CN111997324A - Method and device for paving ceramic tiles by adopting double robots - Google Patents
Method and device for paving ceramic tiles by adopting double robots Download PDFInfo
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- CN111997324A CN111997324A CN202010939812.8A CN202010939812A CN111997324A CN 111997324 A CN111997324 A CN 111997324A CN 202010939812 A CN202010939812 A CN 202010939812A CN 111997324 A CN111997324 A CN 111997324A
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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
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
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Abstract
The invention discloses a method and a device for paving ceramic tiles by adopting double robots, which relate to the technical field of ceramic tile paving, wherein a positioning robot acquires paving information, and the paving robot is wirelessly connected with the positioning robot; the positioning robot accurately places the positioning die disc on the laying ground, and the laying robot grabs the ceramic tiles; the laying robot is close to the positioning robot and lays the ceramic tiles in the positioning die disc; the laying robot is separated from the positioning robot; and repeating the steps until the tile laying task is completed. The tile paving machine has the advantages that the two robots are combined to lay tiles, when the paving robot takes out the tiles, the positioning robot finishes positioning, then the paving robot puts the tiles through the positioning die disc of the positioning robot, an original single computing system is divided into two parts, the computing speed is greatly improved, the single robot is prevented from frequently walking, the tile paving and pasting are automatically carried out, and the overall paving and pasting efficiency is improved.
Description
Technical Field
The invention relates to the technical field of tile laying, in particular to a method and a device for laying tiles by adopting double robots.
Background
The existing tile laying work is mainly finished manually, a manual mode is adopted, tiles are carried and laid one by one, the tiles need to be positioned at laying positions in the laying process, whether the tiles are horizontally laid or not needs to be noticed in the laying process, the specific labor intensity is high, the defects of high accuracy, high requirement on the experience of workers and the like cannot meet the increasing laying task, and therefore the tile laying robot is appeared. The existing ceramic tile laying robot adopts the following method that the robot grabs ceramic tiles, then the robot moves to a laying position after calculation and analysis, and then ceramic tiles are laid. The process needs a large amount of calculation and analysis by the robot, and the robot is needed to adjust the angle of the ceramic tile in the vertical direction in consideration of factors such as uneven ground and the like, so that a six-axis robot is often needed, and the manufacturing cost is quite high.
Disclosure of Invention
The invention aims to solve the technical problems of improving the speed of laying tiles and reducing the laying cost and provides a method for laying tiles by adopting double robots.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for paving ceramic tiles by adopting a double robot comprises a positioning robot and a paving robot, and comprises the following steps:
A. the positioning robot acquires laying information, and the laying robot is in wireless connection with the positioning robot;
B. the positioning robot accurately places the positioning die disc on the laying ground, and the laying robot grabs the ceramic tiles;
C. the laying robot is close to the positioning robot and lays the ceramic tiles in the positioning die disc;
D. the laying robot is separated from the positioning robot;
E. and D, repeating the steps B to D until the tile laying task is completed.
An apparatus for implementing the above method, comprising a positioning robot and a placement robot, wherein the positioning robot comprises: a walking positioning chassis configured to drive the positioning robot to move; the lifting positioner is arranged on the walking positioning chassis; the horizontal positioner is used for horizontal positioning; the positioning connecting frame is arranged below the horizontal positioner; the positioning die disc is arranged below the positioning connecting frame and used for positioning the tiles before paving the ground; the positioning measurer is arranged on the walking positioning chassis or the horizontal positioner or the positioning die disc and is used for measuring the information of the ground to be paved; the positioning control processor is arranged on the walking positioning chassis or the lifting positioner, and after receiving the measurement information of the positioning measurer, the positioning control processor controls the walking positioning chassis to move after processing, so that the positioning die disc reaches the upper part of the specified position, and the positioning die disc is lowered to the periphery of the tile laying position by controlling the lifting positioner;
the placement robot includes: a walking placement chassis configured to drive a placement robot to move; the lifting laying device is arranged on the walking laying chassis; the grabber is arranged on the lifting laying device and used for grabbing the ceramic tiles and laying the ceramic tiles on the ground to be laid positioned by the positioning die disc; the laying control processor is arranged on the walking laying chassis or the lifting laying device, the laying control processor is wirelessly connected with the positioning control processor and controls the walking laying chassis to move, so that the grabber with the ceramic tiles reaches the position above the positioning die disc through the positioning connecting frame, and the lifting laying device is controlled to enable the ceramic tiles to reach the laying position.
