CN110744962B

CN110744962B - Automatic paste tight wall device and spread and paste device

Info

Publication number: CN110744962B
Application number: CN201910703436.XA
Authority: CN
Inventors: 朱晓; 陈威霖
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-07-31
Filing date: 2019-07-31
Publication date: 2021-06-22
Anticipated expiration: 2039-07-31
Also published as: CN110744962A

Abstract

The invention provides an automatic wall surface sticking device and a paving device, namely a paving robot, which are provided with a spring prepressing mechanism, a slide block rotating mechanism and a crossed slide block rotating mechanism, so that the paving mechanism can be moved and can rotate at a small angle, and can be stuck to a wall surface.

Description

Automatic paste tight wall device and spread and paste device

Technical Field

The invention relates to the technical field of wallpaper paving and pasting devices, in particular to a crossed sliding block rotating mechanism, an automatic wall surface pasting device and a paving and pasting device.

Background

When the existing wallpaper paving and pasting robot moves to a paving and pasting position, a paving and pasting roller at the front end of the wallpaper paving and pasting robot needs to be parallel to a wall surface, and the absolute parallel of the paving and pasting roller and the wall surface cannot be guaranteed due to the fact that the wallpaper paving and pasting robot has errors in the moving and positioning processes, so that the effect of wallpaper paving and pasting can be influenced. As shown in fig. 1, the existing solutions are generally: the wallpaper paving robot moves to a paving position (the wallpaper paving robot moves with approximate positioning accuracy but cannot meet paving accuracy), the whole paving mechanism is installed on the chassis 10, the two

position sensors

30 and 40 respectively detect the distances L1 and L2 of the wall surface 50, if L1 is greater than L2, the whole equipment is not parallel to the wall surface, and the equipment needs to rotate clockwise by an angle through the electric rotating platform 20 until L1 is L2; above-mentioned scheme, because position sensor itself has an error, the wall is at the plane degree of vertical direction and the precision of electric rotary platform itself, these all can influence the wall paper and spread the parallel of pasting robot and wall to electric rotary platform, position sensor can increase the cost of whole equipment, and the reliability is relatively poor.

Disclosure of Invention

The invention aims to solve the problem that the existing wallpaper paving and pasting robot is poor in reliability of a paving and pasting device in the process of the paving and pasting device.

The utility model provides an automatic paste tight wall device establishes between a base and bottom plate, the base forms the bottom at a wall construction equipment, the bottom plate forms the top at an automatic guide dolly, its characterized in that, including alternately slider rotary mechanism, spring prepressing mechanism:

the sliding block rotating mechanism is arranged on the bottom fixing mechanism;

the paving mechanism is rotatably arranged on the sliding block rotating mechanism and can move along with the sliding block rotating mechanism (on the bottom fixing mechanism along the horizontal direction;

the spring pre-pressing mechanism is arranged on the bottom fixing mechanism and is connected with the paving mechanism; the pre-pressing mechanism is used for providing wall-pasting pressing force for the paving mechanism.

The further optimization and improvement of the pen is as follows:

crossed slide block rotating mechanism, including first slide mechanism, second slide mechanism and rotating mechanism, wherein:

the first sliding mechanism comprises a first sliding block and a first sliding rail, and the first sliding block is slidably arranged on the first sliding rail to realize the movement of the crossed sliding block rotating mechanism in the first direction;

the second sliding mechanism is arranged on the first sliding mechanism in a crossed manner and comprises a second sliding rail, a second sliding block and a sliding connecting plate; the sliding connection plate is fixed on the upper part of the first sliding block, the second sliding block is fixed on the upper part of the sliding connection plate, and the second sliding rail and the second sliding block are slidably arranged on the second sliding block to realize the movement of the cross sliding block rotating mechanism in the second direction;

the rotating mechanism is arranged above the second sliding mechanism and comprises a rotating part and an adapter plate; the adapter plate is fixed on the second slide rail, one end of the rotating part is fixed on the adapter plate, and the other end of the rotating part is rotatably arranged on the base;

the first sliding rail is arranged on the bottom plate; the first sliding block, the second sliding block and the sliding connecting plate are fixed into a whole; when the first sliding block moves, the second sliding block, the sliding connecting plate and the rotating mechanism are driven to slide together; when the second slide rail moves, the adapter plate and the rotating part are driven to slide together;

the sliding block rotating mechanism is arranged in parallel with the crossed sliding block rotating mechanism and comprises a third sliding rail, a third sliding block, a middle adapter plate and a rotating seat; the third slide rail and the first slide rail are arranged on the bottom plate in parallel; the two third sliding blocks are respectively arranged on two sides of the lower part of the middle adapter plate, the upper end of each third sliding block is fixed on the middle adapter plate, and the lower end of each third sliding block is slidably arranged on the third sliding rail; one end of the rotary seat is fixed on the middle adapter plate, and the other end of the rotary seat is rotatably arranged on the base;

the spring pre-pressing mechanism comprises a fixed spring seat, a spring guide rod, a spring and a movable spring seat; the fixed spring seat is fixedly arranged on the bottom plate, and the movable spring seat is fixedly arranged on the base; one end of the spring is arranged on the fixed spring seat along the horizontal direction, and the other end of the spring is arranged on the movable spring seat along the horizontal direction; the spring guide rod is sleeved in the spring;

the wall construction equipment can move and rotate at a small angle through the crossed sliding block rotating mechanism, the sliding block rotating mechanism and the spring prepressing mechanism and is tightly attached to the wall.

Optionally, the sliding direction formed by the first sliding block (31) and the corresponding first sliding rail (16) is the first direction, the sliding direction formed by the second sliding rail (34) and the corresponding second sliding block (33) is the second direction, and the first direction and the second direction are perpendicular to each other.

