CN111395717A - Paving device, floor tile paving robot and floor tile paving method - Google Patents
Paving device, floor tile paving robot and floor tile paving method Download PDFInfo
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- CN111395717A CN111395717A CN202010198567.XA CN202010198567A CN111395717A CN 111395717 A CN111395717 A CN 111395717A CN 202010198567 A CN202010198567 A CN 202010198567A CN 111395717 A CN111395717 A CN 111395717A
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- paving
- position adjusting
- adjusting mechanism
- force feedback
- detection element
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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
Abstract
The invention provides a paving device, a floor tile paving robot and a floor tile paving method, wherein the paving device comprises a position adjusting mechanism, a grabbing mechanism and a control part, the grabbing mechanism is connected with the position adjusting mechanism and adjusts the position of the grabbing mechanism through the position adjusting mechanism, the control part can control the position adjusting mechanism and the grabbing mechanism to act, the grabbing mechanism comprises an installation frame, a clamp is arranged on the installation frame, the installation frame is connected with the position adjusting mechanism, a force feedback detection element is arranged between the installation frame and the position adjusting mechanism, the control part is connected with the force feedback detection element, the paving condition of a workpiece can be judged according to the stress condition of the workpiece detected by the force feedback detection element, and the paving position of the workpiece can be adjusted by controlling the action of the position adjusting mechanism. The invention positions the floor tiles through the force feedback detection element, simplifies the equipment structure and improves the floor tile paving quality and efficiency.
Description
Technical Field
The invention relates to the technical field of floor tile paving, in particular to a paving device, a floor tile paving robot and a floor tile paving method.
Background
The floor tile is one essential process for building decoration. The selected floor tile is correspondingly selected to be suitable for the adhesive material, and the floor tile is flat, firm and not easy to fall off through different paving methods, so that the floor tile is the basic requirement for paving the floor tile. The floor tile paving comprises the working procedures of ground cleaning, mortar paving, floor tile paving, correcting and leveling, watering and maintaining and the like.
At present, the main processes of paving and pasting floor tiles at home and abroad are all manually finished, only partial processes are finished by mechanical assistance, for example, floor tiles are carried by mechanical assistance, the manual paving and pasting of the floor tiles are difficult, the paving and the pasting of the floor tiles are frequently repeated, time and labor are wasted, and the quality is not guaranteed well. Some mechanical equipment for paving and pasting the floor tiles is also provided for improving the paving and pasting efficiency of the floor tiles, so that the automatic operation of paving and pasting the floor tiles can be realized to a certain degree, and the correction and leveling are realized mainly through visual positioning. However, the robot has the disadvantages of complicated visual positioning, complex action, high camera precision requirement, high imaging technology, complex algorithm, long operation time, high environmental requirement of a visual system, frequent maintenance, easy occurrence of the condition that the paved bricks are lower than a set surface, fatal quality problems and incapability of detection and rework.
Disclosure of Invention
In view of the above, the present invention provides a paving device, a floor tile paving robot and a floor tile paving method, which are at least used for solving the technical problems of complex overall structure of equipment and low floor tile paving precision in the prior art, and specifically:
in a first aspect, the invention provides a paving device, which comprises a position adjusting mechanism, a grabbing mechanism and a control part,
the grabbing mechanism is connected with the position adjusting mechanism and adjusts the position of the grabbing mechanism through the position adjusting mechanism,
the control part is connected with the position adjusting mechanism and the grabbing mechanism and can control the position adjusting mechanism and the grabbing mechanism to act,
the grabbing mechanism comprises a mounting frame, a clamp used for grabbing a workpiece is arranged on the mounting frame,
the mounting frame is connected with the position adjusting mechanism, a force feedback detection element is arranged between the mounting frame and the position adjusting mechanism and can detect the stress condition when the workpiece is paved,
the control part is connected with the force feedback detection element, can judge the paving condition of the workpiece according to the stress condition of the workpiece detected by the force feedback detection element, and can control the position adjusting mechanism to act according to the stress condition so as to adjust the paving position of the workpiece.
Further optionally, the force feedback detection element comprises a three-axis force sensor, and the position adjustment mechanism and the mounting frame are connected by the three-axis force sensor.
