CN111287430A - Automatic material spreading device and material spreading robot - Google Patents
Automatic material spreading device and material spreading robot Download PDFInfo
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- CN111287430A CN111287430A CN202010102447.5A CN202010102447A CN111287430A CN 111287430 A CN111287430 A CN 111287430A CN 202010102447 A CN202010102447 A CN 202010102447A CN 111287430 A CN111287430 A CN 111287430A
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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
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
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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
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
- E04F21/241—Elongated smoothing blades or plates, e.g. screed apparatus
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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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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Machines (AREA)
Abstract
The invention relates to an automatic material spreading device and a material spreading robot, comprising: the storage mechanism is used for storing and distributing the required slurry; the feeding mechanism is connected and matched with the storage mechanism, and the storage mechanism is used for supplying the slurry to the feeding mechanism; and the material spreading mechanism is connected and matched with the feeding mechanism, the feeding mechanism is used for conveying the slurry to the material spreading mechanism, and the material spreading mechanism is used for paving the slurry on the ground to be paved. The whole operation process is completely free from manpower participation, so that the labor cost can be greatly reduced, the construction efficiency is improved, the flatness of slurry paving can be greatly ensured, and the subsequent floor tile paving quality is further ensured.
Description
Technical Field
The invention relates to the technical field of construction robots, in particular to an automatic material spreading device and a material spreading robot.
Background
In the construction industry, there are many occasions when it is necessary to carry out a paving and levelling operation on a slurry, such as a dry mortar. For example, in floor tile construction, a flat and uniform layer of mortar is applied to a foundation and then the tile is applied to the mortar layer. However, the mortar still stays in the manual operation stage at present, so that the labor intensity of workers is high, the labor cost is high, the working efficiency is very low, and the paving flatness of the mortar layer cannot be ensured, so that the paving quality of the subsequent floor tiles is poor.
Disclosure of Invention
Based on this, it is necessary to provide an automatic material spreading device and a material spreading robot, and the purpose is to solve the problems of high labor cost, low efficiency and poor spreading quality in the prior art.
The technical scheme is as follows:
in one aspect, the present application provides an automatic material paving device, which includes:
the storage mechanism is used for storing and distributing the required slurry;
the feeding mechanism is connected and matched with the storage mechanism, and the storage mechanism is used for supplying the slurry to the feeding mechanism; and
the stand material mechanism, stand material mechanism with feeding mechanism links up the cooperation, feeding mechanism be used for to stand material mechanism conveys thick liquids, stand material mechanism be used for with thick liquids pave to wait to pave subaerially.
The automatic material spreading device is applied to a spreading robot, and can replace the traditional manual work to implement direct execution of spreading slurry (such as dry mortar) on the ground, so that the slurry spreading operation is improved in quality and efficiency. Specifically, the material storage mechanism can store slurry required by paving, and the device is ensured to have certain continuous working capacity; when the slurry spreading machine works, the storage mechanism can continuously supply slurry to the feeding mechanism connected with the storage mechanism, and the feeding mechanism can spread and disperse the slurry and transmit the spread and dispersed slurry to the material spreading mechanism so as to prevent the slurry from being agglomerated; and finally, the spreading mechanism can automatically and uniformly spread the slurry on the ground to be paved, so that the slurry spreading operation is completed. Because the whole operation process does not need manpower participation completely, the labor cost can be greatly reduced, the construction efficiency is improved, the flatness of slurry paving can be ensured to a greater degree, and the subsequent floor tile paving quality is further ensured.
The technical solution of the present application is further described below:
in one embodiment, the material storage mechanism comprises a hopper provided with a discharge port, and a first material baffle plate which is arranged on the inner wall of the hopper and is obliquely arranged towards the direction of the discharge port, wherein the first material baffle plate and the inner wall of the hopper form a material passing port at intervals, and the inclination angle of the first material baffle plate is not smaller than the repose angle of the slurry.
In one embodiment, the number of the first material blocking plates is two, the first material blocking plates are arranged on the inner walls of two opposite sides of the hopper, and the material passing opening is formed between the two first material blocking plates at an interval; and the two first striker plates are respectively and rotatably arranged on the inner wall of the hopper.
