CN110725520A

CN110725520A - Robot is laid to timber apron

Info

Publication number: CN110725520A
Application number: CN201911003920.8A
Authority: CN
Inventors: 李晓龙; 严启凡; 田洪生; 刘进添; 罗影
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-10-22
Filing date: 2019-10-22
Publication date: 2020-01-24
Anticipated expiration: 2039-10-22
Also published as: CN110725520B

Abstract

A robot for laying wood floors relates to the field of construction machinery. The wood floor laying robot comprises a rack, a bin, a blanking mechanism, a laying mechanism and a chassis, wherein the rack is arranged above the chassis. The feed bin is installed at the top of frame for hold and wait to lay the timber apron, the lateral part of feed bin is equipped with the discharge gate. The blanking mechanism is arranged on the rack, is positioned below the second side part of the discharge hole of the bin and is used for receiving the wood floor to be paved from the bin. The paving mechanism is arranged on the rack, is positioned below the blanking mechanism and is used for receiving the wood floor to be paved from the material guide mechanism and loading the wood floor to be paved into the paved wood floor. The wood floor laying device is simple in structure, capable of laying wood floors quickly, neat in construction site and capable of reducing manual input while guaranteeing engineering quality.

Description

Robot is laid to timber apron

Technical Field

The application relates to the field of construction machinery, in particular to a wood floor laying robot.

Background

The traditional wood floor installation mode mainly depends on manual work to finish laying, and workers need to carry out wood floor construction operation by means of auxiliary equipment and simple tools in the working process. Traditional timber apron mode of laying needs a large amount of manual work to drop into, and is consuming time and power, and the appurtenance of putting in a mixed and disorderly makes the job site be in a mixed and disorderly nothing, is difficult to accomplish the finished product protection to workman's installation experience differs with the mounting means, can't ensure engineering quality.

Disclosure of Invention

The application provides a robot is laid to timber apron to improve above-mentioned problem.

According to the application, the wood floor laying robot comprises a rack, a storage bin, a blanking mechanism, a paving mechanism and a chassis.

Wherein the frame is arranged above the chassis.

The feed bin is installed at the top of frame for hold and wait to spread the subsides timber apron, the lateral part of feed bin is equipped with the discharge gate.

The blanking mechanism is arranged on the rack, is positioned below the discharge hole of the storage bin and is used for receiving the wood floor to be paved from the storage bin.

The paving mechanism is arranged on the rack, is positioned below the blanking mechanism and is used for receiving the wood floor to be paved from the material guide mechanism and loading the wood floor to be paved into the paved wood floor.

According to the robot is laid to timber apron according to this application embodiment, simple structure, it is when laying timber apron, guarantees engineering quality when can laying timber apron fast, reduces artifical input.

In addition, the wood floor laying robot according to the embodiment of the application also has the following additional technical characteristics:

in some embodiments shown in this application, the frame includes the first direction of predetermineeing to the second end from the first end, and the discharge gate is located the second end, spreads and pastes the mechanism and includes long limit card income mechanism, and long limit card income mechanism telescopically sets up in the frame for keep away from the long limit of the one side promotion of second end along first direction of predetermineeing and waiting to spread the long limit of pasting the timber apron.

Through the setting of long limit card income mechanism, can make the one end of keeping away from the frame in the timber apron on ground after being released by anchor clamps, can save the cost of labor with the firm interlock of timber apron of having laid.

Optionally, long limit card is gone into the mechanism and is included first telescopic link and first push pedal, and the stiff end of first telescopic link is fixed in the bottom of frame, and the chassis is located the lateral wall of second end and has seted up the breach of stepping down, and the free end of first telescopic link stretches out the breach of stepping down and extends towards the one side that is close to ground, and one side that first push pedal is close to ground extends to the one side of keeping away from first end.

Through the setting of first push pedal and first telescopic link, can guarantee that the timber apron is mild from the slope mode motion to tiling, prevent the damage of timber apron, the installation timber apron of being convenient for simultaneously.

