CN112647689B - Automatic ceramic tile grabbing and plastering robot - Google Patents
Automatic ceramic tile grabbing and plastering robot Download PDFInfo
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- CN112647689B CN112647689B CN202110103372.7A CN202110103372A CN112647689B CN 112647689 B CN112647689 B CN 112647689B CN 202110103372 A CN202110103372 A CN 202110103372A CN 112647689 B CN112647689 B CN 112647689B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/023—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls for applying adhesive, e.g. glue or mortar, on the covering elements, in particular tiles
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Abstract
The invention provides an automatic tile grabbing and plastering robot which can be divided into a mechanical arm, a three-translation execution part and a rack part, wherein the tail end of the mechanical arm is a special sucker to grasp the smooth surface of a tile, the three-translation execution part can quickly and flexibly realize plastering and edge plastering operations, a worker can directly paste the tile after taking the tile off the robot, the problems of physical consumption and muscle strain of the worker caused by the tile supporting and plastering process can be effectively reduced, and the decoration construction efficiency is improved.
Description
Technical Field
The invention relates to the technical field of interior decoration robots, in particular to an automatic ceramic tile grabbing and plastering robot.
Background
With the decoration of new buildings and the refitting of old buildings, the most tiles are used for indoor decoration, a large amount of tile pasting work is required for workers in conventional operation, physical strength is consumed in one process of the work, shoulder muscle strain possibly occurs after a long time, namely, the adhesive is smeared on the back of the tiles, the workers need to hold the tiles with one hand and plaster with the other hand, and after the subsequent pasting work, the workers can quickly fatigue and the work efficiency is reduced;
therefore, in order to improve the efficiency of plastering ceramic tiles and reduce the labor intensity of workers, the invention of a robot capable of automatically grabbing and plastering ceramic tiles is urgently needed to solve the problems.
Disclosure of Invention
Aiming at the problems, the invention provides an automatic ceramic tile grabbing and plastering robot, which grabs a ceramic tile through a connecting rod mechanical arm and adopts a three-translation rectangular coordinate system to simulate and realize a plastering process.
The technical scheme adopted by the invention is as follows: an automatic ceramic tile grabbing and plastering robot comprises a mechanical arm, a three-translation execution part, a rack part and a controller; the mechanical arm, the three-translation executing part and the controller are all arranged on the rack part, and the controller controls the mechanical arm, the three-translation executing part and the rack part to move;
the mechanical arm comprises a first-stage hydraulic cylinder, a first-stage connecting rod, a second-stage hydraulic cylinder, a second-stage connecting rod, a third-stage hydraulic cylinder, a supporting plate, suckers, air guide pipes and electromagnetic valves, wherein one end of the first-stage hydraulic cylinder is hinged with the frame, the other end of the first-stage hydraulic cylinder is hinged with the first-stage connecting rod, the lower end of the first-stage connecting rod is hinged with the frame, the upper end of the first-stage connecting rod is hinged with the lower end of the second-stage connecting rod, one end of the second-stage hydraulic cylinder is hinged with the first-stage connecting rod, the other end of the second-stage connecting rod is hinged with the second-stage connecting rod, the upper end of the second-stage connecting rod is hinged with the supporting plate, one end of the third-stage hydraulic cylinder is hinged with the second-stage connecting rod, the other end of the third-stage hydraulic cylinder is hinged with the supporting plate, the suckers are fixedly connected with the top of the supporting plate, the air guide pipes are totally 4, one ends of the air guide pipes are fixedly connected with an air guide hole at the root of the suckers, and the other ends of the electromagnetic valves correspond to an interface, the electromagnetic valve is fixedly connected with the supporting plate and controls the air guide hole to be opened and closed.