In one embodiment, the material storage mechanism further comprises a second material blocking plate which is arranged at the edge of the material outlet, and the material feeding mechanism comprises a material receiving plate and a material conveying assembly which is arranged in the material receiving plate and is positioned below the material outlet.
In one embodiment, the material conveying assembly comprises a driving part arranged on the receiving tray, a driving roller in driving connection with the driving part, a driven roller arranged side by side at an interval with the driving roller, and a material conveying part sleeved on the driving roller and the driven roller.
In one embodiment, the material conveying assembly further comprises a plurality of material conveying plates which are uniformly arranged on the same side surface of the material conveying piece at intervals, and a storage bin is formed between any two adjacent material conveying plates.
In one embodiment, the material spreading mechanism comprises a material spreading hopper provided with a material distribution port, and a material pushing and distributing assembly arranged on the inner wall of the material spreading hopper.
In one embodiment, the cloth pushing assembly comprises a first driver, a second driver, a first cloth spiral, a second cloth spiral and a connecting piece, one end of the first cloth spiral is connected with the first driver, one end of the second cloth spiral is connected with the second driver, and the other end of the first cloth spiral is connected with the other end of the second cloth spiral through the connecting piece; the first cloth spiral and the second cloth spiral can rotate forwards or backwards synchronously or sequentially.
In one embodiment, the pushing cloth assembly further comprises a sealing ring, and the sealing ring is connected between the spiral shaft of the first cloth spiral and the spiral shaft of the second cloth spiral.
In one embodiment, the cloth pushing assembly further comprises a cloth sensor, and the cloth sensor is arranged at the cloth opening.
In one embodiment, the material pushing and distributing assembly further comprises a third material blocking plate and a fourth material blocking plate, and the third material blocking plate and the fourth material blocking plate are respectively arranged at two opposite side edges of the material distributing opening perpendicular to the moving direction of the material distributing.
In one embodiment, the automatic material spreading device further comprises a scraping mechanism, and the scraping mechanism is arranged on the spreading mechanism and used for adjusting the spreading height.
In one embodiment, the scraping mechanism comprises a telescopic driving part, a first mounting seat, a second mounting seat and a scraper, the first mounting seat is arranged on the material spreading hopper, the second mounting seat is connected with the scraper, the telescopic driving part comprises a driving seat and a telescopic arm connected with the driving seat, the driving seat is hinged on the first mounting seat, and the telescopic arm is hinged with the second mounting seat.
In one embodiment, the scraping mechanism further comprises scraping teeth which are detachably arranged on the scraping plate; the scraper is formed with a belt material area.
In addition, this application still provides a stone robot, its including remove the chassis and as above the automatic paving device of material, the automatic paving device of material install remove on the chassis.
In one embodiment, the automatic material spreading device further comprises an electric control box and a pose sensing detection device, the electric control box and the pose sensing detection device are respectively installed on the moving chassis, and the moving chassis, the pose sensing detection device and the automatic material spreading device are all electrically connected with the electric control box.
Drawings
Fig. 1 is a schematic structural diagram of an automatic material spreading device according to an embodiment of the present invention;
FIG. 2 is a left side view of the structure of FIG. 1;
FIG. 3 is a schematic structural diagram of the mobile chassis of FIG. 2;
fig. 4 is a perspective structural schematic view of the receiving structure in fig. 1;
FIG. 5 is a schematic structural view of the feeding mechanism in FIG. 1;
FIG. 6 is a schematic structural diagram of a hopper according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a hopper according to another embodiment of the present invention.
