CN111305532A - Floor tile paving robot and tile taking method - Google Patents
Floor tile paving robot and tile taking method Download PDFInfo
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- CN111305532A CN111305532A CN202010154730.2A CN202010154730A CN111305532A CN 111305532 A CN111305532 A CN 111305532A CN 202010154730 A CN202010154730 A CN 202010154730A CN 111305532 A CN111305532 A CN 111305532A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000009471 action Effects 0.000 claims abstract description 23
- 230000004888 barrier function Effects 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 9
- 239000011449 brick Substances 0.000 claims description 6
- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 5
- 238000003860 storage Methods 0.000 description 5
- 239000000919 ceramic Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
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- 238000010521 absorption reaction Methods 0.000 description 1
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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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Abstract
A floor tile paving robot and a tile taking method thereof relate to the technical field of floor tile paving equipment and comprise a walking trolley, a 6R mechanical arm, a suction device and a lifting device; the walking trolley is used for bearing the 6R mechanical arm and the supporting device; the 6R mechanical arm is fixedly arranged on the walking trolley and used for moving the suction device; the suction device is arranged at the front end of the 6R mechanical arm and used for sucking the floor tiles and detecting force or moment used when the floor tiles are contacted in real time; the lifting device is arranged on the walking trolley and used for executing holding action or falling action according to force or moment. The floor tile paving robot provided by the invention overcomes the influence of atmospheric pressure between floor tiles when the floor tiles are picked up, reduces the power loss of a motor, realizes automation and intellectualization of floor tile paving equipment, reduces the labor cost and improves the production efficiency.
Description
Technical Field
The invention relates to the technical field of floor tile laying equipment, in particular to a floor tile laying robot and a tile taking method thereof.
Background
At present, the tile sticking operation in the building industry completely depends on manual work, the automation degree is low, and the working efficiency is not high. Tiles belong to technical operations, and the quality of tiles stuck is different according to different experiences and skills of workers. With the further rise of labor cost in China, the labor cost of floor tile laying work is continuously increased, so that the floor tile laying equipment can replace manpower to lay floor tiles, and the automatic and intelligent floor tile laying equipment can meet market requirements.
Investigation shows that in the process of moving the floor tiles, workers need to overcome the influence of atmospheric pressure between the floor tiles because the two floor tiles are tightly attached, and the moving process is relatively labor-consuming. However, most of the common tile paving automatic mechanical devices in the market directly pick up the tiles by using the suction cups without considering the influence of the atmospheric pressure between the tiles, such as CN110374313A, only directly pick up the tiles by using the suction cups, and the power consumed by the motor is larger, especially when picking up large-area tiles, the atmospheric pressure to be overcome is larger, and the power consumed by the motor is also larger.
Disclosure of Invention
Therefore, the technical problem to be solved by the embodiments of the present invention is to overcome the defects of low automation degree of floor tile paving and large power loss of a motor during floor tile suction in the prior art, so as to provide a floor tile paving robot and a method for taking out the floor tile.
The embodiment of the invention provides a floor tile paving robot, which comprises: the device comprises a walking trolley, a 6R mechanical arm, a suction device and a supporting device; the walking trolley is used for bearing the 6R mechanical arm and the supporting device; the 6R mechanical arm is fixedly arranged on the walking trolley and used for moving the suction device; the suction device is arranged at the front end of the 6R mechanical arm and used for sucking the floor tiles and detecting force or moment used when the floor tiles are contacted in real time; the supporting device is arranged on the walking trolley and used for executing holding action or falling action according to the force or the moment.
Preferably, the lifting device comprises a tray and at least one lifting cylinder; the tray first end with the walking dolly rotates to be connected, the tray second end with the jacking cylinder is connected, jacking cylinder fixed mounting is in on the walking dolly.
Preferably, the supporting device further comprises a first barrier, a second barrier and a third barrier, the first barrier and the second barrier are arranged in parallel, the relative positions of the first barrier and the second barrier are adjustable, and the third barrier is arranged vertically relative to the first barrier and the second barrier.
Preferably, the suction device comprises a suction cup base, a vacuum generating device and a suction cup;
the sucking disc base is fixed 6R robotic arm front end, vacuum generator installs on the sucking disc base, the sucking disc fixed mounting be in on the sucking disc base.