Optionally, the machine frame has a second preset direction perpendicular to the first preset direction and located on the same horizontal plane, and the paving mechanism includes a short-edge clamping mechanism, and the short-edge clamping mechanism is telescopically disposed on one side of the machine frame in the second preset direction and used for pushing the short edge of the wood floor to be paved, which is paved on the ground, in the second preset direction.

Through the arrangement of the short edge clamping mechanism, the wood floor pushed by the short edge clamping mechanism can be aligned with the laid wood floor along the second preset direction, and labor cost is saved.

Optionally, the short edge clamping mechanism comprises a second telescopic rod and a second push plate, the free end of the second telescopic rod is connected with the second push plate, and the fixed end of the second telescopic rod is arranged on the rack in a turnover mode so as to drive the second push plate to synchronously turn over from the working position close to the ground to the non-working position close to the rack.

Through the arrangement mode of turnover, the short edge clamping mechanism is located at the non-working position when the machine is not in work, so that the size of the robot for laying the wood floor is reduced when the machine is not in work.

Optionally, the projection of the chassis on the horizontal plane is rectangular, the first preset direction is parallel to the width direction of the projection of the chassis on the horizontal plane, and the second preset direction is parallel to the length direction of the projection of the chassis on the horizontal plane.

In some embodiments shown in this application, the blanking mechanism includes a guide mechanism disposed on the frame, the guide mechanism is located below the discharge port of the storage bin, and the guide mechanism is configured to receive the wood floor to be paved and pasted output from the discharge port and enable the wood floor to be paved and pasted to keep vertical output.

Through guiding mechanism's setting, can guarantee that the timber apron keeps vertical output, drop to being located to spread and paste the mechanism, guarantee to lay the smoothness nature of timber apron, the feed bin has certain storage function simultaneously, does not need to add the timber apron in real time, improves and lays efficiency and saves the cost of labor.

In some embodiments shown in the present application, the guiding mechanism is reversibly disposed below the discharging port on the frame. And the guide mechanism can be turned over from the guide position to a position close to the rack, so that the space is saved when the guide mechanism is not used.

In some embodiments shown in the present application, the blanking mechanism includes a bearing mechanism disposed in the middle of the frame.

The bearing mechanism comprises a bearing column and a first driving mechanism, and the first driving mechanism is in transmission connection with the bearing column to drive the bearing column to extend out of or retract into the rack and be positioned at one side of the discharge hole so as to limit the selectable output of the wood floor to be paved falling from the feed bin to the paving mechanism.

Bear the setting of mechanism, can guarantee the continuity of the defeated material of timber apron laying robot, direction, the operation of shop pasting, avoid carrying because of the timber apron and anchor clamps operation asynchronous, for example when a timber apron falls to shop pastes the mechanism, shop paste the mechanism this moment and have another timber apron, lead to this newly dropped timber apron not born, and then drop to ground and cause the damaged problem to and cause unable continuous operation, problem that production efficiency is low.

Optionally, the paving mechanism includes a clamp and a second driving mechanism, and the second driving mechanism is in transmission connection with the clamp to drive the clamp to switch between the first position and the second position.

The first driving mechanism and the second driving mechanism are arranged in a linkage mode, so that when the clamp is located at the second position, the bearing column extends out of the support to prevent the wood floor to be paved from falling, and when the clamp releases the wood floor at the second position and recovers to the first position, the bearing column retracts into the rack, so that the wood floor to be paved, located on the bearing column, falls to the clamp located at the first position.

The continuity of operation can be guaranteed through the linkage setting, the production efficiency is improved, and the damage of the wood floor is effectively prevented.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural view of a first view of a wood floor laying robot;

fig. 2 is a schematic structural view of a second perspective of the wood floor laying robot;

fig. 3 is a schematic structural view of a third view angle of the wood floor laying robot;

fig. 4 is a schematic structural view of a fourth perspective of the wood floor laying robot;

fig. 5 is a schematic diagram showing the movement trend of the wood flooring after the release of the jig.