Description of reference numerals:
10. a material storage mechanism; 11. a hopper; 12. a discharge port; 13. a first striker plate; 14. a material passing port; 15. a second retainer plate; 20. a feeding mechanism; 21. a take-up pan; 22. a drive member; 23. a drive roll; 24. a driven roller; 25. conveying the material; 26. a material conveying plate; 30. a material spreading mechanism; 31. a material spreading hopper; 32. a first cloth spiral; 33. a second cloth spiral; 34. a third retainer plate; 35. a fourth striker plate; 40. a scraping mechanism; 41. a telescopic driving member; 42. a first mounting seat; 43. a second mounting seat; 44. a squeegee; 45. scraping teeth; 50. moving the chassis; 51. a chassis frame; 52. a steering wheel; 53. a universal wheel; 54. a battery; 55. an electric cabinet.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "secured to," "disposed on" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; the specific manner of fixedly connecting one element to another element can be implemented by the prior art, and will not be described herein, and preferably, a screw-threaded connection is used.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The terms "first" and "second" used herein do not denote any particular order or quantity, but rather are used to distinguish one element from another.
The application claims a stone robot can replace traditional manpower manual work, realizes the construction operation of various thick liquids of subaerial paving. And the slurry paving is usually a previous process step for paving and pasting the floor tiles. It is understood that slurries that can be laid include, but are not limited to, dry mortar, wet mortar, concrete slurry, and the like. For example, before paving tiles on outdoor sidewalks, a layer of dry mortar with a certain thickness is generally paved; when paving floor tiles indoors, a layer of wet mortar with a certain thickness is generally paved. The slurry is used for bonding and fixing the floor tiles while leveling the ground.
The material spreading robot mainly comprises an electric cabinet 55, a movable chassis 50, an automatic material spreading device, a pose sensing and detecting device and a plurality of accessory accessories. The movable chassis 50 is loaded with the automatic material spreading device and the pose sensing and detecting device, and the material spreading robot has the maneuvering walking capability, so that the automatic material spreading device can meet the requirements of spreading large-area or different areas of slurry. It can be understood that the walking and moving direction of the paving robot is the cloth moving direction.
The pose sensing detection device can detect the moving direction and the inclination angle of the paving robot in real time, ensures that the paving robot can walk according to a preset path, avoids collision accidents, and is beneficial to ensuring the uniform thickness of a paving slurry layer.
As shown in fig. 1 to 3, the mobile chassis 50 includes, but is not limited to, a chassis frame 51, steering wheels 52 and universal wheels 53 mounted on the bottom of the chassis frame 51, and a battery 54 mounted on the top surface of the chassis frame 51. The battery 54 can supply electric energy to the electric control box 55, so that the electric control box 55 can drive the steering wheel 52, the automatic material spreading device and the position sensing detection device to automatically cooperate with each other. Preferably, the number of the steering wheels 52 is two, that is, the moving chassis 50 can move in any direction of front and back and left and right by adopting a double steering wheel 52 control mode, and has low requirement on a turning space, so that the steering device is suitable for occasions with various space conditions.
As shown in fig. 1, an automatic material spreading device according to an embodiment of the present application includes: the device comprises a material storage mechanism 10, a feeding mechanism 20 and a material spreading mechanism 30, wherein the material storage mechanism 10 is used for storing and distributing slurry required by paving; the feeding mechanism 20 is connected and matched with the storing mechanism 10, and the storing mechanism 10 is used for supplying the slurry to the feeding mechanism 20; the material spreading mechanism 30 is connected with the feeding mechanism 20 in a matching mode, the feeding mechanism 20 is used for conveying the slurry to the material spreading mechanism 30, and the material spreading mechanism 30 is used for paving the slurry on the ground to be paved.
In summary, the implementation of the technical solution of the above embodiment will have the following beneficial effects: the automatic material spreading device is applied to a spreading robot, and can replace the traditional manual work to implement direct execution of spreading slurry (such as dry mortar) on the ground, so that the slurry spreading operation is improved in quality and efficiency. Specifically, the material storage mechanism 10 can store slurry required by paving, so that the device has certain continuous working capacity; when the slurry spreading machine works, the storage mechanism 10 can continuously supply slurry to the feeding mechanism 20 connected with the storage mechanism, and the feeding mechanism 20 can spread and disperse the slurry and transmit the spread slurry to the material spreading mechanism 30 so as to prevent the slurry from caking; finally, the spreading mechanism 30 can automatically and uniformly spread the slurry on the ground to be paved, thereby completing the slurry spreading operation. Because the whole operation process does not need manpower participation completely, the labor cost can be greatly reduced, the construction efficiency is improved, the flatness of slurry paving can be ensured to a greater degree, and the subsequent floor tile paving quality is further ensured.
