CN111335601B

CN111335601B - Wood floor gripping device and installation robot

Info

Publication number: CN111335601B
Application number: CN202010159975.4A
Authority: CN
Inventors: 闫礼强; 韩少雄
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-03-10
Filing date: 2020-03-10
Publication date: 2021-04-20
Anticipated expiration: 2040-03-10
Also published as: CN111335601A

Abstract

The application relates to a timber apron grabbing device and installation robot belongs to timber apron and lays technical field. The application provides a wood floor gripping device, which comprises a base body, wherein the base body is used for being mounted on a mounting plate of a wood floor mounting robot; one end of the grabbing piece is rotatably connected with the base body and can rotate between a first angle position and a second angle position relative to the base body, and the other end of the grabbing piece is used for extending into a notch of the wood floor; the rotation driving mechanism is used for driving the grabbing piece to rotate to a first angle position; and the first elastic piece is used for driving the grabbing piece to rotate to the second angle position. The application still provides a timber apron installation robot, including robot body and mounting bracket, the mounting bracket is rotationally installed in robot body, and foretell timber apron grabbing device is installed to the mounting bracket. The wood floor mounting robot can unilaterally lift the side edge of the wood floor, is simple in structure, is convenient to grab, and is convenient for laying the wood floor.

Description

Wood floor gripping device and installation robot

Technical Field

The application relates to the technical field of wood floor laying, in particular to a wood floor grabbing device and an installation robot.

Background

In the construction process of laying the wood floor, the wood floor needs to be moved from a stacking position to a position to be laid, and then the wood floor and the installed wood floor are spliced into a whole. Common methods for moving the wood floor include a vacuum chuck adsorption method and an electric/pneumatic clamping jaw grabbing method. However, the vacuum chuck suction method is only suitable for wood floors with smooth upper surfaces, and has certain limitations. When the electric/pneumatic clamping jaws are used for moving the wood floor, on one hand, the electric elements are required to be equipped, so that the device becomes complicated; on the other hand, the jaws need to come into contact on at least two faces of the wood flooring, in particular to hook the bottom face of the wood flooring, which complicates the laying of the same.

Disclosure of Invention

Therefore, the application provides a timber apron grabbing device and installation robot for snatch the side of the timber apron of unsmooth concatenation formula, simple structure is convenient for lay.

The first embodiment of the application provides a wood floor gripping device, which comprises a base body, a gripping device and a gripping device, wherein the base body is used for being mounted on a mounting plate of a wood floor mounting robot; one end of the grabbing piece is rotatably connected with the base body and can rotate between a first angle position and a second angle position relative to the base body, and the other end of the grabbing piece is used for extending into a notch of the wood floor; the rotation driving mechanism is used for driving the grabbing piece to rotate to a first angle position; and the first elastic piece is used for driving the grabbing piece to rotate to the second angle position.

The wood floor grabbing device is used for grabbing the wood floor, the first side of the wood floor can be lifted on one side, the structure is simple, grabbing is convenient, and laying of the wood floor is facilitated.

In addition, the wood floor gripping device according to the first embodiment of the present application has the following additional technical features:

according to some embodiments of this application, snatch the board that snatchs that includes connecting block and rectangular shape, the one end of connecting block is rotationally connected in the base member through the round pin axle, and the board is grabbed in the other end installation, and the axial of round pin axle is parallel with the extending direction who grabs the board. The arrangement form can realize stable rotation of the grabbing plate and the base body, simplifies the structure of the grabbing plate, is low in manufacturing cost and is beneficial to assembly.

According to some embodiments of the application, the first elastic element is a torsion spring sleeved on the pin shaft, and two ends of the torsion spring are respectively abutted to the base body and the connecting block. The first elastic piece can drive the grabbing piece to rotate to the second angle position, so that the grabbing piece bites the side edge of the wood floor. The arrangement form has simple structure, low cost and easy assembly.

According to some embodiments of the application, the grasping plate has an L-shape, a C-shape, or a U-shape in cross-section. The grabbing plate in the form has a simple structure, is beneficial to low-cost manufacture, and the end parts of the grabbing plates in the three forms can be inserted into the groove opening of the wood floor, so that one side of the wood floor with the groove opening can be grabbed.

