimensions, room-sized and layout
It sets, such as places a few row floor tiles, how many pieces of every row floor tile.Brick position, tile work robot size, brick paving machine are put according to what is extrapolated
Device people's ground tile paving mode, mortar laying machine people size, mortar laying machine people's mortar paving mode further extrapolate paving
The linkage path planning of brick robot and mortar laying machine people.Above-mentioned linkage Route Planning Data is divided into times step by step
Movement and directives for construction of the step of being engaged in as tile work robot and mortar laying machine people.Industrial personal computer spreads tile work position and mortar
If ro-bot movement instruction is sent to mortar laying machine people, allow mortar laying machine people walking to be laid with the first row, first piece
The initial position of brick.Tile work position and tile work ro-bot movement instruction are sent to tile work robot by industrial personal computer, allow tile work machine
The first row of people's walking to laying brick, first piece of initial position turned.Industrial personal computer, which sends instruction, makes mortar laying machine people mobile
Construction, is laid with the mortar of one piece of brick, feed back to industrial personal computer after completion task, and mortar laying machine people has been laid with one piece of brick every
Industrial personal computer can be signaled to after mortar.The feedback that mortar robot completes task is received, industrial personal computer can be stored and has been laid with
The mortar of several pieces of bricks.After being laid with the mortar of every piece of brick, the mortar amount for having spread a line brick is also checked whether.If be completed
It is laid with the mortar of a line brick, just the instruction of next industrial personal computer is waited in the automatic position to setting, if do not spread also, continues to
It is laid with the mortar of next piece of brick.Also go the feed supplement point feed supplement of setting automatically when mortar amount is low.It also arrives automatically when the power is insufficient
Charging station charging.Industrial personal computer sends instruction and tile work robot is allowed to move after the amount that the mortar that mortar robot is laid with has crossed setting
Dynamic construction, into tile work process floor tile paving on being laid with mortar, industrial personal computer, tile work robot are fed back to after completion task
It is every spread one piece of brick after can signal to industrial personal computer.The feedback that tile work robot completes task is received, industrial personal computer can store
It has been laid with several pieces of bricks.After being laid with the mortar of every piece of brick, also checks whether and spread a line brick.If laying is completed
A line brick, just the instruction of next industrial personal computer is waited in the automatic position to setting, if do not spread also, continues to lower piece of paving
Brick.Also go the feed supplement point feed supplement of setting automatically when brick amount is low.It also charges automatically to charging station when the power is insufficient.Receive sand
It starches laying machine people and tile work robot completes the feedback of task, industrial personal computer checks the need for being laid with next line brick, and transmission refers to
It enables and being deposited to mortar laying machine people and tile work robot to the initial point of next line brick or to next construction room or to machine
The position put.Industry control function is mounted on tile work robot and/or mortar laying machine people, by cable and is installed together
Robot communication, then wirelessly (WIFI, 5G etc.) and the communication of another robot.(mortar is laid with for every kind of robot
Robot and tile work robot) can have and cross one more, it can continue to construct in charging or feed supplement, improve construction efficiency.It is above-mentioned
Robot different feed supplement and charging time can be set, such as feed supplement or surplus one piece of floor tile when mortar amount remains half
When feed supplement, or feed supplement when spread five pieces of bricks, or feed supplement when spread two row bricks.Construction can be arranged in above-mentioned robot
Place is needed with a few row bricks, and every row brick, which can also be arranged, several pieces of bricks.Industrial personal computer and every robot all use same map, can lead to
It crosses (WIFI, ETHERCAT, 5G etc.) and sensor and robot data is passed to industrial personal computer, help with post analysis.Mortar is laid with
Robot and tile work robot can be by different communication modes (WIFI, ETHERCAT etc.) sensor and above-mentioned robot
Data are passed to industrial personal computer, help with post analysis.Different tile work modes can be set in tile work robot, such as is completing porcelain
The different direction of brick carries out the paving (all around) of next piece of brick.Above-mentioned Liang Zhong robot can detecte battery condition, electricity
Self-navigation is charged to charging station when amount is insufficient.Above-mentioned Liang Zhong robot can detecte the state of robot, if any different
Normal state will urgent-stop alarm.Above-mentioned robot can be helped being collected in the data transmission to industrial personal computer of sensor collection
It helps with post analysis.
