CN110439238A - Material laying machine people with leveling structure - Google Patents
Material laying machine people with leveling structure Download PDFInfo
- Publication number
- CN110439238A CN110439238A CN201910766166.7A CN201910766166A CN110439238A CN 110439238 A CN110439238 A CN 110439238A CN 201910766166 A CN201910766166 A CN 201910766166A CN 110439238 A CN110439238 A CN 110439238A
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- China
- Prior art keywords
- height
- material laying
- leveling
- machine people
- laying machine
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Classifications
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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
-
- 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
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
- G01C15/004—Reference lines, planes or sectors
Abstract
The present invention provides a kind of material laying machine people with leveling structure, comprising: walking structure includes AGV trolley and support frame；Storing structure setting is on the support frame；Material conveying structure is arranged at material outlet；The material of material conveying structure can enter material laying structure；Leveling structure is arranged on walking structure, and leveling structure is connected with material laying structure, and laser leveler is used to determine datum plane by the optical signal issued；Position detecting device is set on material laying structure, for receiving the optical signal of laser leveler sending, and corresponding first height of material laying structure and corresponding second height of standard slurry surface is compared according to optical signal, is obtained comparison result；Controller, which is used to control leveling structure according to comparison result, carries out real-time leveling to material laying structure.The problem of technical solution of the present invention efficiently solves material laying machine people in the prior art when being laid with material, and material laying is unable to real-time leveling.
Description
Technical field
The present invention relates to the technical fields of material laying machine people, in particular to a kind of object with leveling structure
Expect laying machine people.
Background technique
Traditional construction industry is laid with material and tiling by manually going, substantially hand-manipulated.With living standard
Raising, construction personnel is increasingly in short supply.Work by being manually laid with material and iron ceramic tile brings that at high cost, laying quality is poor
Not larger problem.
In such cases, it is laid with material robot to produce, but the robot in the prior art for being laid with material exists
The material that it is laid with when encountering ground injustice is also uneven.Such as it is laid with the left side height of material robot, when right side is low, it is laid with
Material or the left side height with ground as, right side is low.This brings very big influence to the laying quality of subsequent ceramic tile, leads
Ceramic tile is caused to be laid with uneven.
Summary of the invention
The main purpose of the present invention is to provide a kind of material laying machine people with leveling structure, to solve existing skill
For material laying machine people in art when being laid with material, material is laid with the problem of being unable to real-time leveling.
To achieve the goals above, the present invention provides a kind of material laying machine people with leveling structure, comprising: row
Walk structure, walking structure includes AGV trolley and the support frame that is arranged on AGV trolley；Storing structure, storing structure setting are being propped up
On support, storing structure includes material outlet；Material conveying structure, material conveying structure are arranged at material outlet, so that storage
Material in material structure enters material conveying structure；Material laying structure, the material of material conveying structure can enter material and be laid with
Structure；Leveling structure, leveling structure are arranged on walking structure, and leveling structure is connected with material laying structure to be laid with to material
Structure is leveled, laser leveler, and setting determines datum plane in designated position, for the optical signal by issuing, wherein
Datum plane is parallel with preset standard slurry surface；Position detecting device is set on material laying structure, for receiving laser
The optical signal that level meter issues, and it is according to optical signal that corresponding first height of material laying structure and standard slurry surface is corresponding
Second height is compared, and obtains comparison result；Controller is laid with knot to material for controlling leveling structure according to comparison result
Structure carries out real-time leveling.
Further, leveling structure includes driving portion and interconnecting piece, and driving portion is arranged on walking structure, and the of interconnecting piece
One end is connected with driving portion, and the second end of interconnecting piece is connected with material laying structure.
Further, driving portion includes the first driving portion and the second driving portion, and interconnecting piece includes first connecting portion and second
The left side of walking structure is arranged in interconnecting piece, the first driving portion, and the first end of first connecting portion is connected with the first driving portion, and first
The second end of interconnecting piece is connected with the left side of material laying structure, and the right side of walking structure is arranged in the second driving portion, and second connects
The first end of socket part is connected with the second driving portion, and the second end of second connecting portion is connected with the right side of material laying structure.
Further, the first driving portion includes first motor and the first lead screw, and first motor is connected with the first lead screw, and first
The axis of the axis of motor and the first lead screw is vertically arranged, and the first end of first connecting portion is adapted with the first lead screw.
Further, first connecting portion includes the first sliding block and the first connection structure, and the first sliding block is pivotably coupled to
The first end of first connection structure, second end and the material laying structure of the first connection structure are pivotably connected.