Preferably, the vibration mechanism is arranged on the sucker base;
the vibration mechanism comprises a vibration cam, a vibration motor and a buffer device; the vibration motor is fixedly installed on the sucker base and drives the vibration cam to rotate, one end of the buffer device is fixedly installed on the sucker base, the other end of the buffer device is in contact with the vibration cam, and the vibration cam drives the vibration cam to vibrate up and down.
Preferably, the walking trolley further comprises an air storage tank and an air pump, wherein the air storage tank and the air pump are fixedly arranged on the walking trolley.
Preferably, the walking trolley wheels are Mecanum wheels, and each Mecanum wheel adopts a separate driving system.
The brick taking method provided by the embodiment of the invention comprises the following steps:
step 1, a 6R mechanical arm drives a suction device to reach a target floor tile, and a suction disc sucks the floor tile;
step 4, turning the vibration mechanism to be in contact with the target floor tile, and controlling the vibration mechanism to vibrate to level the target floor tile;
and 6, carrying out lifting action by the lifting device.
The technical scheme of the embodiment of the invention has the following advantages:
1. the floor tile paving robot provided by the embodiment of the invention is provided with the walking trolley, the 6R mechanical arm, the suction device and the lifting device so as to overcome the influence of atmospheric pressure between floor tiles when the floor tiles are picked up, and meanwhile, the flatness of the floor tiles is adjusted by arranging the vibration mechanism. The floor tile paving robot replaces manpower to lay floor tiles, so that automation and intellectualization of the floor tile paving equipment are realized, the labor cost is reduced, the production efficiency is improved, and the floor tile paving operation is standardized.
2. According to the tile taking method provided by the embodiment of the invention, the influence of atmospheric pressure between the floor tiles when the floor tiles are picked up is overcome by controlling the matching of the suction device and the lifting device, and the power loss of a motor is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of a specific example of a floor tile laying robot according to embodiment 1 of the present invention;
fig. 2 is a schematic structural view of a specific example of a suction cup device in embodiment 1 of the present invention;
fig. 3 is a schematic structural view of a specific example of the lifting device in embodiment 1 of the present invention;
fig. 4 is a schematic structural view of a specific example of the vibration mechanism in embodiment 1 of the present invention;
FIG. 5 is a flow chart of the brick picking method in example 2 of the present invention.
Reference numerals:
1-a walking trolley; 11-mecanum wheels; 12-wheel drive motors; 2-6R mechanical arm; 3-a suction device; 31-a suction cup base; 32-a suction cup; 4-a lifting device; 41-first barrier; 42-a second barrier; 43-third barrier; 44-jacking cylinder; 45-a tray; 5-a vibration mechanism; 51-a vibration cam; 52-a vibration motor; 53-a spring; 54-spring guide post; 55-rubber plate; 56-contact post.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood 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.
In describing the present invention, it is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises" and/or "comprising," when used in this specification, are intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The term "and/or" includes any and all combinations of one or more of the associated listed items. The terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
The present embodiment provides a tile paving robot, which is applied to the technical field of tile paving equipment, as shown in fig. 1, and includes: the walking trolley comprises a walking trolley 1, a 6R mechanical arm 2, a suction device 3 and a supporting device 4; the walking trolley 1 is used for bearing the 6R mechanical arm 2 and the supporting device 4; the base of the 6R mechanical arm 2 is fixedly arranged on the walking trolley 1 and used for moving the suction device 4; the suction device 4 is arranged at the front end of the 6R mechanical arm 2 and is used for sucking the floor tiles and detecting force or moment used when the floor tiles are contacted in real time; the 6R mechanical arm adopted in the embodiment can increase the movement range of the suction device 4, increase the flexibility of the operation of the brick paving robot, and enable the places where the brick paving robot can be applied to be wider, such as a small-area indoor place or a wide-area square. Wherein, the supporting device 4 is arranged on the walking trolley 1 and is used for executing holding action or falling action according to force or moment. In particular, the lifting device 4 is mainly used for bearing the floor tiles, and simultaneously, the suction device 3 is matched to realize the separation between the two floor tiles. Further, the floor tile robot provided by this embodiment further includes a pressure detection control system, when the pressure detection control system detects that the suction device 3 grabs the target floor tile, preferably, the pressure detection control system installed on the suction device detects the suction force of the suction cup, and determines whether the suction force is greater than or equal to a set value F, and if the suction force is greater than or equal to the set value F, the lifting device 4 performs a falling action to separate the target floor tile from the floor tile to which the target floor tile is tightly attached, so that the pressure generated between the two floor tiles due to the atmospheric pressure can be overcome, and the suction force of the suction device 3 is reduced, thereby reducing the power loss of the motor. If the value is less than the set value F, the lifting device executes the holding action.
