CN111042503A - Floor laying robot - Google Patents
Floor laying robot Download PDFInfo
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- CN111042503A CN111042503A CN201911348271.5A CN201911348271A CN111042503A CN 111042503 A CN111042503 A CN 111042503A CN 201911348271 A CN201911348271 A CN 201911348271A CN 111042503 A CN111042503 A CN 111042503A
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- floor
- arm
- laying
- mounting
- connecting arm
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
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- Structural Engineering (AREA)
- Road Paving Machines (AREA)
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Abstract
The invention discloses a floor laying robot, which comprises a moving mechanism, a main body frame, a cantilever mechanism, a material storage mechanism, a feeding mechanism and a material laying mechanism, wherein clamping grooves with different heights are arranged on a cantilever, the vertical and horizontal movement of an installation arm is realized through clamping columns on installation columns, the left and right movement can change the laying direction of the laying robot, and the upward movement can save the occupied space of the robot when the robot is not in operation; the feeding mechanism can apply feeding thrust to the floor stored in the storage mechanism so as to push the floor to the other side of the discharging mechanism. After the feeding mechanism conveys the wood board to be installed to the operation area, the drag hook on the laying execution mechanism can hook the rear edge of the floor, and the long edge installation of the rear edge of the floor is completed; the laying actuator can press the floor downwards in the operation process to enable the floor to be flat.
Description
Technical Field
The invention relates to a paving robot, in particular to a floor paving robot.
Background
The traditional floor installation mode mainly depends on manual work to finish laying, and workers need to carry out floor construction operation by means of auxiliary equipment and simple tools in the working process. Auxiliary equipment and tools on the market at present can reduce floor paving actions and paving difficulty, still need manual operation, and do not realize full-automatic flow operation yet. However, the floor laying method in the prior art requires a large amount of labor investment, which leads to increase of time cost and labor cost; the auxiliary tools placed in a mess can make the construction site messy, and the finished product protection is difficult to achieve; the installation experience of workers is different from the installation mode, and the engineering quality cannot be ensured.
Disclosure of Invention
In view of this, the present invention provides a floor laying robot, including a moving mechanism, a main body frame, a cantilever mechanism, a storage mechanism, a feeding mechanism, and a spreading mechanism, wherein:
a moving mechanism;
a main body frame arranged on the moving mechanism;
the cantilever mechanism is suspended on one side of the main body frame and comprises a cantilever fixed on the main body frame and a mounting arm connected below the cantilever;
the material storage mechanism is fixed at the lower part of the mounting arm;
the feeding mechanism is fixed on one side of the material storage mechanism and applies feeding thrust to a floor placed on the material storage mechanism;
and the material spreading mechanism is positioned on the other side of the material storing mechanism and fixed on the lower part of the mounting arm, and is provided with a laying execution mechanism for executing the laying of the floor.
Preferably, the paving mechanism further comprises a connecting arm, one end of the connecting arm is mounted at the lower end of the mounting arm, and the other end of the connecting arm is mounted with the paving executing mechanism.
Preferably, the linking arm includes first linking arm and second linking arm, and wherein first linking arm is connected on the installation arm along vertical direction, and the second linking arm articulates on first linking arm along vertical direction, the side that first linking arm can be followed in front of first linking arm to the second linking arm makes the linking arm become fold condition.
Preferably, the mounting arm is rotatably arranged on the cantilever; the cantilever is formed with first installation position and second installation position, and the installation arm is spacing to rotate between first installation position and second installation position, and the installation arm lays the opposite direction that the direction of formation and the second installation position of laying that the first installation position formed.
Preferably, the cantilever comprises a horizontal arm and a vertical arm, the lower part of the vertical arm is provided with a columnar hollow structure, and a second clamping groove and a third clamping groove are formed on the columnar hollow structure, wherein the second clamping groove forms the first mounting position, and the second clamping groove forms the second mounting position; the installation arm is provided with the erection column, and the erection column outside is equipped with the card post, and the erection column can make card post card go into the second draw-in groove or card go into the third draw-in groove in column hollow structure internal rotation removal, and the direction of laying that forms when the card post card goes into the second draw-in groove is opposite rather than the direction of laying that forms when the card goes into the third draw-in groove.
Preferably, the columnar hollow structure is further provided with a first clamping groove, the first clamping groove is located above the second clamping groove and the third clamping groove, and the mounting column can move upwards to the clamping column to be clamped into the first clamping groove.
Preferably, storage mechanism includes preceding fender portion and back supporting part, and preceding fender portion and back supporting part form the feed bin that stores the floor, and back supporting part includes vertical portion in back and rake, and the relative vertical portion in back of rake sets up to one side down, and with be formed with the discharge gate between the fender portion before and.
Preferably, an inclined boss is provided at a connection of the rear vertical portion and the inclined portion, and an inclination of the inclined boss is greater than an inclination of the inclined portion.
Preferably, the bottom end of the front blocking part is hinged with a blocking part, the blocking part can change between a first position and a second position, and when the blocking part is at the first position, the floor can be prevented from sliding down from the discharge hole; when the blocking member is in the second position, the floor is allowed to be discharged from the discharge port.
Preferably, the feeding mechanism comprises:
a substrate;
the material pushing plate comprises an abutting part for pushing the floor to move;
the output end of the driving piece is connected with the material pushing plate so as to drive the material pushing plate to move along the feeding direction;
the guide mechanism comprises a guide rod arranged on the material pushing plate and a guide block arranged on the base plate, and the guide rod slides relative to the guide block.
