CN111677249A - Intelligent paving and pasting robot for large-space indoor ceramic tiles - Google Patents
Intelligent paving and pasting robot for large-space indoor ceramic tiles Download PDFInfo
- Publication number
- CN111677249A CN111677249A CN202010542641.5A CN202010542641A CN111677249A CN 111677249 A CN111677249 A CN 111677249A CN 202010542641 A CN202010542641 A CN 202010542641A CN 111677249 A CN111677249 A CN 111677249A
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- robot
- scraper
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- ceramic tile
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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
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
- E04F21/1844—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one
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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
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/023—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls for applying adhesive, e.g. glue or mortar, on the covering elements, in particular tiles
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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
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
- E04F21/1844—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one
- E04F21/1872—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one using suction-cups
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
- E04F21/1877—Leveling devices
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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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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an intelligent paving robot for large-space indoor ceramic tiles. It belongs to building installation mechanical device, it has solved the drawback that current big space ceramic tile laid manpower intensive, it has used newly developed intelligent robot platform to integrate a plurality of current ripe electric tool, make it can cooperate the automatic machine people that plasters of ceramic tile and the raw materials transportation robot that ceramic tile laid the subsides to accomplish the ceramic tile of indoor ground in the engineering construction in the short time and lay, reduce the emergence of construction installation scene incident, construction quality has been guaranteed, the very big construction progress that has accelerated, environmental protection requirement in the work progress has been reached, and carry out standardized installation operation strictly according to the rule.
Description
Technical Field
The invention relates to a building decoration technology, in particular to a tile paving technology for a building blank with a large layer height, and specifically relates to an automatic tile paving method for a large-space robot and a corresponding robot technology.
Background
At present, the labor cost is greatly increased in the technical field of building decoration, and the decoration requirement and the installation requirement are increased day by day, so that the robot technology is a trend to realize less unmanned decoration, but the existing robot technical scheme has no targeted and comprehensive solution; particularly for the vital partition assembly in decoration construction, no solution which can completely replace manpower exists at present. On the other hand, as the enterprises in China go out of China, the number of constructors in China is limited by the foreign work protection policy, so that employment of local personnel is driven. Leading to excessive hiring costs for domestic enterprises; meanwhile, the delivery time of the construction period is prolonged; therefore, the robot can quickly grab the mortar troweling rod to trowel mortar and grab the vacuum chuck to grab and lay tiles by utilizing the visual positioning of the camera and the computer programming; the ceramic tile paving and pasting operation speed and efficiency can be improved by matching with an automatic ceramic tile plastering robot and a raw material conveying robot for paving and pasting ceramic tiles, and labor and cost are saved;
in the construction process, the accuracy of the tile is guaranteed in the laying operation, human factors belong to uncontrollable factors in the construction process, the automatic tile laying robot is used for avoiding the human uncontrollable factors to the maximum extent, various safety accidents caused by human misoperation are avoided, the number of field construction personnel is reduced, and the safety accidents are correspondingly avoided. And the robot does not need to rest, and can carry out installation operation for 7x24 hours without interruption, thereby reducing the total construction cost.