Referring to fig. 1, fig. 2, fig. 6 and fig. 7, in an embodiment, the material storing mechanism 10 includes a hopper 11 having a discharge port, and a first material blocking plate 13 disposed on an inner wall of the hopper 11 and inclined toward the discharge port, a discharge port 14 is formed between the first material blocking plate 13 and the inner wall of the hopper 11 at an interval, and an inclination angle of the first material blocking plate 13 is not smaller than a repose angle of the slurry. The hopper 11 provides a place for temporarily storing the slurry, and prevents the slurry from being polluted by the outside. In this embodiment, the hopper 11 is provided with a feeding hole and a discharging hole which are arranged up and down oppositely, the cross-sectional area of the hopper 11 is reduced from the feeding hole to the discharging hole, so that the discharging hole can form a necking structure, and the slurry discharging speed can be controlled more favorably.
In addition, because the first striker plate 13 that the slope set up has been installed inside hopper 11, first striker plate 13 possesses the controllability to the whereabouts of thick liquids to because the inclination of first striker plate 13 is not less than the angle of repose of thick liquids (generally 45 ~ 60 °), and then can avoid following problem to take place: if the inclination angle is too small, the first baffle plate 13 can block the slurry above, the slurry is difficult to pass through the material passing opening 14 through the self gravity and falls, and other auxiliary mechanisms are required to be added to assist the blanking, so that the structural complexity, the manufacturing cost and the failure rate of the whole device are increased. If the inclination angle is too large, the first material baffle plate 13 can lack the blocking effect on the slurry at the moment, the slurry can directly pass through the hopper 11 and fall onto the feeding mechanism 20, the control of the discharging speed is not facilitated, the slurry is very easy to accumulate on the feeding mechanism 20, and the workload of the feeding mechanism 20 is increased. And the inclination angle of the first striker plate 13 is designed to be just larger than the repose angle of the slurry, so that the two problems can be avoided.
It should be noted that, since the hopper 11 generally stores a large amount of slurry, the overall weight of the storing mechanism 10 is large, and therefore, the storing mechanism needs to be arranged near the center of gravity of the mobile chassis 50 to increase the overall stability of the paving robot and prevent the occurrence of a rollover accident due to unstable center of gravity.
With reference to fig. 6 and 7, the two first material blocking plates 13 are disposed on the inner walls of the hopper 11 at two opposite sides, and the material passing opening 14 is formed between the two first material blocking plates 13 at an interval; the two first material baffle plates 13 are respectively and rotatably arranged on the inner wall of the hopper 11. Preferably, the two first striker plates 13 are symmetrically arranged, so that the two symmetrically arranged first striker plates 13 can better control the falling speed of the slurry, and ensure continuous and stable feeding to the feeding mechanism 20. And because two first striker plates 13 are installed on hopper 11 through the rotation of hinge assembly, therefore when constantly adding thick liquids in hopper 11, for avoiding that thick liquids falling speed is less than thick liquids add speed and cause thick liquids to spill over hopper 11, under thick liquids heavy pressure, first striker plate 13 can overturn downwards, suitably enlarges the width of discharge gate 14 in good time to thereby accelerate the falling speed of thick liquids and avoid above-mentioned problem to take place.
In this embodiment, the hinge assembly is composed of two parts, namely a hinge shaft and a torsion spring. The hinge shaft enables the first striker plate 13 to rotate smoothly. The torsional spring can make first striker plate 13 top do not have thick liquids or when having less thick liquids, and automatic rotatory reseing that makes progress more does benefit to the speed of following thick liquids whereabouts and controls. Of course, the way that the first baffle plate can be turned over is not limited to the above scheme, and in other embodiments, the first baffle plate 13 can be turned over by telescopic driving of the cylinder, and the like, and the invention is also within the protection scope of the present application.
