CN112211418B - Tile laying robot and control method thereof - Google Patents
Tile laying robot and control method thereof Download PDFInfo
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- CN112211418B CN112211418B CN201910620541.7A CN201910620541A CN112211418B CN 112211418 B CN112211418 B CN 112211418B CN 201910620541 A CN201910620541 A CN 201910620541A CN 112211418 B CN112211418 B CN 112211418B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/20—Tools or apparatus for applying mortar
- E04G21/206—Devices to apply thin-bed mortar joints
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- Civil Engineering (AREA)
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- Road Paving Machines (AREA)
Abstract
The invention discloses a brick paving robot and a control method thereof, wherein the brick paving robot comprises a transport vehicle, a brick collecting device and a mechanical arm, the brick collecting device is arranged above a slurry storage device and used for storing brick plates to be paved, the mechanical arm is used for picking up the brick plates and placing the brick plates at a preset paving position, and the mechanical arm is connected to the top of the slurry storage device. According to the brick paving robot disclosed by the embodiment of the invention, the labor can be saved, the brick paving effect is good, and the efficiency is high.
Description
Technical Field
The invention relates to the field of construction robots, in particular to a brick paving robot and a control method thereof.
Background
In modern buildings, the laying of the brick plates is also mostly finished manually, the working strength is high, the working difficulty is high, and therefore the efficiency of building operation is low.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the brick paving robot provided by the invention can save manpower, and has good brick paving effect and high efficiency.
The invention also provides a control method of the tile paving robot.
According to the tile paving robot provided by the embodiment of the first aspect of the invention, the tile paving robot comprises a transport vehicle, a tile collecting device and a mechanical arm, wherein the tile collecting device is arranged above the transport vehicle and used for storing tile plates to be paved, the mechanical arm is used for picking up the tile plates and placing the tile plates at a preset paving position, and the mechanical arm is arranged above the transport vehicle.
According to the brick paving robot disclosed by the embodiment of the invention, the brick plates are paved and transported by the brick paving robot, so that the labor can be saved, the paving efficiency of the brick plates can be improved, meanwhile, the paving of the brick plates is completed by the brick paving robot, the paving of the brick plates can be better consistent, the paving effect of the brick plates can be improved, and the paved brick plates are more attractive.
In addition, the tile paving robot according to the invention can also have the following additional technical characteristics:
in some embodiments of the invention, the brick paving robot further comprises a slurry storage device, the slurry storage device is arranged above the transport vehicle and is used for storing and paving the adhesive, the slurry storage device comprises a slurry storage container, the slurry storage container is arranged on the transport vehicle, a containing cavity used for containing the adhesive and a discharge hole used for discharging are arranged on the slurry storage container, and the discharge hole is communicated with the containing cavity.
Optionally, the slurry storage container is arranged on the top of the transport vehicle, and a projection of the slurry storage container in a horizontal plane is located inside the projection of the transport vehicle.
Optionally, the slurry storage device further comprises a binder distribution device, the binder distribution device comprises a binder inlet and a binder outlet, the binder inlet is communicated with the discharge hole, and the binder distribution device is arranged on the outer wall of the slurry storage container.
Optionally, the binder distribution device includes a plurality of, be equipped with on the pulp storage container a plurality of the discharge gate, a plurality of binder distribution device's binder entry respectively with a plurality of the discharge gate communicates one by one.
Optionally, a plurality of the adhesive dispensing devices are respectively arranged on the outer walls of the pulp storage container in different directions.
In some embodiments of the invention, a brick collecting groove with an open top is arranged on the brick collecting device, and the brick collecting device is detachably arranged above the slurry storage device.
Optionally, the brick receiving groove comprises a plurality of brick receiving grooves, and the plurality of brick receiving grooves can accommodate the brick plates with different sizes.
Optionally, an open mouth is arranged at the top of the slurry storage container, and the brick collecting device is arranged above the open mouth and is away from the surface of the open mouth by a predetermined distance.
In some embodiments of the invention, the tile laying robot further comprises a vibration device provided on the carriage for transmitting vibration to the tile panel when the tile panel is laid at the predetermined laying position, and a guard plate provided between the vibration device and the tile panel when the vibration device transmits vibration to the tile panel.