Icon: 10-a wood floor laying robot; 100-a chassis; 101-obstacle avoidance device; 103-walking wheels; 110-a rack; 111-a first end; 113-a second end; 115-an electrical mounting plate; 116-a power supply; 118-a navigation device; 121-a clamp; 122-a second drive mechanism; 123-long edge clamping mechanism; 1231-a first telescoping rod; 1233 — first push plate; 1235-a first pressure sensor; 125-short edge snap-in mechanism; 1251-a second telescoping rod; 1253-a second pusher plate; 1255-a second pressure sensor; 131-a conveying mechanism; 1311-a conveyor belt; 1313-conveying surface; 1314-end plate; 1315-linker arm; 133-a guide plate; 1331-a guide slot; 1333-a guide surface; 135-a carrying mechanism; 1351-carrying column.

Detailed Description

Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

It should be noted that the terms "first," "second," "third," and the like are used merely to distinguish one description from another, and are not intended to indicate or imply relative importance.

The timber apron has two long limits and two minor faces, and two long limits are equipped with buckle and the recess of mutually supporting respectively, and is more difficult during the installation, and the workman's operation gimmick reason of difference leads to final installation quality not good, and the timber apron is laid to the robot that this application provided can install the timber apron fast, guarantees installation quality.

It should be noted that the robot is also suitable for laying wood floors when the floors made of other materials are in a structure like wood floors.

When the floor that adopts does not have buckle and recess, also can adopt the timber apron laying robot that this application provided, only need adjust the setting parameter this moment, can from the primary importance to the rotatory preset angle to the second place of one side that deviates from the first end at anchor clamps, release the floor when the floor is kept away from the one end of anchor clamps and the end wall contact of ground and the floor of having installed.

Examples

Referring to fig. 1, 2, 3 and 4, the wood floor laying robot 10 provided by the present application mainly includes a chassis 100, a frame 110, a bin, a blanking mechanism and a laying mechanism.

Specifically, the chassis 100 is disposed at the bottom of the frame 110 so that the wood flooring laying robot 10 moves in a third preset direction.

The third preset direction may be manually pushed, but in order to save manpower, the chassis 100 may also be automatically set, for example, the chassis 100 is an AGV (automated guided vehicle) cart, which enables the wood floor laying robot 10 to automatically move according to the third preset direction.

The projection of the chassis 100 on the horizontal plane is rectangular, and the third preset direction may be parallel to, perpendicular to, or intersecting with the width direction of the projection of the chassis 100 on the horizontal plane, which is not limited herein.

Optionally, the chassis 100 is provided with an obstacle avoidance device 101, a road wheel 103 and a wheel driving mechanism (not shown) for driving the road wheel 103 to move, wherein the obstacle avoidance device 101 is electrically connected to the wheel driving mechanism, so that when a road obstacle is encountered during the operation process, the road wheel 103 can be stopped to operate, the obstacle removal operation is performed, the continuity of the laying process and the flatness of the wood floor to be laid after the laying process are ensured. The obstacle avoidance device 101 is, for example, a laser radar, and when installed, the scanning direction should be toward the front of the traveling direction, and then the chassis 100 stops moving immediately when a front obstacle is detected.

Further optionally, the traveling wheels 103 include a plurality of driving wheels and a plurality of driven wheels, for example, the traveling wheels 103 include two driving wheels and four driven wheels, where the wheel driving mechanism is, for example, a motor, the motor is in transmission connection with the driving wheels, and the motor is electrically connected with the obstacle avoidance device 101, where the driving wheels are, for example, differential wheels, and can implement turning and moving functions.

The frame 110 is made of steel, for example, and is installed above the chassis 100 to support and support the bin, the blanking mechanism, and the placement mechanism. Wherein the frame 110 has a first end 111 and a second end 113 opposite to each other.

For convenience of description, the frame 110 has a first predetermined direction (denoted by X in fig. 3) and a second predetermined direction (denoted by Y in fig. 3), where the first predetermined direction is from the first end 111 to the second end 113, and the first predetermined direction and the second predetermined direction are perpendicular to each other and located on the same horizontal plane.

