CN110359688B

CN110359688B - Intelligence cement mortar robot of making level

Info

Publication number: CN110359688B
Application number: CN201910682955.2A
Authority: CN
Inventors: 朱弋良; 刘向昊; 李锦俊; 朱雅蕙; 余熙萍
Original assignee: Maanshan Zhuzi Baijia Machinery Equipment Technology Co ltd
Current assignee: Maanshan Zhuzi Baijia Machinery Equipment Technology Co ltd
Priority date: 2019-07-26
Filing date: 2019-07-26
Publication date: 2020-09-22
Anticipated expiration: 2039-07-26
Also published as: CN110359688A

Abstract

The invention discloses an intelligent cement mortar leveling robot, and belongs to the technical field of automatic robots. It includes: support piece, control unit, drive unit, unit and the signal transmission unit of making level, the signal transmission unit includes laser emitter and laser receiver, laser receiver sets up on the mount pad. The grinding head rotates through the rotating motor, so that the cement mortar is ground, the ground grinding error is small, the flatness is high, the labor can be effectively reduced, the labor cost is reduced, and the working efficiency is improved.

Description

Intelligence cement mortar robot of making level

Technical Field

The invention belongs to the technical field of automatic robots, and particularly relates to an intelligent cement mortar leveling robot.

Background

In current interior decoration, when laying the ceramic tile, need lay a layer of mortar on the ground of pouring, then level the mortar, paste ceramic tile or ceramic tile on smooth mortar at last. In the construction process, a manual tool is generally adopted by a mason to carry out construction, the mason pours the stirred mortar onto the ground, and then tools such as a mason knife and a shovel are utilized to pave the mortar. The mortar paving mode is complicated to operate, a paved mortar layer is not smooth enough, and the mortar causes mess in a construction site, so that the working efficiency is low, and the labor intensity of workers is high.

To solve the above problems, chinese patent application No. 201210082349.5, published: 7/18/2012, discloses a cement flattening system, which comprises a cement flattening machine, wherein the cement flattening machine is provided with a feeding port and a discharging port, a flattening device is arranged behind the discharging port, and the cement flattening system further comprises a calibrator which is separated from the cement flattening machine and emits a calibration optical signal; the receiver is connected with the cement spreader, receives the optical signal sent by the calibrator, judges whether the vertical relative height of the calibrator is changed, and reads and outputs a change value; the controller is electrically connected with the receiving instrument, inputs the change value output by the receiving instrument, and formulates and outputs a control instruction; and the adjusting device is connected with the flattening device through the transmission device, receives a control command of the controller, adjusts the vertical height of the flattening device to the ground and adjusts the size to be equal to a change value. Chinese patent application No. 201410531041.3, published date: 2016 5 month 11 days's patent document in year discloses a paver, including hopper and silo, the discharge gate of hopper is relative so that the material in the hopper carries the silo in, installs spiral feed divider in the silo, and spiral feed divider will get into the material sharing in the silo in whole silo, and the paver still includes: the material level detector is arranged at a position, corresponding to the outlet of the hopper, in the trough and is used for detecting the height of the material at the position, corresponding to the outlet of the hopper, in the trough; and the control device is in signal connection with the material level detector and is in communication connection with the spiral material distribution device, and the control device receives the height signal detected by the material level detector and controls the operation of the spiral material distribution device according to the height signal. Chinese patent application No. 201720325476.1, patent document 2017, 12 and 26 discloses a cement mortar paver and elastic membrane paving unit thereof, including a feeding hopper, an intelligent trolley, a material conveying scraper, a spiral distributor, an ironing system and an elastic membrane paving unit, wherein cement mortar is conveyed to the ground through the feeding hopper and the material conveying scraper, the material is paved through the spiral distributor, then the ironing system performs ironing compaction on the cement mortar on the ground, and finally a layer of elastic membrane and fine materials are paved on the cement surface by using the elastic membrane paving unit, thereby completing paving of ground cement.

