CN111058597A

CN111058597A - Gluing device and ceramic tile paving and pasting robot

Info

Publication number: CN111058597A
Application number: CN201911396389.5A
Authority: CN
Inventors: 何涛
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2020-04-24
Anticipated expiration: 2039-12-30
Also published as: CN111058597B

Abstract

The invention provides a gluing device and a ceramic tile paving and pasting robot, and relates to the field of construction machinery. The gluing device comprises a gluing mechanism, is arranged above the first support and is used for gluing the workpiece; the lifting mechanism is arranged on the first bracket; the rotary guide assembly is mounted on the first support, the grabbing mechanism is connected with the output end of the lifting mechanism and used for grabbing workpieces, the lifting mechanism can drive the grabbing mechanism to move in the vertical direction along the rotary guide assembly, and in the process that the grabbing mechanism moves downwards in the vertical direction, the grabbing mechanism can rotate from the gluing mechanism to the brick storage area; in the process of moving the grabbing mechanism upwards along the vertical direction, the grabbing mechanism can rotate to the gluing mechanism from the direction towards the brick storage area. The ceramic tile paving robot provided by the invention comprises the gluing device. The gluing device and the ceramic tile paving robot provided by the invention can realize automatic gluing on workpieces, and have the advantages of compact structure and high working efficiency.

Description

Gluing device and ceramic tile paving and pasting robot

Technical Field

The invention relates to the technical field of construction machinery, in particular to a gluing device and a ceramic tile paving and pasting robot.

Background

The existing tile paving work is mainly finished manually. The manual work adopts the bullet line to make level, and the manual work is paintd the ceramic tile and is glued to strike the ceramic tile through the flat chi and realize that the ceramic tile makes level. The method has the defects of high labor intensity, low accuracy, high requirements on worker experience and the like, and cannot meet the increasing decoration and paving tasks.

Disclosure of Invention

The invention aims to provide a gluing device and a ceramic tile paving robot, which can realize automatic gluing of workpieces and have the advantages of compact structure and high working efficiency.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides a gluing device, comprising:

a first bracket;

the glue coating mechanism is arranged above the first support and used for coating glue on the workpiece;

the lifting mechanism is arranged on the first bracket;

the rotary guide assembly is arranged on the first bracket;

the grabbing mechanism is connected with the output end of the lifting mechanism and used for grabbing workpieces, the lifting mechanism can drive the grabbing mechanism to move in the vertical direction along the rotary guide assembly, and the grabbing mechanism can rotate from the direction facing the glue coating mechanism to the direction facing the brick storage area in the process that the grabbing mechanism moves downwards in the vertical direction; and in the process that the grabbing mechanism moves upwards along the vertical direction, the grabbing mechanism can rotate to face the gluing mechanism from the facing brick storage area.

Preferably, the rotary guide assembly comprises:

the swing arms are mounted on two sides of the grabbing mechanism, and one end of each swing arm is connected with the grabbing mechanism;

the guide plate group is provided with a guide groove, the guide groove comprises a vertical guide groove and a rotary guide groove, the vertical guide groove is arranged on the upper side and the lower side of the rotary guide groove, the guide plate group is arranged on two sides of the first support, and the other end of the swing arm can slide along the guide groove.

Preferably, the lifting mechanism further comprises:

a lifting drive motor;

the lift drive motor passes through the drive of lift drive assembly snatch the vertical direction of mechanism and remove, the lift drive assembly includes:

the first transmission shaft is arranged at the output end of the lifting driving motor;

two groups of chain wheel assemblies, wherein two ends of the first transmission shaft are respectively in transmission connection with one group of chain wheel assemblies, and the chain wheel assemblies are arranged on the first bracket along the vertical direction;

the bearing assembly is installed at the output end of the chain wheel assembly, and the grabbing mechanism is rotatably connected with the bearing assembly.

Preferably, the rotary guide groove is provided as a ">" shaped guide groove and the guide plate group includes:

a first guide plate, wherein the '>' shaped guide groove is arranged on the first guide plate;

the second guide plate is arranged above the first guide plate, and a first vertical guide groove is formed in the second guide plate;

a third guide plate arranged below the first guide plate, wherein a second vertical guide groove is formed on the third guide plate,

the ">" shaped guide groove, the first vertical guide groove and the second vertical guide groove communicate.

