CN112192578A - Double-mechanical-arm ceramic tile paving and pasting robot - Google Patents
Double-mechanical-arm ceramic tile paving and pasting robot Download PDFInfo
- Publication number
- CN112192578A CN112192578A CN201910545779.8A CN201910545779A CN112192578A CN 112192578 A CN112192578 A CN 112192578A CN 201910545779 A CN201910545779 A CN 201910545779A CN 112192578 A CN112192578 A CN 112192578A
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- Prior art keywords
- robot
- tile
- arm
- mechanical arm
- ceramic tile
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- 239000000919 ceramic Substances 0.000 title claims abstract description 38
- 238000005507 spraying Methods 0.000 claims abstract description 18
- 239000003292 glue Substances 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 5
- 210000003857 wrist joint Anatomy 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 210000002310 elbow joint Anatomy 0.000 claims description 2
- 210000000323 shoulder joint Anatomy 0.000 claims description 2
- 239000007921 spray Substances 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 5
- 239000011248 coating agent Substances 0.000 abstract 1
- 238000000576 coating method Methods 0.000 abstract 1
- WSFSSNUMVMOOMR-UHFFFAOYSA-N Formaldehyde Chemical compound O=C WSFSSNUMVMOOMR-UHFFFAOYSA-N 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 238000005034 decoration Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000019693 Lung disease Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009408 flooring Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 208000023504 respiratory system disease Diseases 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
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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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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 double-mechanical-arm ceramic tile paving and pasting robot, which structurally comprises: the automatic tile grabbing and spraying system comprises an automatic moving trolley, two six-degree-of-freedom mechanical arms, a device for grabbing tiles in vacuum and arranged on one mechanical arm, a tile glue spraying device arranged on the other mechanical arm, a laser positioning system, an operation panel and a control system; the vacuum gripping system of the robot includes: a pneumatic pump, an electromagnetic valve, a vacuum generator, a vacuum sucker, an air pipe and the like; ceramic tile glues spraying device includes: the device comprises a feeder, a nozzle, a scraper and a feeding pipe; the laser positioning system includes: two laser distance sensors; the tile paving and pasting robot with the two mechanical arms can capture and calculate through the laser sensor and send instructions to the mechanical arms, so that the robot can autonomously complete actions such as grabbing, coating, paving and pasting, moving and the like; the invention can improve the process flow of paving the tiles indoors, realize automatic paving of the tiles, obviously improve the construction quality and efficiency and is suitable for paving the tiles on the large indoor ground.
Description
Technical Field
The invention relates to the field of building construction, in particular to a novel building robot with double mechanical arms for paving and pasting ceramic tiles.
Background
The paving tiles are an essential link for indoor and outdoor decoration of buildings, the paved tiles are compact in interconnection and uniform in specification, and the paving tiles have good heat preservation and water resistance. Thus, there is an increasing demand for high quality tile flooring. At present, the ceramic tile pasting is carried out in a manual mode in the past, the efficiency of manually carrying the ceramic tile is low, and the whole construction progress can be delayed; the precision of manually paving ceramic tiles is not high, and the situations of inaccuracy and matching errors are easy to occur particularly when a plurality of workers are matched for work; meanwhile, when tiles are laid in interior decoration, a large amount of decoration pollution is caused; dust, formaldehyde and the like, and various lung diseases and respiratory diseases can be caused by long-term work of constructors in the severe environment.
Disclosure of Invention
The invention can improve the process flow of paving and pasting the ceramic tiles indoors, and provides the electromechanical integrated equipment which is simple in operation, time-saving and labor-saving and can realize automatic paving and pasting of the ceramic tiles.
In order to solve the problems, the invention provides a tile paving and pasting robot with double mechanical arms, which is characterized in that: the automatic tile grabbing and spraying system comprises an automatic moving trolley, two six-degree-of-freedom mechanical arms, a device for grabbing tiles in vacuum and arranged on one mechanical arm, a tile glue spraying device arranged on the other mechanical arm, a laser positioning system, an operation panel and a control system; the vacuum gripping system of the robot includes: the vacuum pump is composed of a pneumatic pump, an electromagnetic valve, a vacuum generator, a vacuum sucker and an air pipe; ceramic tile glues spraying device includes: the device comprises a feeder, a nozzle, a scraper and a feeding pipe; the laser positioning system includes: two laser distance sensors; the two mechanical arms are arranged on the autonomous moving trolley, and the operation panel and the control system are respectively connected with the controller.