The paver in the invention can prevent the situation that the density of the pavement paved by the paver is inconsistent or holes are left. However, the large paver of the invention can only pave cement mortar, and cannot realize automatic paving of cement mortar.

Disclosure of Invention

1. Problems to be solved

Aiming at the problem that the existing paver can not realize the automatic paving of cement mortar, the invention provides the intelligent cement mortar leveling robot which can be used for spreading the cement mortar and simultaneously grinding the cement mortar, so that the automation of the cement mortar paving work is realized, the labor intensity is reduced, and the work efficiency is improved.

2. Technical scheme

In order to solve the problems, the technical scheme adopted by the invention is as follows:

the invention discloses an intelligent cement mortar leveling robot, which comprises:

the supporting piece comprises a chassis, wherein an accommodating groove is arranged in the chassis and is used for bearing the weight of the whole robot;

the control unit comprises a PLC electric appliance cabinet, and the PLC electric appliance cabinet is arranged on the chassis;

the driving unit comprises a driving motor, a driving wheel, a driven wheel, a walking belt and a driving shaft, the driving motor is arranged in the accommodating groove, an output shaft of the driving motor is connected with the driving shaft, the driving wheel and the driven wheel are sequentially arranged on the chassis in a front-back mode, the driving wheel is connected with the driving shaft, and the walking belt is wound on the driving wheel and the driven wheel;

the leveling unit comprises a mounting seat, a grinding head, a rotating motor, a swing arm motor, an adjusting workbench, an adjusting motor, a large arm, a small arm, a first connecting rod and a synchronous connecting rod, wherein the large arm and the small arm are of a symmetrical structure relative to the first connecting rod and the synchronous connecting rod;

and the signal transmission unit comprises a laser transmitter and a laser receiver matched with the laser transmitter, and the laser receiver is arranged on the mounting seat.

In a possible embodiment of the invention, the mounting seat is of a box-type structure, a plurality of through holes are formed in the mounting seat, and the grinding head penetrates through the through holes through a rotating shaft to be connected with a rotating motor so as to drive the grinding head to rotate.

In a possible implementation manner of the invention, the two ends of the large arm are both provided with connecting holes, and the corresponding synchronous connecting rod and the corresponding mounting seat are both provided with connecting lugs to realize hinging with the connecting holes.

In a possible embodiment of the present invention, the driving unit further includes a tension wheel and a tension link, the tension wheel is installed obliquely above the driving wheel, one end of the tension link is fixed on the chassis, the other end of the tension link is connected to the tension wheel, and the traveling belt is wound around the tension wheel.

In a possible implementation manner of the invention, the steering device further comprises a steering unit, wherein the steering unit comprises a supporting plate, a jacking electric cylinder, a slewing bearing and a slewing motor, the lower end of a telescopic rod of the jacking electric cylinder is connected with the supporting plate, and when the steering device is not used, the supporting plate and the walking belt are in the same plane; the upper end of the jacking electric cylinder is sleeved with the slewing bearing, the chassis is fixed with the slewing bearing, and the slewing motor is arranged on one side of the slewing bearing and drives the slewing bearing to rotate through a gear.

In a possible embodiment of the present invention, the driving unit further includes an auxiliary wheel, the auxiliary wheel is consistent with the driven wheel in structure, and the auxiliary wheel is installed between the driven wheel and the driving wheel and is rotatably connected to the chassis.

In a possible embodiment of the present invention, the diameter of the driving wheel is larger than the diameter of the driven wheel.

In a possible embodiment of the invention, the support plate is a circular plate, the area of which is large enough to ensure that the weight of the device after jacking up does not press the cement surface to cause a lower cement limit. .

In one possible embodiment of the invention, the running belt is a flat belt, which provides sufficient friction and protects the finished cement floor as much as possible.

