CN110924657B

CN110924657B - Robot for automatically laying floor tiles

Info

Publication number: CN110924657B
Application number: CN201911317520.4A
Authority: CN
Inventors: 段有毕
Original assignee: Zhejiang Qiuwei Fashion Co Ltd
Current assignee: Zhejiang Qiuwei Fashion Co., Ltd
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2021-01-05
Anticipated expiration: 2039-12-19
Also published as: JP2021099015A; CN110924657A

Abstract

The invention discloses a robot for automatically laying floor tiles, which comprises a bottom plate, wherein vertical rods are symmetrically and fixedly arranged at the front and back positions of the upper end surface of the bottom plate, lifting devices are arranged in the vertical rods, lifting blocks capable of sliding up and down in the vertical rods are arranged in the lifting devices, rotating rods are arranged at the opposite ends of the lifting blocks in a rotating mode, cross rods are arranged between the upper ends of the rotating rods in a rotating mode, pressing devices are arranged at the lower sides of the cross rods, electric suction cups are arranged at the lower sides of the cross rods, the slurry is firstly scraped to be flat and then to form gaps after being uniformly laid on the ground, then the floor tiles are turned over to the laid slurry after being lifted by the electric suction cups, the floor tiles are driven to continuously shake by the pressing devices while being pressed, so that the floor tiles are well pressed on the slurry, and the floor tiles can be efficiently laid, the time required by paving the floor tiles can be greatly reduced when the floor tiles are paved in a large area, and the efficiency is improved.

Description

Robot for automatically laying floor tiles

Technical Field

The invention relates to the technical field of robots, in particular to a robot for automatically paving floor tiles.

Background

When carrying out house decoration or local decorations such as shopping mall, all need lay the ceramic tile on the ground, especially places such as market, because the place is great, the engineering of laying the ceramic tile is great, the mode required time of adopting traditional artifical laying is longer, efficiency is lower, the general size of the used ceramic tile in market is great simultaneously, it is comparatively difficult when workman's transport and lay the ceramic tile, staff's intensity of labour is great, current equipment of laying also can only alleviate workman's intensity of labour to a certain extent, the workman of being more convenient for is to taking and putting of ceramic tile, but still need the manual work to carry and put. The present invention sets forth a device that solves the above problems.

Disclosure of Invention

The technical problem is as follows:

the existing floor tile laying equipment can only be used for conveniently taking and placing floor tiles, so that the working efficiency of workers is improved, but the labor intensity is still high.

In order to solve the problems, the present example designs a robot for automatically laying floor tiles, which comprises a bottom plate, wherein vertical rods are symmetrically and fixedly arranged at the front and back of the upper end surface of the bottom plate, a lifting device is arranged in each vertical rod, a lifting block capable of sliding up and down in each vertical rod is arranged in each lifting device, a rotating rod is arranged at one end of each lifting block in a rotating manner, a cross rod is arranged between the upper ends of the rotating rods in a rotating manner, a pressing device is arranged at the lower side of each cross rod, an electric suction cup positioned at the lower side of each cross rod is arranged in each pressing device, floor tiles are placed on the upper end surface of the bottom plate and positioned between the vertical rods, the rotating rods, the cross rods and the suction cups are driven to descend until the suction cups abut against the floor tiles at the top side by the descending blocks, the suction cups are electrified to suck the floor tiles, and the floor tiles are turned over to the left, the floor tile is adsorbed above the ground by descending of the sucking disc, a mud chamber used for storing mud is arranged in the bottom plate, a mounting plate is fixedly arranged on the left end face of the bottom plate, a mud laying device is arranged on the left side of the mud chamber, a pumping cavity located on the left side of the mud chamber is arranged in the mud laying device, a dispersing cavity is arranged in the mounting plate, a blanking port with a downward opening is communicated with the lower side of the dispersing cavity, the mud in the mud chamber is pumped into the dispersing cavity through the pumping cavity and falls to the ground through the blanking port, the bottom plate continuously moves to the right to lay the mud, and the floor tile is pressed onto the laid mud through the sucking disc.