Disclosure of Invention
The invention aims to provide a decoration method for automatically paving and pasting ceramic tiles of a large-space robot, and corresponding equipment is provided at the same time aiming at the problem that the measurement, line drawing and paving in the existing building ceramic tile paving construction can not meet the production requirement;
the technical scheme of the invention is as follows:
the utility model provides an automatic equipment of tiling of big space robot ceramic tile, it includes that the indoor ceramic tile intelligence of big space is spread and is pasted the robot, characterized by an indoor ceramic tile intelligence of big space spread and paste the robot include:
the mobile chassis can drive the robot to realize all-directional movement, and is provided with a battery pack for providing power for the whole robot, a walking crawler mechanism human-computer interaction unit, a signal receiving and transmitting data unit and a navigation and obstacle avoidance unit;
the tail end of the mechanical arm is provided with a fixed platform, a scraper is fixed below the platform, a telescopic sucker is arranged in the middle of one side of the platform, and a laser receiver, a camera, an infrared distance meter and the like are arranged above the platform;
the leveling mechanism is hidden in the crawler belt in the walking process, can automatically extend out when leveling is needed, and then levels;
the large scraper can freely stretch and retract in any length according to the field requirement, and can be adjusted to ascend and descend according to the field requirement;
the conveying belt can convey the attapulgite to the foremost end of the equipment, and the conveying process can swing to feed materials according to requirements;
the movable chassis is in a wheel type or crawler type structure capable of climbing stairs;
the air compression device is arranged at the front end of the mobile platform;
the invention has the beneficial effects that:
the invention creatively utilizes the combination of the three-dimensional laser scanner and the BIM software, and the automatic tile paving and pasting robot can automatically pave tiles in a large space by cooperating with the automatic plastering robot and the raw material transportation robot for automatically paving and pasting the tiles, thereby greatly reducing the number of operators and having the advantages of high efficiency and low cost;
the invention is suitable for strictly controlling labor service personnel or the requirement of a building market with short construction period, can finish the quick and accurate decoration of the whole building by only 2-3 people in the whole process, and has the advantages of short construction period, good quality and no material waste.
Drawings
FIG. 1 is a plan view of a large-space indoor intelligent tile paving robot of the present invention;
FIG. 2 is a side view of the large-space indoor intelligent tile paving robot of the present invention (without a suction cup and a troweling rod);
FIG. 3 is a plan view of a troweling rod and a vacuum chuck of the large-space indoor tile intelligent paving robot of the present invention;
FIG. 4 is a side view of the intelligent tile paving robot for large-space indoor space according to the present invention;
fig. 5 is a working front view of the intelligent tile paving robot in a large-space indoor space.
Detailed Description
1. An intelligent tile paving robot in a large-space indoor space reaches an appointed coordinate through a computer instruction and is adjusted to be in an operation state from an initial origin position;
2. the large scraper is integrally extended and lowered to a specified position; an intelligent tile paving robot in a large-space indoor environment waits for a material conveying robot to reach a specified position and pours mortar onto a tile paving conveyor belt, a moving chassis drives the whole conveyor belt and a large scraper to work, and after all the mortar of the material conveying robot is conveyed to the specified position, the mortar is horizontal;
3. after the leveling mechanism is automatically screwed out to lift and level the whole equipment, a scraper at the front end of a mechanical arm regulates and controls the size and the position of mortar through a visual camera and a laser level meter, the mechanical arm can control a leveling rod to perform horizontal and vertical mortar leveling operation parallel to the ground, the horizontal mortar leveling distance is about 2.6m, the vertical distance can complete the tile spanning distance of 0.8m, and secondary leveling scraping is performed;
4. after the mechanical arm rotates 180 degrees, the sucker protective cover is opened, and the ceramic tile is positioned on the material conveying robot through the visual sensing of the camera and is grabbed by the sucker. Rotate 180 degrees once more and put the assigned position through camera vision induction location and with the ceramic tile, loosen the sucking disc, the robot resets, then goes the dumper with above same process and continues to snatch second third fourth ceramic tile, and after the ceramic tile snatchs, the closing sucking disc guard shield. After the whole work is finished, the mechanical arm adjusts the posture to the front end of the mobile platform;
5. after the laying of the ceramic tiles is finished, the automatic ceramic tile laying robot adjusts the posture to the front end of the mobile platform, the vacuum chuck is placed in the chuck groove, and then the mechanical arm adjusts the position to the original state, so that all ceramic tile laying tasks are completed.