Further, the first connection structure is tripod, and the first sliding block is connected to the apex angle of tripod, two of tripod
Base angle is connected to front side and the rear side of material laying structure.
Further, the second driving portion includes the second motor and the second lead screw, and the second motor is connected with the second lead screw, and second
The axis of the axis of motor and the second lead screw is vertically arranged.
Further, second connecting portion includes the second sliding block and the second connection structure, and the second sliding block is pivotably coupled to
The first end of second connection structure, second end and the material laying structure of the second connection structure are pivotably connected.
Further, the second connection structure is tripod, and the second sliding block is connected to the apex angle of tripod, two of tripod
Base angle is connected to front side and the rear side of material laying structure.
Further, material conveying structure includes auger, and when auger rotates clockwise, auger conveys material, auger inverse time
When needle rotates, auger is stirred material.
Further, position detecting device is also used to before carrying out material laying, carries out initialization of calibration according to optical signal,
Wherein, it is arranged in the case where the second height by material laying structure, the optical signal that position detecting device will be currently received
Corresponding testing result is set as zero point.
Further, after position detecting device initialization of calibration, controller is also used to be greater than second when the first height
When height, the height of leveling structure is reduced, when the first height is less than the second height, increases the height of leveling structure.
Further, leveling structure includes: first straight line guide rail and second straight line guide rail, and material laying structure includes discharging
Bucket, wherein first straight line guide rail is connect with the hinge of the first side of discharge bucket, for driving the first side of discharge bucket in assigned direction
Mobile, second straight line guide rail is connect with the hinge of discharge bucket second side, for driving second side of discharge bucket to move in assigned direction
It is dynamic.
Further, position detecting device includes two groups of position sensitive detectors, and every group of position sensitive detectors at least wrap
A position sensitive detectors are included, first group of position sensitive detectors is for determining corresponding first height in the first side of discharge bucket
The first difference in height between the second height, second group of position sensitive detectors are for determining second side of discharge bucket corresponding the
The second difference in height between one height and the second height.
Further, controller is used to control first straight line guide rail according to the first difference in height mobile, and according to the second height
Difference control second straight line guide rail is mobile.
Further, every group of position sensitive detectors include multiple position sensitive detectors, according to first group of position sensing
The mean value of multiple position sensitive detectors in detector determines the first difference in height, and according to second group of position sensitive detectors
In the mean values of multiple position sensitive detectors determine the second difference in height.
It applies the technical scheme of the present invention, for material laying machine people when being laid with material, AGV trolley drives material paving
If structure be moved to paving location be laid with material, position detecting device receive laser leveler sending optical signal, and according to
Optical signal carries out corresponding first height of material laying structure and the corresponding second height comparison result of standard slurry surface real-time
Leveling.Technical solution of the present invention efficiently solves material laying machine people in the prior art when being laid with material,
The problem of material laying is unable to real-time leveling.
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 schematic front view of the embodiment of material laying machine people according to the present invention；
Fig. 2 shows the schematic side views of the material laying machine people of Fig. 1；
Fig. 3 shows the schematic top plan view of the material laying machine people of Fig. 1；And
Fig. 4 shows the structural schematic diagram of the levelling mechanism of the material laying machine people of Fig. 1.
Wherein, the above drawings include the following reference numerals:
10, walking structure；20, storing structure；30, material conveying structure；40, material laying structure；50, leveling structure；
51, driving portion；52, interconnecting piece.
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 Figures 1 to 4, the material laying machine people with leveling structure of the present embodiment include: walking structure 10,
Storing structure 20, material conveying structure 30, material laying structure 40 and leveling structure 50.Walking structure 10 include AGV trolley and
Support frame on AGV trolley is set.Storing structure 20 is arranged on the support frame, and storing structure 20 includes material outlet.Material
Structure for conveying 30 is arranged at material outlet, so that the material in storing structure 20 enters material conveying structure 30.Material conveying
The material of structure 30 can enter material laying structure 40.Leveling structure 50 is arranged on walking structure 10, leveling structure 50 and object
Expect that laying structure 40 is connected to level to material laying structure 40.
Using the technical solution of the present embodiment, for material laying machine people when being laid with material, AGV trolley drives material
Laying structure 40 is moved to paving location and is laid with material, and position detecting device receives the optical signal of laser leveler sending, and
Corresponding first height of material laying structure and the corresponding second height comparison result of standard slurry surface are carried out according to optical signal
Real-time leveling.The technical solution of the present embodiment efficiently solves material laying machine people in the prior art and is being laid with material
When, material is laid with the problem of being unable to real-time leveling.It should be noted that above-mentioned material can for mortar, binder or
The materials such as the mixture of mortar and binder.Scraping flat structure includes hanging plate, and hanging plate includes that connecting plate section and setting are connecting
The laciniation of two sides, connecting plate section are connected with material laying structure 40 above and below plate section, and laciniation is for striking off object
Expect the material that laying structure 40 is laid with, can according to need to select to hang the laciniation of the upside of plate or hang plate
The laciniation of downside.