According to some embodiments of the application, the rotary drive mechanism includes a rocker arm rotatably connected to the base body, one end of the rocker arm is connected to the connecting block, and the other end is driven by the external driving member to drive the grasping member to rotate to the first angular position through the rocker arm. The arrangement form is simple and feasible, low in cost and easy to assemble.

According to some embodiments of the application, the one end of rocking arm is equipped with connecting portion, and the slotted hole has been seted up to the other end, is equipped with the arch on the connecting block, and the rocking arm passes through the slotted hole cover and locates the arch, and at the connecting block rotation in-process, the arch slides along the slotted hole, and external drive spare passes through brake cable pulling connecting portion to make the connecting block rotate to first angular position. Through this kind of arrangement form, under the drive of external drive spare, can drive the connecting block and rotate, it is simple feasible.

According to some embodiments of the present application, the wood floor gripping device further comprises a slide bar, a connecting plate, and a second elastic member; the slide bar passes through the connecting plate slidably, and one end of slide bar is connected in the base member, and the other end is equipped with the stop part, and the second elastic component butt is between stop part and connecting plate. The second elastic piece can buffer the acting force of the grabbing plate on the first side of the wood floor, and flexible grabbing is achieved.

The second embodiment of the application provides a timber apron installation robot, including robot body and mounting bracket, the mounting bracket is rotationally installed in robot body, and foretell timber apron grabbing device is installed to the mounting bracket. The wood floor mounting robot can unilaterally lift the side edge of the wood floor, is simple in structure, is convenient to grab, and is convenient for laying the wood floor.

In addition, the wood floor mounting robot according to the second embodiment of the present application has the following additional technical features:

according to some embodiments of the present application, the wood flooring mounting robot further comprises: the rocker mechanism is mounted on the robot body and used for driving the mounting frame to rotate relative to the robot body so that the mounting frame has a retracting position, a grabbing and releasing position and a plate moving position, and the plate moving position is located between the retracting position and the grabbing and releasing position; when the mounting rack is in the retracting position, the mounting rack gives up the lower space, and the wood floor gripping device is vacant; when the mounting rack is at the grabbing and placing position, the wood floor grabbing device can grab or place the wood floor; when the mounting rack is at the board moving position, the wood floor gripping device lifts one end of the gripped wood floor. The rocker mechanism is used for controlling the mounting frame to rotate relative to the robot body so as to drive the wood floor gripping device to rotate relative to the robot body, and therefore the wood floor can be gripped, put down and transferred.

According to some embodiments of the application, the rocker mechanism comprises a rocker, a connecting rod, a first locking piece and a second locking piece, one end of the rocker is hinged to the robot body, two ends of the connecting rod are respectively hinged to the rocker and the mounting frame, the first locking piece is used for releasably locking the rocker at a first position, and the second locking piece is used for releasably locking the rocker at a second position; when the rocker is in the first position, the mounting bracket is in the stowed position; when the rocker is in the second position, the mounting bracket is in the plate moving position. The rocker mechanism in the form is simple in structure, low in cost and easy to assemble.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic view of a wood floor gripping device according to a first embodiment of the present application;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

fig. 3 is a schematic structural view of a base in the wood floor gripping device according to the first embodiment of the present application;

fig. 4 is a schematic structural view of a connecting block in the wood floor gripping device according to the first embodiment of the present application;

fig. 5 is an exploded view of the wood floor gripping device according to the first embodiment of the present application;

FIG. 6 is a partial enlarged view of FIG. 5 at B;

fig. 7 is a schematic structural view from another perspective of the wood floor gripping device according to the first embodiment of the present application;