Optionally, a second sliding groove is formed inside the second sliding block (33), and the second sliding rail (34) is slidably fitted in the second sliding groove; wherein the second sliding block (33) is arranged at the lower part and the second sliding rail (34) is arranged at the upper part; a first sliding groove is formed in the first sliding block (31), and the first sliding rail (16) is in sliding fit in the first sliding groove; wherein the first slide rail (16) is arranged at the lower part and the first slide block (31) is arranged at the upper part.

Optionally, the rotating part comprises a rotating shaft (39), a locking washer (310), a locking screw (311) and a set screw (36); one end of the rotating shaft (39) is mounted in a mounting hole of the adapter plate (35) and locked by a set screw (36); the other end of the rotating shaft (39) is fixed on the base (51) and is fastened through the locking screw (311).

Optionally, a positioning hole is formed in the base (51), an oilless bushing (38) is arranged in the positioning hole, the oilless bushing (38) is sleeved on the rotating shaft part between the locking gasket (310) and the adapter plate (35), and the side surfaces of the upper end and the lower end of the oilless bushing are respectively matched with a thrust needle bearing (37); the two thrust needle bearings (37) are arranged between the locking gasket (310) and the adapter plate (35) and respectively abut against the sides of the locking gasket (310) and the adapter plate (35); the rotating shaft (39) is arranged in the oilless bushing (38) in a penetrating mode and can rotate relative to the oilless bushing (38).

Optionally, two sets of cross sliding block rotating mechanisms (3) are arranged, the two sets of cross sliding block rotating mechanisms (3) share the same first sliding rail (16), and rotating shafts (39) of the two sets of cross sliding block rotating mechanisms (3) are rotatably supported at two different positions of the base (51); the connecting line of the supporting points at the two different positions is parallel or approximately parallel to the first sliding rail (16).

Optionally, a thrust needle roller bearing (43) is arranged at the matching position of the intermediate adapter plate (42) and the rotary seat (45), the thrust needle roller bearing (44) is fixed on the intermediate adapter plate (42) through a set screw (43), and the rotary seat (45) is arranged in the thrust needle roller bearing (43) in a penetrating way and can rotate relative to the thrust needle roller bearing.

Optionally, a positioning groove is formed in the fixed spring seat (21) along the horizontal direction, one end of the spring (23) is arranged in the positioning groove, and one end of the spring guide rod (22) is fixed in the positioning groove; the movable spring seat (24) is provided with a mounting groove along the horizontal direction, and the other end of the spring (23) abuts against the mounting groove.

Optionally, a gasket (25) is arranged in the mounting groove, and the other end of the spring (23) abuts against the front surface of the gasket (25); the gasket (25) is arranged in the mounting groove in a sliding manner along the horizontal direction; and the back surface of the gasket (25) is connected with an adjusting screw (26) along the horizontal direction.

Optionally, the spring pre-pressing mechanism comprises a first spring pre-pressing mechanism and a second spring pre-pressing mechanism; the first spring pre-pressing mechanism and the second spring pre-pressing mechanism are respectively arranged on two sides of the upper end surface of the bottom plate (13) and are respectively connected with a base (51) of the paving mechanism (5); the direction of the wall-attaching pressing force provided by the spring pre-pressing mechanism (2) to the wall-attaching mechanism (5) is consistent with the sliding direction of the wall-attaching mechanism (5).

A lining device provided with an automatic guide carriage and a lining mechanism as wall construction equipment, said lining mechanism being provided on a base (51), and an automatic wall-facing device according to any one of claims 1 to 10 being provided between the base plate and the base.

Optionally, the paving mechanism (5) and the base (51) thereof can rotate in a horizontal direction parallel to the bottom plate by the automatic wall-surface-adhering device, and can slide in the first direction and the second direction on the bottom plate by the automatic wall-surface-adhering device.

Optionally, the paving mechanism comprises a paving roller, and the paving roller (52) is rotatably arranged on the base (51) through a roller supporting plate (53); the roller supporting plate (53) is provided with a deep groove ball bearing (54), and the paving roller (52) can be rotatably arranged in the deep groove ball bearing (54); a clamp spring (55) is arranged between the deep groove ball bearing (54) and the paving roller (52).

The scheme provided by the invention has the advantages of simple and practical structure, higher reliability and relatively lower cost, and can be directly applied to the structures such as the existing paving and pasting device and the like, so that the paving and pasting efficiency and precision of the wallpaper are improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

FIG. 1 is a schematic view of a prior art placement device;

FIG. 2 is a perspective view of a paving device with an automatic wall-adhering device according to embodiment 1 of the present invention;

FIG. 3 is a front view of a paving device with an automatic wall-adhering device according to embodiment 1 of the present invention;

FIG. 4 is a rear view of a paving device with an automatic wall-adhering device according to embodiment 1 of the present invention;

FIG. 5 is a front view of a paving device with an automatic wall-adhering device according to embodiment 1 of the present invention;

FIG. 6 is a right side view of a placement device with an automatic wall-facing device in accordance with embodiment 1 of the present invention;

FIG. 7 is a front view of a bottom fixing mechanism provided in embodiment 1 of the present invention;

FIG. 8 is a right side view of the bottom fixing mechanism provided in embodiment 1 of the present invention;

fig. 9 is a perspective view of a spring preloading mechanism of the automatic wall surface adhering device provided in embodiment 1 of the present invention;

FIG. 10 is a front view of a spring biasing mechanism of an automatic wall-mounting apparatus according to embodiment 1 of the present invention;

fig. 11 is a sectional view of a spring preloading mechanism of an automatic wall-surface-adhering device provided in embodiment 1 of the present invention;

fig. 12 is a perspective view of a cross slide block rotating mechanism of the automatic wall surface adhering device provided in embodiment 1 of the present invention;

fig. 13 is a front view of a cross slide block rotating mechanism of the automatic wall-surface-adhering device provided in embodiment 1 of the present invention;

fig. 14 is a top view of a cross slide rotating mechanism of the automatic wall-clinging device provided in embodiment 1 of the present invention;

