CN111941422A - Tile pasting robot system - Google Patents
Tile pasting robot system Download PDFInfo
- Publication number
- CN111941422A CN111941422A CN202010583194.8A CN202010583194A CN111941422A CN 111941422 A CN111941422 A CN 111941422A CN 202010583194 A CN202010583194 A CN 202010583194A CN 111941422 A CN111941422 A CN 111941422A
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- Prior art keywords
- tile
- sucker
- vacuum
- robot
- gripper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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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
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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)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Finishing Walls (AREA)
Abstract
The invention provides a tile pasting robot system which comprises a robot base, a six-axis robot, a manipulator and a controller. The manipulator comprises a sucker gripper and a detector for detecting whether a ceramic tile exists. The suction cup gripper includes a vacuum suction cup and a vacuum generator system. The controller controls the six-axis robot to move the vacuum chuck to the upper part of the ceramic tile and controls the vacuum generator system to suck, so that negative air pressure is formed in the vacuum chuck to suck the ceramic tile. And then moving the sucker gripper to the position above a product to be tiled, and controlling a vacuum generator system to inflate the vacuum sucker so as to enable the vacuum sucker to form zero air pressure/positive air pressure inside to be separated from the tile, thereby completing tiling. The tile pasting robot system can effectively replace manual tile pasting, the conversion of building construction to industrialization is realized, the effect of the laid tiles can be unified, and the construction quality requirement is met; and the construction efficiency can be effectively improved, the construction period is shortened, and the labor cost is saved.
Description
Technical Field
The invention belongs to the field of building construction, and particularly relates to a tile pasting robot system.
Background
The existing building construction process mainly adopts manual work to paste ceramic tiles. The manual tile pasting process mainly has the following defects:
the working environment is poor in the building construction process, and harmful substances generated in the construction process damage the health of workers. Meanwhile, the experience level of the construction of workers is uneven, the product quality varies from person to person, and the quality and the appearance of the ceramic tiles pasted by different workers are greatly different. The speed of worker's construction is relatively slow, and work efficiency is relatively low. Finally, with the development of society, the labor cost is higher and higher, and the cost of labor can be reduced for enterprises by automatically tiling by adopting an industrial robot.
Disclosure of Invention
The invention aims to solve the technical problems of uneven product quality, lower working efficiency and high labor cost in manual tile pasting in the prior art.
The invention is realized in such a way that a tile pasting robot system comprises a robot base, a six-axis robot, a manipulator and a controller, wherein the manipulator comprises a sucker gripper and a detector for detecting whether tiles exist or not; the six-axis robot is fixed on the robot base, and the manipulator is fixed on the power output end of the six-axis robot; the sucker gripper comprises a vacuum sucker and a vacuum generator system, the six-axis robot, the detector and the vacuum generator system are all electrically connected with the controller, and when the detector detects a ceramic tile, the controller controls the manipulator to move the vacuum sucker to the position right above the ceramic tile and controls the vacuum generator system to suck, so that negative air pressure is formed in the vacuum sucker to suck the ceramic tile; and then, the controller controls the mechanical arm to move the sucker gripper to the position above a product to be tiled with the ceramic tiles, and controls the vacuum generator system to inflate the vacuum sucker so as to enable the inside of the vacuum sucker to form zero air pressure/positive air pressure to be separated from the ceramic tiles.
Furthermore, the sucker gripper further comprises a telescopic mechanism, the vacuum sucker is fixedly connected with a telescopic rod of the telescopic mechanism, the telescopic mechanism is electrically connected with the controller, and the telescopic mechanism can drive the vacuum sucker to move up and down during working.
Furthermore, the telescopic mechanism comprises a first motor, a connecting rod, a telescopic rod track and the telescopic rod, wherein a power output shaft of the first motor is in transmission connection with one end of the connecting rod, the other end of the connecting rod is connected with the telescopic rod, and the telescopic rod track is sleeved on the outer periphery of the telescopic rod; when the first motor works, the telescopic rod can be driven by the connecting rod to do telescopic motion.
Further, the sucker gripper also comprises a buffer mechanism, and the buffer mechanism comprises a plurality of springs, a plurality of spring guide shafts, a guide shaft mounting frame, an upper connecting plate and a lower connecting plate; the upper junction plate with the terminal fixed connection of telescopic link, vacuum chuck fixed mounting is in connecting plate below down, install at the top of a plurality of spring guiding axles on the guiding axle mounting bracket, the spring guiding axle is worn to establish upper junction plate and lower connecting plate, the bottom of spring guiding axle with connecting plate bolted connection down, the spring housing is established on the periphery of spring guiding axle.