In some embodiments of the present invention, the mechanical arm is provided with a pickup device, the pickup device includes a mounting plate, a suction cup, an image acquisition device and a laser measurement device, the mounting plate is connected to the end of the mechanical arm, the suction cup is disposed on the mounting plate and is used for sucking the tile board, the image acquisition device is disposed on the mounting plate and is at least used for acquiring images of the tile board and the predetermined laying position to obtain size information of the tile board and size information of the predetermined laying position, the laser measurement device is disposed on the mounting plate and is at least used for acquiring a vertical distance of the tile board from a plane where the predetermined laying position is located.
The invention also provides a control method of the tile laying robot for the tile laying robot of the embodiment.
The control method of the tile paving robot according to the embodiment of the invention comprises the following steps: the method comprises the steps of firstly obtaining size information of a preset laying position, obtaining size information of a brick plate, then picking up the brick plate corresponding to the size of the preset laying position, then calculating a binder laying component corresponding to the preset laying position, coating the binder towards the brick plate, and finally placing the brick plate coated with the binder at the preset laying position.
Therefore, according to the control method of the tile paving robot provided by the embodiment of the invention, the tile paving robot provided by the embodiment can be well driven, so that the tile boards can be well paved by the tile paving robot provided by the embodiment, the tile paving efficiency is high, and the tile paving effect is good.
In some examples, after the tile plate is picked up, the control method of the tile paving robot includes obtaining adhesive applying position information, and applying an adhesive to the tile plate after moving the tile plate to the adhesive applying position.
In some examples, the tile panel with the adhesive applied thereto is placed toward the predetermined laying position, and the control method of the tile laying robot includes applying a vibration force to the tile panel after moving the tile panel to a predetermined distance from the predetermined laying position, and laying the tile panel after continuing to move the tile panel to the predetermined laying position.
In some examples, the tile panel with the adhesive applied thereto is placed toward the predetermined laying position, and the control method of the tile laying robot includes detecting horizontal data and vertical data of the tile panel and finely adjusting the position of the tile panel based on the horizontal data and the vertical data.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural view of a tile paving robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a pick-up device of a tile paving robot according to an embodiment of the present invention;
fig. 3 is a schematic structural disassembly view of a transport vehicle, a slurry storage device and a brick collecting device of the brick laying robot according to the embodiment of the invention.
Reference numerals:
100: a brick paving robot;
1: a transport vehicle;
2: a slurry storage device; 21: a slurry storage container; 211: an accommodating chamber; 212: a discharge port; 22: an adhesive dispensing device; 221: an adhesive inlet; 222: an adhesive outlet;
3: a brick collecting device; 31: a brick collecting groove; 32: a connecting rod;
4: a mechanical arm;
5: a pickup device; 51: mounting a plate; 52: a suction cup; 53: an image acquisition device; 54: a laser measuring device; 55: a levelness sensor;
6: brick board.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A tile paving robot 100 according to an embodiment of the present invention is described below with reference to fig. 1-3.
As shown in fig. 1, a tile laying robot 100 according to an embodiment of the present invention includes a carriage 1, a tile collecting device 3, and a robot arm 4.
Specifically, as shown in fig. 1, the brick collecting device 3 is disposed above the transport vehicle 1 and used for storing the brick plates 6 to be laid, the robot arm 4 is used for picking up the brick plates 6 and placing the brick plates at a predetermined laying position, and the robot arm 4 is disposed above the transport vehicle 1.
That is to say, can hold brick board 6 in receiving brick device 3 to be favorable to the saving and the transportation of brick board 6, further, arm 4 all establishes the job-post at transport vechicle 1 with receiving brick device 3, and from this, transport vechicle 1 traveles and can drive and receive brick device 3 and the walking of arm 4, thereby carry brick board 6, when transport vechicle 1 traveles to the region that needs laid brick board 6, arm 4 can pick up and receive brick board 6 in the brick device 3, in order to lay brick board 6.
Therefore, according to the brick paving robot 100 provided by the embodiment of the invention, the brick plates 6 are paved and transported by the brick paving robot 100, so that the labor can be saved, the paving efficiency of the brick plates 6 can be improved, meanwhile, the paving of the brick plates 6 is completed by the brick paving robot 100, the paving of the brick plates 6 can be better consistent, the paving effect of the brick plates 6 can be improved, and the paved brick plates 6 are more attractive.