In addition, the storage mechanism 10 further includes a second material blocking plate 15, the second material blocking plate 15 is disposed at the edge of the discharge port, and the feeding mechanism 20 includes a material receiving plate 21 and a material conveying assembly disposed in the material receiving plate 21 and located below the discharge port. Specifically, the second baffle plate 15 is arranged between the discharge port of the hopper 11 and the electric cabinet 55, and the feeding mechanism 20 is arranged on one side of the second baffle plate 15 away from the electric cabinet 55, so that an arrangement scheme that the feeding mechanism 20 is located at the downstream of the second baffle plate 15 when viewed in the cloth moving direction is formed. Therefore, the slurry falling from the discharge port can be completely fallen on the material conveying assembly by the surrounding baffle of the second baffle plate 15, and the slurry is prevented from scattering around to cause waste. The transfer assembly is then able to continuously transfer the slurry to the spreader mechanism 30.
The take-up pan 21 is located the below of passing the material subassembly, can accept the thick liquids that shimmys from passing the material subassembly and drop to in the recovery recycle, improve material utilization ratio, avoid causing environmental pollution simultaneously.
With reference to fig. 1 and fig. 5, in an embodiment, the material conveying assembly includes a driving member 22 disposed on the receiving tray 21, a driving roller 23 in driving connection with the driving member 22, driven rollers 24 spaced from the driving roller 23 and arranged side by side, and a material conveying member 25 sleeved on the driving roller 23 and the driven rollers 24. Alternatively, the driving member 22 is a motor, the material conveying member 25 is a conveyor belt, and the motor drives the driving roller 23 to drive the driven roller 24 to rotate synchronously, i.e. the conveyor belt is driven to rotate synchronously, so that the slurry falling on the conveyor belt is pushed forwards smoothly. And because the conveyer belt is the hoop constantly rotatory, therefore can be in narrow and small space continuous accept from the thick liquids that hopper 11 dropped, guarantee reliable pay-off, ensure the thick liquids paving ability of device.
With continuing reference to fig. 2 and 5, the material conveying assembly further includes a plurality of material conveying plates 26 uniformly spaced on the same side of the material conveying member 25, and a storage bin is formed between any two adjacent material conveying plates 26. The storage bin can hold the slurry, so that the slurry is more stably and reliably conveyed to the spreading mechanism 30 under the pushing of the material conveying plate 26. And the capacity of a single storage bin can be accurately obtained by presetting the distance between any two adjacent material conveying plates 26 and the height of the material conveying plates 26, then the running speed of the conveying belt is set and the number of the conveying belt is counted by matching with an encoder, so that the amount of the slurry conveyed to the material spreading mechanism 30 in a period of time can be accurately obtained, namely, quantitative feeding is realized, and certain high-requirement slurry paving construction occasions are met. In addition, compare in traditional screw extrusion pay-off mode, this embodiment adopts and passes flitch 26 propelling movement thick liquids, and except gravity and the inside squeezing action of thick liquids, not receive external pressure between thick liquids and the biography flitch 26, therefore can not produce crowded material phenomenon, can effectively prevent the caking problem and take place, guarantee thick liquids transport quality.
In addition, because the material conveying plate 26 is designed on the conveying belt, the device can also be applied to the occasions on uneven ground, and the slurry is blocked by the material conveying plate 26 and cannot slide. Of course, the feeding mechanism 20 with the structural design of the material transfer plate 26 can also be applied to other occasions with higher requirements, such as remote transmission and the like.
Referring to fig. 2 and 4, in an embodiment, the spreading mechanism 30 includes a spreading hopper 31 having a material distribution opening, and a material pushing and distributing assembly disposed on an inner wall of the spreading hopper 31. The spreader hopper 31 is capable of receiving the slurry from the feed mechanism 20 and preventing the slurry from splashing. After the thick liquids drop and get into in the hopper 31, the propelling movement cloth subassembly can push away the thick liquids and scatter and distribute evenly, and then makes thick liquids can evenly drop subaerially through the cloth mouth, guarantees that thick liquids pave evenly, level and smooth.