Further, the manipulator still includes second motor, synchronous belt subassembly and pivot, the manipulator has two the sucking disc tongs, two sucking disc tongs pass through a sucking disc tongs connecting plate interconnect, the second motor passes through synchronous belt subassembly drives the pivot is rotatory, the end of pivot with sucking disc tongs connecting plate fixed connection.
Further, the detector is a photoelectric sensor, the photoelectric sensor is provided with an optical transmitter and an optical receiver, the optical transmitter is installed on the sucker gripper, the controller stores position information of a material frame for placing a ceramic tile and path information of a ceramic tile, the sucker gripper is positioned to the position of a certain target material frame according to the position information of the material frame, the optical transmitter emits an optical beam to the target material frame, if the target material frame has a ceramic tile, the optical beam is blocked by the ceramic tile and cannot enter the optical receiver, the controller judges whether the target material frame has a ceramic tile according to the detected signal, and if the target material frame has a ceramic tile, the optical transmitter controls the sucker gripper to grab and paste the ceramic tile on a product according to the path information of the ceramic tile; and if no ceramic tile exists in the target material frame, controlling the sucker gripper to move to the position above the next material frame.
Further, the manipulator further comprises a vision capturing system for assisting in positioning the position of the tile to be tiled, the vision capturing system is electrically connected with the controller, and the vision capturing system comprises a telescopic cylinder, a guide rail and a camera assembly; when the telescopic cylinder works, the camera assembly can be driven to slide along the guide rail so as to adjust the position of the camera assembly.
Further, the vacuum generator system comprises a vacuum generator, an air guide sliding ring, a pipe joint and a hose; the vacuum sucker is connected with the pipe joint through a hose, the pipe joint is installed on the air guide sliding ring, and the air guide sliding ring is connected with the vacuum generator and transmits air.
Furthermore, the manipulator further comprises a transversely arranged lengthening arm and a vertically arranged heightening arm, one end of the lengthening arm is used for being connected with the robot body, the other end of the lengthening arm is connected with the top end of the heightening arm, and the bottom end of the heightening arm is connected with the top end of the air guide sliding ring.
Furthermore, the manipulator comprises a lengthened arm and two sucker grippers, one end of the lengthened arm is used for being connected with the six-axis robot, and two sucker grippers are respectively arranged on two sides of the other end of the lengthened arm; the sucker tongs further comprise extension rods, the length directions of the extension rods on the two sides are perpendicular to the length direction of the lengthening arm, one end of each extension rod is fixedly connected with the lengthening arm, and the other end of each extension rod is fixedly connected with the vacuum sucker.
Compared with the prior art, the invention has the beneficial effects that:
the tile pasting robot system provided by the invention can effectively replace manual tile pasting, realize the conversion from building construction to industrialization, enable the effect of the laid tiles to be uniform and meet the construction quality requirement; and the construction efficiency can be effectively improved, the construction period is shortened, the labor cost is saved, and the harm of the pollution in the construction process to workers is reduced.
Drawings
Fig. 1 is a schematic perspective view of a tile pasting robot system according to an embodiment of the present invention;
FIG. 2 is an exploded view of the robot arm of the tiling robot system of FIG. 1;
FIG. 3 is a perspective view of a suction cup gripper of the tiling robot system of FIG. 1;
FIG. 4 is a schematic view of the suction cup gripper of the tiling robot system of FIG. 1 gripping a tile;
FIG. 5 is a circuit diagram of a tile robot system according to an embodiment of the present invention;
fig. 6 is a schematic perspective view of a manipulator of a tile pasting robot system according to a second embodiment of the present invention;
fig. 7 is a schematic view of the robot hand of fig. 6 after the first suction cup gripper has applied a tile.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The first embodiment is as follows:
referring to fig. 1 and 2, a tile pasting robot system according to a first embodiment of the present invention is shown, which includes a robot base 10, a six-axis robot 20, a robot arm, and a controller. The manipulator includes a suction cup gripper 30, a detector for detecting whether there is a tile, a horizontally disposed heightening arm 40, and a vertically disposed heightening arm 50. The six-axis robot 20 is fixed on the robot base 10, one end of the extension arm 40 is fixed on the power output end of the six-axis robot 20, the other end of the extension arm 40 is connected with the top end of the heightening arm 50, and the suction cup gripper 30 is installed at the bottom end of the heightening arm 50.