FIG. 15 is a sectional view taken along A-A of FIG. 14;

fig. 16 is a front view of a slider rotating mechanism of the automatic wall-surface-adhering device provided in embodiment 1 of the present invention;

fig. 17 is a top view of a slider rotating mechanism of the automatic wall-clinging device provided in embodiment 1 of the present invention;

fig. 18 is a schematic structural view of a rotary seat of an automatic wall-surface-adhering device according to embodiment 1 of the present invention;

FIG. 19 is a sectional view taken along line B-B of FIG. 17;

fig. 20 is a schematic view of a placement mechanism provided in embodiment 1 of the present invention.

In the figure: 1. a bottom fixing mechanism; 11. a support plate; 12. reinforcing ribs; 13. a base plate; 14. a limiting block; 15. a polyurethane cushion pad; 16. a first slide rail; 2. a spring pre-pressing mechanism; 21. a fixed spring seat; 22. a spring guide rod; 23. a spring; 24. A movable spring seat; 25. a gasket; 26. an adjusting screw; 3. a cross slide block rotating mechanism; 31. a first slider; 32. a slider connecting plate; 33. a second slider; 34. a second slide rail; 35. an adapter plate; 36. tightening the screw; 37. a thrust needle bearing; 38. An oilless bushing; 39. a rotating shaft; 310. a locking washer; 311. locking the screw; 4. a slider rotating mechanism; 41. a slider; 42. A middle adapter plate; 43. tightening the screw; 44. thrust needle roller bearings; 45. a rotating base; 5. a paving mechanism; 51. a base; 52. Paving and pasting rollers; 53. a roller support plate; 54. a deep groove ball bearing; 55. a clamp spring; 56. wallpaper.

Detailed Description

The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or quantity or location.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

Example 1: automatic wall surface adhering device

Establish between a base (51) and bottom plate (13), base (51) form the bottom at a wall construction equipment, bottom plate (13) form at the top of an automatic guide dolly, including alternately slider rotary mechanism, spring prepressing mechanism, be one kind and both can realize removing and can realize the small-angle rotation and with the wall close automatic wall device that pastes.

(1) Cross slide block rotating mechanism

As shown in fig. 2 to 20, the present invention provides a cross slide block rotating mechanism, which is disposed between a base 51 and a bottom plate 13, and can perform the function of adjusting the transverse and longitudinal directions; base 51 forms in the bottom of a wall construction equipment, and bottom plate 13 forms at the top of an automatic guide dolly, and slider rotary mechanism 3 alternately specifically includes first slide mechanism, second slide mechanism and rotary mechanism, wherein:

the first sliding mechanism comprises a first sliding block 31 and a first sliding rail 16, the first sliding block 31 is slidably arranged on the first sliding rail 16, and the movement of the cross sliding block rotating mechanism in the first direction is realized, and the first direction movement enables the base 51 to move linearly to be close to a target object, such as a wall surface;

the second sliding mechanism is arranged on the first sliding mechanism in a crossed manner and comprises a second slide rail 34, a second slide block 33 and a sliding connecting plate 32; the sliding connection plate 32 is fixed on the upper portion of the first slider 31, the second slider 33 is fixed on the upper portion of the sliding connection plate 32, the second slide rail 34 and the second slider 33 are slidably arranged on the second slider 33, so that movement in the second direction of the crossed slider rotating mechanism is realized, and the base 51 can achieve a small-angle direction adjustment effect due to the movement in the second direction;

a rotating mechanism which is arranged above the second sliding mechanism and comprises a rotating part and an adapter plate 35; the adapter plate 35 is fixed on the second slide rail 34, one end of the rotating part is fixed on the adapter plate 35, and the other end is rotatably arranged on the base 51;

the first slide rail 16 is arranged on the bottom plate 13; the first slider 31, the second slider 33 and the sliding connecting plate 32 are fixed as a whole; when the first sliding block 31 moves, the second sliding block 33, the sliding connection plate 32 and the rotating mechanism are driven to slide together; when the second slide rail 34 moves, the adapter plate 35 and the rotating part are driven to slide together.

Preferably, with reference to the above solutions, as shown in fig. 2 to 20, in this embodiment, the sliding direction formed by the first sliding block 31 and the corresponding first sliding rail 16 is a first direction, the sliding direction formed by the second sliding rail 34 and the corresponding second sliding block 33 is a second direction, and the first direction and the second direction are perpendicular to each other, so as to implement the small-angle direction adjustment.

Preferably, in combination with the above solution, as shown in fig. 2 to 20, in this embodiment, a second sliding slot is formed inside the second sliding block 33, and the second sliding rail 34 is slidably fitted in the second sliding slot; wherein, the second sliding block 33 is arranged at the lower part and the second sliding rail 34 is arranged at the upper part; a first sliding groove is formed in the first sliding block 31, and the first sliding rail 16 is in sliding fit in the first sliding groove; wherein, the first slide rail 16 is arranged at the lower part and the first slide block 31 is arranged at the upper part.

Preferably, in combination with the above scheme, as shown in fig. 2 to 20, in the present embodiment, the rotating portion includes a rotating shaft 39, a locking washer 310, a locking screw 311, and a set screw 36; one end of the rotating shaft 39 is installed in the installation hole of the adapter plate 35 and is locked by the fastening screw 36; the other end of the rotating shaft 39 is fixed to the base 51 and fastened by a locking screw 311.