Furthermore, the horizontal positioner comprises a fixed plate, a connecting positioning rod, a positioning plate and at least two positioning retractors, the fixed plate is arranged on the lifting positioner, the top end of the connecting positioning rod is connected with the fixed plate ball, the positioning plate is arranged at the bottom end of the connecting positioning rod, the positioning retractors are arranged on the positioning plate, and the telescopic ends of the positioning retractors correspond to the bottom surface of the fixed plate and are used for keeping the relative positions of the fixed plate and the positioning plate stable; the positioning connecting frame is arranged below the positioning plate.
Furthermore, the positioning die disc comprises four positioning frames, a positioning clamping plate and a lock catch, the positioning frames are annularly arranged into a circumferential shape, a sliding groove is formed in the side face of each positioning frame, and the positioning clamping plate is slidably arranged in the sliding groove of each positioning frame and fixed through the lock catch.
Furthermore, two adjacent locating racks are detachably arranged on the locating rack connected with the two adjacent locating racks respectively.
Furthermore, the positioning die disc comprises two positioning frames, a positioning clamping plate and a lock catch, the two positioning frames are vertically arranged, a sliding groove is formed in the side face of each positioning frame, and the positioning clamping plate is slidably arranged in the sliding groove of each positioning frame and fixed through the lock catch.
Further, the top end of the positioning splint turns outwards.
Furthermore, the bottom of the positioning clamp plate is provided with a groove, a pressure spring is fixedly arranged in the groove of the positioning clamp plate, and the bottom of the pressure spring is fixedly connected with the base plate.
Furthermore, a soft knocking piece is arranged on the lifting laying device and used for vertically knocking the ceramic tiles laid on the ground.
Further, a horizontal positioner is arranged between the lifting laying device and the grabber or the lifting laying device is connected with the grabber through a ball.
The invention has the beneficial effects that: the ceramic tile is laid by adopting a mode of combining the two robots, when the laying robot takes the ceramic tile, the positioning robot finishes positioning, then the laying robot puts the ceramic tile through a positioning die disc of the positioning robot, and cuts the original single computing system into two parts, so that the computing speed is greatly increased, the single robot is prevented from frequently walking and positioning, the ceramic tile laying automation is realized, and the whole laying efficiency is improved. The design of horizontal locator can avoid the influence on unsmooth ground, even location robot walks on the ground of unevenness, also can guarantee that the location matrix disc is placed perpendicularly downwards to guarantee the ceramic tile and lay the quality.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of a positioning robot;
FIG. 2 is a schematic structural view of the placement robot;
FIG. 3 is a schematic view of the structure of the horizontal positioner;
FIG. 4 is a schematic top view of the positioning mold, with four positioning frames;
FIG. 5 is a schematic cross-sectional view taken at A-A in FIG. 4;
FIG. 6 is a schematic top view of the positioning mold, with two positioning frames;
fig. 7 is a schematic view of the laying state of the tile flooring robot system.
In the above-described figures, the first and second,
1. positioning the robot;
101. a walking positioning chassis;
102. a lifting positioner;
103. a horizontal positioner; 1031. a fixing plate; 1032. connecting a positioning rod; 1033. positioning a plate; 1034. positioning the telescopic device; 104. positioning the connecting frame;
105. positioning a mold disc; 1051. a positioning frame; 1052. positioning the clamping plate; 1053. locking; 1054. a pressure spring; 1055. a base plate;
106. positioning the measurer;
107. a positioning control processor;
2. a placement robot;
201. walking and laying a chassis; 202. lifting and laying devices; 203. a gripper; 204. a placement control processor; .
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention with reference to the accompanying drawings and preferred embodiments is as follows:
can be explained
A method for paving ceramic tiles by adopting a double robot comprises a positioning robot 1 and a paving robot 2, and comprises the following steps:
A. the positioning robot 1 obtains laying information, and the laying robot 2 is in wireless connection with the positioning robot 1.