Specifically, in an embodiment, the cloth pushing and feeding assembly includes a first driver, a second driver, a first cloth screw 32, a second cloth screw 33, and a joint, one end of the first cloth screw 32 is connected to the first driver, one end of the second cloth screw 33 is connected to the second driver, and the other end of the first cloth screw 32 is connected to the other end of the second cloth screw 33 through the joint; the first cloth screw 32 and the second cloth screw 33 can rotate forward or backward synchronously or sequentially. Firstly, because the first material distributing screw 32, the second material distributing screw 33 and the connecting piece are positioned in the material spreading hopper 31, a vacuum spreading belt cannot exist after the slurry falls on the ground (the joint part of the connecting piece connecting the first material distributing screw 32 and the second material distributing screw 33 is easy to block the slurry, so that the slurry cannot be distributed in the area below the connecting piece), and the slurry spreading quality can be ensured. In addition, by controlling the first driver and the second driver to rotate synchronously or sequentially or rotate forwards or reversely, the first cloth screw 32 and the second cloth screw 33 can rotate forwards or reversely synchronously or sequentially to achieve the purpose of pushing the slurry to move towards the middle or two ends of the spreading hopper 31, so that the slurry is spread out uniformly in the spreading hopper 31, and the slurry is ensured to fall on the ground more uniformly.
Particularly, the cloth pushing assembly further comprises a cloth sensor, and the cloth sensor is arranged at the cloth opening. The material distribution sensor is used for monitoring the material distribution height (namely the paving thickness of the slurry on the ground) in real time and feeding the material distribution height back to the electric cabinet 55, so that the electric cabinet 55 can control the first driver and/or the second driver to make corresponding adjustment actions, the slurry in the material spreading hopper 31 is guaranteed to be spread evenly, and the material distribution height in the material distribution operation surface is guaranteed to be consistent. For example, when the cloth sensor detects that the cloth height below the first cloth screw 32 is low, the electric control cabinet can control the two driving members to rotate forward and/or synchronously drive the second driver to rotate backward, so that the slurry in the middle and/or at the second cloth screw 33 is pushed toward the first cloth screw 32, and the purpose of uniform mixing is achieved.
Alternatively, the first driver and the second driver may be, but not limited to, a motor, a rotary cylinder.
In addition, the cloth pushing assembly further comprises a sealing ring, and the sealing ring is connected between the spiral shaft of the first cloth screw 32 and the spiral shaft of the second cloth screw 33. The sealing ring can prevent the granules (such as sand and stone) with high hardness in the slurry from splashing to the inside of the joint, so that the structure is seriously abraded, and the service life of the device is influenced. Alternatively, the above-mentioned joining member may be, but is not limited to, a linear bearing, which enables the first material spiral 32 and the second material spiral 33 to be kept relatively fixed or relatively rotated. In this embodiment, the sealing ring may be, but is not limited to, a rubber ring.
With reference to fig. 4, in an embodiment of the present invention, the material pushing and distributing assembly further includes a third material blocking plate 34 and a fourth material blocking plate 35, and the third material blocking plate 34 and the fourth material blocking plate 35 are respectively disposed at two opposite side edges of the material distributing opening perpendicular to the moving direction of the material. The third striker plate 34 and the fourth striker plate 35 can prevent the slurry falling to the ground from dispersing laterally toward the paving area, so that the utilization rate of the slurry is influenced, and the paving thickness is prevented from not reaching the standard.
On the basis of any one of the above embodiments, the automatic material spreading device further includes a scraping mechanism 40, and the scraping mechanism 40 is disposed on the spreading mechanism 30 and is used for adjusting the spreading height. When the slurry pouring amount is unstable or the ground is paved with uneven ground, the scraping mechanism 40 can form dynamic scraping operation on the slurry falling on the ground, so that the paving height can be flexibly adjusted in real time, and the height consistency of the cloth is ensured.
