CN110406308A - A kind of wall paper spreading robot and its method of adjustment, wall paper spreading method - Google Patents
A kind of wall paper spreading robot and its method of adjustment, wall paper spreading method Download PDFInfo
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- CN110406308A CN110406308A CN201910704557.6A CN201910704557A CN110406308A CN 110406308 A CN110406308 A CN 110406308A CN 201910704557 A CN201910704557 A CN 201910704557A CN 110406308 A CN110406308 A CN 110406308A
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- wallpaper
- paving
- wall paper
- body frame
- main body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44C—PRODUCING DECORATIVE EFFECTS; MOSAICS; TARSIA WORK; PAPERHANGING
- B44C7/00—Paperhanging
- B44C7/02—Machines, apparatus, tools or accessories therefor
- B44C7/025—Machines, apparatus, tools or accessories therefor for cutting wallpaper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44C—PRODUCING DECORATIVE EFFECTS; MOSAICS; TARSIA WORK; PAPERHANGING
- B44C7/00—Paperhanging
- B44C7/02—Machines, apparatus, tools or accessories therefor
- B44C7/04—Machines, apparatus, tools or accessories therefor for applying adhesive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44C—PRODUCING DECORATIVE EFFECTS; MOSAICS; TARSIA WORK; PAPERHANGING
- B44C7/00—Paperhanging
- B44C7/02—Machines, apparatus, tools or accessories therefor
- B44C7/06—Machines, apparatus, tools or accessories therefor for applying the paper to the surface to be covered
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- Road Paving Machines (AREA)
Abstract
A kind of wall paper spreading robot of the present invention and its method of adjustment, wall paper spreading method, wall paper spreading robot include automatic guide vehicle, main body frame, upper rising mould group, paving mechanism and piece alignment means；Wherein, piece alignment means are set between main body frame and automatic guide vehicle, so that main body frame can move in the horizontal direction with respect to automatic guide vehicle；Upper rising mould group is set on main body frame, and paving mechanism can pump be set in rising mould group along the vertical direction；Scheme provided by the invention, structure is simple, it is easy to use, it is integrated with wall paper spreading to can be realized autosizing, and it can satisfy the joint treatment of subsequent wall paper spreading, so that wallpaper achievees the effect that seamless spliced, it can effectively improve the quality of existing wall paper spreading robot wall paper spreading, reduce labor intensity of workers.
Description
Technical field
The present invention relates to wall paper spreading device technical field more particularly to a kind of wall paper spreading robot and its adjustment sides
Method, wall paper spreading method.
Background technique
Now on the market, wallpaper mostly uses complete artificial or gluing machine cooperation is artificial to carry out paving；Wall paper glue applicator can make wall
Paper is smeared uniformly, and it is straight to cut, alice caused by avoiding because of glue smearing unevenness, and accelerates worker's paving effect to a certain extent
Rate, but still need to manually be operated in key component, such as the gap adjustment between wallpaper and gluing machine；Chinese patent text
Part CN201620481810 discloses a kind of wall paper spreading robot, and the patent of invention is by being arranged plastic roll in support bar body
Device and paving wallpaper device realize plastic roll and paving wallpaper, but exist and controlling the problems such as inconvenient, mobile inconvenient on metope, and is uncomfortable
For production line operation；Another Chinese patent document CN108312769A discloses a kind of convenient wallpaper machine, and manual operation is simple,
Simple flow, but more fitting household requirement, are not suitable for production line.
Furthermore main problem existing for existing wallpaper gluing and paving mechanism further include: Machine automated degree is not high,
Still need to a large amount of manual operations；Machine is limited to wallpaper width, metope height；Machine can not automatically be handled wallpaper seam；
Glue spreading system is not perfect, not can guarantee wallpaper uniformly by glue；Rod pressure can not feedback control during wall paper spreading；Paving machine
The problems such as cannot achieve automatic seamless, uninterrupted docking between structure and wall.
Summary of the invention
The present invention provides a kind of wall paper spreading robot, it is intended between solving between existing wall paper spreading robot and wall
The problem of away from that can not adjust.
The main purpose of the present invention is to provide a kind of wall paper spreading robot, including automatic guide vehicle, main body frame, on
Rising mould group, paving mechanism and piece alignment means；Wherein
The piece alignment means are fixed on the automatic guide vehicle；
The main body frame is movably set in the piece alignment means；
The upper rising mould group is movably set on the main body frame；
The paving mechanism is movably set in the upper rising mould group；
The piece alignment means make the main body frame is mobile on the automatic guide vehicle to realize piece alignment adjustment.
Still optionally further, the main body frame is set in the piece alignment means and/or institute horizontally moveablely
Stating rising mould group can be set to up or down on the main body frame；And/or the paving mechanism can be arranged up or down
In in the upper rising mould group.