Preferably, the laying actuator comprises:
the pressing module and the pushing assembly; wherein
The pushing assembly applies a rotating moment to the pressing module;
compress tightly the module and include:
the base is provided with a hinged part, and when the pushing assembly applies a rotating moment to the pressing module, the base can rotate around the hinged part;
the hooking component comprises a sliding rod and a hooking piece fixed on the sliding rod, the sliding rod is provided with a first end part and a second end part which are opposite in direction, and the hooking piece is fixed at the second end part of the sliding rod and extends out of the base;
the supporting seat is fixed on the base and forms a guide hole matched with the slide bar, and the slide bar can be slidably arranged on the supporting seat in a penetrating way through the guide hole;
the driving component is fixed on the base, and the power output end of the driving component can apply driving force to the hooking component;
the first elastic piece is sleeved on the sliding rod, one end of the first elastic piece is abutted against the first end part of the sliding rod, and the other end of the first elastic piece is abutted against the supporting seat or an anti-pushing part between the first end part of the sliding rod and the supporting seat.
Preferably, the pressing module further comprises a pressing part, and the pressing part is arranged at the bottom of the base in a protruding mode.
According to the floor laying robot, the cantilever mechanism is arranged on the main body frame of the moving mechanism 1, and the combination of the material storage mechanism, the material feeding mechanism and the material laying mechanism is arranged on the cantilever mechanism, so that compared with a mode that the material storage mechanism, the material feeding mechanism and the material laying mechanism are arranged on the moving mechanism 1, the floor laying robot has the advantages that the floor laying robot occupies a smaller area, and is more compact in arrangement.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are merely some embodiments of the present disclosure, and other drawings may be derived from those drawings by those of ordinary skill in the art without inventive effort.
Fig. 1 is a front view of a floor laying robot structure according to embodiment 1 of the present invention;
FIG. 2 is a rear view of a structure of a floor laying robot according to embodiment 1 of the present invention (with a floor);
FIG. 3 is an axial view of a floor laying robot according to embodiment 1 of the present invention (with a floor);
fig. 4 is a schematic structural view of a feeding mechanism in embodiments 1 and 2 of the present invention;
fig. 5 is a schematic structural view of a material storing mechanism in embodiments 1 and 2 of the present invention;
fig. 6 is a schematic structural diagram of a moving mechanism in embodiments 1 and 2 of the present invention;
FIG. 7 is a schematic structural view of a laying actuator in embodiment 1 of the present invention;
FIG. 8 is a right side view of a structure of a laying actuator in embodiment 2 of the present invention;
FIG. 9 is an axial view of a structure of a laying actuator in embodiment 2 of the present invention;
in the figure:
1-a moving mechanism; 11-moving the chassis frame; 12-a drive wheel; 13-a driven wheel; 14-a drive wheel mounting frame; 15-a drive device; 16-a shock-absorbing device; 17-obstacle avoidance device; 18-a bump guard;
2-a body frame;
3-a cantilever mechanism; 31-a cantilever; 311-horizontal arm; 312-vertical arm; 3121-a first card slot; 3122-a second card slot; 3123-a third card slot; 32-a mounting arm; 321-mounting posts; 3211-a cartridge; 322-a mounting plate;
4-a material storage mechanism; 41-front stop part; 411-front baffle; 412-a discharge port baffle; 4121-discharge hole upper baffle; 4122-discharge outlet lower baffle; 42-rear supporting part; 421-rear vertical portion; 422-an inclined part; 423-inclined boss;
5-a feeding mechanism; 51-a front connection plate; 52-rear connection plate; 53-a feed drive; 54-a guide shaft; 55-a slide block; 56-a substrate; 57-a material pushing plate; 571-pushing up a material pushing plate; 572-vertical connecting plate; 573-lower ejector plate; 58-a support table; 59-mounting a connecting plate; 510-damp proof cotton press plate;
6-a spreading mechanism; 61-a connecting arm; 611-a first connecting arm; 612-a second connecting arm; 62-laying the actuating mechanism; 621-hook mounting plate; 622-pulling hook; 623-a second elastic member; 624-a first resilient member; 625-a magnetic element; 626-magnetic attraction; 627-a slide bar; 628-a guide post; 629-web; 6210-a first support table; 6211-a second support table; 6212-a base; 6213-pressing down the roller; 6214-a hinge; 6215-a pushing assembly; 6216-electric cylinder; 6217-slide bar support.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be 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 some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
Example 1:
as shown in fig. 1-3, the present embodiment provides a floor laying robot, configured to implement floor laying, where two opposite sides of a floor in the present embodiment are provided with a convex card and a concave card, the convex card of one floor is used to match with the concave card of another floor, the floor may be a wood floor or a composite floor, and the floor laying robot includes a moving mechanism 1, a main body frame 2, a cantilever mechanism 3, a storage mechanism 4, a feeding mechanism 5, and a material laying mechanism 6, where:
a main body frame 2 provided on the moving mechanism 1;
the cantilever mechanism 3 is suspended on one side of the main body frame 2 and comprises a cantilever 31 fixed on the main body frame 2 and a mounting arm 32 connected below the cantilever 31;
the storage mechanism 4 is fixed below the mounting arm 32;
the feeding mechanism 5 is fixed on one side of the material storage mechanism 4 and applies feeding thrust to a floor placed on the material storage mechanism 4;
the paving mechanism 6 is positioned at the other side of the storing mechanism 4 and fixed at the lower part of the mounting arm 32, and is provided with a paving executing mechanism 62 for executing paving of the floor.