Preferably, the lifting mechanism further comprises a locking piece, the locking piece is mounted on the guide plate group, and an output end of the locking piece can extend into the ">" shaped guide groove.

Preferably, the lifting mechanism further comprises a sensor group, and the sensor group is used for detecting the moving distance of the grabbing mechanism along the vertical direction.

Preferably, the grasping mechanism includes:

the mounting plate is mounted at the output end of the lifting mechanism;

and the suckers are arranged on the mounting plate and used for sucking the workpiece.

Preferably, the grabbing mechanism further comprises a detection switch, and the detection switch is mounted on the mounting plate and used for detecting the contact state of the sucker and the workpiece.

Preferably, the rubber coating device still includes rubber coating mechanism, rubber coating mechanism's one end with first support is articulated, the rubber coating device still includes rotary driving piece, rotary driving piece articulates on the first support, rotary driving piece's output with rubber coating mechanism is articulated, rotary driving piece can drive rubber coating mechanism rotates.

Preferably, the gluing mechanism comprises:

the second bracket, its one end is hinged with said first bracket;

the gluing driving mechanism is arranged on the second bracket;

and the glue brush is arranged at the output end of the glue coating driving mechanism, and the glue coating driving mechanism can drive the glue brush to move along the second support.

Preferably, the glue coating mechanism further comprises a workpiece locking assembly, and the workpiece locking assembly is mounted on the second support and used for locking the workpiece.

The invention provides a ceramic tile paving robot which comprises the gluing device.

The invention has the beneficial effects that:

the gluing device provided by the invention comprises a lifting mechanism, a gluing mechanism, a grabbing mechanism and a rotary guide assembly. The lifting mechanism feeds materials to the gluing mechanism under the guidance of the rotary guide assembly, and automatic gluing of workpieces can be achieved. Through setting up the rotation direction subassembly for hoist mechanism realizes the upset simultaneously grabbing the in-process that the mechanism promoted, and work efficiency is high, adopts a power supply can realize the promotion and the upset to the work piece, makes rubber coating mechanism's structure more compact, does benefit to the miniaturization of rubber coating device.

Drawings

Fig. 1 is a perspective structural view of a glue application mechanism provided in an embodiment of the present invention;

fig. 2 is a perspective structural view of a feeding mechanism of a glue coating mechanism according to an embodiment of the present invention;

FIG. 3 is a side view of a feeding mechanism of a glue application mechanism provided in accordance with an embodiment of the present invention;

FIG. 4 is a sectional view taken along the line G-G in FIG. 3;

FIG. 5 is an enlarged view at C in FIG. 2;

FIG. 6 is an enlarged view at A in FIG. 2;

FIG. 7 is an enlarged view at D of FIG. 2;

FIG. 8 is a view of the engagement between the grasping mechanism and one of the guide plate sets provided in accordance with the preferred embodiment of the present invention;

FIG. 9 is an enlarged view at B in FIG. 8;

FIG. 10 is a block diagram of a guide plate assembly provided in accordance with an embodiment of the present invention;

FIG. 11 is a perspective view of a first viewing angle of a glue mechanism according to an embodiment of the present invention;

FIG. 12 is a perspective view of a second viewing angle of the glue mechanism according to the exemplary embodiment of the present invention;

FIG. 13 is an enlarged view at F of FIG. 12;

FIG. 14 is an enlarged view at E in FIG. 12;

FIG. 15 is a top view of a glue mechanism provided in accordance with an embodiment of the present invention;

FIG. 16 is a sectional view taken in the direction H-H in FIG. 15;

fig. 17 is an enlarged view at I in fig. 16.

In the figure:

11. a first bracket; 111. a side plate; 112. a sloping plate; 113. a cross bar; 12. a second bracket; 13. a workpiece support table; 131. a bearing base; 132. a stopper;

21. a lifting drive motor; 22. a drive shaft; 23. a rotating shaft; 24. a grabbing mechanism; 241. mounting a plate; 242. a suction cup; 243. a detection switch; 251. an upper bearing seat; 252. a lower bearing seat; 26. a bearing seat fixing block; 27. a bearing; 28. a sprocket assembly; 281. a sprocket; 282. a chain;

3. brushing glue;

4. a rotary guide assembly; 41. a first guide plate; 411. a ">" shaped guide groove; 42. a second guide plate; 421. a first vertical guide groove; 43. a third guide plate; 431. a second vertical guide groove; 44. an upper sensor; 45. a lower sensor; 46. a lock stopping member; 47. swinging arms; 471. a protrusion;