Referring to fig. 3 and 3, the suction cup gripper 30 includes a vacuum suction cup 1, a vacuum generator system, a telescoping mechanism, and a buffering mechanism.
The vacuum generator system comprises a vacuum generator 31, an air guide slip ring 32, a pipe joint 33 and a hose. The vacuum chuck 1 is connected with a pipe joint 33 through a hose, the pipe joint 33 is installed on an air guide slip ring 32, and the air guide slip ring 32 is connected with a vacuum generator 31 and transmits air. The lower end of the heightening arm 50 is connected to the upper end of the air guiding slip ring 32.
The telescopic mechanism is electrically connected with the controller, and the telescopic mechanism can drive the vacuum chuck 1 to move up and down when working. Specifically, telescopic machanism includes first motor 21, connecting rod, telescopic link track 22 and telescopic link 23, and the power output shaft of first motor 21 is connected with the one end transmission of connecting rod, and the other end and the telescopic link 23 of connecting rod are connected, and telescopic link track 22 cover is established on the outer peripheral edges of telescopic link 23, and first motor 21 during operation can pass through the connecting rod drives telescopic link 23 and is concertina movement.
The buffer mechanism comprises a plurality of springs 41, a plurality of spring guide shafts 42, an upper connecting plate 43, a lower connecting plate 44 and a guide shaft mounting frame 45. The upper connecting plate 43 is fixedly connected with the tail end of the telescopic rod 23, and the vacuum chuck 1 is fixedly arranged below the lower connecting plate 44. The tops of a plurality of spring guiding shafts 42 are installed on the guiding shaft mounting frame 45, the spring guiding shafts 42 penetrate through the upper connecting plate 43 and the lower connecting plate 44, the bottom ends of the spring guiding shafts 42 are connected with the lower connecting plate 44 through bolts, and the springs 41 are sleeved on the periphery of the spring guiding shafts 42.
Referring to fig. 5, the six-axis robot 20, the detector, and the vacuum generator system are all electrically connected to the controller. The controller stores the position information of the tile (i.e., the position information of the material frame) and the tile sticking path information. When the detector detects a tile 200, the controller controls the six-axis robot 20 to move the vacuum chuck 1 to the position right above the tile and controls the vacuum generator system to suck, so that negative air pressure is formed inside the vacuum chuck 1 to adsorb the tile 200, then, the controller controls the six-axis robot 20 to move the vacuum chuck 1 to the position above a product to be pasted with the tile 200 according to tile pasting path information, controls the vacuum generator system to inflate the vacuum chuck 1, changes the air pressure in the vacuum chuck from negative pressure to zero air pressure or slightly positive air pressure, separates the vacuum chuck 1 from the tile 200, and pastes the tile 200 on the product.
In this embodiment, the detector is a photoelectric sensor having a light transmitter and a light receiver, and the light transmitter is mounted on the chuck hand 30. It will be readily appreciated that instead of using a photoelectric sensor, a detector in the form of infrared, ultrasonic, etc. may be used.
The robot of this embodiment further comprises a second motor 51, a timing belt assembly 52, a rotating shaft 53, and a vision capturing system for assisting in positioning the position to be tiled. The tile pasting robot system is provided with two sucker grippers 30, the two sucker grippers 30 are connected with each other through a sucker gripper connecting plate 60, a second motor 51 drives a rotating shaft 53 to rotate through a synchronous belt component 52, and the tail end of the rotating shaft 53 is fixedly connected with the sucker gripper connecting plate 60.
The vision capture system is electrically connected with the controller. The vision capture system includes a telescopic cylinder 61, a guide rail 62, and a camera assembly 63. The telescopic cylinder 61 and the guide rail 62 are both mounted on the extension arm 40, and when the telescopic cylinder 61 works, the camera assembly 63 can be driven to slide along the guide rail 62, so as to adjust the position of the camera assembly 63. In the tile pasting process, the camera assembly 63 starts to be in an extending state, the camera assembly 63 collects the current image information of the tile 200 and sends the image information to the controller, the controller compares the received image information with the image information of the target orientation stored in the controller, and then the controller controls the second motor 51 to rotate so that the orientation of the tile 200 is in accordance with the set target orientation. After the detection and positioning are completed, the camera assembly 63 retracts, and the controller controls the manipulator to enter the next step of tile pasting.