As shown in Figure 1, in the technical scheme of this embodiment, step a further include: tile work robot receives the control of industrial personal computer
System instructs and is moved to paving location.Tile work robot does not need artificial movement in this way, passes through tile work robot and industrial personal computer
Linkage can automatically move, and the degree of automation of such tile work robot is higher.Moreover, tile work robot passes through industrial personal computer
So that tile work robot and mortar laying machine people are linked, the efficiency of laying floor tile in this way is higher for control.
As shown in Figure 1, in the technical scheme of this embodiment, tile work robot includes displacement regulating mechanism, floor tile crawl
Mechanism and fixed camera.Step b includes step b1: floor tile being moved to fixation by the double-deck mechanical arm and floor tile grasping mechanism
Camera within sweep of the eye, then calculates the mobile position of displacement regulating mechanism according to fixed camera and the control instruction of industrial personal computer
It sets.The double-deck mechanical arm moves on to the top in predetermined position, and then floor tile grasping mechanism moves downward, and then places floor tile.Floor tile
Grasping mechanism adjusts the angle of floor tile, such as the level angle of floor tile, the angle etc. of circumferential direction.
As shown in Figure 1, in the technical scheme of this embodiment, tile work robot further includes levelness sensor, and step b is also
Including step b2: then the yaw in levelness sensor measurement measurement mortar face and pitching degree level floor tile.Levelness sensing
Device: the horizontal data of floor tile is provided, the horizontal adjusting mechanism (pitching and Yawing mechanism) of floor tile grasping mechanism can be according to levelness
The data that sensor provides carry out the adjustment of pitching and yaw, guarantee the level for being laid with floor tile.
As shown in Figure 1, in the technical scheme of this embodiment, tile work robot further includes laser measurement sensor, step b
Further include step b3: the height in laser measurement sensor measurement mortar face and floor tile, and control floor tile and move down.Laser measurement
The distance of sensor measurement brick from the ground guarantees that the Z-direction vertical deviation between the adjacent floor tile after having spread is no more than setting
Range, the accurate tile work of data progress that displacement regulating mechanism is provided by laser measurement sensor.
As shown in Figure 1, in the technical scheme of this embodiment, step b further include: when floor tile is apart from tile work face predetermined altitude
When, step b1 to step b3 is repeated, to detect whether tile location meets the requirements.Above-mentioned method makes the laying of floor tile
Precision is higher, it is not easy to the laying deviation of floor tile occurs.It should be noted that predetermined altitude is 10mm to 25mm.
As shown in Figure 1, in the technical scheme of this embodiment, when tile location is met the requirements, in floor tile apart from tile work face
When for 10mm, start step c.Above-mentioned to move down when vibrating floor tile, floor tile, which is pressed on mortar, can improve the pipelining of mortar, reduce
Generate the probability of hollowing.
As shown in Figure 1, in the technical scheme of this embodiment, when tile location is unsatisfactory for requiring, continuing to repeat step b1
To step b3, until tile location is met the requirements.Above-mentioned step further ensures the reliability of the laying of floor tile, that is, occurs
The probability of deviation is low-down.
As shown in Figure 1, in the technical scheme of this embodiment, being laid with and finishing after step c, and sent out the instruction finished is laid with
It send to industrial personal computer.Industrial personal computer can decide whether to carry out next step operation in this way, and the above method makes the efficiency of the laying of floor tile
It is higher.
Floor tile grasping mechanism: it is mounted with sucker, different sensors, shake flattening mechanism, and spring mechanism and water transfer flattening mechanism (are bowed
It faces upward and yaw steering mechanism).Different sensors includes: laser measurement sensor, PSD sensor, levelness sensor etc..
Brick dimension data and square brick position dimension data are identified by fixed camera, pass through the liftoff number of laser measurement sensor collection brick
According to, pass through levelness sensor collect brick levelness data.It is mounted with to shake flat motor and plastic cement vibration plate when tile work
It can vibrate, improve mortar flowing water row, reduce the probability for generating hollowing, motor offer vibration is commented in vibration, and shake plate protection tile face.Installation
Pitching and yaw steering mechanism pass through the adjustment that the horizontal data that levelness sensor provides carries out pitching and yaw, guarantee
Tile work is horizontal.PSD sensor (Position Sensitive Detector, position sensitive detectors): by in room
Sensor docking, global Z axis height and position of the fixture in room can be provided, displacement regulating mechanism passes through laser measurement sensing
The data that device provides carry out accurate tile work.