5. a first tensioning assembly; 51. a first tensioning mount; 52. a first tensioning block; 53. a first tensioning screw;

6. a rotary drive member;

7. a gluing transmission component; 71. gluing a driving piece; 72. gluing a speed reducer; 721. a driving wheel; 722. a first idler pulley; 723. a second idler pulley; 724. a third idler pulley; 725. a fourth idler pulley; 73. a belt; 74. mounting blocks; 75. gluing a rotating shaft; 761. locking the static top block; 762. locking the movable jacking block; 763. locking a driving cylinder;

81. a second tensioning mount; 82. a second tensioning block; 83. a second tensioning screw;

9. and (5) a workpiece.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.

Referring to fig. 1-4, the present invention provides a glue spreading apparatus, which includes a feeding mechanism and a glue spreading mechanism, wherein the feeding mechanism includes a first support 11, a lifting mechanism, a grabbing mechanism 24, and a rotary guiding assembly 4. The gluing mechanism is mounted at the upper end of the first support 11 and used for gluing the workpiece 9. The workpiece 9 is placed on the lower part of the first support 11. The lifting mechanism is mounted on the first bracket 11. The grabbing mechanism 24 is connected with the output end of the lifting mechanism and used for grabbing the workpiece 9. The lifting mechanism can drive the grabbing mechanism 24 to move to the gluing mechanism along the vertical direction. The rotary guide assembly 4 is installed on the first support 11, and in the process that the grabbing mechanism 24 moves downwards along the vertical direction, the grabbing mechanism 24 can rotate from the direction facing the gluing mechanism to the direction facing the brick storage area so as to grab the workpiece 9 placed on the lower portion of the first support 11. In the process that the grabbing mechanism 24 moves upwards along the vertical direction, the grabbing mechanism 24 can rotate to the glue coating mechanism from the orientation brick storage area, so that the workpiece 9 can be turned over to the position of a glue brush aligned with the glue coating mechanism, and the glue coating mechanism is convenient to glue the workpiece 9. Through setting up rotation guide subassembly 4, elevating system snatchs the in-process that mechanism 24 removed along vertical direction at the drive and realizes snatching the rotation of mechanism 24 simultaneously, need not to add in addition the rotation that the drive structure realized snatching mechanism 24, and the action is efficient. Adopt a driving source can realize snatching the lift and the upset of mechanism 24, saved the power supply of rubber coating device, reduce the energy consumption of rubber coating device, also make the structure of rubber coating device more compact, do benefit to the miniaturization of rubber coating device.

Preferably, the bottom of the first support 11 is provided with a work piece support table 13, and the work piece 9 is placed on the work piece support table 13. The workpiece support table 13 includes a support base 131 and a plurality of stoppers 132. The support base 131 is disposed at the bottom of the first frame 11, the plurality of stoppers 132 are mounted on the support base 131 around the periphery of the support base 131, the workpiece 9 is placed on the support base 131, and the plurality of stoppers 132 can prevent the workpiece 9 from slipping off the support base 131.

Preferably, the first bracket 11 includes two side plates 111 disposed at an interval, and the two side plates 111 are fixed by a plurality of inclined plates 112 and a plurality of cross bars 113.

Preferably, referring to fig. 1, 4-9, the lifting mechanism includes a lifting driving motor 21, and the grabbing mechanism 24 includes a rotating shaft 23, a mounting plate 241 and a plurality of suction cups 242. The rotary shaft 23 is mounted on a mounting plate 241, and a plurality of suction cups 242 for sucking the work 9 are mounted on the mounting plate 241. The rotating shaft 23 is disposed along a horizontal direction, and the rotating shaft 23 can be driven by the lifting driving motor 21 to move along a vertical direction, so as to drive the mounting plate 241 and the plurality of suction cups 242 to move along the vertical direction. Rotatory direction subassembly 4 sets up to two sets ofly, all installs a set of rotatory direction subassembly 4 on two blocks of curb plates 111 that first support 11 set up relatively, and two sets of rotatory direction group 4 correspond respectively and set up two tip at rotatory pivot 23, through setting up two sets of rotatory direction subassembly 4, lead to the both ends of rotation axis 23 for the both ends of rotation axis 23 can be by synchronous direction, thereby improve the rotatory stability of rotation axis 23. The rotary guide assembly 4 comprises a swing arm 47 and a set of guide plates. Swing arms 47 are mounted on two sides of the rotating shaft 23, one end of each swing arm 47 is connected with the rotating shaft 23, and the swing arms 47 are perpendicular to the rotating shaft 23. The guide way has been seted up on the deflector group, and the guide way includes vertical guide way and rotatory guide way, and the upside and the downside of rotatory guide way all are provided with vertical guide way, and deflector group is all installed to the both sides of first support 11, and the guide way slip can be followed to the other end of swing arm 47. When the other end of the swing arm 47 slides in the vertical guide groove, the rotating shaft 23 is static relative to the swing arm 47 and moves linearly in the vertical direction, when the other end of the swing arm 47 slides in the rotary guide groove, the rotating shaft 23 rotates around the other end of the swing arm 47 under the action force of the other end of the swing arm 47, and when the rotating shaft 23 slides out of the rotary guide groove, the rotating shaft 23 completes 180-degree rotation, so that the mounting plate 241 and the suckers 242 are driven to turn 180 degrees.