The lifting device comprises a lifting cavity which is arranged in the vertical rod in a penetrating mode in the front and back mode, the lifting block is arranged in the lifting cavity in a sliding mode, and a screw rod which is connected with the lifting block in a threaded mode is arranged between the upper wall and the lower wall of the lifting cavity in a rotating mode.

Preferably, a synchronous cavity is formed in the bottom plate and is right opposite to the lower side of the lifting block, the lower end of the screw rod extends to a driven chain wheel fixedly arranged in the synchronous cavity, a lifting motor is fixedly arranged at the inner center of the lower wall of the synchronous cavity, a driving chain wheel is dynamically connected to the upper end of the lifting motor, and a transmission chain is wound between the driving chain wheel and the driven chain wheel.

Preferably, the front and back of the upper end surface of the bottom plate are symmetrically and fixedly provided with a partition plate located between the lifting blocks, and the partition plate is located on one side of the rotating rod close to the symmetric center of the vertical rod and used for limiting the front side and the back side of the floor tile.

Preferably, a rotating motor is fixedly arranged in the front end face of the lifting block at the rear side, the lower end of the rotating rod is in power connection with the front end of the rotating motor at the rear side, and a supporting plate which is abutted against the lower end of the rotating rod and used for supporting the rotating rod is fixedly arranged at the lower end of one end face of the symmetry center of the lifting block close to the vertical rod.

Wherein, the pressing device comprises a hanging rod fixedly arranged at the center of the lower end face of the cross rod, a telescopic cavity is arranged in the hanging rod, a telescopic plate is arranged in the telescopic cavity in a vertical sliding manner, a telescopic rod is fixedly arranged at the center of the lower end face of the telescopic plate, the lower end of the telescopic rod extends to the lower side of the hanging rod, a sucker is fixedly arranged at the lower end of the telescopic rod, sliding lugs are fixedly arranged at the front end and the rear end of the telescopic plate, the front wall and the rear wall of the telescopic cavity are uniformly distributed up and down and are fixedly provided with fixed lugs, the fixed lugs at the front side and the rear side are staggered up and down, the sliding lugs are abutted against the circular arcs of the fixed lugs, the sliding lugs are continuously shaken left and right through the offsetting of the fixed lugs when ascending in the telescopic cavity, a compression spring is fixedly arranged on the, the compression-resistant spring provides power for the resetting of the expansion plate.

Preferably, the mud chambers are positioned at the left side and the right side of the synchronous cavity, a communicating cavity positioned at the lower side of the synchronous cavity is communicated between the mud chambers, and a feeding hole with an upward opening is communicated at the right end of the upper wall of the mud chamber at the right side.

Wherein, mud laying device is located including the intercommunication the pumping chamber with feed inlet between the mud room, pumping chamber upside intercommunication is equipped with opening conveying mouth left, dispersion chamber upside intercommunication be equipped with opening right and with the conveying pipeline of conveying mouth intercommunication, conveying pipeline left wall in-connection is equipped with the valve cavity, what the valve cavity horizontal slip was equipped with is used for sealing conveying pipeline's closing plate, the closing plate left end is fixed and is equipped with magnet, valve cavity left wall internal fixation is equipped with and is used for control the electromagnetic block that removes about the magnet.

Preferably, the pivoted is equipped with the pump shaft around the pumping chamber between the wall, the outer disc annular array of pump shaft just fixes and is equipped with the pump leaf, pumping chamber back wall internal fixation is equipped with and takes out the material motor, pump shaft rear end power connect in take out the material motor, the mounting panel is terminal surface down and is located the fixed scraper blade that is used for laying flat mud that is equipped with in blanking mouth left side, terminal surface just is located under the mounting panel evenly distributed and fixed the scribing rod that is used for drawing the space with mud around the scraper blade left side.

Preferably, roller cavities with downward openings are symmetrically arranged at the front side and the rear side of the mud chamber and the communication cavity at the front end and the rear end in the bottom plate, and rollers are symmetrically and rotatably arranged at the left side and the right side between the front wall and the rear wall of the roller cavities.