The positioning robot 1 can obtain the information of the ground to be paved by measuring the ground to be paved and performing self-calculation according to the actual situation, or by manual input. The positioning robot 1 and the laying robot 2 are both provided with receiving and transmitting modules. The placement robot 2 receives position information, placement information, and the like of the positioning robot 1.
B. The positioning robot 1 accurately places the positioning die disc on the laying ground, and the laying robot 2 grabs the ceramic tiles.
The positioning robot 1 lays a positioning mould disc according to the laying information; the positioning robot 1 and the laying robot 2 act synchronously, so that the time is saved.
C. And the laying robot 2 is close to the positioning robot 1 and lays the ceramic tiles in the positioning die disc.
This step requires the positioning robot 1 and the laying robot 2 to operate in cooperation.
D. The laying robot 2 is separated from the positioning robot 1.
The separation means that the laying robot 2 is withdrawn from the positioning mould disc of the positioning robot 1, and the positioning robot 1 and the laying robot 2 act simultaneously without obstacles.
E. And D, repeating the steps B to D until the tile laying task is completed.
In view of the above-mentioned method, the present application provides a device, as shown in fig. 1 and 2, comprising a positioning robot 1 and a placement robot 2, which system is used by two robots in combination, but not by all.
The positioning robot 1 comprises a walking positioning chassis 101, a lifting positioner 102, a horizontal positioner 103, a positioning connecting frame 104, a positioning mould 105, a positioning measurer 106 and a positioning control processor 107. The walking positioning chassis 101 is configured to drive the positioning robot 1 to move, and the walking positioning chassis 101 drives the driving positioning robot 1 to integrally move so as to reach the operation station.
The lifting positioner 102 is arranged on the walking positioning chassis 101, the horizontal positioner 103 is arranged on the lifting positioner 102, and the positioning connecting frame 104 is arranged below the horizontal positioner 103. The horizontal positioner 103 is connected with the lifting positioner 102 and the positioning connecting frame 104, and the horizontal positioner 103 is used for horizontal positioning, namely, the positioning connecting frame 104 is always kept in a balance position. Specifically, referring to fig. 1 and 3, the horizontal positioner 103 includes a fixing plate 1031, a connecting and positioning rod 1032, a positioning plate 1033 and at least two positioning expanders 1034, the fixing plate 1031 is disposed on the elevating positioner 102, the top end of the connecting and positioning rod 1032 is connected to the fixing plate 1031 ball, the positioning plate 1033 is disposed at the bottom end of the connecting and positioning rod 1032, the positioning expanders 1034 are disposed on the positioning plate 1033, and the expanding ends of the positioning expanders 1034 correspond to the bottom surface of the fixing plate 1031, so as to keep the relative positions of the fixing plate 1031 and the positioning plate 1033 stable. Because the top end of the connecting and positioning rod 1032 is connected to the fixing plate 1031 ball, and a plurality of gravity components are connected below the connecting and positioning rod 1032, under the action of gravity, the connecting and positioning rod 1032 will be vertically downward, and then the extension of the positioning expansion piece 1034 is controlled, so that the end part thereof is pushed against the lower bottom surface of the fixing plate 1031, thereby playing a role of fixing the position between the fixing plate 1031 and the positioning expansion piece 1034, and further avoiding the influence of the non-horizontal state of the walking positioning chassis 101 on the horizontal state of the positioning connecting frame 104.
The positioning link 104 is disposed below the positioning plate 1033; the positioning mould 105 is arranged below the positioning connecting frame 104 and used for paving the floor and positioning the ceramic tiles. Regarding the pre-flooring positioning of tiles, the present application provides a solution: as shown in fig. 4 and 5, the positioning die plate 105 includes four positioning frames 1051, positioning clamp plates 1052 and locking catches 1053, the positioning frames 1051 are arranged in a ring shape, the side surfaces of the positioning frames 1051 are provided with sliding grooves, and the positioning clamp plates 1052 are slidably arranged in the sliding grooves of the positioning frames 1051 and are fixed by the locking catches 1053. The positioning of the positioning die plate 105 is done prior to its particular use. Since the positioning clamp 1052 can be adjusted in the positioning rack 1051, the distance between two opposite positioning clamps 1052 can be adjusted, so that the grooves formed by a plurality of positioning clamps 1052 can just hold different types of tiles. It is easy to think that the positioning die disc 105 cannot position the ceramic tiles at the wall foot, so that the positioning frames 1051 are optimally designed, and the two adjacent positioning frames 1051 are detachably arranged with the positioning frames 1051 connected with the positioning frames 1051 respectively. That is, two positioning frames 1051 perpendicular to each other are left, and the positions of the square tiles can be positioned by fitting one corner of the tile to the two positioning frames 1051 via the two positioning frames 1051.