Preferably, in this embodiment, the lifting mechanism further comprises a lifting transmission assembly and a bearing assembly. The elevation driving motor 21 drives the rotation shaft 23 to move in the vertical direction through the elevation transmission assembly. A bearing assembly is installed at an output end of the sprocket assembly 28, and the rotating shaft 23 is rotatably coupled to the bearing assembly so that the rotating shaft 23 can smoothly rotate during movement in a vertical direction. The lift drive assembly includes a drive shaft 22 and two sets of sprocket assemblies 28. The transmission shaft 22 is installed at the output end of the elevating driving motor 21. The both ends of transmission shaft 22 are connected with a set of sprocket assembly 28 transmission among them respectively, and sprocket assembly 28 is installed on first support 11 along vertical direction, and the output at sprocket assembly 28 is installed to the bearing subassembly, all installs a set of sprocket assembly 28 on two blocks of curb plates 111 that first support 11 set up relatively, and two sets of sprocket assembly 28 that set up relatively can promote the both ends of rotation axis 23 in step for the lift of rotation axis 23 is more stable. Specifically, the driving motor is installed at the bottom of the first frame 11, the sprocket assembly 28 includes two sprockets 281 and a chain 282, wherein one sprocket 281 is disposed at the upper portion of the first frame 11, the other sprocket 281 is disposed at the output end of the transmission shaft 22, the chain 282 drivingly connects the two sprockets 281, and the bearing assembly is installed on the chain 282. When the lifting mechanism works, the lifting driving motor 21 drives the transmission shaft 22 to rotate after being decelerated by the reducer, the transmission shaft 22 drives the chain wheel assembly 28 to rotate, the bearing assembly is driven to lift, and therefore the rotating shaft 23 rotatably mounted on the bearing assembly is driven to lift.

Of course, in other embodiments, the sprocket assembly may be provided as a pulley assembly as long as the lifting transmission of the bearing assembly can be realized.

Of course, in other embodiments, the lowering driving member 21 may be configured as a hydraulic cylinder, and the bearing assembly may be lifted and lowered by hydraulic transmission.

Preferably, the bearing assembly includes an upper bearing housing 251, a lower bearing housing 252, a bearing 27, and a bearing housing fixing block 26. The bearing 27 is installed on the rotating shaft 23, the bearing 27 is installed between the upper bearing housing 251 and the lower bearing housing 252, and both ends of the upper bearing housing 251 and the lower bearing housing 252 are fixedly connected by the bearing housing fixing block 26, so that the bearing 27 can be stably installed between the upper bearing 251 and the lower bearing housing 252. The upper bearing housing 251 and the lower bearing shaft 252 are fixed to the chain 282, and when the chain 282 rotates, the bearing assembly is driven to move up and down.

Preferably, referring to fig. 7, the lifting mechanism further comprises a first tensioning assembly 5, the first tensioning assembly 5 being mounted on the first bracket 11 for tensioning the chain 282. Specifically, the first tensioning assembly 5 includes a first tensioning seat 51, a first tensioning block 52 and a first tensioning screw 53, the first tensioning seat 51 is slidably mounted on the first bracket 11 along the vertical direction, the sprocket 281 is mounted on the first tensioning seat 51, the first tensioning block 52 is mounted above the first tensioning seat 51, the first tensioning screw 53 penetrates from above the first tensioning block 52 to be in threaded connection with the first tensioning seat 51, and tensioning of the chain 282 is achieved by tightening the first tensioning screw 53.