As shown in Figures 1 to 4, in the technical scheme of this embodiment, leveling structure 50 includes driving portion 51 and interconnecting piece
52, driving portion 51 is arranged on walking structure 10, and the first end of interconnecting piece 52 is connected with driving portion 51, and the second of interconnecting piece 52
End is connected with material laying structure 40.Above structure processing cost is lower, easy to operate.
As shown in Figures 1 to 4, in the technical scheme of this embodiment, driving portion 51 includes that the first driving portion and second drive
Dynamic portion, interconnecting piece 52 include first connecting portion and second connecting portion, and the first driving portion is arranged in the left side of walking structure 10, and first
The first end of interconnecting piece is connected with the first driving portion, and the second end of first connecting portion is connected with the left side of material laying structure 40,
The right side of walking structure 10 is arranged in second driving portion, and the first end of second connecting portion is connected with the second driving portion, the second connection
The second end in portion is connected with the right side of material laying structure 40.Material laying structure 40 passes through the first driving portion and the second driving portion
Driving, first connecting portion and second connecting portion drive the leveling of material laying structure 40 to be easier.For example, working as material laying machine people
Left side ground it is higher, when the ground on right side is lower, material needs pave, in this way can pass through the first driving portion driving first
Interconnecting piece, first connecting portion drive the left side reduction of material laying structure 40 or the second driving portion to drive second connecting portion, the
Two interconnecting pieces drive the right side of material laying structure 40 to increase, and also or the first driving portion and the second driving portion drive simultaneously.
As shown in Figures 1 to 4, in the technical scheme of this embodiment, the first driving portion includes first motor and first
Thick stick, first motor are connected with the first lead screw, and the axis of the axis of first motor and the first lead screw is vertically arranged, first connecting portion
First end be adapted with the first lead screw (first straight line guide rail).Above structure processing cost is lower, easy to operate.First lead screw
Vertically arranged make the mobile efficiency of material laying structure 40 vertically higher.
As shown in Figures 1 to 4, in the technical scheme of this embodiment, first connecting portion includes that the first sliding block and first connect
Binding structure, the first sliding block are pivotably coupled to the first end of the first connection structure, the second end and material of the first connection structure
Laying structure 40 is pivotably connected.Above structure processing cost is lower.Specifically, the first sliding block has and mutually fits with the first lead screw
The internal screw thread matched is changed into moving up and down for the first sliding block by the first lead screw.
As shown in Figure 2 and Figure 4, in the technical scheme of this embodiment, the first connection structure is tripod, and the first sliding block connects
The apex angle in tripod is connect, two base angles of tripod are connected to front side and the rear side of material laying structure 40.Above-mentioned knot
Structure makes material laying structure 40 when being laid with material, and the movement of material laying structure 40 is more steady.Specifically, triangle
The axis on the bottom edge of frame is rotary shaft.
As shown in Figures 1 to 4, in the technical scheme of this embodiment, the second driving portion includes the second motor and second
Thick stick, the second motor are connected with the second lead screw (second straight line guide rail), and the axis of the axis of the second motor and the second lead screw is vertical
Setting.Above structure processing cost is lower, easy to operate.Second lead screw it is vertically arranged so that material laying structure 40 is vertical
On mobile efficiency it is higher.
As shown in Figures 1 to 4, in the technical scheme of this embodiment, second connecting portion includes that the second sliding block and second connect
Binding structure, the second sliding block are pivotably coupled to the first end of the second connection structure, the second end and material of the second connection structure
Laying structure 40 is pivotably connected.Above structure processing cost is lower.Specifically, the second sliding block has and mutually fits with the second lead screw
The internal screw thread matched is changed into moving up and down for the second sliding block by the second lead screw.
As shown in Figure 2 and Figure 4, in the technical scheme of this embodiment, the second connection structure is tripod, and the second sliding block connects
The apex angle in tripod is connect, two base angles of tripod are connected to front side and the rear side of material laying structure 40.Above-mentioned knot
Structure makes material laying structure 40 when being laid with material, and the movement of material laying structure 40 is more steady.Specifically, triangle
The axis on the bottom edge of frame is rotary shaft.