Still optionally further, piece alignment means include driving assembly and mounting plate；Mounting plate is fixedly installed on to be drawn automatically
On guide-car, driving assembly is set on mounting plate, and driving assembly includes driving component and driven subassembly, and driving component drives main body
Frame does alignment movement in the horizontal direction, and driven subassembly collaboration driving component supportive body frame is simultaneously pacifying main body frame
It slidably reciprocates in loading board.
Still optionally further, driving component includes driving motor and transmission component, and driving motor is set to the mounting plate
On, make main body frame is horizontal on the slide rail to slide by transmission component, driven subassembly includes sliding rail, sliding block, and sliding rail is along level side
To being fixedly installed on mounting plate, driven subassembly is provided with two sets, is respectively arranged at the two sides of driving component；Sliding block one end can be slided
Dynamic to be set on sliding rail, the sliding block other end is fixedly installed on main body frame, and can be slided on the slide rail with main body frame.
Still optionally further, transmission component includes lead screw, link block and rotatable means；Lead screw is rotatably supported on
In support device, one end and driving motor are drivingly connected, and the other end is connect with a link block, link block be sleeved on lead screw and with
It is threadedly engaged, and top and the main body frame of link block are fixed together, and lead screw is threadedly engaged to drive to connect with link block
Block moves back and forth horizontally；Movable fixture includes bearing and support plate, and bearing is arranged on the supporting plate, and support plate is set to installation
On plate, lead screw horizontally passes through bearing and the output shaft of driving motor is drivingly connected；Link block drives main body frame along sliding
It is moved horizontally on rail, completes horizontal attitude adjustment.
Still optionally further, upper rising mould group includes the first mould group and the second mould group；First mould group is movably set to master
On body frame, the second mould group is movably set in the first mould group, and paving mechanism is movable to be set in the second mould group.
Still optionally further, vertical on main body frame to be equipped with the first sliding rail, the movable setting first of the first mould group is sliding
On rail, the second sliding rail is vertically equipped in the first mould group, the second mould group is movable to be set on the second sliding rail, and the second mould group is perpendicular
It directly is equipped with third sliding rail, paving mechanism is movably set on third sliding rail, realizes the three-level lifting of paving mechanism.
Still optionally further, paving mechanism includes paving rack, wallpaper roller and laser vision sensor；Paving machine
Frame is fixedly installed in rising mould group；Wallpaper roller is rotatably set on the paving face of paving rack, for wallpaper into
Row paving；Laser vision sensor is set on the paving face of paving rack, for measuring a upper paving wallpaper and wallpaper
The distance of roller.
Still optionally further, paving mechanism further includes rubber-coated mechanism, transport mechanism, cutting mechanism and scraping device；Paving
Veneer is located at the front end of paving rack；Rubber-coated mechanism is set to the rear end of paving rack, for carrying out gluing to wallpaper；Conveyer
Structure is set between rubber-coated mechanism and wallpaper roller, for transmitting wallpaper；Cutting mechanism is set to transport mechanism and wallpaper
Between roller, for being cut to wallpaper；Scraping device is set to wallpaper roller lower end, for the wallpaper after paving into
Row strikes off.
It still optionally further, further include electric cabinet；Electric cabinet is fixedly installed on automatic guide vehicle；View is equipped in electric cabinet
Feel sensing module；Laser vision sensor and visual sensing module communicate to connect；Laser vision sensor is for acquiring one
The straight line image of paving wallpaper edge, and it is transmitted to visual sensing module.
Still optionally further, automatic guide vehicle is equipped with navigation device, and navigation device and visual sensing module communicate to connect；
Navigation device is used to control the motion profile of automatic guide vehicle according to visual sensing module, to position automatic guide vehicle supreme one
The distance of paving wallpaper edge.
It still optionally further, further include body feed tank, body feed tank is set on electric cabinet, for providing wall to paving mechanism
Paper；Upper rising mould group is set to the side of main body frame.
Correspondingly, another object of the present invention is to also provide a kind of wall paper spreading robot method of adjustment, including it is following
Process:
Distance detection device in wall paper spreading robot acquires a paving wallpaper at a distance from wallpaper roller；
When distance is greater than preset value；Wall paper spreading robot adjusts main body frame by piece alignment means and draws automatically
Horizontal position between guide-car, until the wallpaper on wallpaper roller is close to metope, and it is closely coupled with a upper paving wallpaper.
Still optionally further, distance detection device is laser vision sensor, and laser vision sensor passes through acquisition upper one
The straight line image of paving wallpaper edge, and it is transmitted to visual sensing module；Visual sensing module is determined based on straight line image and is led
The distance that body frame is moved horizontally along piece alignment means.
Still optionally further, paper paving robot is equipped with navigation device；Distance detection device is laser vision sensor,
Laser vision sensor is transmitted to visual sensing module by acquiring the straight line image of a upper paving wallpaper edge；Navigation
Device is used to control the motion profile of automatic guide vehicle according to visual sensing module, to position the supreme paving of automatic guide vehicle
The distance at wallpaper edge.