Referring to fig. 1, fig. 2 and fig. 4, specifically, the scraping mechanism 40 includes a telescopic driving member 41, a first mounting seat 42, a second mounting seat 43 and a scraping plate 44, the first mounting seat 42 is disposed on the material spreading bucket 31, the second mounting seat 43 is connected to the scraping plate 44, the telescopic driving member 41 includes a driving seat and a telescopic arm connected to the driving seat, the driving seat is hinged to the first mounting seat 42, and the telescopic arm is hinged to the second mounting seat 43. The screed 44 is first capable of further screeding the spread slurry. In addition, the scraper 44 can swing up and down in the space according to the driving seat driving the telescopic arm to extend or retract: that is, when swinging downward, the distance from the scraper 44 to the ground is gradually reduced, so that the thickness of the cloth is reduced; when the cloth swings upwards, the thickness of the scraper 44 from the ground is gradually increased, the extrusion force to the slurry is small, and the thickness of the cloth can be ensured to be large. Therefore, the spreading height can be dynamically adjusted, and the consistency of the spreading thickness of the slurry in different areas is ensured, namely the spreading flatness is ensured.
In addition, the scrapers 44 act to press down the slurry, allowing the loose slurry to be leveled and compacted, increasing the strength and stability of the slurry layup.
Of course, it should be noted that other techniques known in the art can be used to dynamically adjust the placement height via the screed 44. For example, a vibrating mass is connected to a vibrating motor, and the vibrating mass is vibrated vertically at a high frequency to strike the slurry spread on the ground. When the impact force is large and the vibration frequency is high, the spreading thickness of the slurry is correspondingly small; and when the beating force is small and the vibration frequency is low, the spreading thickness of the slurry is correspondingly large.
With reference to fig. 4, the scraping mechanism 40 further includes scraping teeth 45, and the scraping teeth 45 are detachably disposed on the scraping plate 44. The scraping plate 44 can meet the requirement of continuous scraping by additionally arranging the scraping teeth 45; moreover, grooves are formed on the surface of the slurry passed by the scraping teeth 45, so that the bonding degree and tightness of the slurry and the floor tile can be increased when the floor tile is paved, and the paving strength of the floor tile is ensured. And the side of the screed 44 facing the ground is also formed with a belting zone. It will be appreciated that the strip area is the area of the angle formed between the inclined blades 44 and the ground, and this area is formed so that the blades 44 can carry a certain amount of slurry to move together, so that the blades 44 can have a certain amount of slurry to fill the recesses in the ground.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (16)
1. An automatic material paving device, comprising:
the storage mechanism is used for storing and distributing the required slurry;
the feeding mechanism is connected and matched with the storage mechanism, and the storage mechanism is used for supplying the slurry to the feeding mechanism; and
the stand material mechanism, stand material mechanism with feeding mechanism links up the cooperation, feeding mechanism be used for to stand material mechanism conveys thick liquids, stand material mechanism be used for with thick liquids pave to wait to pave subaerially.
2. The automatic material spreading device according to claim 1, wherein the material storage mechanism comprises a hopper provided with a discharge port, and a first material baffle plate arranged on the inner wall of the hopper and inclined towards the discharge port, a material passing port is formed between the first material baffle plate and the inner wall of the hopper at an interval, and the inclination angle of the first material baffle plate is not smaller than the repose angle of the slurry.
3. The automatic material spreading device according to claim 2, wherein the first material blocking plates are two and are arranged on the inner walls of the two opposite sides of the hopper, and the material passing opening is formed between the two first material blocking plates at an interval; and the two first striker plates are respectively and rotatably arranged on the inner wall of the hopper.
4. The automatic material spreading device according to claim 2, wherein the storage mechanism further comprises a second material blocking plate disposed at the edge of the discharge hole, and the feeding mechanism comprises a material receiving plate and a material conveying assembly disposed in the material receiving plate and below the discharge hole.
5. The automatic material spreading device according to claim 4, wherein the material conveying assembly comprises a driving part arranged on the material receiving disc, a driving roller in driving connection with the driving part, driven rollers arranged side by side with the driving roller at intervals, and material conveying parts sleeved on the driving roller and the driven rollers.