Performance parameter of intelligent tile paving and pasting robot for large-space indoor tile
| Working mode | Wired console | |
| Walking mode and ability | Left-right opposite differential motor driven crawler traveling wheel | The walking speed is as follows: 0.5m/s, positioning accuracy: 3mm rotation precision: 2 °, climbing ability: 35 degree |
| Power supply method | Storage battery and cable winding roll | Continuously working for 10 hours |
| Whole machine packing size (m) | 1.45X 0.65 X 1.8 | Two mounting pieces must be detached during boxing and transition because the Z-direction dimension is large and is about 2.5m at minimum |
| Angular accuracy of the turntable | 0.2° | |
| Cross pallet accuracy | Orthogonal 0.3mm | |
| Steering engine accuracy | 0.2° | |
| Self leveling capability | 0.1 degree of quadrature | |
| Positioning mode | Laser radar | And (3) plane positioning precision: 0.2mm |
| Self-weight | Less than 550kg | |
| Electric machine | 48v brushless motor | |
| Drive the | Brushless motor drive with hall encoder | |
| Speed reducer | Turbine worm reducer | Reduction ratio of 1:60 |
Working principle of the invention
A laser radar is arranged on a large-space indoor ceramic tile intelligent paving robot, autonomous navigation can be achieved, the robot can reach a designated place through server control, sand is leveled through an installed manipulator and a scraper, a vacuum chuck is controlled to grab a plastered ceramic tile, and the ceramic tile is paved at a designated position through high-precision camera positioning;
the map can be accurately guided into a processor of the automatic tile paving robot through CAD and Revit after modeling, then the accurate locating through the visual identification function is realized, and meanwhile, the camera at the front end of the mechanical arm can accurately find the tile paving position, so that the operation precision reaches the construction requirement. The ceramic tile automatic plastering robot and the material conveying robot are accurately matched to realize the full-automatic paving and pasting of the ceramic tile;
embodiment one, as shown in FIGS. 1-5 above;
the automatic tile paving robot comprises a chassis 1450 x 650 x 1800 of the automatic tile paving robot, can move forward, backward, left and right, turn around and climb stairs, has a load of 300kg, and has the functions of map scanning, autonomous navigation and autonomous obstacle avoidance; the main components are as follows:
1. the chassis (a damping crawler-type chassis comprises a motor, a driver, a speed reducer, an encoder, a storage battery, a crawler belt and the like);
2. mechanical arms (various hybrid sensors, vacuum chuck, laser receiver, camera, scraper);
3. big scraper (precision linear guide, rack and pinion, gear motor, precision electric cylinder)
4. Leveling mechanism (plane gear positioning mechanism, precision electric cylinder, rotary positioning mechanism)
5. Conveyer belt mechanism (conveyer belt, electric roller, frame, swing precision electric cylinder)
6. A control system (for the automatic tile paving robot, a ros system is developed for the second time to be used as the control system);
the automatic ceramic tile paving robot comprises: the mobile chassis can drive the robot to realize all-directional movement, and a battery pack for providing power for the whole robot, a man-machine interaction unit, a signal receiving and transmitting data unit and a navigation and obstacle avoidance unit are arranged on the mobile chassis; the tail end of the mechanical arm is provided with a fixed platform, a scraper is fixed below the platform, a telescopic sucker is arranged in the middle of one side of the platform, and a laser receiver, a camera, an infrared distance meter and the like are arranged above the platform;
the movable chassis is in a wheel type or crawler type structure capable of climbing stairs;
the air compression device is arranged at the front end of the movable chassis;
the parts not involved in the present invention are the same as or can be implemented using the prior art.
Claims (11)
1. Automatic tiling robot, including removing the chassis, its characterized in that: the crawler-type chassis comprises a motor, a driver, a speed reducer, an encoder, a battery pack, a laser radar, a control box, a vacuum pump and a crawler; the arm its characterized in that: the device comprises a plurality of mixing sensors, a vacuum chuck, a scraper, a motor, a laser receiver and a camera; the automatic leveling mechanism is characterized by comprising a speed regulating motor, a gear, a steering module and a positioning module; the big scraper is characterized in that: the device comprises a linear guide rail, a gear rack, a self-locking speed reducing motor and a lifting electric cylinder; the conveying belt mechanism is characterized in that: the device comprises a conveying belt, a frame, a roller motor and a steering electric cylinder; the control system is characterized in that: and (4) carrying out secondary development on the ros system by aiming at the automatic tile paving robot, and using the ros system as a control system.
2. The scraper on a robotic arm of claim 1, wherein: the horizontal pushing of ground X and Y axis can be carried out in cooperation with the mechanical arm.