Preferably, in combination with the above solutions, as shown in fig. 2 to 20, in the present embodiment, the base 51 is formed with a positioning hole, an oilless bushing 38 is disposed in the positioning hole, the oilless bushing 38 is sleeved on the rotating shaft portion between the lock washer 310 and the adapter plate 35, and the upper and lower end side surfaces are respectively matched with a thrust needle roller bearing 37; two thrust needle bearings 37 are arranged between the lock washer 310 and the adapter plate 35 and abut against the sides of the lock washer 310 and the adapter plate 35 respectively; the rotary shaft 39 is inserted into the oilless bushing 38 and is rotatable relative to the oilless bushing 38.

The crossed slider rotating mechanism provided by the invention has the advantages of simple and practical structure, higher reliability and relatively lower cost, can be directly applied to the existing automatic wall surface adhering device, and improves the wallpaper paving efficiency and precision.

(2) Automatic wall surface adhering device

Correspondingly, in combination with the scheme, the invention also provides an automatic wall surface adhering device which is provided with the crossed sliding block rotating mechanism.

Preferably, in combination with the above solutions, as shown in fig. 2 to 20, in this embodiment, the automatic wall surface adhering device is provided with two sets of cross slide block rotating mechanisms 3, the two sets of cross slide block rotating mechanisms 3 share the same first slide rail 16, the rotating shafts 39 of the rotating parts of the two sets of cross slide block rotating mechanisms 3 are rotatably supported at two different positions of the base 51, and the connecting line of the supporting points at the two different positions is parallel or approximately parallel to the first slide rail.

Preferably, in combination with the above scheme, as shown in fig. 2 to 20, in this embodiment, the automatic wall surface adhering device further includes a slider rotating mechanism 4, the slider rotating mechanism 4 is parallel to the cross slider rotating mechanism 3, and the slider rotating mechanism 4 includes a third slide rail, a third slider 41, a middle adapter plate 42 and a rotating base 45; the third slide rail and the first slide rail 16 are arranged on the bottom plate 13 in parallel; the two third sliding blocks 41 are respectively arranged on two sides of the lower part of the middle adapter plate 42, the upper end of the third sliding block 41 is fixed on the middle adapter plate 42, and the lower end of the third sliding block 41 is slidably arranged on a third sliding rail; one end of the rotary seat 45 is fixed on the middle adapter plate, and the other end is rotatably arranged on the base 51.

Preferably, in combination with the above solutions, as shown in fig. 2 to 20, in this embodiment, a thrust needle bearing 44 is disposed at the matching position of the intermediate adapter plate 42 and the rotary seat 45, the thrust needle bearing 44 is fixed on the intermediate adapter plate 42 through a set screw 43, and the rotary seat 45 is disposed in the thrust needle bearing 44 and can rotate relative to the thrust needle bearing.

The automatic wall surface adhering device provided by the invention is simple and practical in structure, higher in reliability and relatively lower in cost, can be directly applied to the existing wall surface adhering device, and improves the wall paper adhering efficiency.

(3) Spring pre-pressing mechanism

A spring pre-pressing mechanism comprises a fixed spring seat 21, a spring guide rod 22, a spring 23 and a movable spring seat 24; the fixed spring seat 21 is fixedly arranged on the fixing mechanism 1 of the wall attaching device and is fixed into a whole through a screw; the fixing mechanism 1 comprises a bottom plate 13 and reinforcing ribs 12; the bottom plate 13 is fixedly arranged at the bottom of the support plate 11; the reinforcing ribs 12 are respectively connected with the bottom plate 13 and the supporting plate 11; the movable spring seat 24 is fixedly arranged on a base (51) of the paving and pasting mechanism 5, and the movable spring seat 24 moves along with the front end paving and pasting mechanism 5; one end of the spring 23 is horizontally arranged on the fixed spring seat 21, and the other end of the spring 23 is horizontally arranged on the movable spring seat 24; the spring guide rod 22 is sleeved in the spring 23, and the spring guide rod 22 provides guidance for the compression spring 23 to prevent the compression spring 23 from falling off.

Preferably, in combination with the above solutions, as shown in fig. 2 to 20, in the present embodiment, the fixed spring seat 21 is provided with a positioning groove along the horizontal direction, one end of the spring 23 is connected to the positioning groove of the fixed spring seat 21 by a thread, and one end of the spring guide rod 22 is fixed in the positioning groove; the movable spring seat 24 is provided with a mounting groove along the horizontal direction, and the other end of the spring 23 abuts against the mounting groove.

Preferably, in combination with the above solution, as shown in fig. 2 to 20, in the present embodiment, a gasket 25 is disposed in the installation groove, and the other end of the spring 23 abuts against a front surface of the gasket 25; the gasket 25 is arranged in the mounting groove in a sliding manner along the horizontal direction; the back of the gasket 25 is connected with an adjusting screw 26 along the horizontal direction; by adopting the scheme, the pre-pressure of the spring in the initial position of the whole device can be adjusted by adjusting the screw 26 and the gasket 25 so as to achieve the optimal paving effect; the compression spring 23 always gives a pressure to the movable spring seat 24, indirectly always gives a forward thrust to the front paving mechanism 5, so that the paving rollers of the front paving mechanism 5 are always in close parallel with the wall surface, and a certain pressure is kept.