The invention has the beneficial effects that: according to the invention, after slurry is automatically and uniformly laid on the ground, the slurry is firstly scraped and then a gap is formed, then the floor tile is overturned to the laid slurry after being lifted by the electric sucker, the floor tile is driven to continuously shake by the pressing device while being pressed, and then the floor tile is well pressed on the slurry, so that the floor tile can be efficiently laid, the time required for laying the floor tile can be greatly reduced when the floor tile is laid in a large area, the efficiency is improved, meanwhile, the floor tile does not need to be lifted manually, and the labor intensity of workers is greatly reduced.

Drawings

For ease of illustration, the invention is described in detail by the following specific examples and figures.

Fig. 1 is a schematic view of an overall structure of a robot for automatically laying floor tiles according to the present invention;

FIG. 2 is a schematic view of the structure in the direction "A-A" in FIG. 1;

FIG. 3 is an enlarged view of the structure of "B" in FIG. 2;

FIG. 4 is an enlarged view of the structure of "C" in FIG. 1;

FIG. 5 is a schematic view of the structure in the direction "D-D" in FIG. 4.

Detailed Description

The invention will now be described in detail with reference to fig. 1-5, for ease of description, the orientations described below will now be defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

The invention relates to a robot for automatically laying floor tiles, which is mainly applied to the automatic floor tile laying work, and the invention is further explained by combining the attached drawings of the invention:

the invention relates to a robot for automatically paving floor tiles, which comprises a bottom plate 11, wherein vertical rods 12 are symmetrically and fixedly arranged in front and back positions on the upper end surface of the bottom plate 11, a lifting device 101 is arranged in each vertical rod 12, a lifting block 13 capable of sliding up and down in each vertical rod 12 is arranged in each lifting device 101, a rotating rod 14 is rotatably arranged at one end of each lifting block 13, a cross rod 15 is rotatably arranged between the upper ends of the rotating rods 14, a pressing device 102 is arranged at the lower side of each cross rod 15, an electric suction cup 16 positioned at the lower side of each cross rod 15 is arranged in each pressing device 102, floor tiles are placed on the upper end surface of the bottom plate 11 and positioned between the vertical rods 12, the rotating rods 14, the cross rods 15 and the suction cups 16 are driven to descend by the descending of the lifting blocks 13 until the suction cups 16 abut against the uppermost floor tiles, the suction cups 16 are electrified to suck the floor tiles, the lifting blocks 13 overturn the floor tiles to the left side of the, the floor tile is adsorbed above the ground by descending the suction cup 16, a mud chamber 17 for storing mud is arranged in the bottom plate 11, an installation plate 18 is fixedly arranged on the left end face of the bottom plate 11, a mud laying device 103 is arranged on the left side of the mud chamber 17, a pumping cavity 19 located on the left side of the mud chamber 17 is arranged in the mud laying device 103, a dispersing cavity 20 is arranged in the installation plate 18, a blanking port 21 with a downward opening is communicated with the lower side of the dispersing cavity 20, the mud in the mud chamber 17 is pumped into the dispersing cavity 20 through the pumping cavity 19 and falls to the ground through the blanking port 21, the bottom plate 11 continuously moves right to lay the mud, and the mud is pressed onto the laid mud through the suction cup 16.

According to an embodiment, the lifting device 101 is described in detail below, the lifting device 101 includes a lifting cavity 22 penetrating through the vertical rod 12 from front to back, the lifting block 13 is slidably disposed in the lifting cavity 22 from top to bottom, and a screw 23 is rotatably disposed between the upper wall and the lower wall of the lifting cavity 22 and is in threaded connection with the lifting block 13.

Beneficially, a synchronous cavity 24 is arranged in the bottom plate 11 and directly faces to the lower side of the lifting block 13, a driven sprocket 25 is fixedly arranged in the synchronous cavity 24 and extends from the lower end of the screw 23, a lifting motor 26 is fixedly arranged at the inner center of the lower wall of the synchronous cavity 24, a driving sprocket 27 is dynamically connected to the upper end of the lifting motor 26, and a transmission chain 28 is wound between the driving sprocket 27 and the driven sprocket 25.

Advantageously, the partition plates 65 are symmetrically arranged in front and back of the upper end surface of the bottom plate 11 and are fixedly arranged between the lifting blocks 13, and the partition plates 65 are arranged on one side of the rotating rod 14 close to the symmetrical center of the vertical rod 12 and are used for limiting the front side and the back side of the floor tile.