The suction cup gripper 30 of the present embodiment grips and drops the tile 200 by the vacuum suction cup 1. The two suction cup grippers 30 are separate work in gripping and tiling the tile 200.
The working process of the suction cup gripper 30 in the gripping process is as follows:
when the first sucker gripper 30 is about to grip the ceramic tile 200, and the sucker gripper 30 is positioned to the position of a certain target material frame according to the position information path of the material frame, the optical transmitter transmits an optical beam to the target material frame, if the material frame has the ceramic tile 200, the optical beam is blocked by the ceramic tile 200 and cannot enter the optical receiver, and the controller transmits the detected signal; if there is no tile, the light beam will enter the light receiver and no signal is detected by the controller. The controller judges whether the tile 200 is in the material frame or not by receiving a signal, and if so, the controller controls the sucker gripper 30 to grip. If not, move to the next material frame to detect until detecting the position of the ceramic tile 200. After the tile 200 is detected, the motor on the suction cup gripper 30 drives the connecting rod to drive the telescopic rod 3 of the suction cup gripper 30 to do linear extension motion along the telescopic rod track 2, and then the suction cup gripper 30 can grip the tile 200. The controller controls and starts the vacuum generator system to generate vacuum, the vacuum sucker 1 generates vacuum, the ceramic tile 200 is adsorbed on the sucker gripper 30, and the vacuum sucker 1 can grab the workpiece. At this point, the second suction cup gripper 30 is still in a retracted state. After the first sucker gripper 30 finishes working, the motor drives the connecting rod to drive the telescopic rod 23 of the sucker gripper 30 to linearly retract along the telescopic rod track 22, and the first sucker gripper 30 returns to the original retracted state. The second suction cup gripper 30 can perform the gripping work of the tile 200 according to the above principle of the first suction cup gripper 30.
After the sucking disc tongs 30 complete the grabbing work, the work of tiling 200 is carried out, and the working process of the tiling 200 is as follows:
the two sucker grippers 30 are both in a contracted state in an initial state, after the sucker grippers 30 are positioned to a position where a tile needs to be pasted according to the path information, the first motor 21 on the sucker grippers 30 drives the connecting rod to drive the telescopic rod 23 of the sucker grippers 30 to do linear extension motion along the telescopic rod track 22, and the tile 200 is placed at a set position. A buffer mechanism is arranged above the vacuum chuck 1, so that the ceramic tile 200 can be pressed when the ceramic tile 200 is installed, and the ceramic tile 200 is completely attached to the ground. After the tile 200 is installed, the vacuum generator system controls the first sucker gripper 30 to smoothly fill air into the vacuum sucker 1, so that negative air pressure in the vacuum sucker 1 is changed into zero air pressure or slightly positive air pressure, the vacuum sucker 1 is separated from the tile 200 and is attached to a product, and the work of attaching the tile 200 is completed. After the first suction cup gripper 30 finishes working, the first motor 21 drives the connecting rod to drive the telescopic rod 23 of the suction cup gripper 30 to linearly retract along the telescopic rod track 22, and the first suction cup gripper 30 returns to the original retracted state. While the second suction cup gripper 30 can perform the tiling work according to the above principle of the first suction cup gripper 30.
The tile pasting robot system provided by the embodiment can effectively replace manual tile pasting, the conversion of building construction to industrialization is realized, the effect of the laid tiles can be unified, and the construction quality requirement is met; and the construction efficiency can be effectively improved, the construction period is shortened, the labor cost is saved, and the harm of the pollution in the construction process to workers is reduced.
Example two:
referring to fig. 6 and 7, a tile pasting robot system according to the present embodiment is shown, which is different from the first embodiment in that:
the manipulator of the tile pasting robot system of the embodiment comprises an elongated arm 40 and two sucker grippers 30, wherein one end of the elongated arm 40 is used for being connected with the six-axis robot 20, and the sucker grippers 30 are respectively installed on two sides of the other end of the elongated arm 40.
The sucker gripper 30 further comprises an extension rod 5, the length directions of the extension rods 5 on the two sides are perpendicular to the length direction of the elongated arm 40, one end of the extension rod 5 is fixedly connected with the elongated arm 40, and the other end of the extension rod 5 is fixedly connected with the vacuum sucker 1.