Furthermore, the rack part comprises a rack, a driving wheel, a direct drive motor, an adhesive storage box, an input pipe, a small pump, an output pipe orifice, a driven wheel, a rubber platform and a longitudinal guide rail, wherein the driving wheel is fixedly connected with a direct drive motor shaft, the direct drive motor is fixedly connected with the rack, the adhesive storage box is fixedly connected with the tail part of the rack, one end of the input pipe is fixedly connected with the bottom of the adhesive storage box, the other end of the input pipe is fixedly connected with an input port of the small pump, the driven wheel is hinged with the bottom of the front end of the rack, the rubber platform is fixedly connected with the rack, and the longitudinal guide rail is fixedly connected with the top end of the rack;
further, the three-translation executing part comprises a longitudinal sliding platform, a first driving gear, a first stepping motor, a transverse guide rail, a transverse sliding platform, a third stepping motor, a reversing driving gear, a reversing driven gear, a reversing disc, a chute, an upper rack, a third driving gear, a lower rack, a first electric cylinder, a first guide sleeve, a first guide rod, a cross rod, a second guide sleeve, a second guide rod, a second stepping motor, a second driving gear, a third guide rod, a second electric cylinder, a fourth stepping motor, a third guide sleeve, a first spring, a first troweling plate, a target detection camera, an adhesive output pipe, a second troweling plate and a second spring, wherein the longitudinal sliding platform is connected with the longitudinal guide rail in a sliding manner through a specially-made I-shaped groove, the first driving gear is fixedly connected with a shaft of the first stepping motor, the first stepping motor is fixedly connected with the longitudinal sliding platform, the transverse guide rail is fixedly connected with the bottom of the longitudinal sliding platform, the transverse sliding platform is connected with the transverse guide rail in a sliding manner through a specially-made I-shaped groove, the third stepping motor is fixedly connected with the transverse sliding platform, the reversing driving gear is fixedly connected with a third stepping motor shaft, the reversing driven gear is fixedly connected with a reversing disc, the reversing disc is connected with the bottom of the transverse sliding platform through a radial bearing, the sliding chute is fixedly connected with a third guide sleeve, the upper rack is slidably connected with the upper part of the sliding chute, the third driving gear is fixedly connected with a fourth stepping motor shaft, the lower rack is slidably connected with the lower part of the sliding chute, one end of a first electric cylinder is fixedly connected with the bottom of the sliding chute, the other end of the first electric cylinder is fixedly connected with the middle part of the cross rod, the first guide sleeve is fixedly connected with the end part of the lower rack, and the first guide rod is slidably connected with the first guide sleeve, the bottom end of the first guide rod is also provided with a guide sleeve, a cross rod is connected with the guide sleeve at the bottom end of the first guide rod in a sliding manner, the second guide sleeve is fixedly connected with the end part of the upper rack, the second guide rod is connected with the second guide sleeve in a sliding manner, the bottom end of the second guide rod is also provided with a guide sleeve, the cross rod is connected with the guide sleeve at the bottom end of the second guide rod in a sliding manner, the second stepping motor is fixedly connected with the transverse sliding platform, the second driving gear is fixedly connected with a shaft of the second stepping motor, the third guide rod is fixedly connected with the bottom part of the reversing disc, one end of the second electric cylinder is fixedly connected with the third guide rod, the other end of the second electric cylinder is fixedly connected with the third guide sleeve, the fourth stepping motor is fixedly connected with the third guide sleeve, the third guide sleeve is fixedly connected with the third guide rod, one end of the first spring is fixedly connected with the bottom part of the second guide rod, and the other end of the first floating plate is fixedly connected with the upper part of the first floating plate, the first troweling plate is hinged to the bottom of the second guide rod, the target detection camera is fixedly connected to the bottom of the third guide sleeve, the adhesive output pipe is fixedly connected to the side face of the third guide sleeve, the tail end of the adhesive output pipe is connected to the output pipe opening of the miniature pump through a special hose, one end of the second spring is fixedly connected to the bottom of the first guide rod, the other end of the second spring is fixedly connected to the upper portion of the second troweling plate, and the second troweling plate is hinged to the bottom of the first guide rod.
Due to the adoption of the technical scheme, the invention has the following advantages:
the ceramic tile grabbing device adopts a multi-sucker structure, automatically grabs the ceramic tile, and is rapid and safe; automatic plastering is performed through the three-translation execution part, and the plastering is rapid and uniform; therefore, the manual brick supporting and plastering mode is replaced, workers can be helped to save a lot of physical power, the plastering efficiency is improved, and the overall quality and efficiency of the decoration project are ensured.
Drawings
Fig. 1 is an overall schematic view of the present invention.
FIG. 2 is a schematic view of a robotic arm according to the present invention.
Fig. 3 is a schematic view of a portion of a housing of the present invention.
Fig. 4 and 5 are schematic views of a three-translation executing part of the present invention.