Preferably, the robot to be tiled should be stored on an autonomous mobile cart or stored in a fixed location in the room.
Preferably, the acceleration of the autonomous mobile cart should not have an excessive impact on the end of the robotic arm.
Preferably, the spraying device can effectively spray, stop and control flow of the needed area, and guarantee that the ceramic tile glue spraying effect is uniform and effective.
Preferably, the control system further comprises a main controller, a mobile car controller, a controller with two mechanical arms, a tail end grabbing system controller, and a feedback system for controlling the unification. The main controller is used for controlling other controllers, exists as a first controller and controls the whole system and device; the feedback system carries out different force feedback and moving position feedback through signals of the sensor and is used for detecting the position of the ceramic tile.
Compared with the prior art, the ceramic tile paving and pasting robot with the double mechanical arms can well solve the problem of low efficiency, and is high in efficiency and precision; it is suitable for laying tiles on indoor and outdoor floors.
Drawings
The structure of the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic perspective view of the overall assembly of the present invention.
FIG. 2 is a block diagram of the control system of the present invention.
Wherein: 1. moving the trolley autonomously; 2. paving ceramic tiles; 3. a position sensor; 4. a tile vacuum gripping device; 5. a vibratory compaction device; 6. a six-degree-of-freedom mechanical arm; 7. a detection sensor; 8. a spraying device; 9. a wrist joint 1; 10. a wrist joint 2; 11. a wrist joint 3; 12. an elbow joint; 13. a shoulder joint; 14. a base.
Detailed Description
In order to make the technical features, technical solutions and advantages of the present invention clearer, the following detailed description is made with reference to the accompanying drawings and specific embodiments. Needless to say, a person skilled in the art realizes that the described embodiments may be modified in different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.
The invention provides a double-mechanical-arm ceramic tile paving robot, aiming at the problems of poor precision and high cost of the existing manual ceramic tile paving. As shown in fig. 1, an embodiment of the present invention includes: the automatic tile grabbing and spraying system comprises an automatic moving trolley, two six-degree-of-freedom mechanical arms, a device for vacuum grabbing of tiles arranged on one mechanical arm, a device for vacuum grabbing of tiles arranged on the other mechanical arm, a laser positioning system (or a visual detection system or both), an operation panel and a control system.
In the embodiment of the invention, the control panel is an HMI and is connected with the main controller, as shown in the figure; the main controller is connected with the moving trolley, the tail end grabbing sucker, the tail end tile glue spraying device, the double mechanical arms, the sensor and the feedback system; in the embodiment of the invention, the moving trolley is an AGV system and is connected by adopting an AGV controller; the two mechanical arms are six-freedom universal robots which are connected by adopting a visual programming software control system. The sensor is a laser sensor, and can realize the autonomous and cooperative control movement of the movable trolley and the two mechanical arms. In the embodiment of the invention, the work of collecting the tile information by the laser sensor can be realized by controlling the main controller, the collected space information is transmitted to the main controller, and the calculation output result of the main controller is output to the movable trolley and the mechanical arm to meet the corresponding action requirement.
The building robot with the double mechanical arms for paving and pasting the ceramic tiles, which integrates autonomous movement, autonomous operation and autonomous detection, can be used for various occasions in the building industry, the application range of the robot with the double mechanical arms for paving and pasting the ceramic tiles is expanded, and the working efficiency of the building robot is improved.
According to the illustration in the figure, the specific working process of the embodiment during construction is as follows: the terminal sensor of arm carries out ceramic tile position information acquisition, confirms ceramic tile concrete position, gesture and size, converts the signal that the distinguishable of arm was handled into, conveys to main control unit, and main control unit controls respectively and removes car control unit, two arms, solenoid valve controller and coordinates the operation, conveys the signal respectively to each motor shaft, carries out the control of different degree, realizes the work of snatching of ceramic tile.