Preferably, the rotation guide slots are provided as ">" shaped guide slots 411. referring to fig. 8, 9 and 10, the guide plate group includes a first guide plate 41, a second guide plate 42 and a third guide plate 43. A ">" shaped guide groove 411 is opened in the first guide plate 41. The second guide plate 42 is disposed above the first guide plate 41, and a first vertical guide groove 421 is formed on the second guide plate 42. The third guide plate 43 is disposed below the first guide plate 41, and a second vertical guide groove 431 is formed in the third guide plate 43. The ">" shaped guide groove 411, the first vertical guide groove 421 and the second vertical guide groove 431 communicate.

The other end of the swing arm 47 is provided with a protrusion 471, the protrusion 471 can extend into the ">" shaped guide slot 411, the first vertical guide slot 421 and the second vertical guide slot 431, the protrusion 471 starts to slide from the second vertical guide slot 431 below, when passing through the ">" shaped guide slot 411 above, the protrusion 471 slides along the inclined ">" shaped guide slot 411, the ">" shaped guide slot 411 reacts on the protrusion 471, the protrusion 471 acts on the swing arm 47, so that the rotating shaft 23 is driven to rotate by taking the protrusion 471 as the center of a circle, because the starting end and the tail end of the ">" shaped guide slot 411 are aligned, the first vertical guide slot 421 or the second vertical guide slot 431 is positioned on the same straight line, after the protrusion 471 slides out of the ">" shaped guide slot 411, the rotating shaft 23 just rotates 180 degrees, so that the mounting plate 241 and the plurality of suckers 242 are driven to overturn 180 degrees, and then the protrusion 471 continues to slide along the first vertical guide slot 421 above, so that the overturned workpiece 9 slides to the gluing mechanism. After the workpiece 9 is delivered to the gluing mechanism, the lifting mechanism drives the grabbing mechanism 24 to return to grab the next workpiece 9, and in the process of returning the grabbing mechanism 24 to return, the rotating guide assembly enables the grabbing mechanism 24 to reversely turn over and reset, so that repeated feeding of the workpiece 9 is realized.

It should be noted that the two chutes of the ">" shaped guide slot 411 in this embodiment are the same length and complementary to the angle between the horizontal plane, enabling a rotation of the rotation axis 23 of 180 °. In another embodiment, the two inclined slots of the ">" shaped guide slot 411 may also be set to different lengths, and correspondingly, the included angles between the two inclined slots and the horizontal plane are also complementary to realize 180 ° rotation of the rotating shaft 23. In still another embodiment, two inclined slots of the ">" shaped guide slot 411 may be set to different lengths as needed, and the first vertical guide slot 421 or the second vertical guide slot 431 is set on different straight lines, so that the turnover of less than 180 ° can be realized.

In this embodiment, the included angles between the two inclined slots of the ">" shaped guide slot 411 and the horizontal plane are complementary, however, in other embodiments, the two inclined slots of the ">" shaped guide slot 411 may also be complementary to the included angles between other planes, so that the rotating shaft 23 can be used as the turning starting point at different initial angles relative to the horizontal plane.

Preferably, the lifting mechanism further includes a locking piece 46, the locking piece 46 is installed on the guide plate set, the output end of the locking piece 46 can extend into the ">" shaped guide slot 411, when the protrusion 471 slides into the ">" shaped guide slot 411 and is located above the locking piece 46, the output end of the locking piece 46 extends into the ">" shaped guide slot 411, and the protrusion 471 is prevented from sliding downwards after receiving the acting force of the ">" shaped guide slot 411. Specifically, in the present embodiment, the locking piece 46 is configured as an air cylinder, and of course, in other embodiments, the locking piece 46 may also be configured as an electric push rod as long as the locking of the protrusion 471 can be achieved.

Preferably, in the present embodiment, the rotation guide groove is provided as a ">" shaped guide groove 411. Of course, in other embodiments, the rotation guide groove may be provided as an arc-shaped guide groove as long as the rotation of the rotation shaft 23 can be achieved.