The floor laying robot changes the laying direction of the laying robot through the cantilever mechanism 3; the storage mechanism 4 stores the floor to be installed; the feeding mechanism 5 can complete the installation of the wood floor by the laying actuator 62 after pushing the bottommost floor to the working area.
For the above structure, the present embodiment is further optimized:
[ subject frame ]
As shown in fig. 1-3, the main body frame 2 may be formed by connecting a plurality of metal pipes together, or may be integrally formed, and in this embodiment, preferably, the main body frame 2 is formed by connecting a plurality of metal pipes together, two front and rear pipes above the main body frame 2 extend to the left or right, and the extending direction of the pipes is perpendicular to the moving direction of the robot, so that the laying direction of the robot is perpendicular to the moving direction.
[ CANTILEVER MECHANISM ]
As shown in fig. 1 to 3, the cantilever mechanism 3 is suspended on one side of the main body frame 2, and includes a cantilever 31 fixed to the main body frame 2, and a mounting arm 32 connected below the cantilever 31, wherein:
the cantilever 31 may be formed integrally with the main body frame 2.
Preferably, the mounting arm 32 is rotatably provided on the cantilever 31. Specifically, the cantilever 31 is formed with first installation position and second installation position, and the installation arm 32 is spacing rotatory between first installation position and second installation position, and the installation arm 32 is opposite at the direction of laying that first installation position formed and the direction of laying that the second installation position formed to make the installation arm 32 can drive storage mechanism 4, feeding structure 5, spreading mechanism 6 and rotate the adjustment that realizes the direction of laying.
As shown in fig. 1 to 3, the cantilever 31 includes a horizontal arm 311 and a vertical arm 312, one end of the horizontal arm 311 is disposed above the main body frame 2 and extends horizontally outwards, so as to effectively avoid the feeding mechanism 5 from causing movement interference with respect to the moving mechanism 1 or the main body frame 2, the other end is fixed with the vertical arm 312, and the vertical arm 312 is disposed along the vertical direction. To enhance the structural strength of the boom 31, a reinforcing rib is further provided between the horizontal arm 311 and the vertical arm 312.
In order to realize that the mounting arm 32 rotates between the first mounting position and the second mounting position, the lower part of the vertical arm 312 has a cylindrical hollow structure, the left side and the right side of the lower end of the cylindrical hollow structure are respectively provided with a second clamping groove 3122 and a third clamping groove 3123, wherein the second clamping groove 3122 forms the first mounting position, the third clamping groove 3123 forms the second mounting position, and the angle between the second clamping groove 3122 and the third clamping groove 3123 is 180 degrees, so that the mounting arm 32 can rotate 180 degrees relative to the cantilever 31, thereby realizing the adjustment of the mounting direction.
The floor laying robot moves on the ground without laying the wood floors, the wood floors in front of the floor laying robot are laid, the cantilever 31 and the mounting arm 32 are positioned at the first mounting position, and the floor laying robot retreats for a certain distance after laying a row until the floor laying robot pushes the floor laying robot to the wall side; then the wood floor paving robot moves forwards to the paved wood floor, the moving mechanism 1 rotates 180 degrees, so that the material storage mechanism 4, the feeding mechanism 5 and the paving mechanism 6 move to one side close to the wall edge, but at the moment, the paving mechanism 6 is positioned at one side far away from the paved wood floor relative to the feeding mechanism 5; the mounting arm 32 under the cantilever 31 is then rotated so that the cantilever 31 and the mounting arm 32 are located at the second mounting position, so that the spreading mechanism 6 moves to be close to one side of the laid wood floor. Therefore, the floor laying robot can finish the wood floor laying of the ground area where the floor laying robot is located at last, and then finish the wood floor laying of the whole room.
Further, the upper end of the columnar hollow structure is also provided with a first clamping groove 3121, the clamping column 3211 of the mounting arm 32 is moved upwards to the first clamping groove 3121, so that the storage mechanism 4, the feeding mechanism 5 and the spreading mechanism 6 can be integrally moved upwards, and further the bottom spaces of the storage mechanism 4, the feeding mechanism 5 and the spreading mechanism 6 are vacated, so as to improve the obstacle crossing passing performance of the floor laying robot when no wood floor is laid; intercommunicating tracks are formed between the three card slots, whereby the card posts 3211 of the mounting arm 32 can be moved between the first card slot 3121, the second card slot 3122, or the third card slot 3123.
Further, the mounting arm 32 includes a mounting post 321 and a mounting plate 322, the mounting post 321 is disposed above the mounting plate 322, the mounting post 321 is matched with the vertical arm 312, and the matched structural shape corresponds to the cylindrical hollow structure of the vertical arm 312, so that the mounting post 321 can move up and down along the inner wall of the vertical arm 312 and can be fixed at the first and second mounting positions. Specifically, as shown in fig. 1 to 3, a latching post 3211 is disposed at an upper end of an outer side of the mounting post 321, and the latching post 3211 can be latched in the latching slot of the vertical arm 312 and can move along a track between the latching slots. When the clip column 3211 is clipped in the second clip groove 3122, the laying robot can implement installation along the outward side of the cantilever 31, when the clip column 3211 moves from the second clip groove 3122 to the third clip groove 3123 along the clip track, the installation column 321, all mechanisms connected below the installation column 321, and the direction of the laid material are changed by 180 degrees, and when the clip column 3211 is clipped in the third clip groove 3123, all mechanisms connected below the installation column 321, and the direction of the laid material are opposite to that when the clip column 3211 is clipped in the third clip groove 3123, that is, the change of the laying direction can be implemented by the movement of the clip column 3211 between the second clip groove 3122 and the third clip groove 3123; when the laying robot does not work, the clip column 3211 is moved from the second clip groove 3122 or the third clip groove 3123 to the first clip groove 3121 along the clip groove track, so that the mounting column 321 and all the mechanisms connected therebelow are moved upward along the vertical direction, thereby improving the obstacle crossing trafficability of the floor laying robot.