Preferably, in combination with the above solutions, as shown in fig. 2 to 20, in the present embodiment, the spring preloading mechanism includes a first spring preloading mechanism and a second spring preloading mechanism; the first spring pre-pressing mechanism and the second spring pre-pressing mechanism are respectively arranged on two sides of the upper end surface of the bottom plate 13 and are respectively connected with the base 51 of the paving and sticking mechanism 5; the direction of the wall-attaching pressing force provided by the spring pre-pressing mechanism 2 to the wall-attaching mechanism 5 is consistent with the sliding direction of the wall-attaching mechanism 5. Specifically, the first spring pre-pressing mechanism and the second spring pre-pressing mechanism are respectively arranged on two sides of the upper end face of the bottom plate 13 of the fixing mechanism and are respectively fixedly connected with the bottom of the base 51 of the paving mechanism 5, and thus, the two spring pre-pressing mechanisms can be used for parallel adjustment; the direction of the wall-attaching pressing force provided by the spring pre-pressing mechanism 2 to the paving mechanism 5 is consistent with the sliding direction of the paving mechanism 5; specifically, when the wallpaper paving robot moves to an operation position, the wallpaper paving robot continues to move forward, the paving rollers are in contact with the wall surface and continue to move forward for a distance, the whole paving mechanism moves backwards along the first sliding rail 16, the springs in the spring pre-pressing mechanisms 2 are further compressed, when the paving rollers of the paving mechanisms 5 are not parallel to the wall surface, one side of the wallpaper is in contact with the wall surface, the other side of the wallpaper is not in contact with the wall surface, a certain angle is formed between the wallpaper and the wall surface, the compression springs in the spring pre-pressing mechanisms 2 which are not in contact with the side of the wallpaper always have a pressure to enable the paving structure to move towards the wall surface, the whole front-end paving mechanism can translate and rotate, and finally, under the action of the spring pressure, the whole paving mechanism slightly rotates (namely rotates along the rotary seats in the sliding block rotating mechanisms 4) and is tightly attached to the wall surface.

EXAMPLE 2 Placement device

Correspondingly, in combination with the scheme, the invention also provides a paving device which is provided with an automatic guide trolley and a paving mechanism used as wall surface construction equipment, wherein the paving mechanism is arranged on the base 51, and the automatic wall surface adhering device is arranged between the bottom plate 13 and the base 51.

Preferably, in combination with the above solutions, as shown in fig. 2 to 20, in the present embodiment, on one hand, the paving mechanism 5 and the base 51 thereof can rotate in a horizontal direction parallel to the bottom plate by the automatic wall surface adhering device, and on the other hand, can slide in the first direction and the second direction on the bottom plate by the automatic wall surface adhering device.

Preferably, in combination with the above solution, as shown in fig. 2 to 20, in the present embodiment, the paving mechanism includes a paving roller, and the paving roller 52 is rotatably disposed on the base 51 through a roller support plate 53; the roller supporting plate 53 is provided with a deep groove ball bearing 54, and the paving roller 52 is rotatably arranged in the deep groove ball bearing 54; a clamp spring 55 is arranged between the deep groove ball bearing 54 and the paving roller 52.

Specifically, with reference to the above schemes, as shown in fig. 2 to 20, the paving device provided by the present invention specifically includes a bottom fixing mechanism 1, a spring pre-pressing mechanism 2, a cross slider rotating mechanism 3, a slider rotating mechanism 4, and a paving mechanism 5; the crossed slide block rotating mechanism 3 and the slide block rotating mechanism 4 are movably arranged on the bottom fixing mechanism 1 and used for supporting the paving mechanism 5; the paving and pasting mechanism 5 is rotatably arranged on the cross sliding block rotating mechanism 3 and the sliding block rotating mechanism 4 and can move on the bottom fixing mechanism 1 along the horizontal direction along with the cross sliding block rotating mechanism 3 and the sliding block rotating mechanism 4, so that wallpaper paving and pasting can be carried out close to the wall surface; specifically, the spring prepressing mechanism 2 is arranged on the bottom fixing mechanism 1 and is connected with the paving mechanism 5; specifically, one end of the spring pre-pressing mechanism 2 is fixedly arranged on the bottom fixing mechanism 1, the other end of the spring pre-pressing mechanism 2 is fixedly arranged on the paving mechanism 5, when the paving mechanism 5 is tightly attached to the wall surface, the spring pre-pressing mechanism 2 is used for providing a wall-attaching pressing force for the paving mechanism 5, namely the spring pre-pressing mechanism 2 can provide buffering when the paving mechanism 5 is in initial contact with the wall surface and a pressing force during operation; by adopting the scheme, the paving and pasting mechanism 5 can realize the adjustment within a small angle range on the bottom fixing mechanism 1, so that the wallpaper 56 on the paving and pasting mechanism 5 is parallel to the wall surface, and the paving and pasting device is simple and reliable in structure, smooth in movement and low in cost and can automatically paste to the wall surface tightly.

Preferably, in combination with the above solution, as shown in fig. 2 to 20, in the present embodiment, the bottom fixing mechanism 1 includes a bottom plate 13, and two sides of the upper end surface of the bottom plate 13 are respectively provided with a first slide rail 16; the crossed slide block rotating mechanism 3 and the slide block rotating mechanism 4 are respectively arranged on the first slide rails on two sides of the upper end face of the bottom plate 13 in a sliding mode, and the spring pre-pressing mechanism 2, the crossed slide block rotating mechanism 3 and the slide block rotating mechanism 4 are respectively arranged on the bottom plate 13 of the bottom fixing mechanism 1 and are connected with the front end paving mechanism 5, so that the whole paving mechanism 5 can move and rotate at a small angle.