3. The blade on a robotic arm of claim 2, wherein: and in cooperation with a motor reducer lead screw, a scraper on the mechanical arm can be matched with a camera, vision and a sensor to carry out mortar trowelling work.
4. The vacuum chuck of claim 1, wherein: the mechanical arm is used for fixing the rotating disc, so that 180-degree rotation can be performed in the vertical direction, and 360-degree rotation can be performed in the horizontal direction.
5. The electromagnetic valve according to claim 1, characterized in that: and the vacuum pump built in the self-propelled platform of the vehicle body is combined to realize the grabbing of the vacuum sucker.
6. The laser sensor, laser receiver, and optical pickup device according to claim 1, wherein: the assembly is arranged on the scraper platform, and the full-automatic leveling and accurate positioning of the tail end of the mechanical arm are realized.
7. The method as claimed in claim 1, wherein the assembly robot chassis structure has a caterpillar structure, 4 telescopic rotary full-automatic leveling mechanisms are arranged on two sides of the caterpillar, the whole equipment can be adjusted to a horizontal position through gyroscope calibration according to different bottom surfaces, the lithium battery is assembled in the chassis, and 2 swinging conveyor belt structures are arranged on the upper portion of the caterpillar chassis, so that mortar of the material conveying robot can be uniformly conveyed to a brick laying position.
8. The method as claimed in claim 1, wherein the building is a central tubular structure consisting of upper and lower floors, with a floor height of 4.5m, a rough ground surface, and a gravel road surface; the height of the stair platform is 18cm, the depth of the platform surface is 30cm, and the climbing angle is 30 degrees.
9. The method as claimed in claim 1, wherein the 3d laser scanner generates cad two-dimensional format of the range of motion and positioning data of the automatic tile-laying robot after data mapping and processing by the BIM data transmission software.
10. The robot for automatically laying ceramic tiles according to claim 1, wherein the moving chassis is of a crawler type structure capable of climbing stairs.
11. The large space robot tile automatic paving and pasting device as claimed in claim 1, wherein the vacuum chuck is used for grabbing tiles and conveying leveling mortar, the vacuum chuck can be lifted through a speed reducer screw rod, the vacuum chuck is connected with the moving platform through a frame, and the mechanical arm performs leveling operation through a scraper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010542641.5A CN111677249A (en) | 2020-06-15 | 2020-06-15 | Intelligent paving and pasting robot for large-space indoor ceramic tiles |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010542641.5A CN111677249A (en) | 2020-06-15 | 2020-06-15 | Intelligent paving and pasting robot for large-space indoor ceramic tiles |
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| Publication Number | Publication Date |
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| CN111677249A true CN111677249A (en) | 2020-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010542641.5A Pending CN111677249A (en) | 2020-06-15 | 2020-06-15 | Intelligent paving and pasting robot for large-space indoor ceramic tiles |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114790811A (en) * | 2021-01-26 | 2022-07-26 | 广东博智林机器人有限公司 | Method and device for acquiring ceramic tile processing data |
| CN116620900A (en) * | 2023-07-18 | 2023-08-22 | 济南冠泽医疗器材有限公司 | Film automatic feeding device |
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| CN110607912A (en) * | 2019-10-18 | 2019-12-24 | 浙江百施通智能科技有限公司 | Ground leveling robot and construction method thereof |
| CN110984539A (en) * | 2019-11-07 | 2020-04-10 | 南京芸皓智能建筑科技有限公司 | Automatic ceramic tile paving and pasting robot |
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2020
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| CN203412272U (en) * | 2013-08-08 | 2014-01-29 | 兖州万世机械科技有限公司 | Laser concrete leveling machine |
| CN203640304U (en) * | 2013-12-12 | 2014-06-11 | 兖州万世机械科技有限公司 | Concrete leveling work head |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114790811A (en) * | 2021-01-26 | 2022-07-26 | 广东博智林机器人有限公司 | Method and device for acquiring ceramic tile processing data |
| CN116620900A (en) * | 2023-07-18 | 2023-08-22 | 济南冠泽医疗器材有限公司 | Film automatic feeding device |
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Application publication date: 20200918 |
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