Further preferably, a reinforcing rib may be disposed between the mounting post 321 and the mounting plate 322 to enhance the structural strength of the mounting arm 32.
Through be equipped with two installation positions on cantilever 31, so make floor laying robot carry out the timber apron in two opposite directions and lay, can accomplish the timber apron in whole room and lay to solve timber apron and spread the robot and can not lay the timber apron in its final region that occupies.
[ spreading mechanism ]
As shown in fig. 1 to 3 and 7, the paving mechanism 6 is located on the other side of the magazine 4 and fixed to the lower portion of the mounting arm 32, and is provided with a paving actuator 62 for performing paving of the floor.
< connecting arm >
Specifically, as shown in fig. 1-3, the paving mechanism 6 further includes a connecting arm 61, one end of which is mounted on the lower end of the mounting arm 32, and the other end of which is mounted with a paving actuator 62.
Preferably, the connecting arm 61 comprises a first connecting arm 611 and a second connecting arm 612, wherein the first connecting arm 611 is connected to the mounting arm 32 in the vertical direction, and the second connecting arm 612 is hinged to the first connecting arm 611 in the vertical direction, and when not in use, the second connecting arm 612 can be rotated from the front of the first connecting arm 611 to the side of the first connecting arm 611 by using the hinged relationship with the first connecting arm 611, so that the connecting arm 61 is in the folded state.
Preferably, the first connecting arm 611 and the second connecting arm 612 are connected together through a metal hinge, and when the laying robot does not work, the second connecting arm 612 and the laying actuator 62 below the second connecting arm are folded to the side of the first connecting arm 611 through the metal hinge, so that the space occupied by the laying robot can be saved, and the possibility of the laying robot passing through a door can be improved.
Preferably, the floor laying robot has two sets of boom mechanisms 3 respectively provided at both ends of the side portion of the main body frame 2. A group of storage mechanisms 4, a paving mechanism 6 and a feeding mechanism 5 are arranged below each group of cantilever mechanisms 3, the wood floor is installed on the two storage mechanisms 4 in a crossing mode, when the paving direction is changed, the two groups of cantilever mechanisms 3 rotate respectively, and the arrangement is favorable for reducing the turning radius when the storage mechanisms 4, the paving mechanisms 6 and the feeding mechanisms 5 are combined to turn.
< paving actuator >
As shown in fig. 7, paving actuator 62 includes a compaction module and a pushing assembly 6215; wherein
The pushing assembly 6215 applies a rotation torque to the pressing module;
compress tightly the module and include:
the base 6212, the base 6212 has articulable portions 6214, when the pushing assembly 6215 exerts the turning moment to the compacting die set, the base 6212 can rotate around this articulable portion 6214;
the hooking component comprises a sliding rod 627 and a hooking piece fixed on the sliding rod 627, the sliding rod 627 has a first end and a second end which are opposite, and the hooking piece is fixed at the second end of the sliding rod 627 and extends out of the base 6212;
a second support 6211 fixed on the base 6212 and forming a guide hole adapted to the slide rod 627, through which the slide rod 627 slidably penetrates the second support 6211;
the driving component is fixed on the base 6212, and the power output end of the driving component can apply driving force to the hooking component;
the first elastic element 624 is sleeved on the sliding rod 627, one end of the first elastic element abuts against the first end part of the sliding rod 627, and the other end of the first elastic element abuts against the second supporting table 6211 or an anti-pushing part between the first end part of the sliding rod 627 and the second supporting table 6211;
when the base 6212 is pivoted downward about the hinge portion 6214 by the pushing assembly 6215, the hooking member is moved outward by the floor force, and the first elastic member 624 is pressed by the sliding rod 627, so that the hooking member applies a larger and larger pressing force to the floor to be installed to clip the wood flooring to be installed into the installed wood flooring.
Preferably, the drive assembly comprises: a connecting plate 629 sleeved on the slide bar; a first support stand 6210 fixed to a side of the base adjacent to the hinge portion; an electromagnet 625 fixed to the first support base 6210; an electromagnetic absorption member 626 fixed to the connection plate 629; the electromagnet 625 and the electromagnetic adsorption piece 626 are arranged oppositely to generate a magnetic attraction effect; the first elastic element 624 is located between the connecting plate 629 and the first end of the slide bar 627, one end of which abuts against the first end of the slide bar 627 and the other end of which abuts against the connecting plate 629; the thrust member is a connecting plate 629.
Preferably, the hook holder includes a hook mounting plate 621 and a hook 622, and the hook 622 is disposed on one side of the hook mounting plate 621 facing the laying direction.
Specifically, the base 6212 is provided with a first support base 6210 on one side thereof, and a second support base 6211 on the other side where the hinge portion 6214 is located; the first support base 6210 is provided with a magnetic element 625 facing the second support base 6211, the second support base 6211 is provided with a connection plate 629 on the side facing the magnetic element 625, and the connection plate 629 is provided with a magnetic attracting member 626 on the side facing the magnetic element 625.
The connecting plate 629 and the second support 6211 are disposed on the same sliding rod 627, one end of the sliding rod 627 extends out from the connecting plate 629 and extends toward the first support 6210, and the other end extends out from the second support 6211 and is fixed with the hook mounting plate 621.