In some embodiments of the present invention, the paving robot 100 further comprises a slurry storage device 2, the slurry storage device 2 is disposed above the transporter 1 and is used for storing and paving the adhesive, that is, the slurry storage device 2 can be used for storing the adhesive, and the slurry storage device 2 can be installed above the transporter 1 in a matching manner, which can facilitate the transportation of the adhesive.
In addition, store up thick liquid device 2, receive brick device 3 and arm 4 and all establish in the top of transport vechicle 1, can make tile laying robot 100 have less volume, thereby can be favorable to carrying or transporting tile laying robot 100, and simultaneously, transport vechicle 1 can drive and store up thick liquid device 2, receive brick device 3 and arm 4 and lay brick board 6 at the optional position, thereby make tile laying robot 100 have better removal flexibility, and further, arm 4 not only can pick up and receive brick board 6 in the brick device 3, can also lay brick board 6 in the region that needs laid brick board 6, has better operation flexibility, and the practicality is stronger.
Thus, the brick paving robot 100 according to the embodiment of the invention, by arranging the slurry storage device 2 and the brick collecting device 3 on the transport vehicle 1, the tiling robot 100 can be enabled to hold and carry the adhesive and tile panels 6, through the slurry storage device 2 and robotic arm 4, the adhesive and the brick plates 6 can be laid, the adhesive will be made to cooperate with the brick plates 6, to complete the laying of the brick plates 6, therefore, the labor can be saved, the laying efficiency of the brick plates 6 can be improved, meanwhile, the adhesive and the brick plates 6 are finished by the brick laying robot 100, the adhesive and the brick plates 6 can be laid with better consistency, therefore, the effect of laying the brick plates 6 can be improved, the laid brick plates 6 are attractive, the brick laying robot 100 is small in size and good in operation flexibility, the brick laying robot 100 is convenient to carry or transport, and the brick plates 6 can be laid by the brick laying robot 100.
It should be noted that the adhesive may be coated on the brick plate 6, and then the brick plate 6 coated with the adhesive is pasted on the predetermined laying position, and of course, the adhesive may also be coated on the predetermined laying position, and then the brick plate 6 is laid corresponding to the position.
In one specific example as shown in fig. 1, the slurry storage device 2 is disposed above the transport vehicle 1, the brick collecting device 3 and the mechanical arm 4 are both mounted above the slurry storage device 2, and the mechanical arm 4 and the brick collecting device 3 are respectively adjacent to the front end and the rear end of the slurry storage device 2, but it is understood that the mechanical arm 4 and the brick collecting device 3 may be respectively adjacent to the left end and the right end of the slurry storage device 2, or the mechanical arm 4 and the brick collecting device 3 may be mounted on other structures of the brick paving robot 100, and is not limited herein. Further, the transporting carriage 1 can travel in any direction within a horizontal plane, which may refer to a plane defined by a straight line in the left-right direction and a straight line in the front-rear direction as shown in fig. 1. Therefore, the tile paving robot 100 can have better flexibility, and the tile paving robot 100 can be favorably driven to an area to be tiled.
Alternatively, the tile paving robot 100 may also be automatically replenished, and in particular, sensors (not shown) may be provided in the slurry storage device 2 and the tile collecting device 3, for example, the sensors may be gravity sensors, but of course, it is understood that other types of sensors are possible, and are not limited herein. When the sensors detect that the cement or tile panel 6 in the grout storage device 2 or the tile receiving device 3 is insufficient, the tiling robot 100 may travel to the area where the cement or tile panel 6 is replenished to replenish the cement or tile panel 6.
Further, after the brick paving robot 100 travels to the area where the adhesive or the brick plate 6 is replenished, the adhesive or the brick plate 6 may be conveyed by the robot arm 4 to replenish the adhesive or the brick plate 6 in the slurry storage device 2 or the brick receiving device 3, thereby further improving the automation capability of the brick paving robot 100 and the work efficiency of the brick paving robot 100.
Alternatively, the tiling adhesive may be comprised of cement mortar, although it is understood that the adhesive may be comprised of other materials, and is not limited thereto.