The tile pasting robot system of this embodiment has two sucking disc tongs 30, in a reciprocating motion's displacement, can snatch two tiles 200, compares in single sucking disc tongs, can further improve work efficiency, the reduction of erection time to, compare in embodiment one, two sucking disc tongs 30 of this embodiment can rotate to the direction of perpendicular to horizontal plane, can be fit for pasting the tile in narrow and small space.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A tile pasting robot system is characterized by comprising a robot base, a six-axis robot, a manipulator and a controller, wherein the manipulator comprises a sucker gripper and a detector for detecting whether a tile exists or not; the six-axis robot is fixed on the robot base, and the manipulator is fixed on the power output end of the six-axis robot; the sucker gripper comprises a vacuum sucker and a vacuum generator system, the six-axis robot, the detector and the vacuum generator system are all electrically connected with the controller, and when the detector detects a ceramic tile, the controller controls the manipulator to move the vacuum sucker to the position right above the ceramic tile and controls the vacuum generator system to suck, so that negative air pressure is formed in the vacuum sucker to suck the ceramic tile; and then, the controller controls the mechanical arm to move the sucker gripper to the position above a product to be tiled with the ceramic tiles, and controls the vacuum generator system to inflate the vacuum sucker so as to enable the inside of the vacuum sucker to form zero air pressure/positive air pressure to be separated from the ceramic tiles.
2. The tile pasting robot system of claim 1, wherein said suction cup gripper further comprises a telescoping mechanism, said vacuum suction cup is fixedly connected to a telescoping rod of said telescoping mechanism, said telescoping mechanism is electrically connected to said controller, and said telescoping mechanism is operable to drive said vacuum suction cup to move up and down.
3. The tile pasting robot system as claimed in claim 2, wherein said telescoping mechanism comprises a first motor, a connecting rod, a telescoping rod track and said telescoping rod, a power output shaft of said first motor is drivingly connected to one end of said connecting rod, the other end of said connecting rod is connected to said telescoping rod, said telescoping rod track is sleeved on the outer periphery of said telescoping rod; when the first motor works, the telescopic rod can be driven by the connecting rod to do telescopic motion.
4. The tile pasting robot system of claim 3, wherein said suction cup gripper further comprises a buffer mechanism, said buffer mechanism comprising a plurality of springs, a plurality of spring guide shafts, a guide shaft mounting bracket, an upper connecting plate, and a lower connecting plate; the upper junction plate with the terminal fixed connection of telescopic link, vacuum chuck fixed mounting is in connecting plate below down, install at the top of a plurality of spring guiding axles on the guiding axle mounting bracket, the spring guiding axle is worn to establish upper junction plate and lower connecting plate, the bottom of spring guiding axle with connecting plate bolted connection down, the spring housing is established on the periphery of spring guiding axle.
5. The tile sticking robot system according to any one of claims 1 to 4, wherein the manipulator further comprises a second motor, a synchronous belt assembly and a rotating shaft, the manipulator is provided with two sucker grippers which are connected with each other through a sucker gripper connecting plate, the second motor drives the rotating shaft to rotate through the synchronous belt assembly, and the tail end of the rotating shaft is fixedly connected with the sucker gripper connecting plate.
6. Tile robot system according to any one of claims 1-4, the detector is a photosensor having an optical transmitter and an optical receiver, the optical transmitter is arranged on the sucker gripper, the controller stores the position information of a material frame for placing the ceramic tiles and the path information of the ceramic tiles, after the sucker gripper is positioned at the position of a certain target material frame according to the position information of the material frame, the optical transmitter emits a light beam to the target material frame, if the target material frame has a ceramic tile, the light beam is blocked by the ceramic tile and cannot enter the light receiver, the controller judges whether the target material frame has the ceramic tile or not according to the detected signal, if the target material frame has the ceramic tile, controlling the sucker grippers to grab and paste the ceramic tile on a product according to the ceramic tile pasting path information; and if no ceramic tile exists in the target material frame, controlling the sucker gripper to move to the position above the next material frame.