According to the illustration in the figure, the concrete operation of the embodiment is as follows: after the target object is successfully grabbed, the sensor captures and converts the spatial information of the ground and transmits the spatial information to the controller; at the moment, the other mechanical arm carrier ceramic tile glue spraying device carries out spraying and trowelling; when the controller calculates the position to be laid, the controller sends an instruction to the robot to enable the mechanical arm to carry the ceramic tile to be laid and attached to the calculated specified position; and properly vibrating to accurately attach the ceramic tiles to the ground to finish the ceramic tile laying work.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, for example, as a multi-arm construction robot, as well as in mobile and other construction applications.
Claims (8)
1. The utility model provides a robot is spread to two robotic arm ceramic tiles which characterized in that: the automatic tile grabbing and spraying system comprises an automatic moving trolley, two six-degree-of-freedom mechanical arms, a device for grabbing tiles in vacuum and arranged on one mechanical arm, a tile glue spraying device arranged on the other mechanical arm, a laser positioning system, an operation panel and a control system; the vacuum gripping system of the robot includes: the vacuum pump is composed of a pneumatic pump, an electromagnetic valve, a vacuum generator, a vacuum sucker and an air pipe; ceramic tile glues spraying device includes: the device comprises a feeder, a nozzle, a scraper and a feeding pipe; the laser positioning system includes: two laser distance sensors.
2. The double-robot-arm tile laying robot of claim 1, wherein: the autonomous moving vehicle further comprises: a steering device, a wireless remote control device and an emergency stop key; the movement of the trolley can be controlled by a wireless remote controller, the movement route of the trolley can be set by software, and the controller sends a command to control the movement or steering of the trolley.
3. The double-robot-arm tile laying robot of claim 1, wherein: the two six-degree-of-freedom mechanical arms have the same structure and comprise: a base, a shoulder joint, an elbow joint, a wrist joint 1, a wrist joint 2 and a wrist joint 3; the motion range of each joint is 360 degrees to-360 degrees, and the joint has a force feedback function, accurate repeated motion and strong stability.
4. The double-robot-arm tile laying robot of claim 1, wherein: the tail end of the mechanical arm is provided with a ceramic tile grabbing sucker which has a buffering function; the electromagnetic valve is adopted for control, and the instruction of the controller is received for operation, so that the effective operation of the grabbing system is ensured; grabbing the object in a vacuum mode, and grabbing according to an instruction sent by a controller; in the grabbing process, after the sensors are used for detecting, the controller calculates to obtain an accurate position, and then the mechanical arm is driven to approach and grab.
5. The double-robot-arm tile laying robot of claim 1, wherein: the tail end of the mechanical arm is provided with a ceramic tile glue spraying device, the spraying device adopts a feeding pipe, and a nozzle is guided by the mechanical arm to spray ceramic tile glue on the ground; and the tail end is provided with a horizontal scraper plate, so that the sprayed tile glue is evenly smeared on the ground.
6. The double-robot-arm tile laying robot of claim 1, wherein: the grabbing process comprises a feedback system, the system calculates and compensates through signals of the sensor, converts compensated values into mechanical arm coordinates, transmits the mechanical arm coordinates to the control system, and performs a feedback effect to provide accurate and rapid movement of the mechanical arm.
7. The double-robot-arm tile laying robot of claim 1, wherein: the work of paving ceramic tiles by the robot comprises the following steps: firstly, according to the position and posture information calculated by a controller, sending a command to a mechanical arm to enable the mechanical arm to be close to a position to be paved; when the ceramic tile is not in contact with the ceramic tile glue on the ground, the tail end vibration device is started to enable the ceramic tile to be in full contact with the ceramic tile glue; then, while the vibration device keeps working, the controller commands a sensor detection device at the tail end of the mechanical arm to continuously detect the flatness of the ceramic tile; and after the ceramic tile is paved and compacted, disconnecting the vacuum air source.