Further optionally, the control part comprises a main controller and a position adjustment controller, the main controller is configured to store a preset stress value, receive the detection data of the force feedback detection element, and generate a control command according to the detection data and the preset stress value,
and the position adjusting controller is connected with the main controller and controls the position adjusting mechanism according to a control instruction of the main controller.
Further optionally, the controller includes a control terminal, and the control terminal is in communication connection with the main controller and is configured to input a control instruction to the main controller.
Further optionally, the clamp comprises a plurality of suction cups.
Further optionally, the position adjusting mechanism can adjust the position of the grasping mechanism in a horizontal direction and a vertical direction,
the position adjusting mechanism is a mechanical arm transmission assembly, a lead screw transmission assembly, a belt transmission assembly or a chain transmission assembly.
In a second aspect, a tile paving and pasting robot is provided, which comprises a walking mechanism and the paving and pasting device, wherein the walking mechanism comprises a walking wheel, a driving part, a power supply part and a navigation system, the power supply part supplies power for the driving part and the navigation system,
the navigation system is connected with the driving part and is used for controlling the action of the driving part,
the driving part is in driving connection with the travelling wheels and is used for driving the travelling wheels to rotate,
the paving device is connected to the travelling mechanism.
Further optionally, the power supply portion comprises a battery; and/or the presence of a gas in the gas,
the navigation system includes a lidar.
In a third aspect, there is provided a tile laying method for laying a tile using the tile laying robot, the method comprising:
the traveling mechanism is moved to a designated position,
the grabbing mechanism grabs the floor tiles, the position adjusting mechanism moves to enable the floor tiles to move to the paving position and contact with the horizontal reference,
the control part receives the horizontal force value detected by the force feedback detection element and judges whether the horizontal positioning is in place or not,
when the horizontal positioning is judged not to be in place, the control part controls the position adjusting mechanism to continue to act to adjust the position of the floor tile in the horizontal direction,
when the horizontal positioning is judged to be in place, the control part controls the position adjusting mechanism to stop the action in the horizontal direction and start the action in the vertical direction,
the control part receives the vertical force value detected by the force feedback detection element and judges whether the vertical positioning is in place,
when the vertical positioning is judged not to be in place, the control part controls the position adjusting mechanism to continue to act to adjust the position of the floor tile in the vertical direction,
and when the vertical positioning is judged to be in place, the control part controls the position adjusting mechanism to stop acting, and paving and pasting of the floor tiles are completed.
Further optionally, the force feedback detection element detects forces applied in two directions perpendicular to two edges adjacent to the floor tile, respectively, in a horizontal direction.
The floor tile is positioned by the force feedback detection element, so that the number and the types of high-precision parts of the equipment are reduced, the integral structure of the equipment is simplified, and the equipment is more convenient to use and maintain. On the other hand, the force feedback detection element is used for positioning according to the stress condition of the floor tiles, so that the quality of floor tile paving can be improved, the operations such as reworking and the like are avoided, and the floor tile paving efficiency can also be improved.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are merely some embodiments of the present disclosure, and other drawings may be derived from those drawings by those of ordinary skill in the art without inventive effort.
Fig. 1 and 2 are schematic diagrams showing a mechanism of a placement device according to the present invention.
Reference numerals:
10-a traveling mechanism; 11-a navigation system; 12-a power supply section; 20-a position adjustment mechanism; 21-a connector; 30-a mounting frame; 31-a clamp; 32-a connecting plate; 40-a force feedback sensing element; 51-a main controller; 52-position adjustment control.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
The invention detects the stress condition in the floor tile paving process through the force feedback detection element, and judges whether the paving and positioning are in place or not, thereby simplifying the equipment structure and ensuring the paving and pasting quality of the floor tile more easily. The present invention will be described in detail with reference to specific examples.
As shown in fig. 1 and 2, the paving device provided by the present invention includes a position adjusting mechanism 20, a grabbing mechanism and a control part, wherein the grabbing mechanism is connected to the position adjusting mechanism 20, and the position of the grabbing mechanism is adjusted by the position adjusting mechanism 20 to improve the paving precision of the workpiece, so that the paving quality is better, and preferably, the position adjusting mechanism 20 can adjust the position of the grabbing mechanism in the horizontal and vertical directions.
The control part position adjusting mechanism 20 is in control connection with the grabbing mechanism, and can control the action of the position adjusting mechanism 20 and the grabbing mechanism.