As shown in Figure 1 to Figure 3, in the technical scheme of this embodiment, material conveying structure 30 includes auger, auger up time
When needle rotates, auger conveys material, and when auger rotates counterclockwise, auger is stirred material.The setting of auger is so that material
Influence of the gravity to Flow of Goods and Materials of material can be reduced when conveying.Specifically, the outlet of auger is connected with Y type three
Logical, two outlets of Y type threeway disperse to material and enter material laying structure 40.Material laying structure 40 includes paving
If slot and material spread structure, heap after there is laying groove opening, the bottom of laying groove there is leak, material to enter in laying groove
Product, material spread structure and spread to material.It includes two electric putters and two groups of push plates, two electric putters that material, which spreads structure,
It is separately mounted to the left and right sides of laying groove, two groups of push plates respectively correspond two electric putters, and two groups of push plates act on material application
Power, the axis of the push rod of two electric putters are horizontal direction.
Leveling structure 50, mobile in assigned direction for controlling material conveying structure 30, wherein material conveying structure 30 is main
It to include discharge bucket；
Laser leveler, setting determine datum plane in designated position, for the optical signal by issuing, wherein benchmark
Plane is parallel with preset standard slurry surface；
Position detecting device is set to discharge bucket front end, for receiving the optical signal of laser leveler sending, and according to light
Corresponding first height of discharge bucket and corresponding second height of standard slurry surface are compared signal, obtain comparison result；
Controller (not shown), for controlling the movement of leveling structure 50 according to difference in height.
Specifically, above-mentioned material laying machine people in addition to above-mentioned apparatus, further include for equipment such as mobile idler wheels, and can
To run according to preset path, discharge bucket is used to discharge during material laying machine people operation, i.e. mortar or bonding
The mixture of agent or mortar and binder.The width of the discharge bucket is discharging width, with the fortune of material laying machine people
Row is laid with the material of preset thickness in work surface.
Above-mentioned assigned direction can be vertical direction, leveling structure 50 according to the control upstream or downstream of controller, thus
Discharge bucket upstream or downstream are controlled, and then control the smooth of discharging.
Above-mentioned laser leveler can be set on the floor tile laid at one piece, also can be set fixed in others
Position.The optical signal that laser leveler issues provides a datum plane parallel with standard slurry surface for the laying of mortar,
Standard slurry surface refers to that Current terrestrial needs ideal plane to be achieved after being laid with mortar, can be according to the operation of designated position
Plane and preset paving slurry thickness determine.For example, for common interior, it is desirable to abswolute level can be reached after ground tile paving,
The corresponding datum plane of optical signal that then laser leveler issues is the plane of an abswolute level, and if it is desired to ground tile paving
Ground afterwards has 15 degree of the gradient, then the corresponding datum plane of optical signal that laser leveler issues can be one with it is absolute
Horizontal plane is in the plane of 15 degree of angles.By the datum plane of the laser leveler offer mode parallel with standard slurry surface, make
Material laying machine people can be laid with the smooth material for meeting actual demand in various laying scenes.
PSD optics electrical part is a kind of luminous energy/position transducer part, since position quantity is analog output, system response
Fastly, high resolution and at low cost, therefore there is widely applied value.The working principle of PSD is based on lateral photo effect, this knot
The characteristics of structure is that I layers of depletion region are wide, and junction capacity is small, and photo-generated carrier virtually all generates in I layers of depletion region, is not spread
The photoelectric current of component, therefore response speed is much faster than common PN junction photodiode.Device photosurface is impinged upon when injecting point
When upper, excited photo-generated carrier and generated electric current, PSD device bipolar current is converted into carrying out to determine photograph after voltage signal
Penetrate the position on the photosurface of PSD.
Above-mentioned position detecting device can be one or more PSD (position sensitive detector) sensing
The front end of discharge bucket is arranged in device, PSD sensor, for detecting the height of the height of discharge bucket and the height of standard slurry surface
Difference, and the difference in height is transmitted to controller, controller can control the movement of leveling structure 50 according to the difference in height.Above-mentioned ratio
Result can be determined by the testing result of position detecting device, in actual conditions, the output of PSD sensor can be with away from
Voltage signal corresponding from information, can also directly be range information, which refers to the first height and the second height
Range information in the vertical direction.
More specifically, above-mentioned position detecting device may include multiple PSD sensors, and before being separately positioned on discharge bucket
The different location in same horizontal line is held, to detect the height and standard slurry surface of the different location of discharge bucket front end respectively
Difference in height.