3. Advantageous effects

Compared with the prior art, the invention has the beneficial effects that:

(1) according to the intelligent cement mortar leveling robot, the laser transmitter is placed at a proper position, a reference surface with one square meter is manually manufactured at a certain position of a room, the robot is placed on the reference surface, cement mortar with a certain thickness is scattered outside the reference surface, the height of the grinding head is adjusted through the laser receiver, the grinding head rotates through the rotating motor, the cement mortar is ground, the ground is ground to be flat, the ground is smooth, the flatness is high, meanwhile, the labor is effectively reduced, the labor cost is reduced, and the working efficiency is improved;

(2) according to the intelligent cement mortar leveling robot, the tensioning wheel and the tensioning connecting rod are arranged, so that the walking belt is always in a tensioning state, the condition that the belt is loosened is avoided, and the problem that cement mortar is stacked due to the loosening of the belt is reduced.

Drawings

The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for illustrative purposes only and thus do not limit the scope of the present invention. Furthermore, unless otherwise indicated, the drawings are intended to be illustrative of the structural configurations described herein and are not necessarily drawn to scale.

FIG. 1 is a schematic perspective view of an intelligent cement mortar leveling robot according to an embodiment of the invention;

FIG. 2 is a diagram of a state of use of the intelligent cement mortar leveling robot in the embodiment of the invention;

FIG. 3 is a partial cross-sectional view of an intelligent cement mortar leveling robot in accordance with an embodiment of the present invention;

FIG. 4 is an enlarged sectional view of portion A of FIG. 1;

FIG. 5 is a schematic structural diagram of a grinding head of the intelligent cement mortar leveling robot in the embodiment of the invention;

FIG. 6 is a schematic structural diagram of a driving unit of the intelligent cement mortar leveling robot according to the embodiment of the invention;

fig. 7 is a schematic structural diagram of a steering unit of the intelligent cement mortar leveling robot according to the embodiment of the invention.

The notation in the figure is:

100. a support member; 110. a chassis; 111. accommodating grooves;

200. a control unit; 210. a PLC electrical cabinet;

300. a drive unit; 310. a drive motor; 320. a driving wheel; 330. a driven wheel; 340. a running belt; 350. a drive shaft; 360. a tension wheel; 370. a tension link; 380. an auxiliary wheel;

400. a leveling unit; 410. a mounting seat; 411. a lead screw; 420. grinding heads; 430. rotating the motor; 440. a swing arm motor; 450. adjusting the workbench; 451. adjusting the motor; 460. a large arm; 470. a small arm; 480. a first link; 490. a synchronous connecting rod;

500. a signal transmission unit; 510. a laser transmitter; 520. a laser receiver;

600. a steering unit; 610. a support plate; 620. jacking an electric cylinder; 630. a slewing bearing; 640. a rotary electric machine.

Detailed Description

The following detailed description of exemplary embodiments of the invention refers to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration exemplary embodiments in which the invention may be practiced. Although these exemplary embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, it should be understood that other embodiments may be realized and that various changes to the invention may be made without departing from the spirit and scope of the present invention. The following more detailed description of the embodiments of the invention is not intended to limit the scope of the invention, as claimed, but is presented for purposes of illustration only and not limitation to describe the features and characteristics of the invention, to set forth the best mode of carrying out the invention, and to sufficiently enable one skilled in the art to practice the invention. Accordingly, the scope of the invention is to be limited only by the following claims.

The detailed description and exemplary embodiments of the invention will be better understood when read in conjunction with the appended drawings, where the elements and features of the invention are identified by reference numerals.

As shown in fig. 1 to 7, the intelligent cement mortar leveling robot of the present embodiment includes a support 100, a control unit 200, a driving unit 300, a leveling unit 400, and a signal transmission unit 500.

In this embodiment, the supporting member 100 is used for bearing the weight of the entire robot, and includes a chassis 110, a receiving groove 111 is disposed in the chassis 110, and the material of the chassis 110 is preferably a light metal, such as an aluminum alloy, and has a certain strength and a light weight.

The invention aims to design a robot capable of automatically walking and paving ground cement mortar, so that the robot can be realized by using a controller, a control unit 200 comprises a PLC (programmable logic controller) electric cabinet 210, the PLC electric cabinet 210 is arranged on a chassis 110, the PLC electric cabinet 210 is provided with a plurality of ports for connecting external electric equipment, a switch and a relay module are arranged on the PLC electric cabinet 210, and further a plurality of actions of the robot can be realized, and the PLC electric cabinet 210 can be connected with a 220V power supply through a cable and can also be designed into a rechargeable battery power supply mode.