Correspondingly, a kind of for wall paper spreading robot described in any of the above-described another object of the present invention is to also provide
Wall paper spreading method, including following procedure:
S1: before starting wall paper spreading robot, wallpaper is bypassed into rubber-coated mechanism and transport mechanism, in cutting mechanism and patch
It is fixed at wallpaper roller；Glue is filled to rubber-coated mechanism, wallpaper is made to complete gluing by the applicator roller inside rubber-coated mechanism；
S2: starting wall paper spreading robot makes roller, transport mechanism, wallpaper roller turn inside rubber-coated mechanism, carries out
Wallpaper transmission；
S3: transmission wallpaper is each passed through wallpaper roller, cutting mechanism and pressing device, is close to metope；On making
Rising mould group moved up and down with respect to main body frame and make the relatively upper rising mould group of paving mechanism move up and down control wallpaper roller from
Under it is supreme paving is carried out to wallpaper, when being moved at wall top, cutting mechanism cuts wallpaper, then by scraping device by wallpaper
It is densified to wall top portion；
S4: after the completion of first wall paper spreading, wallpaper roller is kept in the center；Automatic guide vehicle is moved to wallpaper edge
Place, piece alignment means adjust the horizontal position between main body frame and automatic guide vehicle, so as to adjust main body frame and wall
Between spacing；
S5: control automatic guide vehicle, main body frame, upper rising mould group, wallpaper roller and cutting mechanism to suitable position
It sets, continues Article 2 wall paper spreading, until the paving of whole face wall is completed.
Further, S4 step is into S5 step, when automatic guide vehicle is moved at wallpaper edge, laser vision sensor
A wallpaper edge image is acquired, and determines automatic guide vehicle motion profile and positioning wallpaper edge, then be aligned by piece
Device control body frame carries out the movement for being parallel to metope relative to automatic guide vehicle, is adjusted to stitching position, continuation the
Two wall paper spreadings, until wall paper spreading is completed；
Above-mentioned automatic guide vehicle position AV trolley.
A kind of wall paper spreading robot provided by the invention and its method of adjustment, wall paper spreading method, structure is simple, uses
It is convenient, it can be realized that autosizing is integrated with wall paper spreading, and can satisfy the joint treatment of subsequent wall paper spreading, so that wall
Paper achievees the effect that seamless spliced；Scheme provided by the invention can effectively improve existing wall paper spreading robot wall paper spreading
Quality, reduce labor intensity of workers.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of wall paper spreading robot main view that the embodiment of the present invention 1 provides；
Fig. 2 is a kind of wall paper spreading robot perspective view that the embodiment of the present invention 1 provides；
Fig. 3 is the piece alignment means schematic diagram that the embodiment of the present invention 1 provides.
In figure: 1, automatic guide vehicle；2, body feed tank；3, electric cabinet；4, piece alignment means；41, mounting plate；42, motor；
43, lead screw；44, bearing；45, link block；46, sliding block；47, sliding rail；48, support plate；5, main body frame；6, upper rising mould group；61,
First mould group；62, the second mould group；7, paving mechanism；71, rubber-coated mechanism；72, transport mechanism；73, cutting mechanism；74, wallpaper
Roller；75, scraping device；76 laser-vision sensings.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
The embodiment of invention, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, belongs to protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply opposite
Importance or quantity or position.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The embodiment of the present invention is described in further detail below in conjunction with attached drawing.