In an alternative embodiment, laser leveler is arranged on the benchmark brick that one piece has laid, material paving
If robot moves along the direction of the arrow in paving slurry work surface, discharge bucket discharges during robot is mobile.Discharge bucket
Front end setting there are four PSD sensor, respectively sensor, sensor, sensor and sensor, four PSD sensors
Spaced set.Leveling structure 50 includes two lead screws (linear guide), the hinge that two lead screws pass through crawl discharge bucket two sides
Discharge bucket is driven to move in the vertical direction.
Ideally, the height of discharge bucket should be maintained at approximately the same plane, standard paving with standard slurry surface always
Pulp noodle and datum plane have in a fixed difference, and the difference of the fixation can be the optical signal phase of laser leveler sending
The sum of height and floor tile thickness for benchmark brick.Therefore position detecting device can subtract above-mentioned on the basis of datum plane
Fixation difference obtain standard slurry surface after, then the first height corresponding with discharge bucket compares, and obtains the first height and second
Difference in height between height.If the second height can control linear guide and move down lower than the first height, if the second height
Higher than the first height, then it can control linear guide and move up.
It, can be according to the testing result control of sensor and sensor due to including two straight lines in the example to guide rail
The movement of linear guide processed, and according to the movement of the testing result of sensor and sensor control control linear guide.
It should be noted that above-mentioned position detecting device can also be the other sensors in addition to PSD, and the number being arranged
Amount can also be other numerical value, and the application is without limiting.
For example, two PSD sensors can also only be arranged, and respectively according to two in another optional embodiment
It is mobile that the testing result of PSD sensor controls two linear guides.
When spent material laying machine people carries out material laying, if discharge bucket is maintained at fixed height, due to
The out-of-flatness of operation plane leads to the material out-of-flatness being laid with, the material laying machine people packet that the above embodiments of the present application provide
It includes hopper, for controlling the discharge bucket linear guide mobile in assigned direction, determines benchmark for the optical signal by issuing
The laser leveler of plane for receiving the optical signal of laser leveler sending, and determines that discharge bucket is corresponding according to optical signal
The position detecting device of difference in height between first height and corresponding second height of datum plane, and for being tied according to comparison
The mobile controller of fruit control linear guide.Above scheme passes through position detection during material laying machine people is mobile
Device detects the datum plane that laser leveler provides, and adjusts the movement of linear guide according to testing result, to drive out
The movement of hopper, and then the material plane for making discharge bucket discharge keeps smooth, solves in the prior art before being laid with floor tile
By being manually laid with mortar or binder, leads to the laying low efficiency of mortar or binder and the flatness of paving slurry is insufficient asks
Topic.
As a kind of optional embodiment, position detecting device is also used to before carrying out material laying, according to optical signal into
Row initialization of calibration, wherein be arranged in the case where the second height by discharge bucket, position detecting device will be currently received
The corresponding testing result of optical signal is set as zero point.
In an alternative embodiment, before carrying out material laying, linear guide can be manually controlled, discharge bucket is set
It sets in accurate height, and adjusts position detecting device and set zero point for the corresponding scale value of the optical signal being currently received,
So as to complete the initialization of calibration of position detecting device.By carrying out initialization of calibration to position detecting device, position is examined
The difference in height for surveying discharge bucket corresponding first height and datum plane of device detection detection, is converted to discharge bucket corresponding first
Difference in height between height the second height corresponding with standard slurry surface.
Above-mentioned initialization of calibration step is used to eliminate the height that laser leveler is introduced in setting, in position detecting device
After completing initialization of calibration, controller obtains after standard slurry surface again without subtracting fixed difference on the basis of datum plane
The first height corresponding with discharge bucket compares, and only needs the numerical value of reading position detection device.Position detecting device is defeated
The positive and negative comparison result that can indicate the first height and the second height of testing result out, if the first height is greater than second
Highly, then testing result is less than zero, if the first height, less than the second height, testing result is greater than zero.
As a kind of optional embodiment, after position detecting device initialization of calibration, controller is also used to when first
When height is greater than the second height, the height of linear guide is reduced, when the first height is less than the second height, increases linear guide
Highly.
After position detecting device calibration, if the testing result of position detecting device is zero, illustrate currently to discharge
The pin-point accuracy of bucket, using the height be laid with material be able to maintain it is smooth, and if the testing result of position detecting device not
It is zero, then illustrates the excessive height or too low of current discharge bucket, if the material face being laid with will occurs uneven without adjustment
Whole region, therefore linear guide movement is controlled when the testing result of position detecting device is not zero.