Preferably, in combination with the above solution, as shown in fig. 2 to 20, in the present embodiment, the bottom fixing mechanism 1 further includes a bottom plate 13 and a reinforcing rib 12; the bottom plate 13 is fixedly arranged at the bottom of the support plate 11; the reinforcing ribs 12 are respectively connected with the bottom plate 13 and the supporting plate 11; the bottom plate 13 is used for installing the paving device on the wallpaper paving robot, the end part of the first slide rail 16 is provided with a limiting block 14, and the inner side surface of the limiting block 14 is provided with a polyurethane buffer cushion 15; specifically, the supporting plate 11 is installed on a lifting mechanism of the wallpaper paving and pasting robot, and the reinforcing ribs 12 are connected between the supporting plate 11 and the bottom plate 13; the limiting block 14 and the polyurethane buffer cushion 15 are used for limiting the sliding blocks of the crossed sliding block rotating mechanism 3 and the sliding block rotating mechanism 4 to be separated from the linear first sliding rail 16 and ensuring that the initial positions are parallel to the equipment; the whole cross sliding block rotating mechanism 3, the sliding block rotating mechanism 4 and the paving mechanism 5 can move along the linear first sliding rail 16.

Preferably, in combination with the above scheme, as shown in fig. 2 to 20, in the present embodiment, the spring biasing mechanism 2 includes a first spring biasing mechanism and a second spring biasing mechanism; the first spring pre-pressing mechanism and the second spring pre-pressing mechanism are respectively arranged on two sides of the upper end face of the bottom plate 13 and are respectively fixedly connected with the bottom of the base 51 of the paving mechanism 5, and thus the two spring pre-pressing mechanisms can be used for parallel adjustment; the direction of the wall-attaching pressing force provided by the spring pre-pressing mechanism 2 to the paving mechanism 5 is consistent with the sliding direction of the paving mechanism 5; specifically, when the wallpaper paving robot moves to an operation position, the wallpaper paving robot continues to move forward, the paving rollers are in contact with the wall surface and continue to move forward for a distance, the whole paving mechanism moves backwards along the first sliding rail 16, the springs in the spring pre-pressing mechanisms 2 are further compressed, when the paving rollers of the paving mechanisms 5 are not parallel to the wall surface, one side of the wallpaper is in contact with the wall surface, the other side of the wallpaper is not in contact with the wall surface, a certain angle is formed between the wallpaper and the wall surface, the compression springs in the spring pre-pressing mechanisms 2 which are not in contact with the side of the wallpaper always have a pressure to enable the paving structure to move towards the wall surface, the whole front-end paving mechanism can translate and rotate, and finally, under the action of the spring pressure, the whole paving mechanism slightly rotates (namely rotates along the rotary seats in the sliding block rotating mechanisms 4) and is tightly attached to the wall surface.

Preferably, in combination with the above scheme, as shown in fig. 2 to 20, in the present embodiment, the spring biasing mechanism 2 includes a fixed spring seat 21, a spring guide rod 22, a spring 23, and a movable spring seat 24; the fixed spring seat 21 is fixedly arranged on the bottom plate 13, the movable spring seat 24 is fixedly arranged on the paving and pasting mechanism 5 and is fixed into a whole through a screw, and the movable spring seat 24 moves along with the front end paving and pasting mechanism 5; one end of the spring 23 is horizontally arranged on the fixed spring seat 21, and the other end of the spring 23 is horizontally arranged on the movable spring seat 24; the spring guide rod 22 is sleeved in the spring, and the spring guide rod 22 provides guidance for the compression spring 23 to prevent the compression spring from falling off.

Preferably, in combination with the above scheme, as shown in fig. 2 to 20, in the present embodiment, the cross slider rotating mechanism 3 includes a first slider 31, an adapter plate 35, and a rotating mechanism; wherein, the first sliding block 31 is slidably disposed on the first sliding rail 16; the adapter plate 35 is arranged on the upper end surface of the first slider 31 and used for installing the rotating mechanism; the rotating mechanism is fixedly arranged on the adapter plate 35 and is used for connecting the paving and pasting mechanism 5; specifically, the placement mechanism 5 is rotatably provided on the rotating mechanism, so that the placement mechanism 5 can rotate when adjusted to be parallel to the wall surface.

Preferably, in combination with the above scheme, as shown in fig. 2 to 20, in this embodiment, the cross sliding block rotating mechanism 3 further includes a sliding block connecting plate 32, a second sliding block 33, and a second sliding rail 34; the sliding block connecting plate 32 is fixedly arranged on the upper end surface of the first sliding block 31, and the second sliding block 33 is fixedly arranged on the sliding block connecting plate 32, so that the first sliding block 31, the second sliding block 33 and the sliding block connecting plate 32 are connected together to form a whole; specifically, the mounting direction of the second slider 33 is perpendicular to the mounting direction of the first slider 31, the second slide rail 34 can move in the groove of the second slider 33, and the mounting direction of the second slide rail 34 is perpendicular to the mounting direction of the linear first slide rail 16, so that the paving mechanism 5 can slide in two dimensions of the crossed slider rotating mechanism 3, so that the crossed slider rotating mechanism 3 can rotate at a small angle, and the angle can be adjusted; the second slide rail 34 is slidably disposed on the second slide block 33; the adapter plate 35 is fixedly disposed on the second slide rail 34.

Preferably, in combination with the above solution, as shown in fig. 2 to 20, in the present embodiment, the rotation mechanism includes a rotation shaft 39, a locking washer 310, and a locking screw 311; one end of the rotating shaft 39 is mounted in a mounting hole of the adapter plate 35 and is locked by a set screw 36; specifically, the other end of the rotating shaft 39 passes through a positioning hole of the paving mechanism base 51 and is fastened by a locking screw 311; the locking washer 310 is sleeved on the locking screw 311, and the locking washer 310 is used for fixing the rotating shaft 39; further, an oilless bushing 38 is arranged in the positioning hole of the base 51, and the upper end and the lower end of the oilless bushing 38 are respectively provided with a thrust needle roller bearing 37; the rotation shaft 39 passes through the oilless bushing 38 and is rotatably disposed inside the oilless bushing 38; specifically, second slide rail 34 passes through the fix with screw with adapter plate 35, and rotation axis 39 is installed in the locating hole of adapter plate 35, through holding screw 36 locking, and it is rotatory along oilless bush 38, and oilless bush 38 is installed in the base 51 who lays and pastes the mechanism downthehole, and is fixed through interference fit, and when the front end was laid and is pasted the mechanism and take place small rotation, first slider 31, second slide rail 34, rotation axis 39 all can follow and move together.