Reference numerals: 101-first-stage hydraulic cylinder; 102-a primary connecting rod; 103-a secondary hydraulic cylinder; 104-a secondary link; 105-a three-level hydraulic cylinder; 106-a support plate; 107-suction cup; 108-an airway; 109-an electromagnetic valve; 201-a frame; 202-a drive wheel; 203-direct drive motor; 204-adhesive storage case; 205-an input tube; 206-a mini-pump; 207-output spout; 208-a driven wheel; 209-rubber platform; 210-longitudinal guide rails; 301-longitudinal sliding platform; 302-a first drive gear; 303-a first stepper motor; 304-a transverse rail; 305-a lateral sliding platform; 306-a third stepper motor; 307-a reversing driving gear; 308-a reversing driven gear; 309-a reversing disc; 310-a chute; 311-upper rack; 312-a third drive gear; 313-lower rack; 314-a first electric cylinder; 315-first guide sleeve; 316-first guide bar; 317-a cross bar; 318-second guide sleeve; 319-second guide bar; 320 a second stepper motor; 321-a second driving gear; 322-a third guide bar; 323-a second electric cylinder; 324-a fourth stepper motor; 325-third guide sleeve; 326-a first spring; 327-a first troweling plate; 328-target detection camera; 329-adhesive delivery pipe; 330-second troweling plate; 331-second spring.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Embodiment as shown in fig. 1, 2, 3, 4 and 5, an automatic tile grabbing and plastering robot is divided into a mechanical arm, a three-translation executing part rack part and a controller; the mechanical arm, the three-translation executing part and the controller are all arranged on the rack part, and the controller controls the mechanical arm, the three-translation executing part and the rack part to move; a touch operation display screen is arranged on the controller, the interior of the controller is automatically controlled through a PLC program, and a user inputs related instruction information through the touch operation display screen;
the mechanical arm comprises a first-stage hydraulic cylinder 101, a first-stage connecting rod 102, a second-stage hydraulic cylinder 103, a second-stage connecting rod 104, a third-stage hydraulic cylinder 105, a supporting plate 106, a sucker 107, an air guide pipe 108 and an electromagnetic valve 109, wherein one end of the first-stage hydraulic cylinder 101 is hinged with the frame 201, the other end of the first-stage hydraulic cylinder is hinged with the first-stage connecting rod 102, the lower end of the first-stage connecting rod 102 is hinged with the frame 201, the upper end of the first-stage connecting rod 102 is hinged with the lower end of the second-stage connecting rod 104, one end of the second-stage connecting rod 103 is hinged with the first-stage connecting rod 102, the other end of the second-stage connecting rod 104 is hinged with the supporting plate 106, one end of the third-stage hydraulic cylinder 105 is hinged with the supporting plate 106, the suckers 107 are totally 4 and are fixedly connected with the top of the supporting plate 106, the air guide pipes 108 are totally 4, one ends of the suckers are fixedly connected with an air guide hole at the root of the sucker 107, and the other end of the electromagnetic valve 109 is fixedly connected with a corresponding interface in the middle, the electromagnetic valve 109 is fixedly connected with the support plate 106, and the electromagnetic valve 109 controls the opening and closing of the air guide hole;
the front end of the robot is provided with a mechanical arm with a specific sucker 107, before the robot works, tiles are adjacently and obliquely placed on the ground, the smooth surfaces of the tiles face the front end of the robot, and the tail direct drive motor 203 drives the robot to automatically advance to a position in front of the first tile by a certain distance; first pneumatic cylinder 101 and the extension of second pneumatic cylinder 103 control arm, the angle of the terminal sucking disc 107 of third pneumatic cylinder 105 cooperation control, solenoid valve 109 control air duct 108 open mode this moment, and when sucking disc 107 compressed tightly the ceramic tile, solenoid valve 109 control air duct 108 closed, and then held the ceramic tile, withdraws the arm again and puts the ceramic tile on rubber platform 209.