FIG. 8 is an enlarged view of a portion of FIG. 7 at C;

fig. 9 is a schematic structural view of a gripping plate in the wood floor gripping device according to the first embodiment of the present application;

fig. 10 is a schematic structural view of a view angle of the wood floor grabbed by the wood floor grabbing device according to the first embodiment of the present application;

fig. 11 is a schematic structural view of another view angle of the wood flooring grasped by the wood flooring grasping apparatus according to the first embodiment of the present application;

fig. 12 is a schematic view of a wood floor gripping device including a plurality of wood floor gripping devices of a wood floor mounting robot according to a second embodiment of the present application;

fig. 13 is a partial structural view of a wood floor mounting robot according to a second embodiment of the present application;

fig. 14 is a schematic structural view of a wood floor gripping device (including a buffer mechanism) according to a first embodiment of the present application;

fig. 15 is a schematic structural view of a slide bar in the wood floor gripping device according to the first embodiment of the present application;

fig. 16 is a schematic structural diagram of a rocker mechanism in the wood floor mounting robot according to the second embodiment of the present application.

Icon: 100-a wood floor gripping device; 110-a substrate; 111-a first abutment surface; 112-a first aperture; 113-a second well; 114 — a first set of mounting holes; 116-a seventh well; 120-connecting block; 121-a second abutment surface; 122-a third aperture; 123-fourth well; 124-a second set of mounting holes; 126-fifth hole; 127-front side; 128-rear side; 130-a first elastic member; 131-a first end; 132-a second end; 140-grasping the plate; 141-a connecting part; 1411-a third set of mounting holes; 142-an end portion; 1421 — first matte side; 1422 — second matte side; 150-pin shaft; 160-rocker arm; 161-slotted holes; 162-a sixth well; 163-a connecting portion; 164-a wire-passing hole; 165-brake line; 1651-thread locking device; 166-a scaffold; 167-a third elastic member; 170-a rotational drive mechanism; 171-a first bolt; 172-a slide bar; 1721-a third end; 1722-a fourth end; 173-connecting plate; 174-a second resilient member; 175-a stop; 180-a grasping member; 200-wood floor; 210-a first side; 211-notches; 220-a second side; 221-convex strips; 300-a wood floor mounting robot; 310-a robot body; 320-a mounting rack; 330-rocker mechanism; 331-a fixed seat; 3311-kidney-shaped hole; 3312-circular hole; 332-a connecting seat; 333-connecting rod; 334-rocker; 335 — a first locking member; 336-second locking element.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Referring to fig. 1, the wood floor gripping device 100 according to the first embodiment of the present invention includes a base 110, a first elastic member 130, a rotation driving mechanism 170 (see fig. 5), and a gripping member 180. The base 110 is used for being mounted on a mounting rack 320 (see fig. 13) of the wood floor mounting robot 300 in the second embodiment of the present application, one end of the grabbing piece 180 is rotatably connected with the base 110 and can rotate between a first angle position and a second angle position relative to the base 110, and the other end is used for extending into the notch 211 of the wood floor 200. The rotation driving mechanism 170 is configured to drive the grabbing member 180 to rotate to the first angular position, and the first elastic member 130 is configured to drive the grabbing member 180 to rotate to the second angular position.

In some embodiments of the present application, the first angular position and the second angular position are two rotation limit positions of the grasping member 180 relative to the base 110, respectively, the first angular position rotates in the first direction and is close to the base 110, and the second angular position rotates in the opposite direction of the first direction and is far away from the base 110.

Referring to fig. 10 and 11, in the embodiment of the present application, the wood flooring 200 is a concave-convex splicing type wood flooring, and includes a first side 210 and a second side 220 that are oppositely disposed, the first side 210 is provided with a notch 211, the second side 220 is provided with a convex strip 221, and the notch 211 of one wood flooring 200 and the convex strip 221 of another wood flooring 200 can be concavely and convexly spliced.

The grabber 180 is adapted to be inserted into the notch 211 of the first side 210 of the wood floor 200 with the first axis parallel to the extending direction of the grabber 180.

Under the action of the rotation driving mechanism 170, the grabbing piece 180 is driven to a first angle position and is used for preparing to grab the wood floor 200; when the rotational driving mechanism 170 is released, the catching member 180 is driven to the second angular position by the first elastic member 130 to protrude into the notch 211 of the wood floor 200.