Embodiment 1
As shown in Figure 1 to Figure 3, the present invention is intended to provide a kind of wall paper spreading robot, including automatic guide vehicle 1, main body
Frame 5, upper rising mould group 6, paving mechanism 7 and piece alignment means 4；Wherein, automatic guide vehicle 1 is automatic guide vehicle, master
It is used to draw main body frame 5 to realize wall paper spreading；Piece alignment means 4 be set to main body frame 5 and automatic guide vehicle 1 it
Between, so that main body frame 5 can move in the horizontal direction with respect to automatic guide vehicle 1, to adjust main body frame 5 and automatic guide vehicle
Horizontal position between 1, and then adjust the spacing between main body frame 5 and wall；Since paving mechanism 7 is to be set to body frame
On frame 5, so the spacing between adjustment main body frame 5 and wall, it can be by adjusting between paving mechanism 7 and wall
Away to achieve the effect that seamless applying wallpaper；It should be noted that the piece alignment means 4 can be and be set to automatic guidance
With the removable connection of main body frame 5 on vehicle 1, it is also possible to be set on main body frame 5 and the removable connection of automatic guide vehicle 1；
Specifically, upper rising mould group 6 is set to main body frame 5, and paving mechanism 7 can pump be set to rising mould along the vertical direction
In group 6, upper rising mould group 6 can pump along the vertical direction to be set on main body frame 5, and paving mechanism 7 can be along upper rising mould
Group 6 pumps, and completes wallpaper cutting, paving and flanging work with this, using the above scheme, passes through the phase of each mechanism
Mutually cooperation can effectively realize that automation paving operation seamless connection is uninterrupted, greatly save manual labor.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, the piece alignment means 4 in the present embodiment are fixedly installed
In on automatic guide vehicle 1, main body frame 5 is movably arranged in piece alignment means 4, and piece alignment means 4 can pass through
Driving moves main body frame 5 on automatic guide vehicle 1, to complete horizontal position adjustment；Specifically, piece alignment means 4
Including driving assembly and mounting plate 41；Mounting plate 41 is fixedly installed on automatic guide vehicle 1, and driving assembly is set to mounting plate 41
On, such driving assembly is by driving main body frame 5 to slide in the horizontal direction in piece alignment means 4, to complete level
Position adjustment；Using the above scheme, so that water may be implemented in the automatic guide vehicle 1, piece alignment means 4 and main body frame 5
Prosposition transposition section, and bidirectional modulation can be carried out by controlling automatic guide vehicle and driving assembly simultaneously, guarantee wall paper spreading
It is bonded spacing between robot and wall, achievees the effect that wallpaper is seamless applying.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, the piece alignment means 4 in the present embodiment are fixedly installed
In on main body frame 5, piece alignment means 4 are movably arranged on automatic guide vehicle 1, and piece alignment means 4 can pass through
Driving moves main body frame 5 on automatic guide vehicle 1, to complete horizontal position adjustment；Specifically, piece alignment means 4
Including driving assembly and mounting plate 41；Mounting plate 41 is fixedly installed on main body frame 5, and driving assembly is set to mounting plate 41
On, driving assembly includes driving component and driven subassembly, and the driving component that driving assembly includes is by driving so that piece is aligned
Device 4 moves in the horizontal direction on automatic guide vehicle 1, to complete horizontal position adjustment；Driven subassembly cooperates with driving component
Supportive body frame 5 simultaneously allows main body frame 5 to slidably reciprocate on mounting plate 41.Using the above scheme, so that this draws automatically
Horizontal displacement adjusting may be implemented in guide-car 1, piece alignment means 4 and main body frame 5, and can be automatic by controlling simultaneously
Guide car and driving assembly carry out bidirectional modulation, guarantee to be bonded spacing between wall paper spreading robot and wall, reach wallpaper
Seamless applying effect.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, the driving assembly in the present embodiment include driving motor and
Transmission component, wherein driving motor 42 is arranged on mounting plate 41, it is preferred that driving motor 42 is servo motor, passes through transmission
Component makes the horizontal sliding on sliding rail 47 of main body frame 5；Driven subassembly includes sliding rail 47 and sliding block 46；Sliding rail 47 is along level
Direction is fixedly installed on mounting plate 41；46 bottom of sliding block is slidably set on sliding rail 47, is fixedly installed at the top of sliding block 46
It on main body frame 5, and can be slided on sliding rail 47 with main body frame 5, pass through the mobile drive body frame of 47 top shoe 46 of sliding rail
Frame 5 47 moves horizontally on the slide rail；Further, driven subassembly is provided with two sets, is respectively arranged at the two sides of driving component,
Based on frame 5 provide and support and mobile convenient for 5 horizontal direction of main body frame；Further, motor 42 is set to mounting plate 41
On, it is fixedly connected by transmission component with main body frame 5, to drive the horizontal sliding on sliding rail 47 of main body frame 5.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, the transmission component in the present embodiment includes lead screw 43, connects
Connect block 45 and support device；Lead screw 43 is rotatably supported in support device, and one end of lead screw 43 and driving motor 42 drive
Dynamic connection, the other end are connect with a link block 45, and link block 45 is sleeved on lead screw 43 and is threadedly engaged with it by lead screw 43
Rotary motion switchs to the horizontal reciprocating movement of link block 45；Preferred link block 45 is sleeved on lead screw 43 and is threadedly engaged with it
Mode be to form trapezoidal thread pair, the rotary motion of the lead screw (43) is switched to the horizontal reciprocating movement of link block.Connection
It is fixed at the top of block 45 on main body frame 5, drives main body frame 5 horizontal past along sliding rail 47 when 45 horizontal reciprocating movement of link block