In an optional implementation manner of the embodiment of the present invention, except for the same structure as that of the above embodiment, the frame part includes a frame 201, a driving wheel 202, a direct drive motor 203, an adhesive storage tank 204, an input pipe 205, a small pump 206, an output port 207, a driven wheel 208, a rubber platform 209, and a longitudinal guide rail 210, the driving wheel 202 is fixedly connected with the shaft of the direct drive motor 203, the direct drive motor 203 is fixedly connected with the frame 201, the adhesive storage tank 204 is fixedly connected with the tail of the frame 201, one end of the input pipe 205 is fixedly connected with the bottom of the adhesive storage tank 204, the other end thereof is fixedly connected with the input port of the small pump 206, the driven wheel 208 is hinged with the bottom of the front end of the frame 201, the rubber platform 209 is fixedly connected with the frame 201, and the longitudinal guide rail 210 is fixedly connected with the top end of the frame 201;
the three translation executing parts comprise a longitudinal sliding platform 301, a first driving gear 302, a first stepping motor 303, a transverse guide rail 304, a transverse sliding platform 305, a third stepping motor 306, a reversing driving gear 307, a reversing driven gear 308, a reversing disc 309, a sliding chute 310, an upper rack 311, a third driving gear 312, a lower rack 313, a first electric cylinder 314, a first guide sleeve 315, a first guide rod 316, a cross rod 317, a second guide sleeve 318 and a second guide rod 319; a second step motor 320, a second driving gear 321, a third guide rod 322, a second electric cylinder 323, a fourth step motor 324, a third guide sleeve 325, a first spring 326, a first troweling plate 327, a target detection camera 328, an adhesive output pipe 329, a second troweling plate 330 and a second spring 331, wherein the longitudinal sliding platform 301 is connected with the longitudinal guide rail 210 in a sliding manner through a specially-made I-shaped groove, the first driving gear 302 is fixedly connected with a first step motor 303 shaft, the first step motor 303 is fixedly connected with the longitudinal sliding platform 301, the transverse guide rail 304 is fixedly connected with the bottom of the longitudinal sliding platform 301, the transverse sliding platform 305 is connected with the transverse guide rail 304 in a sliding manner through a specially-made I-shaped groove, the third step motor 306 is fixedly connected with the transverse sliding platform 305, a reversing driving gear 307 is fixedly connected with a third step motor 306 shaft, a reversing driven gear 308 is fixedly connected with a reversing disc 309, the reversing disc 309 is connected with the bottom of the transverse sliding platform 305 through a radial bearing, the sliding chute 310 is fixedly connected with a third guide sleeve 325, the upper rack 311 is slidably connected with the upper part of the sliding chute 310, the third driving gear 312 is fixedly connected with a shaft of a fourth stepping motor 324, the lower rack 313 is slidably connected with the lower part of the sliding chute 310, one end of the first electric cylinder 314 is fixedly connected with the bottom of the sliding chute 310, the other end of the first electric cylinder is fixedly connected with the middle part of a cross bar 317, a first guide sleeve 315 is fixedly connected with the end part of the lower rack 313, a first guide rod 316 is slidably connected with the first guide sleeve 315, the bottom end of the first guide rod is also a guide sleeve, the cross bar 317 is slidably connected with the guide sleeve at the bottom end of the first guide rod 316, a second guide sleeve 318 is fixedly connected with the end part of the upper rack 311, a second guide rod 319 is slidably connected with the second guide sleeve 318, the bottom end of the guide sleeve is also a guide sleeve, the cross bar 317 is slidably connected with the guide sleeve at the bottom end of the second guide rod 319, a second stepping motor 320 is fixedly connected with a transverse sliding platform 305, a second driving gear 321 is fixedly connected with a second stepping motor 320, a third guide rod 325 is fixedly connected with the bottom of the reversing disc 309, one end of a second electric cylinder 323 is fixedly connected with a third guide rod 322, the other end is fixedly connected with a third guide sleeve 325, a fourth stepping motor 324 is fixedly connected with the third guide sleeve 325, the third guide sleeve 325 is fixedly connected with a third guide rod 322, one end of a first spring 326 is fixedly connected with the bottom of a second guide rod 319, the other end is fixedly connected with the upper part of a first floating plate 327, the first floating plate 327 is hinged with the bottom of a second guide rod 319, a target detection camera 328 is fixedly connected with the bottom of a third guide sleeve 325, an adhesive output pipe 329 is fixedly connected with the side surface of the third guide sleeve 325, the tail end of the first spring 331 is connected with the output pipe port 207 of the small pump through a special hose, one end of the second spring 331 is fixedly connected with the bottom of the first guide rod 316, the other end of the first troweling plate is fixedly connected with the upper part of a second troweling plate 330, and the second troweling plate 330 is hinged with the bottom 316 of the first guide rod;
the three translation executing part determines the corner position of the tile through a target detection camera 328, and controls an adhesive output nozzle 329 to start along one side from one corner of the tile at a certain height by driving a first stepping motor 303, a second stepping motor 320 and a second electric cylinder 303 thereon so as to plaster in an intensive S shape; after plastering is finished, the fourth stepping motor 324 drives the upper rack 311 and the lower rack 313 to adjust the distance between the first plastering plate 327 and the second plastering plate 330 to adapt to the side length of a ceramic tile, and then the plane positions and the heights of the two plastering plates are adjusted to reach the other side from one side; then the third stepper motor 306 rotates the end 90 °, floating the other two sides in the same process; then the electromagnetic valve 109 is opened, the worker can take away the ceramic tile for use, and the worker automatically performs the ash beating work of the next ceramic tile after taking away the ceramic tile.