Preferably, in combination with the above solution, as shown in fig. 2 to 20, in the present embodiment, the slider rotating mechanism 4 includes a third slider 41, an intermediate adapter plate 42, a thrust needle bearing 43, and a rotating base 45; specifically, the upper end of the third slider 41 is fixedly disposed on the lower end surface of the middle adapter plate 42, and the lower end of the third slider 41 is slidably disposed on the first slide rail 16; the thrust needle roller bearing 43 is arranged on the upper end face of the middle adapter plate 42 through a set screw 43; one end of the rotating seat 45 is fixedly arranged on the paving and pasting mechanism 5, the other end of the rotating seat 45 is rotatably arranged in the thrust needle roller bearing 43, and when the paving roller at the front end of the paving and pasting mechanism 5 is not parallel to the wall surface, the front end paving and pasting mechanism 5 rotates together with the rotating seat 45.

Preferably, in combination with the above scheme, as shown in fig. 2 to 20, in the present embodiment, the paving mechanism 5 includes a base 51 and a paving roller 52; the paving roller 52 is rotatably arranged on the base 51 through a roller supporting plate 53; the base 51 is rotatably arranged on the crossed slide block rotating mechanism 3 and the slide block rotating mechanism 4 along the horizontal direction; the wallpaper 56 is pressed on the wall surface by the paving roller 52, the whole paving mechanism 5 moves from bottom to top, and the paving roller 52 ascends while rotating to pave the wallpaper on the wall surface.

Preferably, in combination with the above solutions, as shown in fig. 2 to 20, in the present embodiment, the roller support plate 53 is provided with a deep groove ball bearing 54, and the paving roller 52 is rotatably disposed in the deep groove ball bearing 54; a clamp spring 55 is arranged between the deep groove ball bearing 54 and the paving roller 52.

Embodiment 3 method for controlling a placement device

Correspondingly, in combination with the above scheme, as shown in fig. 2 to 20, the present invention further provides a method for controlling a paving device, including the paving device described above, further including the following steps:

the paving mechanism 5 slides on the bottom fixing mechanism 1 in parallel to the wall surface through the cross sliding block rotating mechanism 3 and the sliding block rotating mechanism 4 so that the wallpaper on the paving mechanism 5 is adhered to the wall surface, and at the moment, the spring pre-pressing mechanism 2 enables the wallpaper on two sides of the paving mechanism 5 to be adhered to the wall surface through the compression spring 23; when the wallpaper on the paving and pasting mechanism 5 is not parallel to the wallpaper in a pasting mode, the paving and pasting device provides wall pasting pressing force for the paving and pasting mechanism 5 through the spring pre-pressing mechanism 2 on the bottom fixing mechanism 1, so that the wallpaper on the paving and pasting mechanism 5 is kept parallel to the wall surface; specifically, when the wallpaper on one side of the wall facing the paving mechanism 5 is not parallel to the wall (i.e. the whole wallpaper and the wall have an included angle), the spring pre-pressing mechanism 2 on the side which is not parallel to the paving mechanism makes the wallpaper on two sides of the paving mechanism 5 be parallelly adhered to the wall through the compression spring 23.

Embodiment 4 wallpaper pasting robot

Correspondingly, in combination with the scheme, the invention also provides a wallpaper paving and pasting robot, which comprises a paving and pasting device, wherein the paving and pasting device is the paving and pasting device; further, wall paper is spread and is pasted robot still includes AGV dolly and main body frame, and main body frame sets up on the AGV dolly, is equipped with elevating system on the main body frame, spreads and pastes the device and set up on elevating system to can follow elevating system up-and-down motion.

By adopting the scheme, the parallelism between the wallpaper and the wall surface can be effectively kept, so that the wallpaper paving quality is improved; the scheme provided by the invention has the advantages of simple and practical structure, higher reliability and relatively lower cost, and can be directly applied to the existing wallpaper paving robot to improve the wallpaper paving efficiency.

The wall construction equipment of the specific embodiment part can be a wallpaper paving and pasting mechanism, glue coating equipment, brick paving equipment and the like. Any construction equipment requiring a wall surface attaching mechanism for various functions of a wall surface is within the scope of the present patent.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An automatic wall surface adhering device is arranged between a base (51) and a bottom plate (13), the base (51) is formed at the bottom of wall surface construction equipment, and the bottom plate (13) is formed at the top of an automatic guide trolley, and is characterized by comprising a crossed slide block rotating mechanism, a slide block rotating mechanism and a spring pre-pressing mechanism;

the cross slide block rotating mechanism comprises a first sliding mechanism, a second sliding mechanism and a rotating mechanism, wherein:

the first sliding mechanism comprises a first sliding block (31) and a first sliding rail (16), wherein the first sliding block (31) is arranged on the first sliding rail (16) in a sliding manner to realize the movement of the cross sliding block rotating mechanism in the first direction;

the second sliding mechanism is arranged on the first sliding mechanism in a crossed manner and comprises a second sliding rail (34), a second sliding block (33) and a sliding connecting plate (32); the sliding connection plate (32) is fixed on the upper portion of the first sliding block (31), the second sliding block (33) is fixed on the upper portion of the sliding connection plate (32), and the second sliding rail (34) is slidably arranged on the second sliding block (33) to achieve movement of the cross sliding block rotating mechanism in the second direction;