In some embodiments of the present invention, as shown in fig. 1 and 3, the slurry storage device 2 includes a slurry storage container 21, the slurry storage container 21 is disposed on the transportation vehicle 1, a containing cavity 211 for containing the adhesive and a discharge hole 212 for discharging are disposed on the slurry storage container 21, and the discharge hole 212 is communicated with the containing cavity 211. That is, the adhesive may be stored in the receiving cavity 211, and the adhesive in the receiving cavity 211 may flow out from the discharge hole 212 to apply the adhesive to the area where the adhesive is applied.
Alternatively, the pulp storage container 21 is arranged on top of the transporter 1, and the projection of the pulp storage container 21 in the horizontal plane is located inside the projection of the transporter 1. That is, the projected area of the transport vehicle 1 in the horizontal plane is larger than the projected area of the slurry storage container 21, in other words, the brick paving robot 100 has a large chassis, thereby making it possible to make the transport vehicle 1 not easily topple and also make the travel of the transport vehicle 1 stable.
In some examples of the present invention, as shown in fig. 1 and 3, the slurry storage device 2 further includes a binder dispensing device 22, the binder dispensing device 22 includes a binder inlet 221 and a binder outlet 222, the binder inlet 221 communicates with the discharge port 212, and the binder dispensing device 22 is provided on an outer wall of the slurry storage container 21. For example, as shown in fig. 1, the adhesive dispensing device 22 is provided on the front side wall of the slurry storage container 21, and the adhesive inlet 221 may be engaged with the discharge port 212 through a connection pipe, whereby the adhesive in the housing cavity 211 may enter the adhesive dispensing device 22 from the discharge port 212 and the adhesive inlet 221, and optionally, the adhesive dispensing device 22 may adjust the flow rate of the adhesive flowing out from the adhesive outlet 222, for example, when the size of the brick plate 6 is small, the flow rate of the adhesive flowing out from the adhesive outlet 222 is small, so that the adhesive may be saved, and the laying cost of the brick plate 6 may be reduced.
Further, binder distributor 22 can have a plurality of binder export 222, through a plurality of binder exports 222, can be so that binder distributor 22 lays the binder when, can lay the binder comparatively evenly to can be favorable to laying of brick board 6, also can make the binder after laying cooperate with brick board 6 better, with the brick board 6 that bonds betterly, can prevent that the phenomenon of hollowing from appearing in brick board 6, thereby improve the effect of laying of brick board 6. Further, the plurality of adhesive outlets 222 may be different in size, and thus, the flow rate of each adhesive outlet 222 may be different, so that the adhesive dispensing device 22 may apply the adhesive with different thickness according to the flatness of the floor or the size of the brick plate 6, thereby facilitating the effect of applying the brick plate 6.
Optionally, the adhesive distribution device 22 includes a plurality of discharge ports 212, the slurry storage container 21 is provided with a plurality of discharge ports 212, and the adhesive inlets 221 of the plurality of adhesive distribution devices 22 are respectively in one-to-one communication with the plurality of discharge ports 212. That is, each of the adhesive inlets 221 may be fittingly connected to one of the outlets 212, whereby the laying efficiency of the adhesive may be improved by fitting a plurality of the outlets 212 to the adhesive dispensing device 22, and thus the laying efficiency of the tile panel 6 may be improved.
Further, a plurality of adhesive dispensing devices 22 are respectively provided on the outer walls of the slurry storage container 21 in different directions. In some examples, the plurality of discharging holes 212 are uniformly distributed in the circumferential direction of the slurry storage container 21 and are all provided on the outer sidewall of the slurry storage container 21, so that the slurry storage device 2 can simultaneously lay the adhesive for a plurality of directions of the brick laying robot 100 through the adhesive distribution device 22, of course, it is understood that the plurality of discharging holes 212 may also be provided on one outer sidewall of the slurry storage container 21, for example, the plurality of discharging holes 212 may be provided on the front sidewall, the rear sidewall, the left sidewall or the right sidewall of the slurry storage container 21, and the like, which is not limited herein.
In some embodiments of the present invention, as shown in fig. 3, the brick collecting device 3 is provided with a brick collecting groove 31 with an open top, and the brick collecting device 3 is detachably arranged above the slurry storage device 2. That is to say, the brick board 6 can be put into by the top of receiving brick groove 31 and receive in the brick groove 31, sets up the opening in the top of receiving brick groove 31, can make things convenient for arm 4 to take and receive the brick board 6 in the brick groove 31, and further, receive brick device 3 and can install in the top of thick liquid storage device 2, also can dismantle from thick liquid storage device 2, can be favorable to receiving the installation and the maintenance of brick device 3 and thick liquid storage device 2 from this.