Multiple movement, the horizontal position adjustment of realization body frame 5；Support device includes bearing 44 and support plate, and bearing setting is supporting
On plate, support plate 48 is set on mounting plate 41；Lead screw 43 horizontally passes through bearing 44 and the output shaft of motor 42 drives
Connection.Further, bearing 44 is rolling bearing, reduces the power loss in power transmission process.Motor 42 rotates when work
Lead screw 43 is driven to rotate on ball bearing 44, the link block 45 being also secured on lead screw 43 moves horizontally, from
And make main body frame 5 that sliding block 46 be followed to move horizontally along sliding rail 47, complete horizontal attitude adjustment.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, the upper rising mould group 6 in the present embodiment includes the first mould group
61 and the second mould group 62；First mould group 61 is movably set on main body frame 5, and the second mould group 62 is movably set to
In one mould group 61, paving mechanism 7 is movable to be set in the second mould group 62；Further, vertical on main body frame 5 to be equipped with
First sliding rail, on movable the first sliding rail of setting of the first mould group 61, design is so that upper rising mould group 6 passes through the first mould group 61 in this way
Oscilaltion campaign is done along the first sliding rail, to complete the height adjustment of first time vertical direction；In first mould group 61 vertically
Equipped with the second sliding rail, the second mould group is movable to be set on the second sliding rail, and design is so that upper rising mould group 6 passes through the second mould in this way
Group 62 does oscilaltion campaign along the second sliding rail, to complete the height adjustment of second of vertical direction；Second mould group 62 is vertical
Ground is equipped with third sliding rail, and paving mechanism 7 is movably set on third sliding rail, realizes the three-level lifting of paving mechanism 7, thus
Complete the height adjustment of third time vertical direction；Using the above scheme, it can be realized the wall paper spreading mistake of wall paper spreading robot
Height adjustment three times in journey, can be applicable in the wall paper spreading of different height.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, paving mechanism 7 in the present embodiment include paving rack,
Wallpaper roller 74 and laser vision sensor 76；Paving rack is fixedly installed in rising mould group 6；Wallpaper roller 74 can
It is rotatably dispose on the paving face of paving rack, for carrying out paving to wallpaper；Laser vision sensor 76 is set to paving machine
On the paving face of frame, for measuring a upper paving wallpaper at a distance from wallpaper roller 74, to further control paving machine
Structure 7 carries out paving, realizes the seamless interfacing of adjacent wall paper spreading.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, the paving mechanism 7 in the present embodiment further includes glue spreader
Structure 71, transport mechanism 72, cutting mechanism 73 and scraping device 75；Wherein, paving face is located at the front end of paving rack, that is, faces
Wall side；Rubber-coated mechanism 71 is set to the rear end of paving rack, for carrying out gluing to wallpaper；Transport mechanism 72 is set to painting
Between gluing mechanism 71 and wallpaper roller 74, for transmitting wallpaper；Cutting mechanism 73 is set to transport mechanism 72 and wallpaper roller
Between son 74, for being cut to wallpaper；Scraping device 75 is set to 74 lower end of wallpaper roller, for the wall after paving
Paper is struck off, to complete wall paper spreading process.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, wall paper spreading robot provided in this embodiment further includes
Electric cabinet 3, electric cabinet 3 is for storing control device；Electric cabinet 3 is fixedly installed on automatic guide vehicle 1；It is equipped in electric cabinet 3
Visual sensing module；Laser vision sensor 76 and visual sensing module communicate to connect；Laser vision sensor 76 is for acquiring
The straight line image of a upper paving wallpaper edge, and it is transmitted to visual sensing module；Laser-vision sensing acquires a upper wallpaper
Edge line image, and image is transmitted to the visual sensing module being set in electric cabinet 3, calculate a upper wallpaper edge with
The distance at 74 edge of wallpaper roller, when this distance value is larger, the first actuator drives main body frame 5 along 47 level side of sliding rail
To movement, until wallpaper is closely coupled；It, can using the processing unit that vision system carries out Image Acquisition analysis in application scheme
Preferably include: median filter unit generates binary image data, edge extracting unit, binaryzation based on image data
Elementary area generates stitching position data, and extracts center using edge extracting method, and it is special to extract paving in computer picture plane
Levy point image coordinate, determine the distance that main body frame 5 is moved horizontally along sliding rail 47, thus specifically confirmation paving mechanism 7 with it is upper
The distance of one wallpaper, to realize seamless applying.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, the automatic guide vehicle 1 in the present embodiment is equipped with navigation
Device, navigation device can plan the motion profile of automatic guide vehicle, and be accurately located to wallpaper edge；Specifically, navigation device
It is communicated to connect with visual sensing module；Navigation device is used to control the motion profile of automatic guide vehicle 1 according to visual sensing module,
To position the distance of 1 supreme paving wallpaper edge of automatic guide vehicle；Specifically, which can directly adopt existing
Navigation positioning system realize, herein no longer illustrate.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, wall paper spreading robot provided by the invention further includes object
Hopper 2, body feed tank 2 are set on electric cabinet 3, for providing wallpaper to paving mechanism 7；Body feed tank 2 is used to true up standby paving
Wallpaper, upper rising mould group 6 are set to the side of main body frame 5；Electric cabinet 3 is located at the other side of main body frame 5.
Automatic guide vehicle in above-described embodiment 1-3 is AGV trolley.