The slide bar 627 is provided with a second resilient member 623 between its second support 6211 and the hook mounting plate 621.
Preferably, the second elastic member 623 and the first elastic member 624 are both springs.
Preferably, the guide post 628 is fixed at one end to the first support platform 6210 and at the other end to the second support platform 6211 through an attachment plate 629, such that the attachment plate 629 is movable along the guide post 628 between the first support platform 6210 and the second support platform 6211.
Preferably, the magnetic element 625 is an electromagnet, when the magnetic element 625 is energized, the magnetic attraction member 626 can drive the connecting plate 629 to move along the sliding rod 627 toward the first supporting table 6210 under the magnetic attraction force of the magnetic element 625, at this time, the contact end of the first elastic member 624 and the connecting plate 629 is pressed, and in order to release the pressure, the first elastic member 624 extends toward the contact end with the sliding rod 627, and further drives the sliding rod 627 and the hooking element to move toward the first supporting table 6210, so that the second elastic member 623 is compressed to hook the floor, that is, the first elastic member 624 is not substantially compressed in the process.
In the present embodiment, the hinge portion 6214 is preferably disposed at the upper portion of the base 6212, and is in a rotational connection with the second connecting arm 612 of the connecting arm 61 at the front side of the base 6212.
Preferably, the pushing assembly 6215 is fixed at its upper end to the first connecting arm 611 and at its lower end to the front side of the down-pressure roller 6213 below the base 6212.
Preferably, the pushing assembly 6215 is an electric push rod, which performs reciprocating telescopic motion along the vertical direction, and the reciprocating telescopic motion of the pushing assembly makes the base 6212 drive the components mounted thereon to turn up and down.
The pushing assembly 6215 firstly pushes the pressing module to downwards overturn to be in contact with the surface of the wood floor to be laid, then the driving assembly drives the hooking assembly to move towards the base 6212, so that the draw hook 622 hooks the side edge of the wood floor to be laid, and finally the pushing assembly 6215 continuously pushes the pressing module downwards to drive the wood floor to downwards overturn. After the floor is installed, the magnetic element 625 is de-energized and released from the magnetic attraction block 626, and the hook 622 is reset to wait for the next installation.
The material spreading mechanism 6 can save the occupied space of the floor laying robot when the floor laying robot does not work through the folding motion between the first connecting arm 611 and the second connecting arm 612; the laying and the flattening of the floor are realized by the laying actuator 62.
[ Material storage mechanism ]
And a storage mechanism 4 fixed below the mounting arm 32 for storing the floor to be mounted.
As shown in fig. 5, the magazine mechanism 4 includes a front stopper portion 41 and a rear supporting portion 42, the front stopper portion 41 and the rear supporting portion 42 form a magazine for storing floors, the front stopper portion 41 is disposed below the mounting arm 32 and at the rear side of the first vertical arm 312, the rear supporting portion 42 is disposed below the mounting arm 32 and at the rear side of the front stopper portion 41, the rear supporting portion 42 includes a rear vertical portion 421 and an inclined portion 422, the rear vertical portion 421 is disposed below the mounting arm 32 and at the rear side of the front stopper portion 41, an inclined surface is formed at the junction of the rear vertical portion 421 and the inclined portion 422, and a supporting force is provided to the floor.
Preferably, the rear vertical portion 421 and the inclined portion 422 may be integrally formed.
Preferably, a blocking piece is hinged to the bottom end of the front blocking part 41, the blocking piece can be changed between a first position and a second position, and when the blocking piece is at the first position, the floor can be prevented from sliding down from the discharge hole; when the blocking member is in the second position, the floor is allowed to be discharged from the discharge port.
In particular, the blocking member may be hinged on the front stop portion 41. As shown in fig. 5, the front blocking portion 41 includes a front blocking plate 411 and a discharge hole blocking plate 412, one end of the front blocking plate 411 is disposed below the mounting arm 32 and at the rear side of the first vertical arm 312, the other end of the front blocking plate is hinged to the discharge hole blocking plate 412, and the discharge hole blocking plate 412 can be changed between a first position and a second position, so as to block or discharge the bottom plate.
The discharge hole baffle 412 comprises a discharge hole upper baffle 4121 and a discharge hole lower baffle 4122, the discharge hole upper baffle 4121 and the discharge hole lower baffle 4122 are in rotary connection through two torsion springs, when the rear end of the floor is subjected to thrust applied by the feeding mechanism 5 so as to extrude the discharge hole lower baffle 4122 outwards, and the discharge hole lower baffle 4122 is turned outwards to form a discharge hole, so that the floor is moved out of the storage mechanism 4.
Preferably, the torsional spring bearing capacity is greater than the thrust a of the floor itself to the discharge hole baffle 412, but is less than the thrust B exerted by the feeding mechanism 5, so that on one hand, the floor waiting to be installed in the storage mechanism 4 can be prevented from sliding out of the discharge hole, and on the other hand, when the feeding mechanism 5 pushes the floor forwards, the discharge hole lower baffle 4122 can be extruded to turn outwards, so that the floor is smoothly sent out.
Preferably, storage mechanism 4 has a set of preceding fender portion 41 and two sets of back supporting part 42 respectively, and preceding fender portion 41 forms storage mechanism 4's antetheca, and two sets of back supporting part 42 form storage mechanism 4's back wall and diapire respectively, and diapire and antetheca, back wall are the grid formula, leave the clearance between two sets of back supporting part 42 promptly, make things convenient for feeding mechanism 5 to exert thrust from the clearance position to the floor, and is further, be formed with the breach between storage mechanism 4's preceding fender portion 41 and the back supporting part 42, and this breach is the feed inlet on floor promptly.