Specifically, in one example as shown in fig. 1 and 3, two connecting rods 32 may be provided between the grout storage device 2 and the brick collecting device 3, the two connecting rods 32 may be provided and respectively provided at left and right sides of the grout storage device 2 and fixed above the grout storage device 2, the connecting rods 32 and the bottom of the brick collecting groove 31 are respectively and correspondingly provided with a plurality of connecting holes, and a plurality of fasteners may be engaged with the plurality of connecting holes to fix the brick collecting device 3 above the grout storage device 2.
Optionally, the brick accommodating grooves 31 include a plurality of brick accommodating grooves 31, and the brick plates 6 with different sizes can be accommodated in the brick accommodating grooves 31, so that the brick plates 6 with different sizes can be respectively placed in the brick accommodating grooves 31, which is not only beneficial to storing the brick plates 6, but also convenient for picking up the brick plates 6.
In one example as shown in fig. 3, a brick receiving groove 31 with an open top may be provided in the brick receiving device 3, and optionally, a plurality of insertion holes may be formed in a bottom wall of the brick receiving groove 31, each insertion hole may extend in a left-right direction of the brick receiving groove 31 and may be uniformly provided in a front-back direction, the insertion holes may be detachably connected to an adjustable plate, the adjustable plate may partition areas with different sizes in the brick receiving groove 31, so as to facilitate placement of brick plates 6 with different sizes in the brick receiving groove 31, further, the adjustable plate may be provided in a plurality of numbers, the adjustable plate may partition areas with different sizes in the brick receiving groove 31, and at the same time, the adjustable plate may partition the brick plates 6 placed in different areas, so as to prevent the brick plates 6 in adjacent areas from colliding with each other and causing damage, thereby facilitating storage of the brick plates 6 and achieving high reliability, the practicability is strong.
Alternatively, an open mouth is formed at the top of the grout container 21, the adhesive can be injected into the grout container 21 through the open mouth, the brick collecting device 3 is arranged above the open mouth and is spaced from the surface of the open mouth by a predetermined distance, in the example shown in fig. 1 and 3, the brick collecting device 3 is arranged above the open mouth to cover the open mouth, impurities in the air can be prevented from entering the accommodating cavity 211 to pollute the adhesive, thereby affecting the performance of the adhesive, and the connecting rods 32 are arranged between the brick collecting device 3 and the grout container 2, the connecting rods 32 are arranged at the left and right ends of the open mouth, thereby, a spacing channel can be formed at the front and rear ends between the brick collecting device 3 and the grout container 21, the spacing channel is communicated with the open mouth, and the adhesive can be put into the accommodating cavity 211 of the grout container 21 through the spacing channel and the open mouth.
In some embodiments of the present invention, the brick laying robot 100 further includes a vibration device (not shown in the drawings), the vibration device is disposed on the transport vehicle 1, and when the brick plate 6 is laid at the predetermined laying position, the vibration device is configured to transmit vibration to the brick plate 6, that is, during the laying process of the brick plate 6, the vibration device can transmit vibration toward the brick plate 6, so that the brick plate 6 transmits vibration to the adhesive, which is not only beneficial to the brick plate 6 to be in full contact with the adhesive, thereby enabling the adhesive to better adhere the brick plate 6, but also enables the adhesive on the lower side of the brick plate 6 to be more uniform during the vibration process, thereby preventing the lower side of the brick plate 6 from generating a hollowing phenomenon, and thus improving the laying effect of the brick plate 6.
Further, the tile laying robot 100 further includes a guard plate (not shown) provided between the vibration device and the tile plate 6 when the vibration device transmits vibration to the tile plate 6. From this, when vibrating device towards brick board 6 transmission vibrations, the backplate can be better with the vibration transmission for brick board 6 can receive comparatively even vibration, thereby makes brick board 6 drive the adhesive vibration better, thereby further improves the effect of laying of brick board 6.
In some embodiments of the present invention, as shown in fig. 1 and 2, the robot arm 4 is provided with a pickup device 5, and the pickup device 5 includes a mounting plate 51, a suction cup 52, an image acquisition device 53, and a laser measuring device 54.