Under the action of gravity, the second side 220 of the wood floor 200 naturally inclines downward and is lower than the first side 210, and the gripping member 180 of the wood floor gripping device 100 grips the first side 210 of the wood floor 200.

It is easy to understand, use timber apron grabbing device 100 to snatch timber apron 200, under the drive of timber apron installation robot 300 in this application second aspect embodiment, can unilateral lift up the first side 210 of timber apron 200, realize the removal and the transport to timber apron 200, simple structure snatchs conveniently, still is convenient for lay of timber apron 200.

The following description relates to the structure and interconnection of the various components of the wood floor gripping device 100 according to the first embodiment of the present application.

Referring to fig. 1 and 13, one end of the base 110 is mounted on the mounting rack 320 of the wood floor mounting robot 300 in the second embodiment of the present application, and the base 110 can drive the grabbing member 180 to move synchronously under the driving of the mounting rack 320.

In some embodiments of the present application, the grasping member 180 includes an elongated grasping plate 140 and a connecting block 120. One end of the connecting block 120 is rotatably connected to the base 110 by a pin 150, and the other end is provided with a grasping plate 140, and the axial direction of the pin 150 is parallel to the extending direction of the grasping plate 140.

Referring to fig. 3, the base 110 includes a first hole 112, a second hole 113, and a first mounting hole set 114. Wherein the first mounting hole set 114 is used for mounting the external driving member, and the axes of the first hole 112 and the second hole 113 are parallel to the first axis.

Referring to fig. 1, the connecting block 120 is disposed between the grabbing plate 140 and the base 110, the connecting block 120 is rotatably connected to the base 110 around a first axis, and the grabbing plate 140 is fixed to the connecting block 120.

Referring to fig. 4, the connecting block 120 includes a third hole 122, a fourth hole 123, and a second mounting hole group 124. Wherein the second set of mounting holes 124 is used to fixedly mount the grasping plate 140, and the axes of the third hole 122 and the fourth hole 123 are parallel to the first axis.

Referring to fig. 1, the wood floor gripping device 100 further includes a pin 150, the connecting block 120 is rotatably connected to the base 110 by the pin 150, and the first axis is a central axis of the pin 150.

Referring to fig. 3, 4 and 5, in some embodiments of the present application, the pin 150 passes through the third hole 122, the first hole 112, the second hole 113 and the fourth hole 123 in sequence. One end of the pin 150 is provided with a head part which is clamped at one side of the connecting block 120; the other end is provided with a groove which is matched with the elastic retainer ring so as to be clamped at the other side of the connecting block 120.

Referring to fig. 1 and 5, the rotation driving mechanism 170 includes a swing arm 160, and the swing arm 160 is used for driving the connecting block 120 to rotate to the first angular position.

In some embodiments of the present disclosure, the swing arm 160 is rotatably connected to the base 110, and one end of the swing arm 160 is provided with a connecting portion 163 and the other end is provided with a slot 161. The connecting block 120 is provided with a protrusion, the rocker arm 160 is sleeved on the protrusion through the slot 161, and the protrusion slides along the slot 161 in the rotating process of the connecting block 120.

Referring to fig. 5 and 8, as an embodiment of the above-mentioned protrusion, a first bolt 171 passes through the slot 161 and is threadedly engaged with the fifth hole 126, thereby forming the protrusion on the connecting block 120.

Referring to fig. 3, as an embodiment of the base 110 rotatably connected to the swing arm 160, the base 110 has a seventh hole 116, and the connecting block 120 has a fifth hole 126. A threaded member is used to thread through the sixth bore 162 and into the seventh bore 116 to rotatably mount the rocker arm 160 to the base 110.

Referring to fig. 5 and 7, the swing arm 160 is provided with a slot hole 161, a sixth hole 162 and a wire passing hole 164, the wire passing hole 164 is used for a brake cable 165 (see fig. 13) to pass through, and the external driving member pulls the connecting portion 163 through the brake cable 165 to rotate the connecting block 120 to the first angular position.