Preferably, referring to fig. 1, 2, 3 and 9, the elevating mechanism further includes sensor groups disposed at upper and lower ends of the guide plate group for detecting a distance that the rotating shaft 23 moves in the vertical direction. Specifically, the sensor group includes an upper sensor 44 and a lower sensor 45. The upper sensor 44 is provided at the upper end of the second guide plate 42, and the lower sensor 45 is provided at the lower end of the third guide plate 43. The upper sensor 44 and the lower sensor 45 are used to detect the position of the protrusion 471 and transmit the detected data to the elevation driving motor 21, and when the data detected by the upper sensor 44 is the same as a preset value, that is, the protrusion 471 is raised to the highest position, the lifting driving motor 21 stops operating, the rotating shaft 23 stops raising, the glue coating mechanism operates accordingly, the workpiece 9 on the grabbing mechanism 24 is grabbed, then, the elevating driving motor 21 rotates reversely to drive the rotating shaft 23 to move downward, and when the data detected by the lower sensor 45 is the same as the preset value, that is, the projection 471 is descended to the lowest position, the lifting drive motor 21 stops, if the gripping mechanism 24 has not successfully gripped the workpiece 9, this indicates that the work piece 9 in the first rack 11 has been removed, and the alarm system of the gluing device gives an alarm to inform the operator to feed into the first rack 11.

Preferably, the gripping mechanism 24 further includes a detection switch 243 for detecting a contact state of the suction cup 242 with the workpiece 9. The detection switch 243 is a swing arm type travel switch, the detection switch 243 is installed on the installation plate 241, when the installation plate 241 moves downwards, the swing arm 47 of the detection switch 243 swings freely to be perpendicular to the installation plate 241 under the action of gravity and presses the surface of the workpiece 9, at the moment, the suction cup 242 is moved in place, the workpiece 9 reacts on the swing arm 47, the swing arm 47 triggers the detection switch 243 to be opened, and the suction cup 242 sucks the workpiece 9.

Preferably, referring to fig. 1, one end of the glue coating mechanism is hinged to the first support 11, the glue coating device further includes a rotary driving member 6, the rotary driving member 6 is hinged to the first support 11, an output end of the rotary driving member 6 is hinged to the glue coating mechanism, and the rotary driving member 6 can drive the glue coating mechanism to rotate. Under the promotion of rotary driving piece 6, the rubber coating mechanism becomes the state of putting perpendicularly after overturning 90 degrees from the state of keeping flat for work piece 9 on the rubber coating mechanism can be placed towards the side towards the back of below, and the removal that is convenient for ceramic tile spread and paste the robot snatchs the back that the mechanism can absorb work piece 9 smoothly, transfers the work piece 9 after the rubber coating to the construction position.

Preferably, in this embodiment, the rotary driving element 6 is provided as an air cylinder, the air cylinder is installed on the first support 11, and the output end of the air cylinder is hinged to the middle of the glue coating mechanism, so that the air cylinder drives the glue coating mechanism to turn over by using the first support 11 as a fulcrum.

Preferably, referring to fig. 1, 11 and 12, the glue spreading device further includes a glue spreading mechanism, and the glue spreading mechanism includes a second bracket 12, a glue spreading driving mechanism and a glue brush 3. One end of the second bracket 12 is hinged to the first bracket 11. The gluing drive mechanism is mounted on the second support 12. The glue brush 3 is arranged at the output end of the glue coating driving mechanism, and the glue coating driving mechanism can drive the glue brush 3 to move along the second support 12 so as to brush glue on the front surface of the workpiece 9.

Preferably, the gluing drive mechanism comprises a gluing drive 71 and a gluing transmission assembly 7. The glue drive 71 is mounted on the second support 12. The gluing transmission assembly 7 is arranged on the second bracket 12 and is connected with the output end of the gluing driving piece 71, and the gluing driving piece 71 drives the glue brush 3 to move along the second bracket 12 through the gluing transmission assembly 7.

Preferably, the gluing transmission assembly 7 is a pulley assembly, the pulley assemblies are arranged in two groups, and the pulley assemblies are arranged on two sides of the second bracket 12.

Preferably, the gluing driving member 71 is a motor, and the gluing driving mechanism further includes a gluing decelerator 72 and a gluing rotation shaft 75. The gluing decelerator 72 is installed on the second bracket 12 and connected to the output end of the gluing driving motor. A gluing spindle 75 is mounted at the output of the gluing reducer 72 and a pulley assembly is mounted on the gluing spindle 75.