Embodiment 2
Correspondingly, in conjunction with above scheme, as shown in Figure 1 to Figure 3, the present embodiment provides a kind of adjustment of wall paper spreading robot
Method, including following procedure:
Distance detection device in wall paper spreading robot acquires a paving wallpaper at a distance from wallpaper roller；
When distance is greater than preset value；Wall paper spreading robot is by the adjusting main body frame 5 of piece alignment means 4 and automatically
Horizontal position between guide car 1, until the wallpaper on wallpaper roller 74 is close to metope, and it is close with a upper paving wallpaper
It is connected, starts to carry out wall paper spreading in control wall paper spreading robot.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, distance detection device provided in this embodiment is laser video
Feel that sensor 76, laser vision sensor 76 are transmitted to vision by acquiring the straight line image of a upper paving wallpaper edge
Sensing module；Visual sensing module determines the distance that main body frame 5 is moved horizontally along piece alignment means 4 based on straight line image；
In application scheme, the processing unit that Image Acquisition analysis is carried out using vision system preferably includes: median filter unit,
Binary image data, edge extracting unit are generated based on image data, binaryzation elementary area generates stitching position data,
And center is extracted using edge extracting method, the image coordinate of paving characteristic point in computer picture plane is extracted, determines body frame
The distance that frame is moved horizontally along sliding rail, so that specifically confirmation paving mechanism is at a distance from a upper wallpaper, to realize seamless paste
It closes.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, in the present embodiment, paper paving robot is equipped with navigation
Device；Distance detection device is laser vision sensor, and laser vision sensor is by acquiring a upper paving wallpaper edge
Straight line image, and it is transmitted to visual sensing module；Navigation device is used to control the fortune of automatic guide vehicle according to visual sensing module
Dynamic rail mark, to position the distance of the supreme paving wallpaper edge of automatic guide vehicle；Specifically, which can directly adopt
It is realized with existing navigation positioning system, is no longer illustrated herein.
Embodiment 3
Correspondingly, in conjunction with above scheme, as shown in Figure 1 to Figure 3, the present embodiment also provides a kind of wall paper spreading method, can
Applied to wall paper spreading robot described above, following procedure is specifically included:
S1: before starting wall paper spreading robot, wallpaper is bypassed into rubber-coated mechanism 71 and transport mechanism 72, in cutting mechanism
73 and wallpaper roller 74 at fix；Glue is filled makes wallpaper pass through the glue spreader inside rubber-coated mechanism to rubber-coated mechanism 71
Son completes gluing, and by adjusting the thickness of applicator roller and fixed device spacing control glue, guarantees that gluing is uniform；
S2: starting wall paper spreading robot makes 71 inside roller of rubber-coated mechanism, transport mechanism 72,74 turns of wallpaper roller
It is dynamic, carry out wallpaper transmission；
S3: transmission wallpaper is each passed through wallpaper roller 74, cutting mechanism 73 and pressing device, is close to metope；Pass through
Make that rising mould group 6 is moved up and down with respect to main body frame 5 and make the relatively upper rising mould group of wallpaper paving mechanism moves up and down control
Wallpaper roller 74 carries out paving to wallpaper from bottom to up；Specifically, paving mechanism 7 is provided with the second sliding rail along the vertical direction,
And can also pump in upper rising mould group 6, wallpaper roller 74 carries out paving to wallpaper from bottom to up, is moved to wall
When at top, cutting mechanism 73 cuts wallpaper, then wallpaper is densified to wall top portion by scraping device 75；
S4: after the completion of first wall paper spreading, wallpaper roller 74 is kept in the center；Automatic guide vehicle is moved to wallpaper side
At edge, piece alignment means 4 adjust the horizontal position between main body frame 5 and automatic guide vehicle, so as to adjust main body frame 5 with
Spacing between wall guarantees seamless interfacing between next wallpaper and a upper wallpaper to carry out next wall paper spreading；
S5: control automatic guide vehicle, main body frame, upper rising mould group, wallpaper roller and cutting mechanism to suitable position
It sets, continues Article 2 wall paper spreading, until wall paper spreading is completed；It should be noted that the suitable position can be operator
The position voluntarily selected according to the position of wall paper spreading height.
Preferably, in conjunction with above scheme, in the present embodiment, in S4 step, automatic guide vehicle is moved at wallpaper edge, is swashed
Light vision sensor 76 acquires a wallpaper edge image, determines automatic guide vehicle bobbin movement trajectory planning, precise positioning
Wallpaper edge, then the movement that body frame 5 carries out relative to automatic guide vehicle being parallel to metope is manipulated by piece alignment means 4,
Stitching position is adjusted, Article 2 wall paper spreading is continued, until wall paper spreading is completed.