Preferably, the two sets of rear vertical portions 421 can be connected to each other by a rear vertical portion connecting plate disposed transversely, so as to enhance the structural strength of the magazine mechanism 4.
The storage mechanism 4 is placed into the floor to be installed from the gap between the front blocking portion 41 and the rear supporting portion 42, the inclined portion 422 of the rear supporting portion 42 supports the floor, the discharge port baffle 412 blocks the floor, and the floor is prevented from sliding out of the storage mechanism 4 under the condition of no external acting force.
The junction of vertical portion 421 in back and inclined part 422 forms and is provided with slope boss 423, and the gradient of slope boss 423 is greater than the gradient of inclined part 422, and when feeding mechanism 5 promoted present timber apron from slope boss 423 to with inclined part 422 on, present timber apron breaks away from with next timber apron, and then realizes dividing more easily.
[ FEEDING MECHANISM ]
The feeding mechanism 5 includes:
a substrate 56;
the material pushing plate 57, the material pushing plate 57 includes the contact part equipped with floor movement of pushing;
the output end of the driving piece 53 is connected with the material pushing plate 57 so as to drive the material pushing plate to move along the feeding direction;
the guide mechanism comprises a guide rod 54 arranged on the material pushing plate and a guide block 55 arranged on the base plate 56, and the guide rod 54 slides relative to the guide block 55.
Specifically, as shown in fig. 4, the feeding mechanism 5 includes a front connecting plate 51, a rear connecting plate 52, a feeding driving member 53, and a material pushing plate 57, wherein one end of the material pushing plate 57 is fixed to the front connecting plate 51, and the other end is fixed to the rear connecting plate 52; the feeding driving part 53 is arranged below the material pushing plate 57 and between the front connecting plate 51 and the rear connecting plate 52, and the feeding driving part 53 applies thrust to the front connecting plate 51 to move the front connecting plate, so as to drive the material pushing plate 57 connected with the front connecting plate 51 and the rear connecting plate 52 to move together; the material pushing plate 57 comprises an upper material pushing plate 571, a lower material pushing plate 573 and a vertical connecting plate 572, one end of the upper material pushing plate 571 is fixed with the rear connecting plate 52, the other end of the upper material pushing plate 571 is fixed with the upper end of the vertical connecting plate 572, the lower end of the vertical connecting plate 572 is fixed with one end of the lower material pushing plate 573, the other end of the lower material pushing plate 573 is fixed with the front connecting plate 51, and an abutting part for pushing the floor to move is arranged on the vertical connecting plate 572, so that the material pushing plate 57 can push the floor and simultaneously hold the rest wood floors in the storage mechanism 4 through the upper material pushing. When the material pushing plate 57 moves forward, the abutting portion on the vertical connecting plate 572 clamps the rear edge of the floor from the gap between the two rear vertical portions 421, and applies a pushing force to the floor, so that the floor pushes the lower discharge port blocking plate 4122 to turn over to form a discharge port, and the floor is moved out from the material storing mechanism 4.
Preferably, the feed drive 53 is a step push cylinder.
Preferably, the upper stripper plate 571, the lower stripper plate 573, and the vertical connecting plate 572 may be integrally formed.
Preferably, the front connecting plate 51 is of an inverted T shape, and the rear connecting plate 52 is of an inverted U shape.
The feeding mechanism 5 further comprises a guide rod 54, a guide block 55 and a base plate 56, the guide rod 54 is arranged on two sides of the feeding driving piece 53, one end of the guide rod passes through the guide block 55 to be fixed with the front connecting plate 51, the other end of the guide rod is fixed with the rear connecting plate 52, the guide block 55 is fixed on the base plate 56,
when the front connecting plate 51 moves forward under the thrust of the feeding driving member 53, the front connecting plate 51 drives the guide rod 54 to move together, and at the moment, the guide block 55 is stationary relative to the guide rod 54, and the guide block 55 and the guide rod 54 form a moving fit.
The feeding mechanism 5 further comprises two supporting tables 58 and two mounting connecting plates 59, the supporting tables 58 and the mounting connecting plates 59 are L-shaped, short plates at the bottoms of the supporting tables 58 are fixed on the left side and the right side of the base plate 56 respectively, the vertical long side plates of the supporting tables 58 are fixed with one sides of the mounting connecting plates 59 respectively, an inclined mounting relation is formed between the mounting connecting plates 59 and the supporting tables 58, the other sides of the mounting connecting plates 59 are fixed with the rear side faces, close to the lower ends, of the two rear vertical portions 421 of the storage mechanism 4 respectively, and the material pushing plate 57 can clamp the rear edges of the floors from the gaps.
Preferably, the feeding mechanism 5 further comprises a damp-proof cotton pressing plate 510 mounted on the front connecting plate 51, and the damp-proof cotton is pressed during the mounting process to prevent the damp-proof cotton from generating wrinkles and affecting the mounting quality of the floor.
The feeding mechanism 5 can push the floor out of the magazine 4 through the vertical connecting plate 572 of the ejector plate 57 so that the laying actuator 62 can further perform the laying action.
[ MOVING MECHANISM ]
As shown in fig. 6, the moving mechanism 1 is an AGV chassis, and includes a moving chassis frame 11, a driving wheel 12, a driving wheel mounting rack 14, a driving device 15, a driven wheel 13 and a driven wheel mounting rack, wherein the driven wheel 13 has two sets, each set has 2 driven wheels 13, and the moving chassis frame 11 bottom is provided with the driven wheel mounting rack, wherein one set is installed on the left and right sides of the front end of the moving chassis frame 11 bottom, and the other set is installed on the left and right sides of the rear end of the moving chassis frame 11 bottom.