Referring to fig. 13, optionally, a wire locker 1651 is disposed on the brake wire 165. When the brake wire 165 is pulled in the second direction, the wire locker 1651 cannot pass through the wire passing hole 164 along with the brake wire 165, but is blocked at one side of the connection part 163. With this arrangement, under the action of the external driving member, the brake cable 165 pulls the rocker arm 160 to rotate relative to the base 110, so as to drive the grabbing plate 140 to rotate to the first angular position through the connecting block 120.

As an example, the external driving member is a conventional line brake assembly, which is not further described herein.

Referring to fig. 13, the rotation driving mechanism 170 further includes a bracket 166 and a third elastic member 167 to drive the brake cable 165 to "reset".

The bracket 166 is mounted on the mounting frame 320 of the wood floor mounting robot 300 according to the second embodiment of the present disclosure, and the third elastic member 167 is sleeved on the straight spring of the brake cable 165 and abuts between the bracket 166 and the connecting portion 163 of the swing arm 160. When the brake cable 165 is pulled in the second direction, the connection part 163 approaches the bracket 166 and compresses the third elastic member 167; when the brake cable 165 is released, the third elastic member 167 drives the connection portion 163 away from the bracket 166 under the elastic restoring force, thereby driving the brake cable 165 to "reset".

In other embodiments, a pushrod may be used to actuate the rotation of the rocker arm 160 relative to the base 110.

Referring to fig. 6, the first elastic member 130 is a torsion spring, and includes a first end 131 and a second end 132, the first elastic member 130 is sleeved on the pin 150, the first end 131 abuts against the first abutting surface 111 (see fig. 3) of the base 110, and the second end 132 abuts against the second abutting surface 121 (see fig. 4) of the connecting block 120.

As can be easily understood, the first elastic element 130 abuts between the first abutting surface 111 and the second abutting surface 121, and the second abutting surface 121 is driven to rotate around the first axis in the first direction by the elastic force, so as to push the connecting block 120 to rotate to the second angular position.

Referring to fig. 5, in some embodiments of the present disclosure, the number of the first elastic members 130 is multiple, and the multiple first elastic members 130 are arranged at intervals along the first axis to be evenly abutted between the base 110 and the connection block 120.

Referring to fig. 14 and 15, the wood floor gripping device 100 further comprises a buffer mechanism, which comprises a sliding rod 172, a connecting plate 173 and a second elastic member 174. The connecting plate 173 is adapted to be detachably mounted to the mounting frame 320, and the sliding rod 172 slidably penetrates the connecting plate 173. Sliding rod 172 includes a third end 1721 and a fourth end 1722, where the third end 1721 is connected to base 110, the fourth end 1722 is provided with a stopper 175, and the second elastic element 174 abuts between the stopper 175 and the connecting plate 173. The lengthwise direction of the sliding bar 172 extends along a third direction, which is perpendicular to the first axis.

As will be readily appreciated, under the action of the first elastic member 130, the connecting block 120 drives the grabbing plate 140 to rotate to the second angular position, so that the end 142 of the grabbing plate 140 is inserted into the notch 211 of the first side 210 of the wood floor 200. The second elastic member 174 can buffer the acting force of the grabbing plate 140 on the first side 210 of the wood floor 200, so as to realize flexible grabbing.

As an example, the stop 175 is a locknut pair that threadably mates with the fourth end 1722.

As an example form, the second elastic member 174 is a straight spring.

Referring to fig. 14, in some embodiments of the present application, the number of the buffer mechanisms is two, and the two buffer mechanisms are arranged at intervals on the connecting plates 173 in the second direction to uniformly buffer the force of the grabbing plates 140 on the wood floor 200.

The grasping plate 140 is adapted to extend into the notch 211 of the wood floor 200 to grasp the first side 210 of the wood floor 200.

Referring to fig. 1, the grabbing plate 140 is inserted into the slot 211 of the wood floor 200, and the friction force between the grabbing plate 140 and the wood floor 200 overcomes the gravity of the wood floor 200, so as to clamp the wood floor 200 on one side.