A kind of wall paper spreading robot provided by the invention and its method of adjustment, wall paper spreading method, structure is simple, uses
It is convenient, it can be realized that autosizing is integrated with wall paper spreading, and can satisfy the joint treatment of subsequent wall paper spreading, so that wall
Paper achievees the effect that seamless spliced；Scheme provided by the invention can effectively improve existing wall paper spreading robot wall paper spreading
Quality, reduce labor intensity of workers.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.The scope of the present invention
By appended claims and its equivalent limit.
Claims (16)
1. a kind of wall paper spreading robot, which is characterized in that including automatic guide vehicle (1), main body frame (5), upper rising mould group
(6), paving mechanism (7) and piece alignment means (4)；Wherein
The piece alignment means (4) are fixed on the automatic guide vehicle (1)；
The main body frame (5) is movably set on the piece alignment means (4)；
The upper rising mould group (6) is movably set on the main body frame (5)；
The paving mechanism (7) is movably set on the upper rising mould group (6)；
The piece alignment means (4) make the main body frame (5) is mobile on the automatic guide vehicle (1) to realize piece alignment
Adjustment.
2. wall paper spreading robot according to claim 1, which is characterized in that the piece alignment means (4) include driving
Dynamic component and mounting plate (41)；The mounting plate (41) is fixedly installed on the automatic guide vehicle (1), and the driving component is set
It is placed on the mounting plate (41), the driving component includes driving component and driven subassembly, described in the driving component driving
Main body frame (5) does alignment movement in the horizontal direction, and the driven subassembly cooperates with the driving component to support the main body frame
(5) it and move back and forth main body frame (5) can on mounting plate (41).
3. wall paper spreading robot according to claim 2, which is characterized in that the driving component include driving motor and
Transmission component, wherein the driving motor (42) is set on the mounting plate (41), the transmission component include lead screw (43),
Link block (45), support device, the lead screw (43) are rotatably supported in support device, and one end and driving motor driving connect
It connects, the other end is connect with a link block, and the link block is sleeved on the lead screw and is threadedly engaged with it by lead screw (43)
Rotary motion switchs to the horizontal reciprocating movement of link block；The link block top is connect with the main body frame (5), works as link block
The main body frame (5) horizontal reciprocating movement is driven when horizontal reciprocating movement.
4. wall paper spreading robot according to claim 3, which is characterized in that shape between the link block and the lead screw
At trapezoidal thread pair, the rotary motion of the lead screw (43) is switched to the horizontal reciprocating movement of link block.
5. wall paper spreading robot according to claim 4, which is characterized in that the support device include bearing (44) and
Support plate, bearing are arranged on the supporting plate, and support plate (48) is set on the mounting plate (41)；The lead screw (43) is along level
The output shaft that direction passes through the bearing (44) and the motor (42) is drivingly connected.
6. according to the described in any item wall paper spreading robots of claim 2-5, which is characterized in that the driven subassembly is provided with
Two sets, set up separately positioned at the two sides of driving component；Each driven subassembly includes sliding part and sliding rail, and the sliding rail is laid in institute
It states on bottom plate, the cooperation of the sliding part bottom slidable is on the sliding rail, top and the main body frame (5) fixed company
It connects；Extending direction of the sliding rail on bottom plate drives the direction of motion of the main body frame parallel with the driving component；Institute
Stating sliding part is a sliding block or pulley.
7. wall paper spreading robot according to claim 1, which is characterized in that the upper rising mould group (6) includes the first mould
Group (61) and the second mould group (62)；The first mould group is movably set on the main body frame (5), the second mould group
(62) be movably set on the first mould group (61), the paving mechanism (7) it is movable be set to second mould
In group (62).
8. wall paper spreading robot according to claim 7, which is characterized in that vertical on the main body frame (5) to set
There is the first sliding rail, the is vertically equipped on the movable setting of the first mould group first sliding rail, in the first mould group
Two sliding rails, the second mould group is movable to be set on second sliding rail, and it is sliding that the second mould group is vertically equipped with third
Rail, the paving mechanism (7) are movably set on the third sliding rail, realize the three-level lifting of the paving mechanism (7).
9. wall paper spreading robot according to claim 1-8, which is characterized in that paving mechanism (7) packet
Include paving rack, wallpaper roller (74) and laser vision sensor (76)；The paving rack is fixedly installed on described
In rising mould group (6)；The wallpaper roller (74) is rotatably set on the paving face of the paving rack, for wallpaper into
Row paving；The laser vision sensor (76) is set on the paving face of the paving rack, for measuring a upper paving
Wallpaper is at a distance from the wallpaper roller (74).
10. wall paper spreading robot according to claim 9, which is characterized in that the paving mechanism (7) further includes gluing
Mechanism (71), transport mechanism (72), cutting mechanism (73) and scraping device (75)；The paving face is located at the paving rack
Front end；The rubber-coated mechanism (71) is set to the rear end of the paving rack, for carrying out gluing to wallpaper；The conveyer
Structure (72) is set between the rubber-coated mechanism (71) and the wallpaper roller (74), for transmitting wallpaper；The cutter
Structure (73) is set between the transport mechanism (72) and the wallpaper roller (74), for cutting to wallpaper；It is described
Scraping device (75) is set to wallpaper roller (74) lower end, for striking off to the wallpaper after paving.