The frame 110 may be provided with an electrical mounting plate 115 and a power source 116, the power source 116 being, for example, a ternary lithium battery, for supplying power to an electric mechanism related to the present application, such as a wheel driving mechanism, a paving mechanism, and the like.

It should be noted that the running direction of the chassis 100 (during the linear movement, i.e. the non-steering movement) may be consistent with or opposite to the first preset direction, and may also be consistent with the second preset direction. In this embodiment, the running direction of the chassis 100 (during the linear movement, i.e. the non-steering movement) is kept consistent with the second preset direction.

Optionally, the frame 110 is provided with a navigation device 118, the navigation device 118 is located on one side of the blanking mechanism away from the ground, and is used for planning a running path, and then mechanically acting to lay the wood floor to be laid, so that automatic continuous installation of the wood floor to be laid is realized, the installation accuracy that the seam width and the height difference are less than 0.5mm is achieved, the installation efficiency is improved, and the labor time and the cost are saved.

Referring to fig. 1, 2 and 3, the paving mechanism is disposed on the frame 110 and located below the material dropping mechanism, and is used for receiving the wood floors to be paved from the material guiding mechanism and loading the wood floors to be paved into the paved wood floors.

The paving mechanism comprises a clamp 121 capable of selectively clamping or releasing the wood floor to be paved and a second driving mechanism 122, wherein the second driving mechanism 122 is in transmission connection with the clamp 121 so as to drive the clamp 121 to be switched between a first position and a second position.

When anchor clamps 121 are located the first position, anchor clamps 121 towards blanking mechanism in order to receive and the centre gripping from the long limit of waiting to spread the wood floor of the vertical output of blanking mechanism, anchor clamps 121 can be from the first position to the rotatory preset angle of one side that deviates from first end 111 to the second position to the buckle slope card that makes to wait to spread the wood floor is gone into the recess of waiting to spread the wood floor that has installed and is released.

It will be appreciated that in order to ensure that the side of the wood floor to be laid remote from the clamp 121 can abut the ground, the clamp 121 is at an angle, for example 20-35 °, for example 30 °, to the ground when the clamp 121 is in the second position.

Please refer to fig. 5, after the wood floor to be laid is released under the above conditions, because the distance to the ground is short, the wood floor to be laid will not be damaged, and meanwhile, the buckle on the long side of the wood floor to be laid can be quickly clamped into the groove on the long side of the wood floor to be laid to be correspondingly connected, and when the buckle on the one side close to the clamp 121 is released, thrust can be generated towards one side of the wood floor to be installed due to the action of gravity, so that the gap at the joint of the buckle and the groove on the long side of the wood floor to be laid is small. The installation is more convenient, and the quality of each installation is the same.

That is, when the wood floor to be laid is laid, the clamp 121 obtains the wood floor to be laid output by the blanking mechanism, the buckle at one end of the wood floor to be laid, which is far away from the clamp 121, is obliquely clamped into the groove of the installed wood floor to be laid, the wood floor to be laid is released, the wood floor to be laid is horizontally laid on the ground and clamped with the laid wood floor, the structure is simple, the construction site is neat, and due to the adoption of mechanical installation, the labor input can be reduced while the engineering quality is ensured.

The clamp 121 may adopt a clamp 121 capable of being selectively clamped or released, which is disclosed in the related art, wherein the clamp 121 may further be provided with a sensor for identifying whether the clamp 121 is clamped, and the sensor may feed back a signal to a controller of a driving machine for controlling clamping or releasing of the clamp 121.

In order to ensure higher accuracy of the placement in actual use, the placement mechanism optionally includes a long-edge snapping mechanism 123 and a short-edge snapping mechanism 125.

The long-edge snapping mechanism 123 is telescopically disposed in the frame 110, and is configured to push the long edge of the wood floor to be paved, which is released by the clamp 121, along a side away from the second end 113 in a first preset direction. Through the setting of long limit card income mechanism 123, can promote to wait to spread the long limit that the timber apron is close to first end 111 after making being released by anchor clamps 121, make this one end of waiting to spread the timber apron and keeping away from frame 110 can align with the timber apron of having laid, save the cost of labor.