Preferably, as shown in fig. 3, the holding-up device 4 comprises a tray 45 and at least one jacking cylinder 44; the first end of tray 45 rotates with walking dolly 1 to be connected, and tray 45 second end is connected with jacking cylinder 44, and jacking cylinder 44 fixed mounting is on walking dolly 1.
Specifically, one end of the tray 45 is rotatably connected with the walking trolley 1, the other end of the tray is connected with the jacking cylinder 44, and the floor tiles are flatly laid on the surface of the tray 45, so that when the jacking cylinder 44 drives the floor tiles to separate two adjacent floor tiles, the end of the tray 45, which is rotatably connected with the trolley, is taken as a fulcrum, and compared with the process of directly supporting the floor tiles, the floor tiles are more labor-saving. Further, the end of the tray 45 connected with the jacking cylinder 44 is provided with an arc-shaped protrusion, the arc-shaped protrusion can enable the floor tile to be in line contact with the tray 45 from surface contact, and the floor tile can be kept in contact all the time in the process of lifting the floor tile.
Further, the jacking cylinder 44 can be provided with one or two, and the two jacking cylinders are respectively arranged on two sides of the tray 45.
Preferably, the lifting device further comprises a first stopper 41, a second stopper 42 and a third stopper 43, the first stopper 41 is arranged in parallel with the second stopper 42, the position of the first stopper 41 relative to the second stopper 42 is adjustable, and the third stopper 43 is arranged perpendicularly relative to the first stopper 41 and the second stopper 42.
In particular, a first barrier 41, a second barrier 42 and a third barrier 43 are used to define the position of the tile on the trolley 1. Wherein, the relative positions of the first barrier 41 and the second barrier 42 are adjustable to adapt to tiles with different sizes. Further, the position-adjustable device is a screw nut device and comprises a motor, a first nut, a second nut, a first screw and a second screw, wherein the first nut is rotatably connected with the first screw, and the second nut is rotatably connected with the second screw. Specifically, the first nut is fixedly connected to the first stopper 41, the second nut is fixedly connected to the second stopper 42, and the motor drives the first lead screw and the second lead screw to rotate, so as to drive the first stopper 41 connected to the first nut and the second stopper 42 connected to the second nut to move. Further, the tray further comprises a third screw rod and a third nut sleeved with the third screw rod, and the third screw rod is used for adjusting the relative displacement between the third barrier 43 and the second end of the tray 45, so that the distance between the second end of the tray 45 and the edge of the floor tile is a set value, and the separation between the floor tiles is facilitated.
Preferably, as shown in fig. 2, the suction device 3 includes a suction cup base 31, a vacuum generating device, and a suction cup 32; the suction cup base 31 is fixed at the front end of the 6R mechanical arm 2, the vacuum generating device is installed on the suction cup base 31, and the suction cup 32 is fixedly installed on the suction cup base 31.
Specifically, because the ceramic tile is mostly smooth surface, so adopt the mode of sucking disc absorption more to be favorable to picking up of ceramic tile, adopt four sucking discs to arrange in the sucking disc base separately in this embodiment to make the ceramic tile pick up more stably. The vacuum generating device is mainly used for converting positive pressure into negative pressure to make the suction cup 32 generate suction force.
Preferably, as shown in fig. 4, the tile paving robot further comprises a vibration mechanism 5, wherein the vibration mechanism 5 is mounted on the suction cup base 31; the vibration mechanism 5 comprises a vibration cam 51, a vibration motor 52 and a buffer device; the vibration motor is fixedly installed on the suction cup base 31 and drives the vibration cam 51 to rotate, one end of the buffer device is fixedly installed on the suction cup base 31, and the other end of the buffer device is in contact with the vibration cam 51 and is driven by the vibration cam 51 to vibrate up and down.