Beneficially, a rotating motor 29 is fixedly arranged in the front end face of the lifting block 13 at the rear side, the lower end of the rotating rod 14 at the rear side is dynamically connected to the front end of the rotating motor 29, and a supporting plate 30 which abuts against the lower end of the rotating rod 14 and is used for supporting the rotating rod 14 is fixedly arranged at the lower end of one end face of the lifting block 13 close to the symmetric center of the vertical rod 12.

According to the embodiment, the pressing device 102 is described in detail below, the pressing device 102 includes a suspension rod 31 fixedly disposed at the center of the lower end surface of the cross bar 15, a telescopic cavity 32 is disposed in the suspension rod 31, a telescopic plate 33 is slidably disposed in the telescopic cavity 32 up and down, a telescopic rod 34 is fixedly disposed at the center of the lower end surface of the telescopic plate 33, the lower end of the telescopic rod 34 extends to the lower side of the suspension rod 31, the suction cup 16 is fixedly disposed at the lower end of the telescopic rod 34, sliding protrusions 35 are fixedly disposed at the front and rear ends of the telescopic plate 33, fixing protrusions 36 are uniformly disposed on the front and rear walls of the telescopic cavity 32, the front and rear sides of the fixing protrusions 36 are vertically displaced, the sliding protrusions 35 abut against the circular arcs of the fixing protrusions 36, and continuously shake left and right due to the displacement of the fixing protrusions 36 when the sliding protrusions 35 ascend in the telescopic cavity, the fixed resistance to compression spring 37 that is equipped with of flexible chamber 32 upper wall, resistance to compression spring 37 lower extreme with the up end of expansion plate 33 offsets, resistance to compression spring 37 does expansion plate 33 resets and provides power.

The mud chambers 17 are located on the left side and the right side of the synchronous cavity 24, a communication cavity 50 located on the lower side of the synchronous cavity 24 is communicated between the mud chambers 17, and a feed inlet 51 with an upward opening is communicated with the right end of the upper wall of the mud chamber 17 on the right side.

According to the embodiment, the following detailed description is made on the slurry paving device 103, the slurry paving device 103 includes a feed inlet 38 communicated between the pumping cavity 19 and the slurry chamber 17, a delivery port 39 with a leftward opening is communicated with the upper side of the pumping cavity 19, a delivery pipeline 40 with a rightward opening and communicated with the delivery port 39 is communicated with the upper side of the dispersion cavity 20, a valve cavity 41 is communicated with the left wall of the delivery pipeline 40, a sealing plate 42 for sealing the delivery pipeline 40 is arranged in the valve cavity 41 in a left-right sliding manner, a magnet 43 is fixedly arranged at the left end of the sealing plate 42, and an electromagnetic block 44 for controlling the magnet 43 to move left and right is fixedly arranged in the left wall of the valve cavity 41.

Beneficially, pump shaft 45 is equipped with in the pivoted between the preceding back wall of pumping chamber 19, pump shaft 45 outer disc annular array just fixes and is equipped with pump leaf 46, pumping chamber 19 back wall internal fixation is equipped with and draws material motor 47, pump shaft 45 rear end power connect in draw material motor 47, terminal surface just is located under the mounting panel 18 the fixed scraper blade 48 that is used for spreading mud that is equipped with in blanking mouth 21 left side, terminal surface just is located under the mounting panel 18 evenly distributed and fixed being equipped with the marking off pole 49 that is used for drawing the space with mud around scraper blade 48 left side.

Beneficially, roller cavities 60 with downward openings are symmetrically arranged at the front side and the rear side of the bottom plate 11 at the front end and the rear end and at the front side and the rear side of the mud chamber 17 and the communication cavity 50, and rollers 61 are symmetrically and rotatably arranged between the front wall and the rear wall of the roller cavities 60 at the left-right position.

The following describes in detail the use steps of a robot for automatically laying floor tiles according to the present disclosure with reference to fig. 1 to 5:

in the initial state, the lifting block 13 is located at the upper limit position, the rotating rod 14 is in the vertical state, the cross rod 15 is located at the upper limit position, the expansion plate 33 is located at the lowest side in the expansion cavity 32, the compression-resistant spring 37 is in the relaxed state, the sealing plate 42 is located at the right limit position and seals the material conveying pipeline 40, the mounting plate 18 matched with the size of the ground tile to be laid is selected to be mounted on the left end face of the bottom plate 11, the prepared slurry is injected into the slurry chamber 17 through the feed inlet 51, and the ground tiles are arranged on the upper side of the bottom plate 11 from bottom to top and located between the front side.