In addition, as shown in fig. 1 and 6, the driving unit 300 of the robot includes a driving motor 310, a driving wheel 320, a driven wheel 330, a walking belt 340, a driving shaft 350, a tensioning wheel 360 and a tensioning link 370, wherein the diameter of the driving wheel 320 is greater than that of the driven wheel 330, the driving motor 310 may be a servo motor, a steering engine or a dc motor, the motor is disposed in the accommodating groove 111, the driving motor 310 and the driving shaft 350 are connected through a synchronous belt, the driving wheel 320 and the driven wheel 330 are sequentially mounted on the chassis 110 in a front-to-back manner, the driving wheel 320 is connected with the driving shaft 350, the walking belt 340 is wound around the driving wheel 320 and the driven wheel 330, and the walking belt 340 is disposed on the ground where the cement mortar is spread, so as to improve the stability of the entire robot and reduce.

As shown in fig. 2 and 3, the leveling unit 400 includes a mounting base 410, a grinding head 420, a rotation motor 430 (servo motor), a swing arm motor 440 (servo motor), an adjustment table 450, an adjustment motor 451 (servo motor), a large arm 460, a small arm 470, a first link 480, and a synchronization link 490, the large arm 460 and the small arm 470 are symmetrical structures relative to the first connecting rod 480 and the synchronous connecting rod 490, the upper end of the large arm 460 is hinged with the synchronous connecting rod 490, the lower end is hinged with the mounting seat 410, the first connecting rod 480 is hinged with both the large arm 460 and the small arm 470, the swing arm motor 440 is disposed in the receiving groove 111, the swing arm motor 440 is connected to the lower end of the small arm 470, the mounting base 410 is fixed with the large arm 460, a lead screw 411 is arranged in the mounting base 410, the adjusting workbench 450 is matched with the lead screw 411, the adjusting motor 451 is connected with the lead screw 411, and the rotating motor 430 is connected with the grinding head 420 and fixed on the adjusting workbench 450.

The structure of the grinding head 420 is the existing design, and the structure of the embodiment is not changed.

In fig. 1, the signal transmission unit 500 includes a laser transmitter 510 and a laser receiver 520 matched with the laser transmitter 510, both the laser transmitter 510 and the laser receiver 520 are commercially available, and a specific model is a bosch brand transmitter and receiver, but not limited to the above model, which can achieve the function, and the laser receiver 520 is disposed on the mounting base 410. When the device is used, the device is placed on the prepared cement ground, the lower bottom surface of the grinding head is ensured to be just level with the cement ground (within 1mm of error), the height of the laser receiver is used as the reference height at the moment, and the position of the laser transmitter is adjusted to be proper. The height of the grinding head is adjusted by taking the position as a reference all the time during later-period work of the equipment, and the flatness of a cement surface is ensured. If there is a description about other places, please adjust the laser emitter 510 to be placed on the reference surface, after setting the reference height, send a signal to the laser receiver 520, after the laser receiver 520 receives the signal, determine the height to be ground, adjust the motor 451 to work, adjust the height of the grinding head 420 to the required height, in this embodiment, the lead screw 411 is used, in the working process of the grinding head 420, through the band-type brake function of the adjustment motor 451, the height of the grinding head 420 is stable, the shaking is not generated basically, and the grinding consistency of cement mortar is ensured.