Specifically, as shown in fig. 2, the suction cup base 31 is arranged in two layers, the bottom surface is used for fixing the suction cup 32, and the top layer is used for fixing the vibration motor 52, as shown in fig. 4, the buffer device comprises a spring 53, a spring guide column 54 and a contact column 56, wherein the spring guide column 54 and the contact column 56 are arranged on the suction cup base 31, and the spring 53 is sleeved outside the spring guide column 54. The vibration motor 52 drives the vibration cam 51 to rotate, the vibration cam 51 touches the contact post 56 on the suction cup base 31, and the contact post 56 drives the spring guide post 54 to compress the spring through the suction cup base 31, so that the suction cup base 31 is caused to vibrate; meanwhile, the rubber plate 55 is arranged on the bottom surface of the suction cup base 31, and the rubber plate is in contact with the floor tile during vibration, so that impact force generated by vibration can be buffered, and the protection of the floor tile is facilitated.
Preferably, the floor tile paving robot further comprises an air storage tank and an air pump, and the air storage tank and the air pump are fixedly arranged on the walking trolley.
Specifically, the gas storage tank and the gas pump are power sources of the suction device 3 and provide power for sucking the floor tiles.
Preferably, as shown in fig. 1, the wheels of the walking cart 1 are Mecanum wheels 11, and each Mecanum wheel 11 is provided with a separate driving system.
Specifically, each Mecanum wheel 11 adopts an independent driving system, and comprises a wheel driving motor 12 and a speed reducer, so that the trolley can freely walk along all directions, the application range of the walking trolley 1 is enlarged, and the brick paving operation on different terrains is facilitated.
Example 2
The tile taking method provided by the embodiment can be applied to the tile paving robot in embodiment 1, as shown in fig. 5, and includes the following steps:
step 1, the 6R mechanical arm 2 drives the suction device 3 to reach the target floor tile, and the suction disc 32 sucks the target floor tile.
step 4, turning the vibration mechanism 5 to be in contact with the target floor tile, and controlling the vibration mechanism 5 to vibrate to level the target floor tile;
and 6, carrying out lifting action by the lifting device 4.
Specifically, the control system controls the 6R mechanical arm 2 to drive the suction device 3 to reach the target floor tile, and then the suction disc 32 sucks the target floor tile; the pressure detection control system detects the magnitude of the suction force, if the suction force reaches a set value F, the floor tiles can be sucked, at the moment, the lifting device 4 performs a falling action to separate two adjacent floor tiles, if the suction force is smaller than the set value F, the lifting device 4 performs a holding action to prevent the target floor tile from falling off, the suction device 3 sucks the target floor tile again, and the lifting device 4 performs the falling action to separate the two adjacent floor tiles until the suction force reaches the set value F; the suction device 4 is driven by the 6R mechanical arm 2 to send the target floor tile to a set position, the suction device 3 releases the suction force, then the suction force is transferred to the vibration mechanism 5, and the vibration mechanism 5 is in contact with the target floor tile and levels the floor tile through vibration; the detection device detects the flatness of the floor tile, if the flatness requirement is met, the vibration mechanism 5 is withdrawn, and if the flatness requirement is not met, the vibration leveling is continued; at this point the picking up of one tile is completed and the lifting device 4 performs a lifting action in preparation for the picking up of the next tile.
According to the tile taking method, the suction force detection and judgment steps are arranged, so that the influence of atmospheric pressure between the floor tiles in the floor tile picking process is overcome, the suction force of the suction disc is reduced, and the power loss of the motor is reduced.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (8)
1. A tile paving robot, comprising: the device comprises a walking trolley, a 6R mechanical arm, a suction device and a supporting device; the walking trolley is used for bearing the 6R mechanical arm and the supporting device; the 6R mechanical arm is fixedly arranged on the walking trolley and used for moving the suction device; the suction device is arranged at the front end of the 6R mechanical arm and used for sucking the floor tiles and detecting force or moment used when the floor tiles are contacted in real time; the supporting device is arranged on the walking trolley and used for executing holding action or falling action according to the force or the moment.