The number of the driving wheels 12 is 2, the driving wheel mounting frames 14 are arranged on the left side and the right side in the middle of the bottom of the movable chassis frame 11, and further, the driving device 15 penetrates through the driving wheel mounting frames 14 to be in driving connection with the driving wheels 12 to provide power for the movement of the driving wheels 12. Preferably, the driving wheels 12 are differential wheels, so that differential driving of the left and right wheels can be realized, and the movement flexibility of the paving robot is enhanced.
Preferably, the moving mechanism 1 further comprises a damping device 16, which is disposed at the middle position of the bottom of the moving chassis frame 11, one end of the damping device 16 is fixed to the bottom surface of the moving chassis frame 11, the other end of the damping device is fixed to the mounting frame of the driving wheel 12, when the paving robot moves to the concave-convex ground, the damping device 16 can suppress the impact suffered by the driving wheel 12, slow down the vibration of the paving robot, and enhance the stability of the movement of the paving robot.
Preferably, the moving mechanism 1 further comprises 2 obstacle avoidance devices 17, and the 2 obstacle avoidance devices 17 are respectively arranged on the side faces of the front end and the rear end of the moving chassis frame 11, so that the laying robot can detect obstacles in the moving direction in advance and can timely react to avoid collision.
Preferably, the obstacle avoidance device 17 may be an infrared obstacle avoidance sensor, an obstacle avoidance radar, a laser obstacle avoidance sensor, or a visual obstacle avoidance sensor, and the present embodiment is preferably an obstacle avoidance radar.
Preferably, moving mechanism 1 still includes buffer stop 18, sets up the position that is close to the lower limb at both ends around removing chassis frame 11, can prevent that laying robot both ends are struck by the foreign object and cause the structure impaired around can playing the guard action to it.
The cantilever 31 of the floor laying robot provided in the embodiment is provided with the clamping grooves with different heights, the mounting arm 32 moves up and down and left and right through the clamping column 3211 on the mounting column 321, the laying direction is changed, or the occupied space of the robot is saved when the robot does not work; the feeding mechanism 5 is provided with a material pushing plate 57, and the material pushing plate 57 can push the bottommost floor; after the feeding mechanism 5 conveys the wood boards to be installed to the operation area, the draw hooks 622 on the laying execution mechanism 62 can hook the rear edge of the floor, and the long-edge installation of the rear edge of the floor is completed; the laying actuator 62 can press the floor downwards in the operation process to enable the floor to be flat, the requirement of floor laying can be met, the engineering quality is guaranteed, and the labor cost of floor laying is reduced.
Example 2:
as shown in fig. 8-9, this embodiment provides another floor laying robot, which is different from the laying robot in embodiment 1 in that the laying actuator 62 is different from the laying mechanism in embodiment 1, as shown in fig. 8-9, the driving member in this embodiment is an electric pushing cylinder 6216 disposed on a base 6212, the power output end of the electric pushing cylinder 6216 is provided with a hook mounting plate 621 and a hook 622, the base is further provided with a slide rod supporting seat 6217, one end of a slide rod 627 passes through the slide rod supporting seat 6217 to be fixed with the power output end of the electric pushing cylinder 6216, and the other end is provided with a first elastic element 624, preferably, the first elastic element 624 is a spring. The slide bar 627 reciprocates relative to the slide bar support 6217 in response to the reciprocation of the power output end of the electric push cylinder 6216.
After the draw hook 622 hooks the edge of the floor, the floor is pushed to the installation position through the contraction movement of the power output end of the electric push cylinder 6216, meanwhile, the push assembly 6215 presses the floor downwards, and after the floor is installed, the power output end of the electric push cylinder 6216 extends to release the floor.
This implementation provides a floor laying robot, its laying actuating mechanism structure that adopts is simpler, changes in control and realization, can satisfy the floor and lay the requirement and lay the quality, reduces the cost of labor.
In summary, the two installation positions are arranged on the cantilever 31 of the laying robot, so that the floor laying robot can lay the wood floor in two opposite directions, and further can finish the wood floor laying of the whole room, thereby solving the problem that the previous wood floor laying robot cannot lay the wood floor in the final occupied area.
Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (12)
1. A floor laying robot, comprising:
a moving mechanism (1);
a main body frame (2) provided on the moving mechanism (1);
the cantilever mechanism (3) is suspended on one side of the main body frame (2) and comprises a cantilever (31) fixed on the main body frame (2) and a mounting arm (32) connected below the cantilever (31);
the storage mechanism (4) is fixed at the lower part of the mounting arm (32);
the feeding mechanism (5) is fixed on one side of the material storing mechanism (4) and can apply feeding thrust to the floor stored in the material storing mechanism (4) so as to push the floor to the other side of the material discharging mechanism (4);
and the paving mechanism (6) is positioned on the other side of the storage mechanism (4) and fixed on the lower part of the mounting arm (32) or the side part of the storage mechanism (4), and comprises a paving execution mechanism (62) for paving a floor.
2. A laying robot as claimed in claim 1, wherein: the spreading mechanism (6) comprises a spreading execution mechanism (62) and a connecting arm (61), one end of the connecting arm (61) is installed at the lower end of the installation arm (32), and the other end of the connecting arm is installed with the spreading execution mechanism (62).