From the above description, it can be seen that the two positioning frames 1051 can also perform positioning, so the present application provides another alternative: as shown in fig. 6, the positioning die plate 105 includes two positioning frames 1051, a positioning clamp 1052 and a lock catch 1053, the two positioning frames 1051 are vertically disposed, a sliding slot is disposed on a side surface of the positioning frame 1051, and the positioning clamp 1052 is slidably disposed in the sliding slot of the positioning frame 1051 and fixed by the lock catch 1053.
When the ceramic tiles are laid, sundries such as soil blocks or stones always exist on the ground, and if the positioning mould disc 105 is directly contacted with the sundries, the service life of the positioning mould disc 105 is influenced certainly. Preferably, the bottom of the positioning clamp plate 1052 is provided with a groove, a pressure spring 1054 is fixedly arranged in the groove of the positioning clamp plate 1052, and the bottom end of the pressure spring 1054 is fixedly connected with a backing plate 1055. When the positioning die 105 descends to the periphery of the tile laying position, even if the positioning die 105 touches the ground, the backing plate 1055 touches the ground first, so that the positioning clamp 1052 is prevented from being subjected to strong impact force, and the positioning die 105 is prevented from being damaged. Since the tiles are positioned on the floor to be paved by the grooves formed by the positioning clamp 1052, there is a possibility that the tiles collide with the edge of the positioning die plate 105, turning the top end of the positioning clamp 1052 outward.
The positioning measurer 106 is arranged on the walking positioning chassis 101 or the horizontal positioner 103 or the positioning mould 105, and the positioning measurer 106 is used for measuring the information of the ground to be paved. The positioning control processor 107 is disposed on the walking positioning chassis 101 or the lifting positioner 102, and after the positioning control processor 107 receives the measurement information of the positioning measurer 106, the walking positioning chassis 101 is controlled to move after the processing, so that the positioning die 105 reaches a position above a specified position, and the lifting positioner 102 is controlled to lower the positioning die 105 to the periphery of the tile laying position. Regarding the outer periphery of the tile installation position, as described by way of example in fig. 6, the positioning die plate 105 is located just outside the actual tile installation position, and encloses the tile installation position by one turn. As shown in fig. 7, the positioning die plate 105 may block a part of the laid tiles or the positions where the tiles are not laid during the positioning process.
As shown in fig. 2, the laying robot 2 includes a walking laying chassis 201, a lifting and lowering spreader 202, a gripper 203, and a laying control processor 204.
The walking placement chassis 201 is configured to drive the placement robot 2 to move; the lifting laying device 202 is arranged on the walking laying chassis 201; the grabber 203 is arranged on the lifting laying device 202 and used for grabbing the ceramic tiles and laying the ceramic tiles on the ground to be paved positioned by the positioning die disc 105; the laying control processor 204 is arranged on the walking laying chassis 201 or the lifting laying device 202, the laying control processor 204 is wirelessly connected with the positioning control processor 107 and controls the walking laying chassis 201 to move, so that the grabber 203 with the ceramic tiles reaches the upper part of the positioning die disc 105 through the positioning connecting frame 104, and then the lifting laying device 202 is controlled to enable the ceramic tiles to reach the laying position.
After the laying control processor 204 is connected with the positioning control processor 107, the laying control processor 204 can receive the position information of the positioning robot 1, the position information of the positioning die disc 105, the laying information and the like, and the laying control processor 204 controls the walking laying chassis 201 to walk so that the laying robot 2 and the positioning robot 1 can lay tiles in a matched manner. Preferably, the lifting placement device 202 is provided with a soft knocking member for vertically knocking the tiles laid on the ground. The soft knocking piece 309 can vertically knock the ceramic tile, so that tangential force can not be applied to the ceramic tile, the ceramic tile generates plane displacement, the collision between the ceramic tile and the positioning die disc 105 is avoided, and the tile laying quality is improved. In addition, in order to reduce the cost and adapt to the unevenness of the paved surface, a horizontal positioner 103 is provided between the elevating spreader 202 and the grabber 203 or the elevating spreader 202 and the grabber 203 are ball-connected (not shown).