2. A tile paving robot as claimed in claim 1, wherein said lifting means comprises a tray and at least one jacking cylinder; the tray first end with the walking dolly rotates to be connected, the tray second end with the jacking cylinder is connected, jacking cylinder fixed mounting is in on the walking dolly.
3. A tile laying robot according to claim 1 or 2, wherein the lifting device further comprises a first barrier, a second barrier and a third barrier, the first barrier being arranged in parallel with the second barrier and being adjustable in position relative to the second barrier, the third barrier being arranged perpendicularly relative to the first and second barriers.
4. A tile paving robot as claimed in any one of claims 1-3, wherein said suction means comprises a suction cup base, a vacuum generating means and a suction cup;
the sucking disc base is fixed 6R robotic arm front end, vacuum generator installs on the sucking disc base, the sucking disc fixed mounting be in on the sucking disc base.
5. A tile paving robot as recited in claim 4, further comprising a vibration mechanism mounted on said suction cup base;
the vibration mechanism comprises a vibration cam, a vibration motor and a buffer device; the vibration motor is fixedly installed on the sucker base and used for driving the vibration cam to rotate, one end of the buffer device is fixedly installed on the sucker base, the other end of the buffer device is in contact with the vibration cam, and the vibration cam drives the vibration cam to vibrate up and down.
6. A tile paving robot as claimed in any one of claims 1 to 5, further comprising an air reservoir and an air pump, both of which are fixedly mounted on the walking trolley.
7. A tile laying robot as claimed in any one of claims 1 to 6, wherein the travelling trolley wheels employ Mecanum wheels, each of which employs a separate drive system.
8. A brick taking method is characterized by comprising the following steps:
step 1, a 6R mechanical arm drives a suction device to reach a target floor tile, and a suction disc sucks the floor tile;
step 2, a pressure detection control system arranged on the suction device detects the suction force of the sucker and judges whether the suction force is greater than or equal to a set value F, if so, the lifting device executes a falling action, and if not, the lifting device executes a holding action;
step 3, the target floor tile is conveyed to a set position by the suction device;
step 4, turning the vibration mechanism to be in contact with the target floor tile, and controlling the vibration mechanism to vibrate to level the target floor tile;
step 5, detecting the flatness of the target floor tile, withdrawing the vibration mechanism if the flatness meets the requirement, and continuing to vibrate and level until the flatness meets the requirement if the flatness does not meet the requirement;
and 6, carrying out lifting action by the lifting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010154730.2A CN111305532A (en) | 2020-03-08 | 2020-03-08 | Floor tile paving robot and tile taking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010154730.2A CN111305532A (en) | 2020-03-08 | 2020-03-08 | Floor tile paving robot and tile taking method |
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| Publication Number | Publication Date |
|---|---|
| CN111305532A true CN111305532A (en) | 2020-06-19 |
| CN111305532A8 CN111305532A8 (en) | 2023-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010154730.2A Pending CN111305532A (en) | 2020-03-08 | 2020-03-08 | Floor tile paving robot and tile taking method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113565300A (en) * | 2021-08-03 | 2021-10-29 | 王献 | Tile work device |
| WO2022267515A1 (en) * | 2021-06-25 | 2022-12-29 | 广东博智林机器人有限公司 | Plate laying apparatus and plate laying method |
-
2020
- 2020-03-08 CN CN202010154730.2A patent/CN111305532A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022267515A1 (en) * | 2021-06-25 | 2022-12-29 | 广东博智林机器人有限公司 | Plate laying apparatus and plate laying method |
| CN113565300A (en) * | 2021-08-03 | 2021-10-29 | 王献 | Tile work device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111305532A8 (en) | 2023-11-17 |
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Correction item: Applicant Correct: DAGUO ZHONGQI AUTOMATION EQUIPMENT (SHANDONG) CO.,LTD. False: DAGUO ZHONGQI AUTOMATION EQUIPMENT (SHANDONG) Co.,Ltd. Number: 25-02 Page: The title page Volume: 36 Correction item: Applicant Correct: DAGUO ZHONGQI AUTOMATION EQUIPMENT (SHANDONG) CO.,LTD. False: DAGUO ZHONGQI AUTOMATION EQUIPMENT (SHANDONG) Co.,Ltd. Number: 25-02 Volume: 36 |