3. A laying robot as claimed in claim 2, wherein: the connecting arm (61) comprises a first connecting arm (611) and a second connecting arm (612), wherein the first connecting arm (611) is connected to the mounting arm (32) in the vertical direction, the second connecting arm (612) is hinged to the first connecting arm (611) in the vertical direction, and the second connecting arm (612) can rotate from the front of the first connecting arm (611) to the side of the first connecting arm (611) to enable the connecting arm (61) to be in a folded state.
4. The floor laying robot according to claim 1, characterized in that the mounting arm (32) is rotatably arranged on the boom (31); the cantilever (31) is formed with first installation position and second installation position, installation arm (32) are spacing to rotate between first installation position and second installation position, installation arm (32) are in the direction of laying that first installation position formed and the direction of laying that second installation position formed opposite.
5. The floor laying robot according to claim 4, characterized in that the cantilever (31) comprises a horizontal arm (311) and a vertical arm (312), the vertical arm (312) having a cylindrical hollow structure with a second catch (3122) and a third catch (3123) formed thereon, wherein the second catch (3122) forms the first mounting location and the second catch (3122) forms the second mounting location; installation arm (32) are provided with erection column (321), erection column (321) outside is equipped with card post (3211), erection column (321) can make in the rotation of column hollow structure the card post card is gone into second draw-in groove (3122) or is gone into third draw-in groove (3123), card post (3211) card is gone into the direction of laying that forms during second draw-in groove (3122) rather than the card is gone into the direction of laying that forms during third draw-in groove (3123) is opposite.
6. The laying robot according to claim 5, characterized in that a first snap groove (3121) is further provided on the cylindrical hollow structure, the first snap groove (3121) being located above the second snap groove (3122) and the third snap groove (3123), the mounting post (321) being movable upwards until the snap post (3211) snaps into the first snap groove (3121).
7. The floorlaying robot of claim 1, wherein the magazine mechanism (4) includes a front blocking portion (41) and a rear supporting portion (42), the front blocking portion (41) and the rear supporting portion (42) forming a magazine for storing the floor, the rear supporting portion (42) including a rear vertical portion (421) and an inclined portion (422), the inclined portion (422) being disposed obliquely downward with respect to the rear vertical portion (421), and a discharge port being formed between the front blocking portion (41) and the inclined portion.
8. The floor laying robot according to claim 7, characterized in that an inclination boss (423) is provided at a connection of the rear vertical portion (421) and an inclined portion (422), the inclination of the inclination boss (423) being greater than the inclination of the inclined portion (422).
9. Floor laying robot according to claim 7, characterized in that: a blocking piece is hinged to the bottom end of the front blocking part (41), the blocking piece can change between a first position and a second position, and when the blocking piece is at the first position, the floor can be prevented from sliding down from the discharge hole; when the blocking member is in the second position, the floor is allowed to be discharged from the discharge port.
10. Floor laying robot according to claim 1, characterized in that said feeding mechanism (5) comprises:
a substrate (56);
the material pushing plate (57), the material pushing plate (57) comprises an abutting part which is provided with a floor board pushing part;
the output end of the driving piece (53) is connected with the material pushing plate (57) so as to drive the material pushing plate (57) to move along the feeding direction;
the guide mechanism comprises a guide rod (54) arranged on the material pushing plate and a guide block (55) arranged on the base plate (56), and the guide rod (54) slides relative to the guide block (55).
11. Floor laying robot according to claim 1, characterized in that the laying actuator (62) comprises:
comprises a pressing module and a pushing component (6215); wherein
The pushing assembly (6215) applies a rotation moment to the pressing module;
compress tightly the module and include:
a base (6212), said base (6212) being provided with a hinge (6214), said base (6212) being rotatable about said hinge (6214) when said pushing assembly (6215) applies a rotational moment to said compression module;
the hooking component comprises a sliding rod (627) and a hooking piece fixed on the sliding rod (627), the sliding rod (627) is provided with a first end part and a second end part which are opposite, and the hooking piece is fixed at the second end part of the sliding rod (627) and extends out of the base (6212);
the second supporting platform (6211) is fixed on the base (6212) and forms a guide hole matched with the sliding rod (627), and the sliding rod (627) can be slidably arranged on the second supporting platform (6211) in a penetrating way through the guide hole;
the driving component is fixed on the base (6212), and the power output end of the driving component can apply driving force to the hooking component;
the first elastic piece (624) is sleeved on the sliding rod (627), one end of the first elastic piece abuts against the first end of the sliding rod (627), and the other end of the first elastic piece abuts against the second supporting table (6211) or an anti-pushing part between the first end of the sliding rod (627) and the second supporting table (6211).
12. Floor laying robot according to claim 11, characterized in that the pressing module further comprises a pressing part, which is provided protruding at the bottom of the base (6212).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911348271.5A CN111042503B (en) | 2019-12-24 | 2019-12-24 | Floor laying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911348271.5A CN111042503B (en) | 2019-12-24 | 2019-12-24 | Floor laying robot |
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| CN111042503A true CN111042503A (en) | 2020-04-21 |
| CN111042503B CN111042503B (en) | 2021-09-28 |
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Cited By (3)
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| CN111332761A (en) * | 2020-05-15 | 2020-06-26 | 广东博智林机器人有限公司 | Floor divides material subassembly, floor discharging device and floor stone equipment |
| CN113668822A (en) * | 2020-05-15 | 2021-11-19 | 广东博智林机器人有限公司 | Floor discharging device and floor spreading equipment |
| CN114215318A (en) * | 2022-01-26 | 2022-03-22 | 申万弩 | Wooden floor laying equipment |
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| CN111042503B (en) | 2021-09-28 |
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