When the device is used specifically, the method comprises the following steps:
A. the positioning control processor 107 obtains the paving information, the positioning control processor 107 receives the information of the ground to be paved transmitted by the positioning measurer 106, the positioning control processor 107 controls the walking positioning chassis 101 to move, so that the positioning die disc 105 reaches the upper part of the paving position, and then controls the lifting positioner 102 to enable the positioning die disc 105 to descend to the periphery of the paving position of the ceramic tiles.
B. The laying control processor 204 is wirelessly connected with the positioning control processor 107, the laying control processor 204 controls the grabber 203 to grab the ceramic tiles, controls the walking laying chassis 201 to move, enables the grabber 203 with the ceramic tiles to reach the upper part of the positioning die disc 105 through the positioning connecting frame 104, and controls the lifting laying device 202 to enable the ceramic tiles to reach the laying position.
C. The laying robot 2 grabs the next ceramic tile again, when the positioning robot 1 is separated from the laying robot 2, the positioning die disc 105 of the positioning robot 1 is positioned to the next ceramic tile laying position, the laying robot 2 grabs the next ceramic tile and then lays the ceramic tile into the positioning die disc 105, and the step is repeated until the ceramic tile laying is completed.
When the laying ground has pits or the robot has a heavy weight, before the positioning robot 1 controls the positioning mould disc 105 to descend to the periphery of the tile laying position, the method further comprises the following steps: the positioning control processor 107 controls the positioning expanders 1034 to extend until the horizontal positioner 103 does not shake, so that the ends of the positioning expanders 1034 are attached to the lower bottom surfaces of the fixing plates 1031.
The invention has been described above with reference to a preferred embodiment, but the scope of protection of the invention is not limited thereto, and various modifications can be made and equivalents can be substituted for elements thereof without departing from the scope of the invention, and features mentioned in the various embodiments can be combined in any way as long as there is no structural conflict, and any reference sign in the claims should not be construed as limiting the claim concerned, from which the embodiment is to be regarded as being exemplary and non-limiting in any way. Therefore, all technical solutions that fall within the scope of the claims are within the scope of the present invention.
Claims (10)
1. A method for laying tiles by means of a double robot, characterized in that it comprises a positioning robot (1) and a laying robot (2), with the following steps:
A. the positioning robot (1) acquires laying information, and the laying robot (2) is in wireless connection with the positioning robot (1);
B. the positioning robot (1) accurately places the positioning die disc on the laying ground, and the laying robot (2) grabs the ceramic tile;
C. the laying robot (2) is close to the positioning robot (1) and lays the ceramic tiles in the positioning die disc;
D. the laying robot (2) is separated from the positioning robot (1);
E. and D, repeating the steps B to D until the tile laying task is completed.
2. A device for carrying out the method according to claim 1, comprising a positioning robot (1) and a placement robot (2), wherein the positioning robot (1) comprises:
a walking and positioning chassis (101), wherein the walking and positioning chassis (101) is configured to drive the positioning robot (1) to move;
the lifting positioner (102), the lifting positioner (102) is arranged on the walking positioning chassis (101);
a horizontal positioner (103) for horizontal positioning;
a positioning connection frame (104), wherein the positioning connection frame (104) is arranged below the horizontal positioner (103);
the positioning die disc (105), the positioning die disc (105) is arranged below the positioning connecting frame (104) and used for paving the floor and positioning the ceramic tiles;
the positioning measurer (106), the positioning measurer (106) is arranged on the walking positioning chassis (101) or the horizontal positioner (103) or the positioning mould disc (105), and the positioning measurer (106) is used for measuring the information of the ground to be paved;
the positioning control processor (107), the positioning control processor (107) is arranged on the walking positioning chassis (101) or the lifting positioner (102), after the positioning control processor (107) receives the measurement information of the positioning measurer (106), the walking positioning chassis (101) is controlled to move after the measurement information is processed, the positioning die disc (105) is enabled to reach the position above the specified position, and the positioning die disc (105) is enabled to descend to the periphery of the tile laying position by controlling the lifting positioner (102);
the laying robot (2) comprises:
a walking placement chassis (201), the walking placement chassis (201) configured to drive a placement robot (2) to move;
a lifting lay-down device (202), the lifting lay-down device (202) being arranged on the walking lay-down chassis (201);
the grabber (203) is arranged on the lifting spreader (202) and used for grabbing the ceramic tiles and spreading the ceramic tiles on the ground to be paved positioned by the positioning die disc (105);
the laying control processor (204) is arranged on the walking laying chassis (201) or the lifting laying device (202), the laying control processor (204) is wirelessly connected with the positioning control processor (107) and controls the walking laying chassis (201) to move, so that the grabber (203) with the ceramic tiles reaches the position above the positioning die disc (105) through the positioning connecting frame (104), and the lifting laying device (202) is controlled to enable the ceramic tiles to reach the laying position.