Optionally, the long-edge clamping mechanism 123 includes a first telescopic rod 1231 and a first push plate 1233, a fixed end of the first telescopic rod 1231 is indirectly connected to the frame 110 through the chassis 100, that is, the first telescopic rod 1231 is fixed to the bottom of the frame 110, a yielding notch is disposed on a side wall of the chassis 100 located at the second end 113, a free end of the first telescopic rod 1231 extends out of the yielding notch and extends toward a side close to the ground, and a side of the first push plate 1233 close to the ground extends toward a side far away from the first end 111. That is, first telescopic link 1231 inclines to set up, and the push pedal also inclines to set up, through the cooperation of first telescopic link 1231 with first push pedal 1233, can make the joint that the one end of waiting to lay the timber apron and keeping away from frame 110 can be stable in the timber apron of having installed, improves the precision of installation.

Wherein, first telescopic link 1231 can be electric telescopic link, can be equipped with first pressure sensor 1235 between the junction of first telescopic link 1231 and first push pedal 1233, and wherein, first pressure sensor 1235 can be connected through the controller with first telescopic link 1231, and the controller passes through the pressure that first pressure sensor 1235 surveyed in order to control the flexible of first telescopic link 1231, can specifically refer to the correlation technique, does not describe here any more.

The short edge snapping-in mechanism 125 is telescopically disposed on one side of the frame 110 in the second predetermined direction, and is configured to push the short edge of the wood floor to be paved, which is paved on the ground, in the second predetermined direction. Specifically, the short-edge snapping mechanism 125 is telescopically disposed at the front end of the frame 110 in the moving direction (excluding the turning linear motion), so as to continuously lay the wood floor to be paved along a third preset direction.

Wherein optionally the short edge snapping mechanism 125 comprises a second telescoping bar 1251 and a second push plate 1253. Wherein, second push pedal 1253 has and leans on the edge with ground complex, wherein lean on the edge can have the clearance with ground and can with the tiling in the minor face contact of the waited to spread timber apron on ground to promote the minor face of waited to spread timber apron, also can with ground sliding fit and can with the tiling in the minor face contact of waited to spread timber apron on ground.

The fixed end of the second telescopic rod 1251 can be directly fixed to the frame 110, in this embodiment, the free end of the second telescopic rod 1251 is connected to the second push plate 1253, and the fixed end of the second telescopic rod 1251 can be arranged in the frame in a turnable manner to drive the second push plate 1253 to be turned over from its working position (of the second push plate 1253) to a non-working position close to the frame 110 synchronously, and the abutting edge of the non-working position faces a side away from the ground. By the above-described reversible arrangement, the short-side engagement mechanism 125 is brought to the inoperative position when not in operation, thereby reducing the size of the wood floor laying robot 10 when not in operation.

Specifically, the fixed end of the second telescopic rod 1251 is fixedly connected to the clamp 121 to move synchronously with the clamp 121, for example, the clamp 121 is rotatably disposed on the frame 110 via a connecting member, and the fixed end of the second telescopic rod 1251 is fixedly connected to the connecting member; when anchor clamps 121 are located the second position, second push pedal 1253 is in the operating position who is close to ground, and second push pedal 1253 supports to have the clearance and can with the minor face contact of the timber apron of waiting to spread in ground by the edge this moment, or second push pedal 1253 supports to support edge and ground sliding fit and can with the minor face contact of the timber apron of waiting to spread in ground by the tiling to promote the minor face of waiting to spread the timber apron. When the clamp 121 is in the first position, the second push plate 1253 is in a non-working position proximate to the frame 110, with the abutment edge facing away from the ground, which also effectively prevents damage to the second push plate 1253.

Wherein, the second telescopic rod 1251 is also an electric telescopic rod. A second pressure sensor 1255 may be disposed between a connection portion of the second telescopic rod 1251 and the second push plate 1253, wherein the second pressure sensor 1255 may be connected to the second telescopic rod 1251 through a controller, and the controller controls the extension and retraction of the second telescopic rod 1251 through the pressure measured by the second pressure sensor 1255.