Referring to fig. 9, the grabbing plate 140 includes a connecting portion 141 and an end portion 142, the connecting portion 141 is mounted on the front side 127 of the connecting block 120, the connecting portion 141 is provided with a third mounting hole group 1411, and the third mounting hole group 1411 corresponds to the second mounting hole group 124, and is engaged with a nut through a screw to mount the grabbing plate 140 on the front side 127 of the connecting block 120.

The end 142 of the catch plate 140 is bent towards the rear side 128 of the connecting block 120.

In some embodiments of the present application, the cross-section of the grabbing plate 140 is L-shaped, which is simple in structure and easy to manufacture.

In other embodiments, the cross-section of the grasping plate 140 may also be C-shaped or U-shaped.

Referring to fig. 2, further, the end 142 includes a first rough surface 1421 and a second rough surface 1422 to increase friction between the end 142 and the groove 211 of the wood floor 200.

The following process of the wood flooring grasping apparatus 100 of the first embodiment of the present application grasps the wood flooring 200.

The wood floor 200 is positioned on the placing surface;

the external driving member pulls the rocker arm 160 through the brake cable 165, so that the connecting block 120 drives the grabbing plate 140 to rotate to the first angle position, and the position of the wood floor 200 to be grabbed is reached;

the brake cable 165 is released, and under the action of the first elastic member 130, the connecting block 120 drives the grabbing plate 140 to rotate to the second angular position, so that the end 142 of the grabbing plate 140 is inserted into the notch 211 of the first side 210 of the wood floor 200;

driven by the mounting frame 320 of the wood floor mounting robot 300 in the second embodiment, the wood floor gripping device 100 rotates in the first direction to hook up the first side 210 of the wood floor 200.

For common vacuum chuck adsorption equipment and clamping jaw device, this timber apron grabbing device 100 can unilateral snatch the first side 210 of timber apron 200 for snatch the timber apron 200 of the concatenation formula of taking notch 211, simple structure snatchs conveniently, the laying of timber apron 200 of still being convenient for.

Referring to fig. 13, a wood floor mounting robot 300 according to a second embodiment of the present invention includes a robot body 310 and a mounting frame 320, wherein the mounting frame 320 is rotatably mounted on the robot body 310, and the wood floor gripping device 100 according to the first embodiment of the present invention is mounted on the mounting frame 320.

As will be readily appreciated, the mounting block 320 is connected to the connecting plate 173 of the wood floor gripping device 100 by a plurality of screws, and the mounting block 320 can drive the wood floor gripping device 100 to rotate synchronously relative to the robot body 310.

As an example, the mount 320 is rotatably coupled to the robot body 310 by a plurality of hinges.

Referring to fig. 15 and 16, in some embodiments of the present application, the wood floor mounting robot 300 further includes a rocker mechanism 330, wherein the rocker mechanism 330 is mounted to the robot body 310 and is configured to drive the mounting frame 320 to rotate relative to the robot body 310, so that the mounting frame 320 has a retracted position, a grasping position, and a board moving position, and the board moving position is located between the retracted position and the grasping position.

When the mounting rack 320 is in the retracted position, the mounting rack 320 leaves the space below, and the wood floor gripping device 100 is empty. When the mounting rack 320 is in the retracted position, on one hand, the wood floor 200 to be mounted is conveniently placed on the placing surface of the lower space by manpower; on the other hand, the walking of the entire wood floor mounting robot 300 is facilitated.

When the mounting frame 320 is in the grasping and placing position, the wood floor grasping device 100 can grasp or place the wood floor 200. When the mounting rack 320 is at the grasping and placing position, the wood floor 200 placed horizontally on the placing surface can be grasped, or the wood floor 200 is placed horizontally and then put down.

When the mounting frame 320 is in the plate moving position, the wood floor gripping device 100 lifts the first side 210 of the gripped wood floor 200 so as to move the wood floor.

Referring to fig. 16, in some embodiments of the present application, the rocker mechanism 330 includes a rocker 334, a link 333, a first lock 335, and a second lock 336.