It is displaced regulating mechanism 200: being used for accurate paving floor tile, X, Y, Z-direction movement and Z rotary axis direction tune are provided
It is whole.Displacement regulating mechanism 200 is made of straight line mould group, the X-axis of two layers of straight line mould group composition.Design is divided into straight line module design
Two sections: the upper and lower.Lower layer's mould group is mounted in robot, then upper layer mould group is mounted in lower layer's mould group again, ground
Brick grasping mechanism is mounted in the mould group of upper layer.In construction, lower layer's mould group can release upper layer mould group, upper layer mould in X-direction
Group releases floor tile grasping mechanism again.Regulating mechanism design is displaced in X-direction flexible, it is more straight than fixed shrinking the state come
Line mould group is one times short.This design can allow robot area when walking smaller.Displacement regulating mechanism passes through fixed camera
The data of offer carry out X-direction, Y-direction, the tile work of Z rotary shaft.It is displaced regulating mechanism and passes through PSD sensor (Position
Sensitive Detector, position sensitive detectors) and laser distance measurement sensor provide data carry out Z-direction paving
Brick.
As shown in Figures 2 and 3, tile work robot includes main body frame 100 and displacement regulating mechanism 200, wherein body frame
Frame 100 surrounds accommodation space 101；Displacement regulating mechanism 200 is connect with main body frame 100, and displacement regulating mechanism 200 includes installation
Mechanical arm mould group 20 and sliding mechanical arm mould group 10, wherein installation mechanical arm mould group 20 is connect with main body frame 100, and is located at
In the accommodation space 101, sliding mechanical arm mould group 10 is slidably disposed in installation mechanical arm mould group 20, slides mechanical arm
Mould group 10 has the reception position being located in accommodation space 101, and stretches out accommodation space along first direction A in the horizontal plane
101 extended position.
It should be noted that during tile work robot is laid with floor tile, firstly, the sliding mechanical arm mould of tile work robot
Reception position of the group 10 in accommodation space 101 avoids tile work robot to reduce the whole occupied space of tile work robot
It collides in moving process with periphery object, so that tile work robot has good practicability；By the way that adjusting will be displaced
Mechanism 200 is arranged to include the structure type installed mechanical arm mould group 20 and slide mechanical arm mould group 10, installs mechanical arm mould group
20 play the stable support function to sliding mechanical arm mould group 10, and it is mechanical with installation in a manner of slidably to slide mechanical arm mould group 10
Arm mould group 20 cooperates, and not only simplifies assembly relation between the two, and the structure for ensuring to be displaced regulating mechanism 200 is simple,
It is easily achieved assembling, and the overall processing manufacturing cost of displacement regulating mechanism 200 can be efficiently controlled；When tile work robot into
When row is laid with work, the sliding mechanical arm mould group 10 of command displacement regulating mechanism 200 edge in the horizontal plane is capable of in tile work robot
First direction A stretches out accommodation space 101, so that tile work robot has very high intelligence degree, not only makes above-mentioned ground
It is efficient and convenient that brick is laid with operation process, and can effectively realize tile floor over the ground and pick up and precisely shift, after ensuring to be laid with
Muti-piece floor tile neat appearance.
Specifically, as shown in Figures 2 and 3, installation mechanical arm mould group 20 includes installation mechanical arm 21 and the first driving portion
22, wherein installation mechanical arm 21 is fixedly connected with main body frame 100, and installation mechanical arm 21 is two, two installation mechanical arms 21
Setting is spaced on the perpendicular second direction B with first direction A；First driving portion 22 is arranged on installation mechanical arm 21 simultaneously
It is drivingly connected with sliding mechanical arm mould group 10, is slid between reception position and extended position with driving sliding mechanical arm mould group 10
Movement.In this way, two installation mechanical arms 21 play the stable support function to sliding mechanical arm mould group 10, it is ensured that sliding plane
Tool arm mould group 10 can steadily slide along the length direction of installation mechanical arm 21；Two installation mechanical arms 21 with first direction
Setting is spaced on the perpendicular second direction B of A, then it can be before ensuring to the stable support of sliding mechanical arm mould group 10
It puts, the contact area with sliding mechanical arm mould group 10 is reduced as far as possible, to avoid the occurrence of unnecessary frictional dissipation, no
Only in this way, the overall structure of installation mechanical arm mould group 20 is simple, convenient for manufacture；The setting of first driving portion 22 can then ensure to slide
The motion credibility of mechanical arm mould group 10 is moved, and then ensures that floor tile accurate stable can be displaced to by tile work robot and is laid with position
It sets, and then improves the practicability of tile work robot.