In an alternative embodiment, if the testing result of position detecting device is greater than zero, illustrate the second height
Higher than the first height, as discharge bucket is lower, therefore can will go out the difference of height raising the second height and the first height surmised
Value；And if the testing result of position detecting device less than zero, illustrate the second height lower than first height, as discharge bucket compared with
Height, therefore can will go out the difference of height reduction the second height and the first height surmised.
As a kind of optional embodiment, linear guide includes: first straight line guide rail and second straight line guide rail, wherein the
One linear guide is connect with the hinge of the first side of discharge bucket, for driving the first side of discharge bucket mobile in assigned direction, second
Linear guide is connect with the hinge of discharge bucket second side, for driving second side of discharge bucket mobile in assigned direction.
If it is fully horizontal for being run on vertical direction in the operation plane that material is laid with equipment, can only make
The height of discharge bucket is adjusted with a linear guide, and the work surface that material is laid in practical application is usually in any direction
It is rough, therefore above scheme is provided with the height that two linear guides adjust separately discharge bucket two sides, so that no matter
Whether the operation plane that material is laid with is smooth, can guarantee that the material after being laid with is smooth.
In an alternative embodiment, first straight line guide rail and second straight line the guide rail hinge with discharge bucket two sides respectively
Connection, for adjusting separately out the height for surmising two sides, so that the laying coplanar flat of mortar.
As a kind of optional embodiment, position detecting device includes two groups of position sensitive detectors, every group of position sensing
Detector includes at least a position sensitive detectors, and first group of position sensitive detectors is used to determine the first side pair of discharge bucket
The first difference in height between the first height answered and the second height, second group of position sensitive detectors are used to determine the of discharge bucket
The second difference in height between corresponding first height in two sides and the second height.
Specifically, above-mentioned position sensitive detectors are PSD sensor, and two sensors constitute two groups of position sensing detections
Device.
As a kind of optional embodiment, controller is used to control the movement of first straight line guide rail according to the first difference in height, and
It is mobile that second straight line guide rail is controlled according to the second difference in height.
In the above scheme, controller control first straight line guide rail is identical with the scheme of second straight line guide rail.
In an alternative embodiment, if the first difference in height is greater than zero, the height of first straight line guide rail is increased, such as
The first difference in height of fruit then reduces the height of first straight line guide rail less than zero.If the second difference in height is greater than zero, it is straight to increase second
The height of line guide rail, and if the second difference in height less than zero, reduces the height of second straight line guide rail.
As a kind of optional embodiment, every group of position sensitive detectors include multiple position sensitive detectors, according to
The mean value of multiple position sensitive detectors in one group of position sensitive detectors determines the first difference in height, and according to dibit
The mean value for setting multiple position sensitive detectors in sensitive detectors determines the second difference in height.
In an alternative embodiment, first straight line guide rail can be adjusted according to the mean value of one group of sensor, and according to
The mean value of another group of sensor adjusts second straight line guide rail.
The control method of material laying machine people includes the following steps:
Step S202, the first height for obtaining the discharge bucket of material laying machine people are corresponding with specified standard slurry surface
Second height.
Step S204 adjusts the height of discharge bucket according to the first height and the second height.
Specifically, above-mentioned steps can be executed by the controller in material laying machine people.Controller available first
The difference in height of height and the second height, and according to the height of difference in height adjustment discharge bucket.
In an alternative embodiment, if the first height is higher than the second height, discharge bucket decline is controlled, if the
One height then controls discharge bucket rising lower than the second height.Controller adjustment discharge bucket height can be, by with discharge bucket
Hinged linear guide, the height of discharge bucket is adjusted.
With the artificial example of material laying machine of Fig. 1, ideally, the height of discharge bucket should be spread with standard always is starched
Face is maintained at approximately the same plane, and standard slurry surface and datum plane have in a fixed difference, and the difference of the fixation can be with
It is the optical signal of laser leveler sending relative to the sum of the height of benchmark brick and floor tile thickness.Therefore position detecting device can be with
Subtracted on the basis of datum plane above-mentioned fixation difference obtain standard slurry surface after, then it is corresponding with discharge bucket first high
Degree compares, and obtains the difference in height between the first height and the second height.If the difference in height that position detecting device detects is small
In zero, then it can control linear guide and move down, if position detection is greater than zero in the difference in height that detection obtains, can control straight
Line guide rail moves up.