One end of the rocker 334 is hinged to the robot body 310, and both ends of the link 333 are respectively hinged to the rocker 334 and the mounting frame 320. As an example, the swing lever mechanism 330 includes a fixing base 331 and a connecting base 332, the fixing base 331 is mounted to the robot body 310 through a plurality of screws, the connecting base 332 is mounted to the mounting frame 320 through a plurality of screws, one end of the swing lever 334 is hinged to the fixing base 331, the other end is used for a worker to operate, and both ends of the connecting rod 333 are hinged to the connecting base 332 and the swing lever 334, respectively.

The fixing base 331 has a vertically extending waist-shaped hole 3311 and a circular hole 3312, the waist-shaped hole 3311 is matched with the first locking member 335, and the circular hole 3312 is matched with the second locking member 336.

The first locking member 335 is used to releasably lock the rocker 334 in the first position, and the mount 320 is in the stowed position when the rocker 334 is in the first position. At this time, the first locking member 335 is inserted into the kidney-shaped hole 3311, the rocker 334 is in a vertically upward state, and the catching plate 140 is left empty.

The second lock 336 is configured to releasably lock the rocker 334 in a second position, wherein the mounting bracket 320 is in the plate-moving position when the rocker 334 is in the second position. At this time, the second locking member 336 is inserted into the circular hole 3312, the rocker 334 extends obliquely upward, and the first side 210 of the wood floor 200 is clamped by the single side of the grabbing plate 140. As will be readily appreciated, when the mounting bracket 320 is in the board-moving position, the end 142 of the grasping board 140 extends into the notch 211 of the wood floor 200, and the second side 220 of the wood floor 200 is in contact with the resting surface. Through this form, the wood floor gripping device 100 unilaterally holds the wood floor 200 and can drive the wood floor 200 to move.

When the mounting frame 320 is in the holding position, the first locking member 335 does not extend into the waist-shaped hole 3311, the second locking member 336 does not extend into the circular hole 3312, and the rocker 334 is operated to make the wood floor 200 held by the wood floor gripping device 100 fall to a substantially horizontal angle. At this time, the wood flooring grasping apparatus 100 is in a substantially horizontal angular position for picking up or putting down the wood flooring 200.

Preferably, the robot body 310 includes a pushing plate (not shown) thereon, and the pushing plate acts in synchronization with the mounting frame 320 when the robot body 310 travels, so as to assist in pushing the second side 220 of the wood floor 200 to travel, and ensure that the grabbing plate 140 hooks the first side 210 of the wood floor 200.

Referring to fig. 12, further, the wood floor installing robot 300 includes a plurality of wood floor grasping devices 100 according to the first embodiment, the plurality of wood floor grasping devices 100 are disposed at intervals on the mounting frame 320 along the second direction, and the mounting frame 320 can drive the plurality of wood floor grasping devices 100 to act synchronously, so as to improve the laying efficiency.

The robot 300 for mounting wood floors according to the second embodiment of the present invention can lift the first side 210 of the wood floor 200 with the slot 211 at one side, so that the second side 220 is naturally inclined downward, and the wood floor 200 is kept substantially horizontal. The wood floor 200 is transferred by using the wood floor mounting robot 300, which is not limited by whether the upper surface of the wood floor 200 is smooth or not, and also does not damage the blank ground of the floor to be laid, so that the laying efficiency is high, and the laying quality is good.

The process of grasping the wood flooring 200 using the wood flooring mounting robot 300 is as follows:

the wood floor 200 is placed on the placing surface, the mounting frame 320 is in the retracting position, and the wood floor gripping device 100 is empty;

operating the rocker 334 to place the mounting frame 320 in the pick-and-place position;

under the action of the external driving member, the brake cable 165 is pulled along the second direction, and the rocker arm 160 drives the connecting block 120 to rotate to the first angle position;

the brake cable 165 is released, and the connecting block 120 rotates to the second angle position under the action of the first elastic member 130, so that the end 142 of the grabbing plate 140 extends into the notch 211 of the wood floor 200;

the rocker 334 is operated to enable the mounting frame 320 to be located at the plate moving position, and the grabbing plate 140 can bite the first side 210 of the wood floor 200 on one side to grab the wood floor 200;

when the wood flooring 200 is moved to the belt splicing position, the rocker 334 is manipulated to make the mounting frame 320 in the catching and releasing position again, and the brake wire 165 is pulled again to make the catching plate 140 release the first side 210 of the wood flooring 200 to put down the wood flooring 200.