Through the concrete setting of the paving and pasting mechanism, automatic continuous installation of the wood floor to be paved and pasted can be achieved, the installation accuracy that the seam width and the height difference are smaller than 0.5mm is achieved, the installation efficiency is improved, and the labor time and the cost are saved.

The feed bin is installed at the top of frame 110 for hold and wait to spread the timber apron, the lateral part of feed bin is equipped with the discharge gate.

Specifically, the bin has a first side portion and a second side portion which are arranged oppositely, and a wood floor to be paved is accommodated between the first side portion and the second side portion. The first end 111 and the first side portion are located on the same side, and the second end 113 and the second side portion are located on the same side, that is, the discharge hole is located on the second side portion, in other words, the discharge hole is located at the second end 113.

The storage bin is provided with a conveying mechanism 131, the conveying mechanism 131 is used for conveying the wood floors to be paved from the first side part to the second side part and keeping the wood floors to be paved output from the discharge port inclined, in other words, the conveying mechanism 131 is used for conveying the wood floors to be paved from the first end 111 to the second end 113 and keeping the output wood floors to be paved inclined.

The blanking mechanism is arranged on the frame 110 and below the discharge port of the bin, and is used for receiving the wood floor to be paved from the bin.

Specifically, the blanking mechanism includes a guide mechanism disposed on the frame 110, the guide mechanism is located below the discharge port of the storage bin, and the guide mechanism is configured to receive the wood floor to be laid and output from the discharge port, maintain the wood floor to be laid and output vertically, and be received and clamped by the clamp 121 located at the first position.

It will be appreciated that the inlet and outlet of the guide mechanism are located at the second end 113, such that the gripper 121 located at the second end 113 of the frame 110 receives the output of the wood floor to be paved.

Through conveying mechanism 131 and guiding mechanism's setting, can guarantee to wait to spread the timber apron and keep vertical output, drop to the anchor clamps 121 that are located first position department, guarantee to lay the smoothness nature of waiting to spread the timber apron, conveying mechanism 131 also has certain storage function simultaneously, need not add in real time and wait to spread the timber apron, improves and lays efficiency and save the cost of labor.

Optionally, the guiding mechanism may be reversibly disposed below the discharge port of the frame 110. And the guide mechanism can be turned over from the guide position to the position close to the rack 110, so that the space is saved when the guide mechanism is not used.

Optionally, the conveying mechanism 131 includes a conveying belt 1311 arranged along a first preset direction, wherein a part of the surface of the conveying belt 1311 has a conveying surface 1313, the conveying surface 1313 is provided with a tooth structure along the first preset direction, such as a tooth or a strip tooth with a trapezoidal cross-sectional profile, a groove for clamping the long edge of the wood floor to be paved is formed between two adjacent tooth structures, the conveying surface 1313 is provided with a limit block protruding from the conveying surface 1313 and located at the rear end of the conveying surface 1313 in the conveying direction, so as to ensure that the wood floor to be paved located on the conveying surface 1313 can be obliquely output during operation.

Optionally, the conveying mechanism 131 may be provided with baffles on two sides of the second preset direction to prevent the vertical wood floor to be paved from shifting to two sides and falling off the conveying surface 1313 during the operation process. The two baffles may be relatively close to or far from each other along a second predetermined direction, for example, a guide rail is disposed along the second predetermined direction, and the two baffles are slidably disposed on the guide rail so as to be retractable to the same width as the rack 110 in the non-operating state.

The baffle comprises an end plate 1314 and a connecting arm 1315, the connecting arm 1315 is slidably arranged on the guide rail, the end plate 1314 is arranged on the outer edge of the connecting arm 1315 in a turnover mode, for example, the end plate 1314 can be folded to be in a horizontal state through hinge connection and attached to a conveyor belt, and therefore occupied volume of the wood floor laying robot 10 in a non-working state is saved.

The guide mechanism comprises two guide plates 133 arranged at intervals along a second preset direction, a guide groove 1331 is formed in one side, opposite to the two guide plates 133, of each guide plate 133, and the guide grooves 1331 are used for receiving the wood floor to be paved and output in an inclined mode and changing the wood floor to be paved into a vertical output mode.