6. The automatic material spreading device according to claim 5, wherein the material conveying assembly further comprises a plurality of material conveying plates which are uniformly arranged on the same side surface of the material conveying member at intervals, and a storage bin is formed between any two adjacent material conveying plates.
7. The automatic material spreading device according to claim 1, wherein the material spreading mechanism comprises a material spreading hopper provided with a material distribution port, and a material pushing and distributing assembly arranged on the inner wall of the material spreading hopper.
8. The automatic material paving device according to claim 7, wherein the propelling material distributing assembly comprises a first driver, a second driver, a first material distributing spiral, a second material distributing spiral and a connecting piece, wherein one end of the first material distributing spiral is connected with the first driver, one end of the second material distributing spiral is connected with the second driver, and the other end of the first material distributing spiral is connected with the other end of the second material distributing spiral through the connecting piece; the first cloth spiral and the second cloth spiral can rotate forwards or backwards synchronously or sequentially.
9. The automatic material paving device of claim 8, wherein the material pushing and distributing assembly further comprises a sealing ring connected between the spiral shaft of the first distribution spiral and the spiral shaft of the second distribution spiral.
10. The automated material paving apparatus of claim 8, wherein the material pushing and distributing assembly further comprises a distribution sensor disposed at the distribution opening.
11. The automatic material spreading device according to claim 8, wherein the material pushing and distributing assembly further comprises a third material blocking plate and a fourth material blocking plate, and the third material blocking plate and the fourth material blocking plate are respectively arranged at the edges of two opposite sides of the material distributing opening perpendicular to the moving direction of the material.
12. The automated material paving apparatus as recited in any one of claims 7-11, further comprising a scraping mechanism disposed on the spreader mechanism for adjusting a spreading height.
13. The automatic material paving device according to claim 12, wherein the scraping mechanism comprises a telescopic driving member, a first mounting seat, a second mounting seat and a scraper, the first mounting seat is disposed on the material paving bucket, the second mounting seat is connected with the scraper, the telescopic driving member comprises a driving seat and a telescopic arm connected with the driving seat, the driving seat is hinged on the first mounting seat, and the telescopic arm is hinged with the second mounting seat.
14. The automated material paving apparatus of claim 13, wherein the scraping mechanism further comprises scraping teeth that are removably disposed on the scraper; the scraper is formed with a belt material area.
15. A paving robot comprising a mobile chassis and an automated material paving apparatus as claimed in any one of claims 1 to 14 mounted on the mobile chassis.
16. The paving robot as recited in claim 15, further comprising an electric cabinet and a pose sensing and detecting device, wherein the electric cabinet and the pose sensing and detecting device are respectively mounted on the moving chassis, and the moving chassis, the pose sensing and detecting device and the automatic material paving device are electrically connected with the electric cabinet.
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| CN202010102447.5A CN111287430A (en) | 2020-02-19 | 2020-02-19 | Automatic material spreading device and material spreading robot |
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| CN112196240A (en) * | 2020-10-10 | 2021-01-08 | 广东博智林机器人有限公司 | Hopper, slurry paving terminal and slurry paving equipment |
| CN112282323A (en) * | 2020-10-10 | 2021-01-29 | 广东博智林机器人有限公司 | Slurry paving mechanism and slurry paving equipment |
| CN114575221A (en) * | 2022-02-25 | 2022-06-03 | 中铁第五勘察设计院集团有限公司 | Method for laying a plank |
| CN115787986A (en) * | 2022-12-14 | 2023-03-14 | 广东建石科技有限公司 | Ceramic tile paving and pasting robot |
| CN115992581A (en) * | 2022-12-14 | 2023-04-21 | 广东建石科技有限公司 | Tile laying method of tile laying robot |
| EP4183950A4 (en) * | 2020-07-17 | 2024-02-28 | Evolution Construction System, S.L. | Levelling tool |
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| CN115992581B (en) * | 2022-12-14 | 2023-09-01 | 广东建石科技有限公司 | Tile laying method of tile laying robot |
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Application publication date: 20200616 |