When the brick is laid, the electromagnetic block 44 is electrified, the magnet 43 is driven to move left by magnetic force and the sealing plate 42 is driven to move left, the material conveying pipeline 40 is further opened, the material pumping motor 47 is started, the pump blade 46 is driven to rotate by the pump shaft 45, then slurry in the slurry chamber 17 is penetrated into the pumping cavity 19 through the feed port 38, the slurry is input into the dispersion cavity 20 through the feed port 39 and the material conveying pipeline 40 and drops to the ground to be laid through the drop port 21, the bottom plate 11 is moved to the right continuously, the slurry laid on the ground is firstly laid through the scraper 48, then a gap is cut in the slurry through the marking rod 49 until the position of just laying a brick, the lifting motor 26 is started and drives the driving chain wheel 27 to rotate, the driven chain wheel 25 is driven by the driving chain 28 to rotate and the screw rod 23 is driven to rotate, the lifting block 13 is driven to drop through threaded connection, and the rotating rod 14, the hanging rod 31 and the telescopic rod 34 drive the suction cup 16 to descend to abut against the upper end of the uppermost floor tile, at the moment, the suction cup 16 is powered on to suck the floor tile, the lifting motor 26 rotates reversely and drives the floor tile to ascend for a certain distance through the suction cup 16, at the moment, the rotating motor 29 is started and drives the rear rotating rod 14 to overturn left, because the cross rod 15 rotates, the suction cup 16 always locates below the cross rod 15 while overturning left under gravity until locating above the slurry laid on the left side of the bottom plate 11, at the moment, the lifting motor 26 is started and drives the suction cup 16 to descend to lay the floor tile on the slurry, at the moment, the suction cup 16 continues to be pressed downwards, the telescopic plate 33 ascends in the telescopic cavity 32 and compresses the compression spring 37, because the sliding lug 35 abuts against the fixed lugs 36 on the front side and the rear side in a staggered manner, the telescopic plate 33 is driven to shake forwards and backwards, the suction cup 16 is, the sucker 16 is reset after power failure, the next floor tile is laid, and after the laying is finished, the lifting block 13 can be lowered to the lower limit position, so that the vertical space is occupied.

In the above manner, a person skilled in the art can make various changes depending on the operation mode within the scope of the present invention.