a rotating mechanism which is arranged above the second sliding mechanism and comprises a rotating part and an adapter plate (35); the adapter plate (35) is fixed on the second slide rail (34), one end of the rotating part is fixed on the adapter plate (35), and the other end of the rotating part is rotatably arranged on the base (51);

the first sliding rail (16) is arranged on the bottom plate (13); the first sliding block (31), the second sliding block (33) and the sliding connecting plate (32) are fixed into a whole; when the first sliding block (31) moves, the second sliding block (33), the sliding connecting plate (32) and the rotating mechanism are driven to slide together; when the second slide rail (34) moves, the adapter plate (35) and the rotating part are driven to slide together;

the sliding block rotating mechanism is arranged on the bottom fixing mechanism (1) and is parallel to the crossed sliding block rotating mechanism (3), and the sliding block rotating mechanism (4) comprises a third sliding rail, a third sliding block (41), a middle adapter plate (42) and a rotating seat (45); the third sliding rail and the first sliding rail (16) are arranged on the bottom plate (13) in parallel; the number of the third sliding blocks (41) is two, the third sliding blocks are respectively arranged on two sides of the lower part of the middle adapter plate (42), the upper ends of the third sliding blocks (41) are fixed on the middle adapter plate (42), and the lower ends of the third sliding blocks (41) are slidably arranged on the third sliding rail; one end of the rotating seat (45) is fixed on the middle adapter plate, and the other end of the rotating seat is rotatably arranged on the base (51);

the paving and pasting mechanism (5) is rotatably arranged on the sliding block rotating mechanism and can move on the bottom fixing mechanism (1) along the horizontal direction along with the sliding block rotating mechanism;

the spring pre-pressing mechanism (2) is arranged on the bottom fixing mechanism (1) and is connected with the paving mechanism (5); the pre-pressing mechanism (2) is used for providing wall-pasting pressing force for the paving mechanism (5).

2. The automatic wall-surface-clinging device of claim 1, characterized in that: the sliding direction formed by the first sliding block (31) and the corresponding first sliding rail (16) is the first direction, the sliding direction formed by the second sliding rail (34) and the corresponding second sliding block (33) is the second direction, and the first direction and the second direction are perpendicular to each other.

3. The automatic wall-surface-clinging device of claim 2, characterized in that: a second sliding groove is formed in the second sliding block (33), and a second sliding rail (34) is in sliding fit in the second sliding groove; wherein the second sliding block (33) is arranged at the lower part and the second sliding rail (34) is arranged at the upper part; a first sliding groove is formed in the first sliding block (31), and the first sliding rail (16) is in sliding fit in the first sliding groove; wherein the first slide rail (16) is arranged at the lower part and the first slide block (31) is arranged at the upper part.

4. The automatic wall-next device according to claim 1, wherein said rotating portion comprises a rotating shaft (39), a locking washer (310), a locking screw (311) and a set screw (36); one end of the rotating shaft (39) is mounted in a mounting hole of the adapter plate (35) and locked by a set screw (36); the other end of the rotating shaft (39) is fixed on the base (51) and is fastened through the locking screw (311).

5. The automatic wall-surface-clinging device of claim 4, wherein the base (51) is formed with a positioning hole, an oilless bushing (38) is arranged in the positioning hole, the oilless bushing (38) is sleeved on the rotating shaft part between the locking gasket (310) and the adapter plate (35), and the upper and lower end side surfaces are respectively matched with a thrust needle bearing (37); the two thrust needle bearings (37) are arranged between the gasket (310) and the adapter plate (35) and respectively abut against the side faces of the gasket (310) and the adapter plate (35); the rotating shaft (39) is arranged in the oilless bushing (38) in a penetrating mode and can rotate relative to the oilless bushing (38).

6. The automatic wall surface adhering device according to claim 5, wherein two sets of cross sliding block rotating mechanisms (3) are provided, the two sets of cross sliding block rotating mechanisms (3) share the same first sliding rail (16), and rotating shafts (39) of the two sets of cross sliding block rotating mechanisms (3) are rotatably supported at two different positions of the base (51); the connecting line of the supporting points at the two different positions is parallel or approximately parallel to the first sliding rail (16).

7. The automatic wall-clinging device of claim 6, characterized in that: the spring prepressing mechanism comprises a fixed spring seat (21), a spring guide rod (22), a spring (23) and a movable spring seat (24); the fixed spring seat (21) is fixedly arranged on the bottom plate (13), and the movable spring seat (24) is fixedly arranged on the base (51); one end of the spring (23) is arranged on the fixed spring seat (21) along the horizontal direction, and the other end of the spring (23) is arranged on the movable spring seat (24) along the horizontal direction; the spring guide rod (22) is sleeved in the spring;

the wall construction equipment can move and rotate at a small angle through the crossed sliding block rotating mechanism (3), the sliding block rotating mechanism (4) and the spring pre-pressing mechanism (2) and is tightly attached to the wall.

8. A lining device provided with an automatic guide carriage and a lining mechanism as wall surface construction equipment, the lining mechanism being provided on a base (51), the automatic wall surface lining device according to any one of claims 1 to 7 being provided between a bottom plate and the base.

9. The paving apparatus of claim 8, wherein: spread and paste mechanism (5) and its base (51) accessible on the one hand automatic paste tight wall device and be on a parallel with the horizontal direction of bottom plate carries out certain rotation, on the other hand still can be in through automatic paste tight wall device carry out the slip of first direction and second direction on the bottom plate.

10. The laying device according to claim 9, characterized in that said laying means comprise laying rollers, said laying rollers (52) being rotatably arranged on said base (51) by means of roller support plates (53); the roller supporting plate (53) is provided with a deep groove ball bearing (54), and the paving roller (52) can be rotatably arranged in the deep groove ball bearing (54); a clamp spring (55) is arranged between the deep groove ball bearing (54) and the paving roller (52).