11. wall paper spreading robot according to claim 10, which is characterized in that the paving mechanism further includes body feed tank
(2), the body feed tank (2) is set on the electric cabinet (3), for providing wallpaper to the paving mechanism (7)；The rising
Mould group (6) is set to the side of the main body frame (5)；The electric cabinet (3) is located at the other side of the main body frame (5).
12. wall paper spreading robot according to claim 11, which is characterized in that the paving mechanism further includes electric cabinet
(3)；The electric cabinet (3) is fixedly installed on the automatic guide vehicle (1)；Visual sensing mould is equipped in the electric cabinet (3)
Block；The laser vision sensor (76) and the visual sensing module communicate to connect；The laser vision sensor (76) is used
In the straight line image of the upper paving wallpaper edge of acquisition, and it is transmitted to the visual sensing module.
13. according to right want 12 described in wall paper spreading robot, which is characterized in that the automatic guide vehicle (1) be equipped with lead
Navigate device, and the navigation device and the visual sensing module communicate to connect；The navigation device is used to be passed according to the vision
The motion profile that module controls the automatic guide vehicle (1) is felt, to position the supreme paving wall of the automatic guide vehicle (1)
The distance of paper edge.
14. wanting the described in any item wall paper spreading robots of 1-13 according to right, which is characterized in that still optionally further, described
Main body frame is set to horizontally moveablely in the piece alignment means and/or the upper rising mould group can be arranged up or down
In on the main body frame；And/or the paving mechanism can be set to up or down in the upper rising mould group.
15. a kind of wall paper spreading method for any one of the claim 1-14 wall paper spreading robot, which is characterized in that
Including following procedure:
S1: before starting wall paper spreading robot, wallpaper is bypassed into rubber-coated mechanism (71) and transport mechanism (72), in cutting mechanism
(73) and at wallpaper roller (74) it fixes；Glue is filled to rubber-coated mechanism (71), passes through wallpaper in rubber-coated mechanism (71)
The applicator roller in portion completes gluing；
S2: starting wall paper spreading robot makes rubber-coated mechanism (71) internal roller, transport mechanism (72), wallpaper roller (74)
Rotation carries out wallpaper transmission；
S3: transmission wallpaper is each passed through wallpaper roller (74), cutting mechanism (73) and pressing device, is close to metope；Pass through
Make rising mould group (6) with respect to main body frame move up and down and make the relatively upper rising mould group of wallpaper paving mechanism moves up and down control
Wallpaper roller (74) processed carries out paving to wallpaper from bottom to up, and when being moved at wall top, cutting mechanism (73) carries out wallpaper
Cutting, then wallpaper is densified to wall top portion by scraping device (75)；
S4: after the completion of first wall paper spreading, wallpaper roller (74) is kept in the center；Automatic guide vehicle is moved to wallpaper edge
Place, piece alignment means (4) adjust the horizontal position between main body frame (5) and automatic guide vehicle, so as to adjust main body frame
(5) spacing between wall；
S5: control automatic guide vehicle, main body frame, upper rising mould group, wallpaper roller and cutting mechanism to suitable position, after
Continuous Article 2 wall paper spreading, until wall paper spreading is completed.
16. wall paper spreading method according to claim 15, which is characterized in that the S4 step into the S5 step,
When automatic guide vehicle is moved at wallpaper edge, laser vision sensor (76) acquires a upper wallpaper edge image, and determines
Automatic guide vehicle motion profile and positioning wallpaper edge, then it is relatively automatic by piece alignment means (4) control body frame (5)
Guide car carries out the movement for being parallel to metope, is adjusted to stitching position, continues Article 2 wall paper spreading, until wall paper spreading
It completes.
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| CN201910704557.6A CN110406308A (en) | 2019-07-31 | 2019-07-31 | A kind of wall paper spreading robot and its method of adjustment, wall paper spreading method |
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| CN201910704557.6A CN110406308A (en) | 2019-07-31 | 2019-07-31 | A kind of wall paper spreading robot and its method of adjustment, wall paper spreading method |
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| CN111942073A (en) * | 2020-08-09 | 2020-11-17 | 杭州旭京装饰工程有限公司 | Automatic wall paper of rubberizing is spread and is pasted equipment |
| CN112172399A (en) * | 2020-10-31 | 2021-01-05 | 中山市道格装饰设计工程有限公司 | Automatic spring festival couplets pasting machine |
| CN113696667A (en) * | 2020-05-22 | 2021-11-26 | 广东博智林机器人有限公司 | Wallpaper paving and pasting device and wallpaper paving and pasting robot |
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