7. The tile tiling robot system of any one of claims 1 to 4, wherein said robot arm further comprises a vision capture system for assisting in positioning a location to be tiled, said vision capture system being electrically connected to said controller, said vision capture system comprising a telescopic cylinder, a guide rail and a camera assembly; when the telescopic cylinder works, the camera assembly can be driven to slide along the guide rail so as to adjust the position of the camera assembly.
8. A tile robot system according to any of claims 1-4, wherein the vacuum generator system comprises a vacuum generator, an air guiding slip ring, a pipe connection and a hose; the vacuum sucker is connected with the pipe joint through a hose, the pipe joint is installed on the air guide sliding ring, and the air guide sliding ring is connected with the vacuum generator and transmits air.
9. The tile pasting robot system as claimed in claim 8, wherein said robot arm further comprises a horizontally disposed elongated arm and a vertically disposed heightened arm, one end of said elongated arm is used for connecting with the robot body, the other end of said elongated arm is connected with the top end of said heightened arm, and the bottom end of said heightened arm is connected with the top end of said air guiding slip ring.
10. The tile sticking robot system according to claim 1, wherein the robot arm comprises an elongated arm and two of the suction cup grippers, one end of the elongated arm is used for being connected with the six-axis robot, and one suction cup gripper is respectively installed on both sides of the other end of the elongated arm; the sucker tongs further comprise extension rods, the length directions of the extension rods on the two sides are perpendicular to the length direction of the lengthening arm, one end of each extension rod is fixedly connected with the lengthening arm, and the other end of each extension rod is fixedly connected with the vacuum sucker.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010583194.8A CN111941422A (en) | 2020-06-23 | 2020-06-23 | Tile pasting robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010583194.8A CN111941422A (en) | 2020-06-23 | 2020-06-23 | Tile pasting robot system |
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| CN111941422A true CN111941422A (en) | 2020-11-17 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112757331A (en) * | 2021-01-19 | 2021-05-07 | 成都工业职业技术学院 | Material turnover robot |
| CN112799085A (en) * | 2021-02-02 | 2021-05-14 | 苏州威达智电子科技有限公司 | Ceramic disc transfer mechanism with disc edge profile measurement function |
| CN112959318A (en) * | 2021-01-11 | 2021-06-15 | 浙江中烟工业有限责任公司 | Full-automatic label paper gripping device and method based on machine vision |
| CN113733144A (en) * | 2021-09-27 | 2021-12-03 | 北京中海兴达建设有限公司 | Industrial robot tongs for building construction |
| CN114772283A (en) * | 2022-06-24 | 2022-07-22 | 南通市艾城钢结构有限公司 | A transmission tongs that is arranged in workshop special steel structure to shift |
| CN115045480A (en) * | 2022-06-28 | 2022-09-13 | 广东质鼎集团有限公司 | Decorate engineering ceramic tile installation auxiliary structure |
| CN117013045A (en) * | 2023-10-08 | 2023-11-07 | 宁德时代新能源科技股份有限公司 | Paving assembly, rubberizing method and battery production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959318A (en) * | 2021-01-11 | 2021-06-15 | 浙江中烟工业有限责任公司 | Full-automatic label paper gripping device and method based on machine vision |
| CN112757331A (en) * | 2021-01-19 | 2021-05-07 | 成都工业职业技术学院 | Material turnover robot |
| CN112799085A (en) * | 2021-02-02 | 2021-05-14 | 苏州威达智电子科技有限公司 | Ceramic disc transfer mechanism with disc edge profile measurement function |
| CN113733144A (en) * | 2021-09-27 | 2021-12-03 | 北京中海兴达建设有限公司 | Industrial robot tongs for building construction |
| CN113733144B (en) * | 2021-09-27 | 2022-09-16 | 菏泽城建工程发展集团有限公司 | Industrial robot tongs for building construction |
| CN114772283A (en) * | 2022-06-24 | 2022-07-22 | 南通市艾城钢结构有限公司 | A transmission tongs that is arranged in workshop special steel structure to shift |
| CN115045480A (en) * | 2022-06-28 | 2022-09-13 | 广东质鼎集团有限公司 | Decorate engineering ceramic tile installation auxiliary structure |
| CN117013045A (en) * | 2023-10-08 | 2023-11-07 | 宁德时代新能源科技股份有限公司 | Paving assembly, rubberizing method and battery production line |
| CN117013045B (en) * | 2023-10-08 | 2024-03-29 | 宁德时代新能源科技股份有限公司 | Paving assembly, rubberizing method and battery production line |
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