That is, the guide slot 1331 has a guide surface 1333, the guide surface 1333 is a side wall of the guide slot 1331 near the second end 113, the guide surface 1333 is vertically arranged, and a side of the guide surface 1333 away from the ground extends toward the second end 113. The other side wall of the guide slot 1331 opposite to the guide surface 1333 may be a vertical surface, and the side thereof away from the ground may also extend toward the second end 113. Wherein, the guide plate 133 is made of elastic material, which effectively buffers the impact force of the wood floor to be paved.

In the actual use process, the conveying of the wood floors to be paved and the operation of the clamp 121 are asynchronous, for example, when a wood floor to be paved falls to the first position through the guide mechanism, the clamp 121 already clamps another wood floor to be paved or is not at the first position, which results in that the newly dropped wood floor to be paved is not supported by the clamp 121, and then falls to the ground to cause the problem of damage, and the problems of incapability of continuous work and low production efficiency are caused.

Therefore, the blanking mechanism further includes a bearing mechanism 135 disposed in the middle of the frame 110, for solving the above problem, where the middle refers to that the bearing mechanism 135 is located between the guiding mechanism and the paving mechanism.

Specifically, the carrying mechanism 135 includes a carrying post 1351 and a first driving mechanism (not shown), the first driving mechanism is drivingly connected to the carrying post 1351 to drive the carrying post 1351 to extend or retract to one side of the frame 110 at the second side portion, so as to limit the selective output of the wood floor to be paved falling from the guiding mechanism to the paving mechanism.

Specifically, when the bearing columns 1351 extend out of the second end 113, the bearing columns 1351 cooperate with the guiding mechanism to limit the wood floor to be paved to fall, and when the bearing columns 1351 retract into the second end 113, the wood floor to be paved, which is originally carried, keeps vertically outputting and falls to the clamp 121 located at the first position.

Further, the first driving mechanism and the second driving mechanism 122 are linked to each other, so that when the clamp 121 is located at the second position, the bearing columns 1351 extend out of the support to prevent the wood floor to be paved from falling, and when the clamp 121 is located at the second position to release the wood floor to be paved and then returns to the first position, the bearing columns 1351 retract into the frame 110, so that the wood floor to be paved located on the bearing columns 1351 falls to the clamp 121 located at the first position.

The working process of the wood floor laying robot 10 comprises the following steps: the wood floor to be paved is vertically arranged at the groove of the conveying belt of the conveying mechanism 131 along a second preset direction, the wood floor to be paved which is output is conveyed by the conveying belt and is kept inclined, the guide mechanism receives the inclined wood floor to be paved and enables the wood floor to be paved to be vertically output, the bearing column 1351 positioned below the guide mechanism extends out of the second end 113, the bearing column 1351 is matched with the guide mechanism to limit the wood floor to be paved to fall, after the last wood floor to be paved is completely installed, the clamp 121 positioned at the second position is rotated to the first position, and the bearing column 1351 retracts into the second end 113, so that the wood floor to be paved which is originally loaded keeps vertically output and falls to the clamp 121 positioned at the first position. The clamp 121 clamps the wood floor to be paved and rotates to the second position, after the wood floor to be paved clamped by the clamp 121 and to be installed is obliquely clamped into the buckle of the installed wood floor to be paved, the wood floor to be paved slides down to the horizontal state, the long-edge clamping mechanism 123 pushes the wood floor to be paved along the first preset direction and pushes the wood floor to be paved towards the long-edge buckle direction, so that the wood floor is more firmly occluded with the groove of the long edge of the installed wood floor, and then the short-edge clamping mechanism 125 pushes the short edge of the wood floor to be paved along the second preset direction to align the short edge of the installed wood floor.

When the clamp 121 releases the wood floor to be paved and then returns to the first position, the long edge clamping mechanism 123 returns to the non-working state synchronously, the wood floor to be paved positioned on the bearing column 1351 can be separated from the bearing column 1351 and fall to the clamp 121 positioned at the first position, and the mechanical movement is repeated.