3. The device according to claim 2, wherein the horizontal positioner (103) comprises a fixing plate (1031), a connecting and positioning rod (1032), a positioning plate (1033) and at least two positioning retractors (1034), the fixing plate (1031) is arranged on the lifting positioner (102), the top end of the connecting and positioning rod (1032) is connected with the fixing plate (1031) ball, the positioning plate (1033) is arranged at the bottom end of the connecting and positioning rod (1032), the positioning retractors (1034) are arranged on the positioning plate (1033), and the retracting ends of the positioning retractors (1034) correspond to the bottom surface of the fixing plate (1031) and are used for keeping the relative positions of the fixing plate (1031) and the positioning plate (1033) stable;
the positioning connecting frame (104) is arranged below the positioning plate (1033).
4. The device according to claim 2, characterized in that the positioning die plate (105) comprises four positioning frames (1051), a positioning clamp plate (1052) and a lock catch (1053), the positioning frames (1051) are annularly arranged in a circumferential shape, a sliding groove is arranged on the side of the positioning frame (1051), and the positioning clamp plate (1052) is slidably arranged in the sliding groove of the positioning frame (1051) and fixed by the lock catch (1053).
5. The device according to claim 4, characterized in that two adjacent positioning frames (1051) are detachably arranged with respect to the positioning frame (1051) to which they are connected.
6. The device according to claim 2, wherein the positioning die plate (105) comprises two positioning frames (1051), a positioning clamp plate (1052) and a lock catch (1053), the two positioning frames (1051) are vertically arranged, a sliding slot is arranged on the side surface of the positioning frame (1051), and the positioning clamp plate (1052) is slidably arranged in the sliding slot of the positioning frame (1051) and fixed by the lock catch (1053).
7. A device according to any of claims 2-6, characterized in that the top end of the retaining splint (1052) is turned outwards.
8. The device according to any one of claims 2 to 6, characterized in that a groove is formed at the bottom end of the positioning clamp plate (1052), a pressure spring (1054) is fixedly arranged in the groove of the positioning clamp plate (1052), and a bottom end of the pressure spring (1054) is fixedly connected with a backing plate (1055).
9. The device according to claim 2, characterized in that the lifting applicator (202) is provided with soft knockings for vertical striking of tiles laid on the ground.
10. The device according to claim 2, characterized in that a horizontal positioner (103) is provided between the lifting spreader (202) and the gripper (203) or that the lifting spreader (202) and the gripper (203) are ball-connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010939812.8A CN111997324A (en) | 2020-09-09 | 2020-09-09 | Method and device for paving ceramic tiles by adopting double robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010939812.8A CN111997324A (en) | 2020-09-09 | 2020-09-09 | Method and device for paving ceramic tiles by adopting double robots |
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| CN111997324A true CN111997324A (en) | 2020-11-27 |
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| CN202010939812.8A Pending CN111997324A (en) | 2020-09-09 | 2020-09-09 | Method and device for paving ceramic tiles by adopting double robots |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112982104A (en) * | 2021-03-18 | 2021-06-18 | 中国十九冶集团有限公司 | Square brick mosaic unit pre-splicing and paving device and square brick mosaic paving method |
-
2020
- 2020-09-09 CN CN202010939812.8A patent/CN111997324A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112982104A (en) * | 2021-03-18 | 2021-06-18 | 中国十九冶集团有限公司 | Square brick mosaic unit pre-splicing and paving device and square brick mosaic paving method |
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