Specifically, referring to fig. 11-14, the pulley assembly includes a drive pulley set and a belt 73, and the glue brush 3 is mounted on the belt 73. Wherein, the transmission wheel set comprises a driving wheel 721, a first idle wheel 722, a second idle wheel 723, a third idle wheel 724 and a fourth idle wheel 725 which are arranged on the side surface of the second bracket 12. The driving wheel 721 and the fourth idle wheel 723 are installed at one end of the upper portion of the side surface of the second bracket 12, the first idle wheel 722 is installed at the lower portion of the side surface of the second bracket 12 and is positioned below the driving wheel 721, the second idle wheel 723 is installed at the other end of the lower portion of the side surface of the second bracket 12, and the third idle wheel 724 is installed at the upper portion of the side surface of the second bracket 12 and is positioned above the second idle wheel 723. The belt 73 is sequentially fitted over the drive pulley 721, the first idler pulley 722, the second idler pulley 723, the third idler pulley 724, and the fourth idler pulley 725. During gluing, the gluing driving motor drives the gluing rotating shaft 75 to rotate after being decelerated by the gluing decelerator 72, so that the driving wheel 721 arranged on the two sets of belt pulley assemblies rotates, and drives the belt 73 to rotate after being transmitted by the first idler wheel 722, the second idler wheel 723, the third idler wheel 724 and the fourth idler wheel 725, thereby driving the glue brush 3 to move.

Of course, in other embodiments, the pulley assembly may be replaced by a sprocket assembly, and correspondingly, the glue brush 3 is connected with the chain of the sprocket assembly as long as the transmission of the glue brush 3 can be realized.

Specifically, the belt 73 of each of the two sets of belt pulley assemblies is provided with a mounting block 74, and two ends of the glue brush 3 are fixed on the mounting blocks 74, so that the glue brush 3 is fixed on the belt 73.

Preferably, the pulley assembly further comprises a second tensioning assembly mounted on the second bracket 12 for effecting tensioning of the belt 73. Specifically, the second tensioning assembly includes a second tensioning shoe 81, a second tensioning block 82 and a second tensioning screw 83. The second tensioning seat 81 can be slidably mounted on the second bracket 12 along the horizontal direction, the third idler 724 is mounted on the first tensioning seat 81, the second tensioning block 82 is mounted on the second bracket 12 and disposed on one side far away from the driving wheel 721, the second tensioning screw 83 penetrates through the second tensioning block 82 from one side far away from the driving wheel 721 and then is in threaded connection with the second tensioning seat 81, and the tensioning on the belt 73 is realized by screwing the second tensioning screw 83.

Preferably, referring to fig. 1, 15, 16 and 17, the glue coating mechanism further comprises a workpiece locking assembly mounted on the second bracket 12 for locking the workpiece 9 so that the workpiece 9 is fixed on the second bracket 12. Specifically, the workpiece locking assembly includes a locking static top block 761, a locking moving top block 762, and a locking driving cylinder 763. The locking static top block 761 and the locking dynamic top block 762 are arranged at two ends of the second bracket 12 correspondingly. The grabbing mechanism 24 conveys the workpiece 91 to the gluing mechanism, the workpiece 9 is located between the locking static top block 761 and the locking movable top block 762, and the locking driving cylinder 763 drives the locking movable top block 762 to move towards the direction close to the locking static top block 761, so that the workpiece 9 is clamped between the locking static top block 761 and the locking movable top block 762, and the gluing brush 3 is convenient for gluing the workpiece 9. After the gluing mechanism finishes gluing the workpiece 9, the gluing mechanism is turned to be vertical under the driving of the rotary driving piece 6, and when the moving grabbing mechanism of the tile paving robot grabs the workpiece 9, the locking driving cylinder 763 drives the locking movable jacking block 762 to reset so as to loosen the workpiece 9, so that the moving grabbing mechanism of the tile paving robot can take the workpiece 9 away.

Preferably, the workpiece locking assembly further comprises a locking guide 764, wherein the locking guide 764 is mounted on the second bracket 12 for defining a moving direction of the locking ejector 762, so as to ensure that the locking ejector 762 can stably apply force to clamp the workpiece 9 in a preset direction.

Alternatively, a guide groove may be formed in the locking guide block 764 along the horizontal direction, and a guide protrusion may be correspondingly formed on the locking movable top block 762, and the guide protrusion may slide along the guide groove, so as to guide the locking movable top block 762.