Claims

1. A robot for automatically laying floor tiles, comprising a base plate, characterized in that: vertical rods are symmetrically and fixedly arranged in the front and back positions of the upper end surface of the bottom plate, a lifting device is arranged in each vertical rod, a lifting block capable of sliding up and down in each vertical rod is arranged in each lifting device, a rotating rod is rotatably arranged at one end, opposite to each lifting block, of each rotating rod, a cross rod is rotatably arranged between the upper ends of the rotating rods, a pressing device is arranged on the lower side of each cross rod, and an electric sucker positioned on the lower side of each cross rod is arranged in each pressing device; the floor tiles are placed on the upper end face of the bottom plate and located between the vertical rods, the lifting block descends to drive the rotating rod, the cross rod and the sucker to descend until the sucker abuts against the floor tile on the top side, the sucker is electrified to suck the floor tiles, the lifting block ascends to overturn the floor tiles to the left side of the bottom plate through overturning of the rotating rod, the sucker descends to suck the floor tiles above the ground, a mud chamber for storing mud is arranged in the bottom plate, and an installation plate is fixedly arranged on the left end face of the bottom plate; a slurry laying device is arranged on the left side of the slurry chamber, a pumping cavity positioned on the left side of the slurry chamber is arranged in the slurry laying device, a dispersing cavity is arranged in the mounting plate, a blanking port with a downward opening is communicated with the lower side of the dispersing cavity, slurry in the slurry chamber is pumped into the dispersing cavity through the pumping cavity and falls onto the ground through the blanking port, the bottom plate continuously moves to the right to lay the slurry, and the floor tiles are pressed onto the laid slurry through the suckers; the lifting device comprises a lifting cavity which is arranged in the vertical rod in a penetrating manner from front to back, the lifting block is arranged in the lifting cavity in a vertically sliding manner, and a screw rod which is connected with the lifting block in a threaded manner is rotatably arranged between the upper wall and the lower wall of the lifting cavity; a synchronous cavity is formed in the bottom plate and is opposite to the lower side of the lifting block, a driven chain wheel is fixedly arranged in the synchronous cavity, the lower end of the screw extends into the synchronous cavity, a lifting motor is fixedly arranged at the center in the lower wall of the synchronous cavity, the upper end of the lifting motor is in power connection with a driving chain wheel, and a transmission chain is wound between the driving chain wheel and the driven chain wheel; the upper end face of the bottom plate is symmetrical from front to back and is fixedly provided with a partition plate positioned between the lifting blocks, and the partition plate is positioned on one side of the rotating rod, close to the symmetrical center of the vertical rod, and is used for limiting the front side and the back side of the floor tile; a rotating motor is fixedly arranged in the front end face of the lifting block at the rear side, the lower end of the rotating rod at the rear side is in power connection with the front end of the rotating motor, and a supporting plate which is abutted against the lower end of the rotating rod and used for supporting the rotating rod is fixedly arranged at the lower end of one end face of the lifting block, which is close to the symmetric center of the vertical rod; the pressing device comprises a hanging rod fixedly arranged at the center of the lower end face of the cross rod, a telescopic cavity is arranged in the hanging rod, a telescopic plate is arranged in the telescopic cavity in a vertically sliding manner, a telescopic rod is fixedly arranged at the center of the lower end face of the telescopic plate, the lower end of the telescopic rod extends to the lower side of the hanging rod, a sucker is fixedly arranged at the lower end of the telescopic rod, sliding lugs are fixedly arranged at the front end and the rear end of the telescopic plate, the front wall and the rear wall of the telescopic cavity are uniformly distributed up and down and are fixedly provided with fixed lugs, the fixed lugs at the front side and the rear side are staggered up and down, the sliding lugs are abutted against the circular arcs of the fixed lugs, the sliding lugs are continuously shaken left and right through the offsetting of the staggered fixed lugs when ascending in the telescopic cavity, a compression-resistant spring is fixedly, the compression-resistant spring provides power for the resetting of the expansion plate; the mud chambers are positioned at the left side and the right side of the synchronous cavity, a communicating cavity positioned at the lower side of the synchronous cavity is communicated between the mud chambers, and the right end of the upper wall of the mud chamber at the right side is communicated with a feed inlet with an upward opening; the slurry laying device comprises a feed inlet communicated between the pumping cavity and the slurry chamber, the upper side of the pumping cavity is communicated with a material conveying port with a left opening, the upper side of the dispersing cavity is communicated with a material conveying pipeline with a right opening and communicated with the material conveying port, a valve cavity is communicated in the left wall of the material conveying pipeline, a sealing plate for sealing the material conveying pipeline is arranged in the valve cavity in a left-right sliding manner, a magnet is fixedly arranged at the left end of the sealing plate, and an electromagnetic block for controlling the magnet to move left and right is fixedly arranged in the left wall of the valve cavity; a pump shaft is rotatably arranged between the front wall and the rear wall of the pumping cavity, pump blades are fixedly arranged on the outer circular surface of the pump shaft in an annular array mode, a pumping motor is fixedly arranged in the rear wall of the pumping cavity, the rear end of the pump shaft is in power connection with the pumping motor, a scraper plate used for paving slurry is fixedly arranged on the lower end face of the mounting plate and positioned on the left side of the blanking port, and scribing rods used for scribing gaps with the slurry are uniformly distributed and fixedly arranged on the lower end face of the mounting plate and positioned on the front side and the rear side of the left side of the scraper plate; the front end and the rear end of the bottom plate are symmetrically provided with roller cavities with downward openings, the roller cavities are positioned at the front side and the rear side of the mud chamber and the communication cavity, and rollers are symmetrically and rotatably arranged at the left side and the right side between the front wall and the rear wall of the roller cavities.