Specifically, the mounting plate 51 is connected to the end of the mechanical arm 4, the suction cup 52 is arranged on the mounting plate 51 and is used for sucking the brick plate 6, the image acquisition device 53 is arranged on the mounting plate 51, the image acquisition device 53 is at least used for acquiring the image of the brick plate 6 and the preset laying position so as to obtain the size information of the brick plate 6 and the size information of the preset laying position, the laser measurement device 54 is arranged on the mounting plate 51, and the laser measurement device 54 is at least used for acquiring the vertical distance between the brick plate 6 and the plane of the preset laying position.
That is, the suction cup 52, the image acquiring device 53 and the laser measuring device 54 are all mounted on the mounting plate 51, the suction cup 52, the image acquiring device 53 and the laser measuring device 54 can be preferably mounted on the robot arm 4 through the mounting plate 51, after the suction cup 52, the image acquiring device 53 and the laser measuring device 54 are mounted on the robot arm 4, the image acquiring device 53 can acquire the image of the brick plate 6 and the predetermined laying position to obtain the size information of the brick plate 6 and the size information of the predetermined laying position, and the laser measuring device 54 can acquire the vertical distance of the brick plate 6 from the plane where the predetermined laying position is located, so that the robot arm 4 can be preferably driven to lay the brick plate 6 through the image acquiring device 53 and the laser measuring device 54, and the effect of laying the brick plate 6 is good.
Further, still can be equipped with levelness sensor 55 on the mounting panel 51, levelness sensor 55 can measure the levelness data of brick board 6 to lay brick board 6 better, the reliability is high, and practical function is good.
Alternatively, the robot arm 4 may be a six-axis robot arm, whereby the robot arm 4 may be better driven to move the picking means 5 in space, thereby better picking or laying the tile panel 6.
The present invention also proposes a control method of the tile paving robot 100 for the tile paving robot 100 of the above-described embodiment.
The control method of the tile paving robot 100 according to the embodiment of the present invention includes the steps of: first, size information of a predetermined laying position is acquired, size information of the brick plate 6 is acquired, then the brick plate 6 corresponding to the size of the predetermined laying position is picked up, then a binder laying component corresponding to the predetermined laying position is calculated, and the binder is applied toward the brick plate 6, and finally the brick plate 6 applied with the binder is placed at the predetermined laying position.
That is, the brick paving robot 100 can move to the area where the brick plates 6 need to be paved through the transport vehicle 1, then the mechanical arm 4 can drive the pickup device 5 to move in the space, during the movement of the pickup device 5 in the space, the image acquisition device 53 can acquire the dimension information of the predetermined paving position, specifically, the image acquisition device 53 can acquire the position information where the brick plates 6 are paved and the dimension information where the brick plates 6 need to be paved, then the mechanical arm 4 drives the pickup device 5 to move above the brick receiving device 3, the image acquisition device 53 can acquire the dimension information of the brick plates 6 in the brick receiving groove 31, and then by comparing with the acquired dimension information where the brick plates 6 need to be paved, so that the pickup device 5 can pick up the brick plates 6 of the corresponding dimension through the suction cups 52, after the pickup device 5 picks up the brick plates 6, the mechanical arm 4 can drive the pickup device 5, to convey the brick plate 6 to the position of the adhesive outlet 222, the mortar store 2 may apply the adhesive to the brick plate 6 by the adhesive dispensing device 22, and finally, the robot arm 4 conveys the brick plate 6 to above the area where the brick plate 6 is to be laid, the vertical distance of the brick plate 6 from the plane where the predetermined laying position is located, as measured by the laser measuring device 54, and the vertical distance of the brick plate 6 from the image acquisition device 53 side
Therefore, according to the control method of the tile paving robot 100 of the embodiment of the invention, the tile paving robot 100 of the embodiment can be well driven, so that the tile boards 6 can be well paved by the tile paving robot 100 of the embodiment, the tile paving efficiency is high, and the tile paving effect is good.
In some examples of the invention, the control method of the tile laying robot 100 includes acquiring the adhesive application position information after picking up the tile 6, and applying the adhesive to the tile 6 after moving the tile 6 to the adhesive application position. That is, after the picking device 5 picks up the brick plate 6, the tile laying robot 100 may calculate the amount of adhesive to be laid for the picked brick plate 6, and the adhesive dispensing device 22 corresponding to the brick plate 6, the robot arm 4 may drive the picking device 5 to carry the brick plate 6 to the position of the adhesive outlet 222, and the grout storage device 2 may apply the adhesive on the brick plate 6 through the adhesive dispensing device 22.