As shown in Figures 2 and 3, the top of installation mechanical arm mould group 20 is arranged in sliding mechanical arm mould group 10, and sliding is mechanical
Arm mould group 10 includes support plate 11 and sliding mechanical arm 12, wherein support plate 11 is slidably disposed on two installation mechanical arms
On 21；Sliding mechanical arm 12 is two, and two sliding mechanical arms 12 are arranged in support plate 11, and alternate on second direction B
Every.In this way, the setting of support plate 11 plays the role of the stabilization installation that two are slid with mechanical arm 12, two sliding mechanical arms 12
In company with the sliding motion between reception position and extended position jointly of support plate 11, to ensure tile work robot to sliding mechanical arm
Mould group 10 carries out effectively position adjusting on A in a first direction.
As shown in Fig. 2, tile work robot further includes floor tile grasping mechanism 300, floor tile grasping mechanism 300 is for adsorbing ground
Brick, floor tile grasping mechanism 300 are connect with sliding mechanical arm mould group 10, horizontal to adjust under the drive of sliding mechanical arm mould group 10
Position；Displacement regulating mechanism 200 further includes linking arm 30, and linking arm 30 is slidably arranged along the length direction of sliding mechanical arm 12
On two sliding mechanical arms 12, floor tile grasping mechanism 300 is connect by linking arm 30 with sliding mechanical arm mould group 10, sliding plane
Tool arm mould group 10 further includes the second driving portion 13, and the setting of the second driving portion 13 drives on sliding mechanical arm 12 and with linking arm 30
Connection.In this way, tile work robot being capable of command displacement regulating mechanism when tile work robot is moved to the position for placing floor tile
200 sliding mechanical arm mould group 10 stretches out accommodation space 101 along first direction A in the horizontal plane, and drives connected to itly
Brick grasping mechanism 300 is moved to the position directly above for placing floor tile, and floor tile grasping mechanism 300 adsorbs floor tile, mechanical by sliding
Arm mould group 10 drives floor tile grasping mechanism 300 that ground tile paving in preset paving location, is completed the laying of one piece of floor tile, connects
The setting of arm 30 has not only acted as two sliding mechanical arms 12 of connection, to increase the overall structural strength of sliding mechanical arm mould group 10
Effect, it is often more important that, linking arm 30 can along sliding mechanical arm 12 length direction sliding, to substantially increase ground
Brick grasping mechanism 300 on A, that is, slides the displacement on the length direction of mechanical arm 12, and then in a first direction convenient for grabbing floor tile
It takes the driving of mechanism 300 at the farther position of main body frame 100, effectively increases the laying floor tile area of tile work robot
The area in domain improves the practicability of tile work robot；Wherein, the second driving portion 13 is set as linking arm 30 along sliding plane
The length direction sliding of tool arm 12 provides power output, it is ensured that the kinetic stability of linking arm 30.
As shown in Fig. 2, displacement regulating mechanism 200 further includes mounting rail 40 and third driving portion 50, wherein 40 edge of mounting rail
The length direction of linking arm 30 is slidably connected with linking arm 30, third driving portion 50 be arranged on linking arm 30 and with mounting rail 40
It is drivingly connected.In this way, mounting rail 40 can be slided in the length direction of linking arm 30, so as to adjust floor tile grasping mechanism
300 position on the length direction of linking arm 30, and then the paving location of floor tile can be more accurately demarcated, improve tile work
The practicability of robot.
Optionally, B is arranged linking arm 30 in a second direction, and mounting rail 40 is arranged along the vertical direction.In this way, 30 edge of linking arm
Second direction B setting, mounting rail 40 is slided in the length direction of linking arm 30, so that floor tile grasping mechanism 300 can either
It moves, and can be moved on the first direction B vertical with first direction A on A in a first direction, be conducive to tile work robot and exist
The position of floor tile grasping mechanism 300 is accurately demarcated in horizontal plane, to improve the precision of ground tile paving operation；In addition, installation
Beam 40 is arranged along the vertical direction, is conducive to the installation of floor tile grasping mechanism 300, lacks so that the overall structure of tile work robot is advised
It is whole.