The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims

1. A gluing device, characterized in that it comprises:

a first bracket (11);

the gluing mechanism is arranged above the first support (11) and is used for gluing the workpiece;

the lifting mechanism is arranged on the first bracket (11);

a rotary guide assembly (4) mounted on the first bracket (11);

the grabbing mechanism (24) is connected with the output end of the lifting mechanism and used for grabbing the workpiece (9), the lifting mechanism can drive the grabbing mechanism (24) to move in the vertical direction along the rotary guide assembly (4), and the grabbing mechanism (24) can rotate from the direction towards the glue coating mechanism to the direction towards the brick storage area in the process that the grabbing mechanism (24) moves downwards in the vertical direction; in the process that the grabbing mechanism (24) moves upwards along the vertical direction, the grabbing mechanism (24) can rotate to face the gluing mechanism from the direction facing the brick storage area.

2. Gluing device according to claim 1, characterised in that said rotating guide assembly (4) comprises:

the swing arms (47) are mounted on two sides of the grabbing mechanism (24), and one end of each swing arm (47) is connected with the grabbing mechanism (24);

the guide plate group is provided with a guide groove, the guide groove comprises a vertical guide groove and a rotary guide groove, the vertical guide groove is formed in the upper side and the lower side of the rotary guide groove, the guide plate group is arranged on the two sides of the first support (11), and the other end of the swing arm (47) can slide along the guide groove.

3. The gluing device according to claim 2, characterized in that said lifting mechanism further comprises:

a lifting drive motor (21);

the lift drive assembly, lift driving motor (21) pass through the drive of lift drive assembly snatch mechanism (24) and remove along vertical direction, the lift drive assembly includes:

the transmission shaft (22) is arranged at the output end of the lifting driving motor (21);

two sets of chain wheel assemblies (28), wherein two ends of the transmission shaft (22) are respectively in transmission connection with one set of chain wheel assemblies (28), and the chain wheel assemblies (28) are installed on the first support (11) in the vertical direction;

a bearing assembly mounted at the output end of the sprocket assembly (28), the gripping mechanism (24) being rotationally coupled to the bearing assembly.

4. Gluing device according to claim 2, characterised in that said rotary guide slots are provided as ">" shaped guide slots (411), said set of guide plates comprising:

a first guide plate (41), wherein the ">" shaped guide groove (411) is opened on the first guide plate (41);

the second guide plate (42) is arranged above the first guide plate (41), and a first vertical guide groove (421) is formed in the second guide plate (42);

a third guide plate (43) arranged below the first guide plate (41), wherein a second vertical guide groove (431) is formed on the third guide plate (43),

the ">" shaped guide groove (411), the first vertical guide groove (421), and the second vertical guide groove (431) communicate.

5. Gluing device according to claim 4, characterised in that the lifting mechanism also comprises a blocking element (46), the blocking element (46) being mounted on the set of guide plates, the output end of the blocking element (46) being able to project into the ">" shaped guide slot (411).

6. Gluing device according to claim 2, characterised in that said lifting means further comprise a sensor group for detecting the distance of movement of said gripping means (24) in a vertical direction.

7. Gluing device according to claim 1, characterised in that said gripping means (24) comprise:

the mounting plate (241) is mounted at the output end of the lifting mechanism;

a plurality of suction cups (242) mounted on the mounting plate (241) for sucking the work piece (9).

8. Gluing device according to claim 7, characterised in that said gripping means (24) further comprise a detection switch (243), said detection switch (243) being mounted on said mounting plate (241) for detecting the contact condition of said suction cup (242) with said work piece (9).

9. The gluing device according to claim 1, further comprising a gluing mechanism, wherein one end of the gluing mechanism is hinged to the first support (11), the gluing device further comprises a rotary driving member (6), the rotary driving member (6) is hinged to the first support (11), an output end of the rotary driving member (6) is hinged to the gluing mechanism, and the rotary driving member (6) can drive the gluing mechanism to rotate.

10. Gluing device according to claim 9, characterised in that said gluing means comprise:

a second bracket (12) one end of which is hinged with the first bracket (11);

the gluing driving mechanism is arranged on the second bracket (12);

and the glue brush (3) is arranged at the output end of the glue coating driving mechanism, and the glue coating driving mechanism can drive the glue brush (3) to move along the second support (12).

11. Gluing device according to claim 10, wherein said gluing means further comprise a work-piece locking assembly mounted on said second support (12) for locking said work-piece (9).

12. A tile laying robot comprising a gluing device according to any one of claims 1 to 11.