In some examples of the present invention, in which the tile plate 6 applied with the adhesive is placed toward a predetermined laying position, the control method of the tile laying robot 100 includes: after moving the brick plate 6 to a predetermined distance from a predetermined laying position, applying a vibration force to the brick plate 6, and after continuing to move the brick plate 6 to the predetermined laying position, laying the brick plate 6. That is, after the adhesive is applied to the brick plate 6, the robot arm 4 may drive the pickup device 5 to carry the brick plate 6 to the predetermined laying position, and when the brick plate 6 moves toward the predetermined laying position, and after a distance between the brick plate 6 and the predetermined laying position satisfies the predetermined distance, the vibration device may apply a vibration force to the brick plate 6 to vibrate the brick plate 6, so that the adhesive is repeatedly pressed and stirred before the brick plate 6 and the predetermined laying position, not only air in the adhesive may be discharged, but also impurities such as hard lumps in the adhesive may be crushed, so that the adhesive may be more uniform, and thus the brick plate may be better adhered to the predetermined laying position.
In some examples of the present invention, the tile panel 6 applied with the adhesive is placed toward a predetermined laying position, and the control method of the tile laying robot 100 includes detecting horizontal data and vertical data of the tile panel 6 and finely adjusting the position of the tile panel 6 according to the horizontal data and the vertical data. That is, the horizontal data and the vertical data of the brick plate 6 can be measured by the laser measuring device 54 and the image obtaining device 53, and the brick paving robot 100 can finely adjust the brick plate 6 by the obtained horizontal data and the obtained vertical data, so that the paving effect of the brick plate 6 can be improved.
Optionally, the quantity information of the brick plates 6 to be laid can be calculated by obtaining the size of the predetermined laying position, and by obtaining the quantity information of the brick plates 6, the brick plates 6 in the brick collecting device 3 can be supplemented with a corresponding quantity of brick plates 6 after the use of the brick plates 6, so as to improve the laying efficiency of the brick plates 6. Further, a display screen may be provided on the brick paving robot 100 to display the number of the brick plates 6 already laid and the number of the brick plates 6 to be laid, so as to facilitate manual operation of the brick paving robot 100 by an operator.
Other constructions and operations of the tile paving robot 100 according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," "optionally," "further," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (12)
1. A tile paving robot, comprising:
a transport vehicle;
the brick collecting device is arranged above the transport vehicle and used for storing brick plates to be laid;
the mechanical arm is used for picking up the brick plates and placing the brick plates at a preset laying position, and the mechanical arm is arranged above the transport vehicle;
store up thick liquid device, it locates to store up thick liquid device the top of transport vechicle just is used for storing and laying the binder, it includes to store up thick liquid device: the slurry storage container is arranged on the transport vehicle, a containing cavity for containing the binder and a discharge port for discharging are arranged on the slurry storage container, the discharge port is communicated with the containing cavity, a brick receiving groove with an open top is arranged on the brick receiving device, the brick receiving device is detachably arranged above the slurry storage device, the binder distribution device comprises a binder inlet and a binder outlet, the binder inlet is communicated with the discharge port, the binder distribution device is arranged on the outer wall of the slurry storage container, wherein,
the robotic arm for picking up the tile panel and placing in a predetermined paving location comprises: the robot arm is adapted to move to the adhesive outlet after picking up the tile panel, the adhesive dispensing device is adapted to apply adhesive to the tile panel, and the robot arm is adapted to place the adhesive-applied tile panel at the predetermined laying position.
2. A tile laying robot as claimed in claim 1, wherein the grout container is provided on top of the transport carriage and the projection of the grout container in a horizontal plane is located inside the projection of the transport carriage.
3. The tile paving robot as claimed in claim 1, wherein the adhesive dispensing device comprises a plurality of adhesive dispensing devices, the slurry storage container is provided with a plurality of discharge ports, and the adhesive inlets of the adhesive dispensing devices are respectively communicated with the discharge ports one by one.
4. A tile laying robot according to claim 3, wherein a plurality of said adhesive dispensing devices are respectively provided on differently oriented outer walls of said slurry storage container.