Optionally, the position on the length direction of mounting rail 40 of floor tile grasping mechanism 300 is adjustably arranged.In this way, simple
It has singly been reliably achieved floor tile grasping mechanism 300 to act the pick-and-place of floor tile, to ensure smoothly completing for ground tile paving operation.
As shown in Fig. 2, displacement regulating mechanism 200 further includes tank chain 60, tank chain 60 is arranged on main body frame 100,
And it is connect with sliding mechanical arm mould group 10.In this way, the setting of tank chain 60 is played to the steady of the sliding movement of mechanical arm mould group 10
It is set for using, avoids sliding mechanical arm mould group 10 and shaken in sliding, improve the operation stability of tile work robot.
As shown in Figures 2 and 3, tile work robot further includes electric cabinet 400, AGV trolley 500 and support frame 600, wherein
Electric cabinet 400 is connect with main body frame 100, and is arranged in accommodation space 101, and electric cabinet 400 is located at displacement regulating mechanism
200 top；The bottom of main body frame 100 is arranged in AGV trolley 500, and support frame 600 collapsibly connects with main body frame 100
It connects, support frame 600 is for installing fixed camera 700 and laser range sensor 800.
Specifically, being equipped with controller, solenoid valve and battery in electric cabinet 400, wherein controller is for controlling sliding plane
Tool arm mould group 10, solenoid valve are used to power for tile work robot for controlling floor tile grasping mechanism 300, battery；In addition, by not
It is communicated with ground communication modes and tile work robot, such as WiFi, moreover, electric cabinet 400 itself has definitely weight, drop
The low whole center of gravity of tile work robot, avoids tile work robot and falls down because of gravity center instability.
AGV trolley 500 is equipped with the components such as storage vat, Shou Zhuan mechanism, mechanical arm, and AGV trolley 500 is able to carry out automatically
Navigation and positioning, are conducive to tile work robot and are moved to the position for needing tile work.
The setting of support frame 600 is easily installed fixed camera 700 and laser range sensor 800, wherein fixed camera
700 the location information of the placement of floor tile and need to be laid with the location information of floor tile for identification, pass through laser range sensor 800
Collect information of the floor tile apart from ground, it is ensured that floor tile can be placed into accurate position and is laid with by tile work robot.
As shown in Figures 2 and 3, in the technical scheme of this embodiment, floor tile grasping mechanism 300 includes: bracket, gripper
Structure driving portion and sucker.Bracket is connect with sliding mechanical arm mould group 10.The first end of grasping mechanism driving portion is fixed on bracket.
The second end of grasping mechanism driving portion is connected with sucker, and grasping mechanism driving portion has first for driving sucker close to bracket
It sets, and the second position far from bracket.
As shown in Figures 2 and 3, in the technical scheme of this embodiment, floor tile grasping mechanism 300 further includes vibration-proof structure,
Vibration-proof structure is arranged on bracket, and connect and be connected with sliding mechanical arm mould group 10.Being provided with for vibration-proof structure is conducive to buffering ground
Active force between brick grasping mechanism and floor tile, specifically, vibration-proof structure includes shock-absorbing spring, shock-absorbing spring setting in bracket and
It slides between mechanical arm mould group 10.Shock-absorbing spring be it is multiple, multiple shock-absorbing springs are uniformly arranged, such floor tile grasping mechanism 300
Stress compare balance.
As shown in Figures 2 and 3, in the technical scheme of this embodiment, floor tile grasping mechanism 300 further includes vibrator, vibration
Device is smash to be connected with bracket.By vibrator vibrating so that the laying precision of floor tile is higher to floor tile, the laying effect of floor tile is more
It is good.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (20)
1. a kind of method of automatic floor tile characterized by comprising
A tile work robot receives the control instruction crawl floor tile of industrial personal computer；
The floor tile is placed on the designated position of the industrial personal computer by b tile work robot；
C tile work robot vibrates to the floor tile, so that the laying of the floor tile is met the requirements.
2. the method for automatic floor tile according to claim 1, which is characterized in that before the step a further include:
Mortar laying machine people whitewashes in the designated position, so that the tile work robot is by the ground tile paving in the finger
Positioning is set.
3. the method for automatic floor tile according to claim 2, which is characterized in that the step a further include:
Tile work robot receives the control instruction of the industrial personal computer and is moved to paving location.