To sum up, the robot is laid to timber apron that this application provided, its simple structure can lay timber apron fast, and the job site is clean and tidy, reduces artifical the input when guaranteeing engineering quality.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot for laying wood floors, comprising:

a chassis;

a frame mounted above the chassis;

the storage bin is arranged at the top of the rack and used for accommodating wood floors to be paved, and a discharge hole is formed in the side part of the storage bin;

the blanking mechanism is arranged on the rack, is positioned below the discharge hole of the storage bin and is used for receiving the wood floor to be paved from the storage bin;

and the paving mechanism is arranged on the rack, is positioned below the blanking mechanism and is used for receiving the wood floor to be paved from the material guide mechanism and loading the wood floor to be paved into the paved wood floor.

2. The wood floor laying robot according to claim 1, wherein the frame includes a first preset direction from a first end to a second end, the discharge port is located at the second end, the laying mechanism includes a long edge clamping mechanism, and the long edge clamping mechanism is telescopically arranged in the frame and used for pushing a long edge of the wood floor to be laid along one side of the first preset direction away from the second end.

3. The wood floor laying robot according to claim 2, wherein the long edge clamping mechanism comprises a first telescopic rod and a first push plate, a fixed end of the first telescopic rod is fixed at the bottom of the rack, a abdicating notch is formed in the side wall of the chassis at the second end, a free end of the first telescopic rod extends out of the abdicating notch and extends towards one side close to the ground, and one side of the first push plate close to the ground extends towards one side far away from the first end.

4. The robot for laying wood floors as claimed in claim 2, wherein the frame has a second predetermined direction perpendicular to the first predetermined direction and located at the same horizontal plane, and the laying mechanism comprises a short edge snapping mechanism telescopically arranged at one side of the frame in the second predetermined direction for pushing the short edge of the wood floor to be laid flatly on the ground along the second predetermined direction.

5. The wood floor laying robot according to claim 4, wherein the short edge locking mechanism comprises a second telescopic rod and a second push plate, the free end of the second telescopic rod is connected with the second push plate, and the fixed end of the second telescopic rod is reversibly disposed on the frame to drive the second push plate to synchronously turn over from the working position close to the ground to the non-working position close to the frame.

6. The wood floor laying robot according to claim 4, wherein the projection of the chassis on the horizontal plane is rectangular, the first predetermined direction is parallel to the width direction of the projection of the chassis on the horizontal plane, and the second predetermined direction is parallel to the length direction of the projection of the chassis on the horizontal plane.

7. The wood floor laying robot according to claim 1, wherein the blanking mechanism comprises a guide mechanism disposed on the frame, the guide mechanism is located below the discharge port of the storage bin, and the guide mechanism is configured to receive the wood floor to be laid and output from the discharge port and maintain the wood floor to be laid and output vertically.

8. The wood floor laying robot according to claim 7, wherein the guide mechanism is reversibly provided to the frame below the discharge hole.

9. The wood floor laying robot according to any one of claims 1-8, wherein the blanking mechanism comprises a bearing mechanism arranged in the middle of the frame;

the bearing mechanism comprises a bearing column and a first driving mechanism, the first driving mechanism is connected with the bearing column in a transmission mode to drive the bearing column to stretch out or retract into one side of the discharge port of the rack, so that the rack can be limited to fall from the storage bin to output the wood floor to be paved selectively to the paving mechanism.

10. The wood floor laying robot according to claim 9, wherein the laying mechanism comprises a clamp and a second driving mechanism, the second driving mechanism is in transmission connection with the clamp to drive the clamp to be converted between the first position and the second position;

first actuating mechanism with the linkage of second actuating mechanism sets up, so that when anchor clamps are located the second position, the bearer post stretches out the support in order to prevent wait to spread the timber apron whereabouts, works as anchor clamps release timber apron and resume when the first position at the second position, the bearer post indent the frame makes and is located wait to spread the timber apron of bearer post and drop to being located the first position anchor clamps.