The gripping mechanism includes a mounting frame 30, the mounting frame 30 can be connected to the position adjusting mechanism 20, and a jig 31 for gripping the workpiece is provided on the mounting frame 30. The mounting frame 30 is connected with the position adjusting mechanism 20, the force feedback detecting element 40 is arranged between the mounting frame 30 and the position adjusting mechanism 20, the force feedback detecting element 40 can detect the stress condition of the workpiece during paving, the control part is connected with the force feedback detecting element 40 and receives the stress value detected by the force feedback detecting element 40, the paving condition of the workpiece can be judged according to the stress condition of the workpiece detected by the force feedback detecting unit, and the paving position of the workpiece can be adjusted by controlling the position adjusting mechanism 20 to act according to the stress condition. In this embodiment, the workpiece is a tile, and in other embodiments, the workpiece may be other tiles, such as tiles stuck on a wall.
Preferably, the force feedback detecting element 40 includes a three-axis force sensor, and the position adjusting mechanism 20 and the mounting frame 30 are connected through the force feedback detecting element 40. The force feedback detecting element 40 is capable of detecting forces in two directions perpendicular to each other in the horizontal direction, and a force in the vertical direction. Specifically, when the floor tile is subjected to a force in the horizontal direction, the corresponding position on the force feedback detection element 40 is deformed, so that the parameters such as current and voltage are changed, and the change is transmitted to the control part to be converted into a stress value. Similarly, when the floor tile is pressed in the vertical direction, the force feedback detection element 40 is deformed accordingly, which causes the parameters of current, voltage, etc. to change, and transmits the change to the control part to be converted into a force value.
Preferably, the device further comprises a connecting member 21, wherein the connecting member 21 is a cylindrical structure, two ends of the connecting member are provided with connecting flanges, one end of the connecting member is connected with the position adjusting mechanism 20, the other end of the connecting member is connected to a first surface of the force feedback detection element 40, and a second surface, parallel to the first surface, of the force feedback detection element 40 is connected with the grabbing mechanism. The connecting piece 21 is arranged to facilitate the installation of the force feedback detecting element 40, and when the structure of the position adjusting mechanism 20 is not changed, the contact area of the parts connected with the connecting piece is easier to ensure, so that the connecting part is fully contacted with the force feedback detecting element 40, and the accuracy of force feedback is ensured.
Further, a connection plate 32 is provided on the mounting frame 30, the connection plate 32 is provided at a central position of the mounting frame 30, and a force feedback detecting member 40 is connected to the connection plate 32. Preferably, the mounting frame 30 is configured as a square frame, and the force feedback detecting element 40 is connected to the geometric center of the mounting frame 30, so that the force can be uniformly applied, and the applied force can be more accurately detected.
Preferably, the clamp 31 includes a suction cup, and the suction cup is provided in plurality. For example, four suction cups may be provided on the mounting frame 30, and the four suction cups are located at four corners of the same square, and the force feedback detecting element 40 is located at the geometric center position of the square.
The position adjusting mechanism 20 is a mechanical arm transmission assembly, a lead screw transmission assembly, a belt transmission assembly or a chain transmission assembly. In this embodiment, the position adjusting mechanism 20 is a mechanical arm, which is convenient to adjust in the horizontal and vertical directions, and when the position adjusting mechanism 20 is a lead screw transmission assembly, a belt transmission assembly or a chain transmission assembly, two moving rails perpendicular to each other need to be arranged in the horizontal direction, so that the position of the floor tile can be adjusted in the horizontal direction.
The control part comprises a main controller 51 and a position adjusting controller 52, the main controller 51 is used for storing a preset stress value, receiving the detection data of the force feedback detection element 40 and generating a control instruction according to the detection data and the preset stress value, the main controller 51 comprises a P L C capable of setting the preset stress value and generating the control instruction, the position adjusting controller 52 is connected with the main controller 51 and controls the position adjusting mechanism 20 according to the control instruction of the main controller 51, and preferably, in the embodiment, the position adjusting controller 52 comprises a mechanical arm controller, a TX2 controller and the like.
Preferably, the controller includes a control terminal communicatively connected to the main controller 51 for inputting control instructions to the main controller 51. The control terminal is preferably a touch screen disposed on the traveling mechanism 10, and is capable of displaying detection data and inputting control instructions, or the control terminal may also be a mobile terminal such as a mobile phone or a tablet computer, and is in wireless communication connection with the main controller 51, so that an operator can conveniently control the control terminal.