4. the method for automatic floor tile according to claim 1, which is characterized in that the tile work robot includes that displacement is adjusted
Save mechanism, floor tile grasping mechanism and fixed camera；
The step b includes step b1: being moved to the floor tile by displacement regulating mechanism and floor tile grasping mechanism described solid
Determine camera within sweep of the eye, then calculates that the displacement is adjusted according to the fixed camera and the control instruction of the industrial personal computer
The shift position of mechanism.
5. the method for automatic floor tile according to claim 4, which is characterized in that the tile work robot further includes level
Sensor is spent, the step b further includes step b2: the yaw in the levelness sensor measurement measurement mortar face and pitching degree,
Then the floor tile is leveled.
6. the method for automatic floor tile according to claim 5, which is characterized in that the tile work robot further includes laser
Measurement sensor, the step b further includes step b3: mortar face described in the laser measurement sensor measurement and the floor tile
Highly, it and controls the floor tile and moves down.
7. the method for automatic floor tile according to claim 6, which is characterized in that the step b further include: when describedly
When brick is apart from tile work face predetermined altitude, the step of repeating the claim 4 to 6, whether to detect the tile location
It meets the requirements.
8. the method for automatic floor tile according to claim 7, which is characterized in that when the tile location is met the requirements,
The floor tile apart from the tile work face be 10mm when, start step c.
9. the method for automatic floor tile according to claim 7, which is characterized in that the tile location is unsatisfactory for requiring
When, continue the step of repeating the claim 4 to 6, until the tile location is met the requirements.
10. the method for automatic floor tile according to claim 1, which is characterized in that it is laid with and finishes after the step c, and
The instruction finished will be laid with and be sent to industrial personal computer.
11. a kind of tile work robot device characterized by comprising
Tile work robot, mortar laying machine people and industrial personal computer；
The tile work robot includes main body frame (100), is displaced regulating mechanism (200) and floor tile grasping mechanism (300), described
Main body frame (100) surrounds accommodation space (101)；
The displacement regulating mechanism (200) connect with the main body frame (100), and the displacement regulating mechanism (200) includes peace
Fill mechanical arm mould group (20) and sliding mechanical arm mould group (10), wherein the installation mechanical arm mould group (20) and the body frame
Frame (100) connection, and be located in the accommodation space (101), the sliding mechanical arm mould group (10) is slidably disposed on institute
It states in installation mechanical arm mould group (20), sliding mechanical arm mould group (10) has the receipts being located in the accommodation space (101)
It receives position, and stretches out the extended position of the accommodation space (101) along first direction A in the horizontal plane；
The floor tile grasping mechanism (300) is for adsorbing floor tile, the floor tile grasping mechanism (300) and the sliding mechanical arm mould
Group (10) connection, to adjust horizontal position under the drive of sliding mechanical arm mould group (10).
12. tile work robot device according to claim 11, which is characterized in that installation mechanical arm mould group (20) packet
It includes:
It installs mechanical arm (21), the installation mechanical arm (21) is fixedly connected with the main body frame (100), and the installation is mechanical
Arm (21) is two, and two installations mechanical arm (21) are spaced on the perpendicular second direction B with the first direction A
Setting；
First driving portion (22), first driving portion (22) be arranged on the installation mechanical arm (21) and with the sliding plane
Tool arm mould group (10) is drivingly connected, to drive the sliding mechanical arm mould group (10) in the reception position and the extended position
Between sliding motion.
13. tile work robot device according to claim 12, which is characterized in that the sliding mechanical arm mould group (10) sets
It sets in the top of installation mechanical arm mould group (20), the sliding mechanical arm mould group (10) includes:
Support plate (11), the support plate (11) are slidably disposed on two installation mechanical arms (21)；
It slides mechanical arm (12), the sliding mechanical arm (12) is two, and two sliding mechanical arms (12) are arranged described
In support plate (11), and on the second direction B separately.
14. tile work robot device according to claim 13, which is characterized in that the displacement regulating mechanism (200) is also
Including linking arm (30), two institutes are slidably arranged in along the length direction of sliding mechanical arm (12) in the linking arm (30)
It states in sliding mechanical arm (12), the floor tile grasping mechanism (300) passes through the linking arm (30) and the sliding mechanical arm mould
Group (10) connection, the sliding mechanical arm mould group (10) further includes the second driving portion (13), the second driving portion (13) setting
It is drivingly connected on the sliding mechanical arm (12) and with the linking arm (30).