5. A tile laying robot as claimed in claim 1, wherein the tile receiving slot comprises a plurality and the plurality of the tile receiving slots can accommodate different sizes of the tile panels.
6. The tile paving robot as claimed in claim 1, wherein an open mouth is provided at the top of the slurry storage container, and the tile collecting device is provided above the open mouth at a predetermined distance from the surface of the open mouth.
7. The tile paving robot of claim 1, further comprising:
the vibration device is arranged on the transport vehicle and is used for transmitting vibration to the brick plate when the brick plate is laid at the preset laying position;
the protective plate is arranged between the vibrating device and the brick plate when the vibrating device transmits vibration to the brick plate.
8. A tile laying robot according to claim 1, wherein the robotic arm is provided with a pick-up device, the pick-up device comprising:
the mounting plate is connected to the tail end of the mechanical arm;
the sucker is arranged on the mounting plate and is used for sucking the brick plate;
the image acquisition device is arranged on the mounting plate and at least used for acquiring images of the brick plate and the preset laying position so as to obtain the size information of the brick plate and the size information of the preset laying position;
the laser measuring device is arranged on the mounting plate and at least used for obtaining the vertical distance between the brick plate and the plane where the preset laying position is located.
9. A method of controlling a tile laying robot according to any of claims 1-8, characterized by the steps of:
acquiring size information of the preset laying position;
acquiring the size information of the brick plate;
picking up the tile corresponding to the dimensions of the predetermined laying position;
calculating a binder layup component corresponding to the predetermined layup location;
and applying an adhesive toward the tile panel;
placing the tile panel coated with the adhesive at the predetermined laying position.
10. The method of controlling a tile paving robot according to claim 9, wherein after picking up the tile board, comprising:
and acquiring the binder smearing position information, and smearing the binder on the brick board after moving the brick board to the binder smearing position.
11. The method of controlling a tile laying robot according to claim 9, wherein placing the tile panel with adhesive applied thereto toward the predetermined laying position comprises:
after moving the brick plate to a preset distance away from the preset laying position, applying vibration force to the brick plate;
and after the brick plate is continuously moved to the preset laying position, laying the brick plate.
12. A control method of a tile laying robot according to claim 9 or 11, wherein placing said tile plate with adhesive applied thereto towards said predetermined laying position comprises:
and detecting horizontal data and vertical data of the brick plate, and finely adjusting the position of the brick plate according to the horizontal data and the vertical data.
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| CN201910620541.7A CN112211418B (en) | 2019-07-10 | 2019-07-10 | Tile laying robot and control method thereof |
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| CN201910620541.7A CN112211418B (en) | 2019-07-10 | 2019-07-10 | Tile laying robot and control method thereof |
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| CN112211418B true CN112211418B (en) | 2022-03-11 |
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| CN112854781B (en) * | 2021-01-14 | 2022-06-17 | 湖南天禹建设有限公司 | Building construction equipment and construction method |
| CN115305099B (en) * | 2022-08-04 | 2023-07-18 | 中国一冶集团有限公司 | Coke oven body masonry system |
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| DE202013000076U1 (en) * | 2013-01-03 | 2013-01-31 | Axel Müller | Tiling equipment |
| CN108222455A (en) * | 2017-09-12 | 2018-06-29 | 菏泽学院 | A kind of automation brick paving machine |
| CN207974489U (en) * | 2017-12-25 | 2018-10-16 | 华南农业大学珠江学院 | One kind being intelligently laid with floor tile machine based on PLC |
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| ITCH20030002A1 (en) * | 2003-02-19 | 2004-08-20 | Di Gi Costruzioni Meccaniche S R L | AUTOMATIC MACHINE FOR INSTALLATION AND FINISHING OF FLOORS OF ANY KIND: TILES, CERAMICS, TERRACOTTA, CONCRETE AND SIMILAR MATERIALS. |
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| DE202013000076U1 (en) * | 2013-01-03 | 2013-01-31 | Axel Müller | Tiling equipment |
| CN108222455A (en) * | 2017-09-12 | 2018-06-29 | 菏泽学院 | A kind of automation brick paving machine |
| CN207974489U (en) * | 2017-12-25 | 2018-10-16 | 华南农业大学珠江学院 | One kind being intelligently laid with floor tile machine based on PLC |
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