The invention also provides a floor tile paving and pasting robot which comprises a travelling mechanism 10 and the paving and pasting device, wherein the paving and pasting device is arranged on the travelling mechanism 10 and moves along with the travelling mechanism 10.
The traveling mechanism 10 comprises a traveling wheel, a driving part, a power supply part 12 and a navigation system 11, wherein the power supply part 12 supplies power to the driving part and the navigation system 11, and the power supply system preferably adopts a storage battery to enable the traveling mechanism 10 to move more conveniently, or can be connected with an alternating current power supply through a power line.
Preferably, the navigation system 11 comprises a light radar, a map is constructed according to Building Information Modeling (BIM) information, and the traveling mechanism 10 can move to a specified position by using a laser radar S L AM (instantaneous positioning and mapping) navigation technology.
The invention also provides a paving method of the floor tiles, which is used for paving the floor tiles and comprises the following steps:
the traveling mechanism 10 is moved to a designated position,
the control part controls the position adjusting mechanism 20 and the grabbing mechanism to act, the grabbing mechanism grabs the floor tiles, the position adjusting mechanism 20 moves to enable the floor tiles to move to paving positions and contact with a horizontal reference, the horizontal reference is two floor tiles which are already paved and adjacent to the floor tiles to be paved, and the two floor tiles can respectively contact with two adjacent edges of the floor tiles to be paved and generate acting force. The floor tile will contact the horizontal reference and generate a force in the horizontal direction, causing the force feedback sensing element 40 to deform.
The control part receives the horizontal stress value detected by the force feedback detection element 40, namely the change of parameters such as current and voltage caused by the deformation of the force feedback detection element 40, and compares the change with a preset stress value to judge whether the horizontal positioning is in place, preferably, in the horizontal direction, the force feedback detection element 40 respectively detects the stress in two directions vertical to two adjacent sides of the floor tile,
when the horizontal positioning is not in place, i.e. the force detected by the force feedback detecting element 40 is too small or too large, the control part controls the position adjusting mechanism 20 to continue to operate, so as to adjust the position of the floor tile in the horizontal direction,
when it is determined that the horizontal positioning is in place, the control unit controls the position adjustment mechanism 20 to stop the operation in the horizontal direction and start the operation in the vertical direction.
After the floor tile moves downwards and contacts the ground, the force feedback detection element 40 deforms under the action of extrusion, a stress value is detected, the control part receives the vertical stress value detected by the force feedback detection element 40 and judges whether vertical positioning is in place or not,
when the vertical positioning is not in place, i.e. the force detected by the force feedback detecting element 40 is too small or too large, the control part controls the position adjusting mechanism 20 to continue to act, so as to adjust the position of the floor tile in the vertical direction,
when the vertical positioning is determined to be in place, the control part controls the position adjusting mechanism 20 to stop acting, the paving and the pasting of the floor tiles are completed, and the control part controls the clamp 31 to act, so that the floor tiles are released.
The traveling mechanism 10 then moves to the next placement position, and the placement operation is performed again.
As described above, the floor tile is positioned by the force feedback detection element 40, so that on one hand, the whole structure of the equipment is simpler, the number of high-precision components is less, the equipment is convenient to maintain, the paving precision of the floor tile is easier to ensure, the paving quality is improved, and the paving efficiency is improved.
Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. A paving device is characterized by comprising a position adjusting mechanism, a grabbing mechanism and a control part,
the grabbing mechanism is connected with the position adjusting mechanism and adjusts the position of the grabbing mechanism through the position adjusting mechanism,
the control part is connected with the position adjusting mechanism and the grabbing mechanism and can control the position adjusting mechanism and the grabbing mechanism to act,
the grabbing mechanism comprises a mounting frame, a clamp used for grabbing a workpiece is arranged on the mounting frame,
the mounting frame is connected with the position adjusting mechanism, a force feedback detection element is arranged between the mounting frame and the position adjusting mechanism and can detect the stress condition when the workpiece is paved,
the control part is connected with the force feedback detection element, can judge the paving condition of the workpiece according to the stress condition of the workpiece detected by the force feedback detection element, and can control the position adjusting mechanism to act according to the stress condition so as to adjust the paving position of the workpiece.