15. tile work robot device according to claim 14, which is characterized in that the displacement regulating mechanism (200) is also
Including mounting rail (40) and third driving portion (50), wherein length direction of the mounting rail (40) along the linking arm (30)
Be slidably connected with the linking arm (30), the third driving portion (50) be arranged on the linking arm (30) and with the installation
Beam (40) is drivingly connected.
16. tile work robot device according to claim 15, which is characterized in that the linking arm (30) is in a second direction
B setting, the mounting rail (40) are arranged along the vertical direction.
17. tile work robot device according to claim 16, which is characterized in that the floor tile grasping mechanism (300) exists
Position is adjustably arranged on the length direction of the mounting rail (40).
18. tile work robot device according to claim 11, which is characterized in that floor tile grasping mechanism (300) packet
It includes:
Bracket, the bracket are connect with the sliding mechanical arm mould group (10)；
Grasping mechanism driving portion, the first end of the grasping mechanism driving portion are fixed on the bracket；
The second end of sucker, the grasping mechanism driving portion is connected with the sucker, and the grasping mechanism driving portion has driving
The sucker is close to the first position of the bracket, and the second position far from the bracket.
19. tile work robot device according to claim 18, which is characterized in that the floor tile grasping mechanism (300) is also
Including vibration-proof structure, the vibration-proof structure setting on the bracket, and connect with the sliding mechanical arm mould group (10) and is connected.
20. tile work robot device according to claim 18, which is characterized in that the floor tile grasping mechanism (300) is also
Including vibrator, the vibrator is connected with the bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910678373.7A CN110306771A (en) | 2019-07-25 | 2019-07-25 | The method of automatic floor tile and tile work robot device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910678373.7A CN110306771A (en) | 2019-07-25 | 2019-07-25 | The method of automatic floor tile and tile work robot device |
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| CN110306771A true CN110306771A (en) | 2019-10-08 |
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| CN201910678373.7A Pending CN110306771A (en) | 2019-07-25 | 2019-07-25 | The method of automatic floor tile and tile work robot device |
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| CN110986766A (en) * | 2019-12-06 | 2020-04-10 | 北京科技大学 | Detection device and method for tile laying position based on machine vision |
| CN111350334A (en) * | 2020-04-07 | 2020-06-30 | 广东博智林机器人有限公司 | Floor tile paving device and floor tile paving robot |
| CN111395719A (en) * | 2020-03-27 | 2020-07-10 | 广东博智林机器人有限公司 | Wood floor mounting mechanism and wood floor mounting equipment |
| CN111502211A (en) * | 2020-07-01 | 2020-08-07 | 广东博智林机器人有限公司 | Ceramic tile leveling driving mechanism, leveling device, leveling method and paving equipment |
| CN112343354A (en) * | 2020-11-16 | 2021-02-09 | 北京华自机器人科技有限公司 | Brick picking, placing and laying system and method |
| CN112554520A (en) * | 2020-12-27 | 2021-03-26 | 丁凤景 | Automatic floor tile tamping device for building engineering construction and implementation method |
| CN113089982A (en) * | 2020-01-08 | 2021-07-09 | 广东博智林机器人有限公司 | Floor tile paving equipment and floor tile paving method |
| CN115182219A (en) * | 2022-05-18 | 2022-10-14 | 南通市达欣工程股份有限公司 | Municipal administration pavement is with shop brick device |
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| CN111502211A (en) * | 2020-07-01 | 2020-08-07 | 广东博智林机器人有限公司 | Ceramic tile leveling driving mechanism, leveling device, leveling method and paving equipment |
| CN112343354A (en) * | 2020-11-16 | 2021-02-09 | 北京华自机器人科技有限公司 | Brick picking, placing and laying system and method |
| CN112554520A (en) * | 2020-12-27 | 2021-03-26 | 丁凤景 | Automatic floor tile tamping device for building engineering construction and implementation method |
| CN115182219A (en) * | 2022-05-18 | 2022-10-14 | 南通市达欣工程股份有限公司 | Municipal administration pavement is with shop brick device |
| CN115182219B (en) * | 2022-05-18 | 2023-09-15 | 南通市达欣工程股份有限公司 | Brick laying device for municipal sidewalk |
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