Considering that the robot is directionally moved, in a specific use, the grinding width of the robot is 1m, the length of the robot is determined according to the field, and if necessary, an optical fiber sensor is arranged at the front end of the chassis 110, and the optical fiber sensor is used for detecting surrounding obstacles to avoid collision. The robot finishes transverse paving, and turns to by using a turning unit 600, as shown in fig. 7, the turning unit 600 comprises a support plate 610, a jacking electric cylinder 620, a slewing bearing 630 and a slewing motor 640 (servo motor), wherein the support plate 610 is a circular plate, the diameter of the support plate 610 is slightly smaller than the width of the chassis 110, the lower end of a telescopic rod of the jacking electric cylinder 620 is connected with the support plate 610, and when the robot is not used, the support plate 610 and the walking belt 340 are in the same plane; the upper end of the jacking electric cylinder 620 is sleeved with a slewing bearing 630, the chassis 110 is fixed with the slewing bearing 630, and the slewing motor 640 is arranged on one side of the slewing bearing 630 and drives the slewing bearing 630 to rotate through a gear.

The driving motor 310, the rotating motor 430, the swing arm motor 440, the adjusting motor 451, the laser emitter 510, the laser receiver 520, the rotation motor 640 and the jacking cylinder 620 of the embodiment are all electrically connected with the PLC electric appliance cabinet 210.

In fig. 6, the whole robot completely depends on the walking belt 340, and the walking belt 340 is easy to slip due to thermal expansion and cold contraction and external force action, so the walking belt 340 needs to be tensioned, the tension pulley 360 is installed above the driving wheel 320, one end of the tension link 370 is fixed on the chassis 110, the other end is connected with the tension pulley 360, the walking belt 340 is wound on the tension pulley 360, the walking belt 340 cannot be loosened, and the robot can walk freely.

In addition, as shown in fig. 6, the walking belt 340 of the robot has a certain length, which is generally designed to be 50cm, an auxiliary wheel 380 is installed between the driven wheel 330 and the driving wheel 320, and the auxiliary wheel 380 and the driven wheel 330 have the same structure and are rotatably connected with the chassis 110, so as to prevent the walking belt 340 from shaking during walking.

The specific use process of the robot is as follows:

1) placing a laser transmitter 510 at a proper position, manually manufacturing a reference surface of one square meter at a certain position in a room, placing a robot on the reference surface, and scattering mortar with a certain thickness outside the reference surface;

2) the robot is started, the laser receiver 520 receives a signal of the laser transmitter 510, and the PLC electrical cabinet 210 controls the adjusting motor 451 to adjust the height of the grinding head 420 to a set height;

3) then, the PLC electric appliance cabinet 210 opens the rotating motor 430 to rotate the grinding head 420 to grind the cement mortar on the ground;

4) the swing arm motor 440 is turned on to drive the small arm 470 to swing, and since the two large arms 460 form a parallelogram formed by the first connecting rod 480 and the synchronous connecting rod 490, the small arm 470 is hinged to the synchronous connecting rod 490, when the small arm 470 swings clockwise at the hinge point a, the large arm 460 is driven to swing counterclockwise at the hinge point (the hinge point is B) between the large arm 460 and the small arm 470, and if the small arm 470 swings counterclockwise, the opposite is true. As shown in fig. 2, the normal swing amplitude is one meter; and can swing back at any time when meeting the barrier, avoid the barrier and realize flexible work (effect of the servo motor);

5) the driving wheel 320 rotates to drive the walking belt 340 to walk, the large arm 460 swings from one side to the other side, and the driving wheel 320 rotates 75 mm;

6) when the robot travels to a position needing turning, the vehicle stops, the jacking electric cylinder 620 extends out to push the supporting plate 610 to lift the robot by 40mm, the rotary motor 640 enables the robot to rotate by 90 degrees or any other angle, and the jacking electric cylinder 620(20) drives the supporting plate 610 to retract to the chassis 110;

7) and repeating the steps until the whole ground is ground to be flat.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims

1. The utility model provides an intelligence cement mortar robot of making level which characterized in that includes:

a support member (100) including a chassis (110), the chassis (110) having a receiving groove (111) built therein and carrying the weight of the entire robot;

the control unit (200) comprises a PLC electric appliance cabinet (210), and the PLC electric appliance cabinet (210) is arranged on the chassis (110);

the driving unit (300) comprises a driving motor (310), a driving wheel (320), a driven wheel (330), a walking belt (340) and a driving shaft (350), wherein the driving motor (310) is arranged in the accommodating groove (111), an output shaft of the driving motor (310) is connected with the driving shaft (350), the driving wheel (320) and the driven wheel (330) are sequentially arranged on the chassis (110) front and back, the driving wheel (320) is connected with the driving shaft (350), and the walking belt (340) is wound on the driving wheel (320) and the driven wheel (330);

the leveling unit (400) comprises a mounting seat (410), a grinding head (420), a rotating motor (430), a swing arm motor (440), an adjusting workbench (450), an adjusting motor (451), a large arm (460), a small arm (470), a first connecting rod (480) and a synchronous connecting rod (490), wherein the large arm (460) and the small arm (470) are of a symmetrical structure relative to the first connecting rod (480) and the synchronous connecting rod (490), the upper end of the large arm (460) is hinged with the synchronous connecting rod (490), the lower end of the large arm is hinged with the mounting seat (410), the first connecting rod (480) is hinged with the large arm (460) and the small arm (470), the swing arm motor (440) is arranged in the accommodating groove (111), the swing arm motor (440) is connected with the lower end of the small arm (470), the mounting seat (410) is fixed with the large arm (460), a lead screw (411) is arranged in the mounting seat (410), and the adjusting workbench (450) is matched with the lead screw (411), the adjusting motor (451) is connected with the lead screw (411), and the rotating motor (430) is connected with the grinding head (420) and fixed on the adjusting workbench (450);

the signal transmission unit (500) comprises a laser transmitter (510) and a laser receiver (520) matched with the laser transmitter (510), and the laser receiver (520) is arranged on the mounting seat (410).

2. The intelligent cement mortar leveling robot according to claim 1, wherein the mounting base (410) is of a box-type structure, a plurality of through holes are formed in the mounting base, and the grinding head (420) passes through the through holes through a rotating shaft and is connected with a rotating motor (430) to drive the grinding head (420) to rotate.

3. The intelligent cement mortar leveling robot according to claim 1, wherein connecting holes are formed in both ends of the large arm (460), and connecting lugs are arranged on the corresponding synchronous connecting rod (490) and the corresponding mounting seat (410) to realize hinging with the connecting holes.

4. The intelligent cement mortar leveling robot according to claim 1, wherein the driving unit (300) further comprises a tension wheel (360) and a tension connecting rod (370), the tension wheel (360) is installed obliquely above the driving wheel (320), one end of the tension connecting rod (370) is fixed on the chassis (110), the other end of the tension connecting rod is connected with the tension wheel (360), and the walking belt (340) is wound on the tension wheel (360).

5. The intelligent cement mortar leveling robot according to any one of claims 1 to 4, further comprising a steering unit (600), wherein the steering unit (600) comprises a support plate (610), a jacking electric cylinder (620), a slewing bearing (630) and a slewing motor (640), the lower end of a telescopic rod of the jacking electric cylinder (620) is connected with the support plate (610), and when the intelligent cement mortar leveling robot is not used, the support plate (610) is higher than the plane of the walking belt (340); the upper end of the jacking electric cylinder (620) is sleeved with the slewing bearing (630), the chassis (110) is fixed with the slewing bearing (630), and the slewing motor (640) is arranged on one side of the slewing bearing (630) and drives the slewing bearing (630) to rotate through a gear.

6. The intelligent cement mortar leveling robot according to claim 5, wherein the driving unit (300) further comprises an auxiliary wheel (380), the auxiliary wheel (380) is structurally consistent with the driven wheel (330), and the auxiliary wheel (380) is installed between the driven wheel (330) and the driving wheel (320) and is rotatably connected with the chassis (110).

7. The intelligent cement mortar leveling robot according to claim 6, wherein the diameter of the driving wheel (320) is larger than the diameter of the driven wheel (330).

8. The intelligent cement mortar leveling robot according to claim 7, wherein the support plate (610) is a circular plate.

9. The intelligent cement mortar leveling robot according to claim 8, wherein the walking belt (340) is a flat belt.