2. The paving apparatus of claim 1, wherein the force feedback detection element comprises a triaxial force sensor, the position adjustment mechanism and the mounting frame being connected by the triaxial force sensor.
3. The paving device according to claim 1, wherein the control portion comprises a main controller and a position adjustment controller, the main controller is configured to store a preset stress value, receive the detection data of the force feedback detection element, and generate a control command according to the detection data and the preset stress value,
and the position adjusting controller is connected with the main controller and controls the position adjusting mechanism according to a control instruction of the main controller.
4. The paving device of claim 3, wherein the controller comprises a control terminal communicatively coupled to the main controller for inputting control instructions to the main controller.
5. A paving device as claimed in claim 1, characterized in that said clamp comprises a suction cup, said suction cup being provided in plurality.
6. The paving apparatus as claimed in claim 1, wherein the position adjusting mechanism is capable of adjusting the position of the gripping mechanism in a horizontal direction and a vertical direction,
the position adjusting mechanism is a mechanical arm transmission assembly, a lead screw transmission assembly, a belt transmission assembly or a chain transmission assembly.
7. A tile paving robot, characterized by comprising a walking mechanism and the paving device of any one of claims 1-6, wherein the walking mechanism comprises a walking wheel, a driving part, a power supply part and a navigation system, the power supply part supplies power to the driving part and the navigation system,
the navigation system is connected with the driving part and is used for controlling the action of the driving part,
the driving part is in driving connection with the travelling wheels and is used for driving the travelling wheels to rotate,
the paving device is connected to the travelling mechanism.
8. The tile paving robot according to claim 7, wherein the power supply part comprises a storage battery; and/or the presence of a gas in the gas,
the navigation system includes a lidar.
9. A tile paving method using the tile paving robot according to claim 7 or 8, the paving method comprising:
the traveling mechanism is moved to a designated position,
the grabbing mechanism grabs the floor tiles, the position adjusting mechanism moves to enable the floor tiles to move to the paving position and contact with the horizontal reference,
the control part receives the horizontal force value detected by the force feedback detection element and judges whether the horizontal positioning is in place or not,
when the horizontal positioning is judged not to be in place, the control part controls the position adjusting mechanism to continue to act to adjust the position of the floor tile in the horizontal direction,
when the horizontal positioning is judged to be in place, the control part controls the position adjusting mechanism to stop the action in the horizontal direction and start the action in the vertical direction,
the control part receives the vertical force value detected by the force feedback detection element and judges whether the vertical positioning is in place,
when the vertical positioning is judged not to be in place, the control part controls the position adjusting mechanism to continue to act to adjust the position of the floor tile in the vertical direction,
and when the vertical positioning is judged to be in place, the control part controls the position adjusting mechanism to stop acting, and paving and pasting of the floor tiles are completed.
10. A method of tile tiling according to claim 9, wherein the force feedback sensing elements sense forces in two directions perpendicular to the two adjacent edges of the tile, respectively, in the horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010198567.XA CN111395717A (en) | 2020-03-19 | 2020-03-19 | Paving device, floor tile paving robot and floor tile paving method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010198567.XA CN111395717A (en) | 2020-03-19 | 2020-03-19 | Paving device, floor tile paving robot and floor tile paving method |
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| CN111395717A true CN111395717A (en) | 2020-07-10 |
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| CN202010198567.XA Pending CN111395717A (en) | 2020-03-19 | 2020-03-19 | Paving device, floor tile paving robot and floor tile paving method |
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| CN112348795A (en) * | 2020-11-05 | 2021-02-09 | 深圳市海腾建设工程有限公司 | Tile paving quality detection method, detection equipment and storage medium |
| CN112796496A (en) * | 2020-12-28 | 2021-05-14 | 浙江建设职业技术学院 | Floor tile paving device capable of cleaning brick surface simultaneously |
| CN113997393A (en) * | 2021-11-18 | 2022-02-01 | 河北秋旺智能装备有限公司 | Automatic cleaning and oiling device for ceramic tile mould |
| CN114250956A (en) * | 2020-09-21 | 2022-03-29 | 广东博智林机器人有限公司 | Tile laying mechanism and control method with same |
| CN114263333A (en) * | 2020-09-16 | 2022-04-01 | 广东博智林机器人有限公司 | Interface processing device, brick paving robot and brick paving method thereof |
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Application publication date: 20200710 |
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