From the foregoing, it will be observed that the above embodiments of the present application obtain the first height of the discharge bucket of material laying machine people and specified
Corresponding second height of standard slurry surface, and according to the first height and the second height, adjust the height of discharge bucket.Above scheme is logical
The first height of the discharge bucket of detection and the second height of standard slurry surface are crossed, the movement of linear guide is adjusted, to drive out
The movement of hopper, and then the material plane for making discharge bucket discharge keeps smooth, solves in the prior art before being laid with floor tile
By being manually laid with mortar, lead to the problem of the laying low efficiency of mortar and the flatness deficiency of paving slurry.
As one kind can optional embodiment, according to the first height and second height, adjust the height of discharge bucket, comprising:
First height is compared with the second height；When the first height is greater than the second height, the height of linear guide is reduced,
In, the discharge bucket that the linear guide is used to control the material laying machine people is mobile in assigned direction；When the first height is small
When the second height, the height of linear guide is increased
Above-mentioned steps adjust the height of linear guide by the comparison result of the first height and the second height, so that nothing
Whether the operation plane being laid with by material is horizontal, can be laid with smooth material.
As one kind can optional embodiment, obtain specified standard slurry surface it is corresponding second height, comprising: obtain base
The corresponding third height of directrix plane, wherein datum plane is determining by the optical signal that laser leveler issues, datum plane and mark
Quasi- slurry surface is parallel；The setting height of the laser leveler of acquisition, wherein setting height is for indicating what laser levelling device determined
The difference in height of datum plane and standard slurry surface；The second height is determined based on third height and setting height.
In above scheme, controller converts to obtain the second height according to third height, so as to by the first height and the
Two height are compared, so that it is mobile to adjust linear guide according to comparison result.
It, can also be by carrying out initialization of calibration to position detecting device, to reach third height in another scheme
Degree is converted to the purpose of the second height.Such as: can by discharge bucket be arranged in the case where the second height, position detecting device
Zero point is set by the corresponding testing result of the optical signal being currently received, so that controller can be filled directly according to position detection
The reading set determines comparison result.
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.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (16)
1. a kind of material laying machine people with leveling structure characterized by comprising
Walking structure (10), the walking structure (10) include AGV trolley and the support frame that is arranged on the AGV trolley；
Storing structure (20), the storing structure (20) are arranged on support frame as described above, and the storing structure (20) includes material
Outlet；
Material conveying structure (30), the material conveying structure (30) is arranged at the material outlet, so that the storing knot
Material in structure (20) enters the material conveying structure (30)；
The material of material laying structure (40), the material conveying structure (30) can enter the material laying structure (40)；
Leveling structure (50), the leveling structure (50) are arranged on the walking structure (10), the leveling structure (50) with
The material laying structure (40) is connected；
Laser leveler, setting determine datum plane in designated position, for the optical signal by issuing, wherein the benchmark
Plane is parallel with preset standard slurry surface；
Position detecting device is set on the material laying structure (40), the institute issued for receiving the laser leveler
State optical signal, and according to the optical signal by corresponding first height of the material laying structure (40) and the standard slurry surface
Corresponding second height is compared, and obtains comparison result；
Controller carries out the material laying structure (40) for controlling the leveling structure (50) according to the comparison result
Real-time leveling.
2. the material laying machine people according to claim 1 with leveling structure, which is characterized in that the leveling structure
It (50) include driving portion (51) and interconnecting piece (52), the driving portion (51) is arranged on the walking structure (10), the company
The first end of socket part (52) is connected with the driving portion (51), and the second end of the interconnecting piece (52) and the material are laid with and tie
Structure (40) is connected.
3. the material laying machine people according to claim 2 with leveling structure, which is characterized in that the driving portion
It (51) include the first driving portion and the second driving portion, the interconnecting piece (52) includes first connecting portion and second connecting portion, described
The setting of first driving portion is in the left side of the walking structure (10), the first end of the first connecting portion and first driving portion
It is connected, the second end of the first connecting portion is connected with the left side of the material laying structure (40), and second driving portion is set
The right side in the walking structure (10) is set, the first end of the second connecting portion is connected with second driving portion, and described
The second end of two interconnecting pieces is connected with the right side of the material laying structure (40).
4. the material laying machine people according to claim 3 with leveling structure, which is characterized in that first driving
Portion includes first motor and the first lead screw, and the first motor is connected with first lead screw, the axis of the first motor and
The axis of first lead screw is vertically arranged, and the first end of the first connecting portion is adapted with first lead screw.
5. the material laying machine people according to claim 4 with leveling structure, which is characterized in that first connection
Portion includes the first sliding block and the first connection structure, and first sliding block is pivotably coupled to the first of first connection structure
End, the second end of first connection structure are pivotably connected with the material laying structure (40).