The wood floor installation robot 300 of the second embodiment of the present application can single-edge lift up the first side 210 of the wood floor 200, has a simple structure, is convenient to grab, and is also convenient for laying the wood floor 200.

It should be noted that the features of the embodiments in the present application may be combined with each other without conflict.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A wood floor gripping device, comprising:

a substrate;

the grabbing piece is rotatably connected with the base body at one end, and the other end of the grabbing piece is used for extending into a notch of the wood floor;

the rotation driving mechanism is used for driving the grabbing piece to rotate to a first angle position;

the first elastic piece is used for driving the grabbing piece to rotate to a second angle position;

the rotary driving mechanism comprises a rocker arm, the rocker arm is rotatably connected to the base body, one end of the rocker arm is connected with the grabbing piece, and the other end of the rocker arm is driven by an external driving piece to drive the grabbing piece to rotate to a first angle position through the rocker arm.

2. The wood floor grabbing device according to claim 1, wherein the grabbing member comprises a connecting block and an elongated grabbing plate, one end of the connecting block is rotatably connected to the base body through a pin, the grabbing plate is mounted at the other end of the connecting block, and the axial direction of the pin is parallel to the extending direction of the grabbing plate.

3. The wood floor grabbing device of claim 2, wherein the first elastic member is a torsion spring sleeved on the pin shaft, and two ends of the torsion spring are respectively abutted to the base body and the connecting block.

4. The wood floor grabbing device of claim 2, wherein the cross section of the grabbing plate is L-shaped, C-shaped or U-shaped.

5. The wood floor grabbing device of claim 2, wherein one end of the rocker arm is provided with a connecting portion, the other end of the rocker arm is provided with a slotted hole, the connecting block is provided with a protrusion, the rocker arm is sleeved on the protrusion through the slotted hole, the protrusion slides along the slotted hole during rotation of the connecting block, and the external driving member pulls the connecting portion through a brake cable, so that the connecting block rotates to a first angle position.

6. The wood floor gripping device of claim 1, further comprising a slide bar, a connecting plate, and a second elastic member;

the sliding rod penetrates through the connecting plate in a sliding mode, one end of the sliding rod is connected to the base body, a stop piece is arranged at the other end of the sliding rod, and the second elastic piece abuts between the stop piece and the connecting plate.

7. A wood floor mounting robot, characterized by comprising a robot body and a mounting frame, wherein the mounting frame is rotatably mounted on the robot body, and the mounting frame is provided with the wood floor gripping device as claimed in any one of claims 1 to 6.

8. The wood flooring mounting robot according to claim 7, further comprising:

the rocker mechanism is mounted on the robot body and used for driving the mounting frame to rotate relative to the robot body so that the mounting frame has a retracting position, a grabbing and releasing position and a plate moving position, and the plate moving position is located between the retracting position and the grabbing and releasing position;

when the mounting frame is in the retracted position, the mounting frame gives up a lower space, and the wood floor gripping device is vacant;

when the mounting rack is at the grabbing and placing position, the wood floor grabbing device can grab or place the wood floor;

when the mounting rack is located at the board moving position, one end of the grabbed wood floor is lifted by the wood floor grabbing device.

9. The wood floor mounting robot according to claim 8, wherein the rocker mechanism comprises a rocker, a connecting rod, a first locking member and a second locking member, one end of the rocker is hinged to the robot body, two ends of the connecting rod are respectively hinged to the rocker and the mounting frame, the first locking member is used for releasably locking the rocker at a first position, and the second locking member is used for releasably locking the rocker at a second position;

when the rocker is in the first position, the mount is in the stowed position;

when the rocker is in the second position, the mounting bracket is in the plate moving position.