8. The double-robot-arm tile laying robot of claim 1, wherein: the functions of the system controller include: sending and receiving signals, processing and calculating information; the overall motion planning of the robot and the action flow of the mechanical arm provide an emergency stop button and visual programming environment through a controller control panel, and meanwhile, the running state of the robot can be monitored.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910545779.8A CN112192578A (en) | 2019-06-23 | 2019-06-23 | Double-mechanical-arm ceramic tile paving and pasting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910545779.8A CN112192578A (en) | 2019-06-23 | 2019-06-23 | Double-mechanical-arm ceramic tile paving and pasting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112192578A true CN112192578A (en) | 2021-01-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910545779.8A Pending CN112192578A (en) | 2019-06-23 | 2019-06-23 | Double-mechanical-arm ceramic tile paving and pasting robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN112192578A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112647689A (en) * | 2021-01-26 | 2021-04-13 | 全凤兰 | Automatic ceramic tile grabbing and plastering robot |
| CN113719123A (en) * | 2021-09-18 | 2021-11-30 | 中印恒盛(北京)贸易有限公司 | Intelligent engineering robot suitable for modular building |
| WO2022194019A1 (en) * | 2021-03-17 | 2022-09-22 | 广东博智林机器人有限公司 | Flooring installation apparatus, device, method, and medium |
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|---|---|---|---|---|
| CN201593296U (en) * | 2009-12-29 | 2010-09-29 | 广州大学 | Manipulator for paving and pasting wall tiles |
| US20160121486A1 (en) * | 2013-05-23 | 2016-05-05 | Q-Bot Limited | Method of Covering a Surface of a Building and Robot Therefor |
| CN205290869U (en) * | 2016-01-25 | 2016-06-08 | 王凤彦 | Electric tool that tiling was used |
| CN106695741A (en) * | 2017-02-10 | 2017-05-24 | 中国东方电气集团有限公司 | Method for system state detection and initial work of mobile robot |
| US20180009000A1 (en) * | 2016-07-08 | 2018-01-11 | Macdonald, Dettwiler And Associates Inc. | System and Method for Automated Artificial Vision Guided Dispensing Viscous Fluids for Caulking and Sealing Operations |
| CN108678349A (en) * | 2018-06-21 | 2018-10-19 | 苏州龙骐自动化科技有限公司 | A kind of automatic ceramic tile fitting robot |
| CN108708560A (en) * | 2018-08-30 | 2018-10-26 | 开封大学 | Wall building machine |
| CN108942873A (en) * | 2018-09-12 | 2018-12-07 | 珠海心怡科技有限公司 | Universal indoor engineering intelligent robot |
| CN109227565A (en) * | 2018-10-23 | 2019-01-18 | 广东博智林机器人有限公司 | A kind of both arms ground tile paving robot system having all-around mobile function |
-
2019
- 2019-06-23 CN CN201910545779.8A patent/CN112192578A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201593296U (en) * | 2009-12-29 | 2010-09-29 | 广州大学 | Manipulator for paving and pasting wall tiles |
| US20160121486A1 (en) * | 2013-05-23 | 2016-05-05 | Q-Bot Limited | Method of Covering a Surface of a Building and Robot Therefor |
| CN205290869U (en) * | 2016-01-25 | 2016-06-08 | 王凤彦 | Electric tool that tiling was used |
| US20180009000A1 (en) * | 2016-07-08 | 2018-01-11 | Macdonald, Dettwiler And Associates Inc. | System and Method for Automated Artificial Vision Guided Dispensing Viscous Fluids for Caulking and Sealing Operations |
| CN106695741A (en) * | 2017-02-10 | 2017-05-24 | 中国东方电气集团有限公司 | Method for system state detection and initial work of mobile robot |
| CN108678349A (en) * | 2018-06-21 | 2018-10-19 | 苏州龙骐自动化科技有限公司 | A kind of automatic ceramic tile fitting robot |
| CN108708560A (en) * | 2018-08-30 | 2018-10-26 | 开封大学 | Wall building machine |
| CN108942873A (en) * | 2018-09-12 | 2018-12-07 | 珠海心怡科技有限公司 | Universal indoor engineering intelligent robot |
| CN109227565A (en) * | 2018-10-23 | 2019-01-18 | 广东博智林机器人有限公司 | A kind of both arms ground tile paving robot system having all-around mobile function |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112647689A (en) * | 2021-01-26 | 2021-04-13 | 全凤兰 | Automatic ceramic tile grabbing and plastering robot |
| WO2022194019A1 (en) * | 2021-03-17 | 2022-09-22 | 广东博智林机器人有限公司 | Flooring installation apparatus, device, method, and medium |
| CN113719123A (en) * | 2021-09-18 | 2021-11-30 | 中印恒盛(北京)贸易有限公司 | Intelligent engineering robot suitable for modular building |
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