6. the material laying machine people according to claim 5 with leveling structure, which is characterized in that first connection
Structure is tripod, and first sliding block is connected to the apex angle of the tripod, and two base angles of the tripod are separately connected
Front side and rear side in the material laying structure (40).
7. the material laying machine people according to claim 3 with leveling structure, which is characterized in that second driving
Portion includes the second motor and the second lead screw, and second motor is connected with second lead screw, the axis of second motor with
The axis of second lead screw is vertically arranged.
8. the material laying machine people according to claim 7 with leveling structure, which is characterized in that second connection
Portion includes the second sliding block and the second connection structure, and second sliding block is pivotably coupled to the first of second connection structure
End, the second end of second connection structure are pivotably connected with the material laying structure (40).
9. the material laying machine people according to claim 8 with leveling structure, which is characterized in that second connection
Structure is tripod, and second sliding block is connected to the apex angle of the tripod, and two base angles of the tripod are separately connected
Front side and rear side in the material laying structure (40).
10. the material laying machine people according to any one of claim 1 to 9 with leveling structure, which is characterized in that
The material conveying structure (30) includes auger, and when the auger rotates clockwise, the auger conveys material, and the auger is inverse
When hour hands rotate, the auger is stirred material.
11. material laying machine people according to claim 1, which is characterized in that the position detecting device is also used to
Before carrying out material laying, initialization of calibration is carried out according to the optical signal, wherein be arranged in institute by the material laying structure
In the case where stating the second height, the position detecting device sets zero for the corresponding testing result of the optical signal being currently received
Point.
12. material laying machine people according to claim 11, which is characterized in that initialized in the position detecting device
After calibration, the controller is also used to reduce the leveling structure when first height is greater than second height
Highly, when first height is less than second height, the height of the leveling structure is increased.
13. material laying machine people according to claim 1, which is characterized in that the leveling structure includes: first straight line
Guide rail and second straight line guide rail, the material laying structure (40) includes discharge bucket, wherein the first straight line guide rail with it is described
The hinge of the first side of discharge bucket connects, for driving the first side of the discharge bucket in assigned direction movement, the second straight line
Guide rail is connect with the hinge of described discharge bucket second side, for driving second side of the discharge bucket mobile in assigned direction.
14. material laying machine people according to claim 13, which is characterized in that the position detecting device includes two groups
Position sensitive detectors, every group of position sensitive detectors include at least the position sensitive detectors, and first group of position is quick
Sense detector is used to determine the first height between corresponding first height in the first side of the discharge bucket and second height
Difference, second group of position sensitive detectors is for determining corresponding first height of second side of the discharge bucket and second height
Between the second difference in height.
15. material laying machine people according to claim 14, which is characterized in that the controller is used for according to described the
It is mobile that one difference in height controls the first straight line guide rail, and controls the second straight line guide rail according to second difference in height and move
It is dynamic.
16. material laying machine people according to claim 14, which is characterized in that every group of position sensitive detectors packet
Multiple position sensitive detectors are included, according to the mean value of multiple position sensitive detectors in first group of position sensitive detectors
Determine first difference in height, and according to the equal of multiple position sensitive detectors in second group of position sensitive detectors
Value determines second difference in height.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910766166.7A CN110439238A (en) | 2019-08-19 | 2019-08-19 | Material laying machine people with leveling structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910766166.7A CN110439238A (en) | 2019-08-19 | 2019-08-19 | Material laying machine people with leveling structure |
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| CN110439238A true CN110439238A (en) | 2019-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910766166.7A Pending CN110439238A (en) | 2019-08-19 | 2019-08-19 | Material laying machine people with leveling structure |
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| CN (1) | CN110439238A (en) |
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| CN111305531A (en) * | 2020-02-28 | 2020-06-19 | 广东博智林机器人有限公司 | Paving device and mortar paving robot |
| CN111350116A (en) * | 2020-03-17 | 2020-06-30 | 广东博智林机器人有限公司 | Material discharging and spreading device and material spreading robot |
| CN113187207A (en) * | 2021-05-06 | 2021-07-30 | 白万聪 | Epoxy resin floor paint ground brushing construction method |
| CN113216581A (en) * | 2021-05-19 | 2021-08-06 | 江西木之歌装饰工程有限公司 | High-efficient laying device of concrete filling layer |
| CN113882635A (en) * | 2020-07-01 | 2022-01-04 | 广东博智林机器人有限公司 | Fluidized body laying device, floor tile laying robot and slurry laying method |
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| CN113216581A (en) * | 2021-05-19 | 2021-08-06 | 江西木之歌装饰工程有限公司 | High-efficient laying device of concrete filling layer |
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