In the description above, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be embodied in many different forms other than those described herein, and it will be apparent to those skilled in the art that similar modifications may be made without departing from the spirit of the invention, and therefore the invention is not limited to the specific embodiments disclosed above.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to 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.
Claims (1)
1. The utility model provides an automatic ceramic tile snatchs makes grey robot which characterized in that includes: a robot arm, a three-translation performing part, a rack part, and a controller; the mechanical arm, the three-translation executing part and the controller are all arranged on the rack part, and the controller controls the mechanical arm, the three-translation executing part and the rack part to move;
the robot arm includes: the device comprises a primary hydraulic cylinder (101), a primary connecting rod (102), a secondary hydraulic cylinder (103), a secondary connecting rod (104), a tertiary hydraulic cylinder (105), a supporting plate (106), a suction cup (107), an air duct (108) and an electromagnetic valve (109);
one end of the first-stage hydraulic cylinder (101) is hinged with the frame (201), the other end of the first-stage hydraulic cylinder is hinged with the first-stage connecting rod (102), the lower end of the first-stage connecting rod (102) is hinged with the frame (201), the upper end of the first-stage connecting rod is hinged with the lower end of the second-stage connecting rod (104), one end of the second-stage hydraulic cylinder (103) is hinged with the first-stage connecting rod (102), the other end of the second-stage connecting rod is hinged with the second-stage connecting rod (104), the upper end of the second-stage connecting rod (104) is hinged with the supporting plate (106), one end of the third-stage hydraulic cylinder (105) is hinged with the second-stage connecting rod (104), the other end of the third-stage hydraulic cylinder is hinged with the supporting plate (106), 4 suckers (107) are fixedly connected with the top of the supporting plate (106), 4 air guide pipes (108) are fixedly connected with the air guide holes at the root of the suckers (107), and the other ends of the air guide pipes are fixedly connected with corresponding interfaces of the middle electromagnetic valve (109), the electromagnetic valve (109) is fixedly connected with the support plate (106), and the electromagnetic valve (109) controls the air guide hole to be opened and closed;
the frame part includes: the device comprises a rack (201), a driving wheel (202), a direct drive motor (203), an adhesive storage box (204), an input pipe (205), a small pump (206), an output pipe opening (207), a driven wheel (208), a rubber platform (209) and a longitudinal guide rail (210);
the driving wheel (202) is fixedly connected with a shaft of a direct drive motor (203), the direct drive motor (203) is fixedly connected with a rack (201), the adhesive storage box (204) is fixedly connected with the tail of the rack (201), one end of an input pipe (205) is fixedly connected with the bottom of the adhesive storage box (204), the other end of the input pipe is fixedly connected with an input port of a small pump (206), a driven wheel (208) is hinged with the bottom of the front end of the rack (201), a rubber platform (209) is fixedly connected with the rack (201), and a longitudinal guide rail (210) is fixedly connected with the top end of the rack (201);
the three-translation performing part includes: the device comprises a longitudinal sliding platform (301), a first driving gear (302), a first stepping motor (303), a transverse guide rail (304), a transverse sliding platform (305), a third stepping motor (306), a reversing driving gear (307), a reversing driven gear (308), a reversing disc (309), a sliding chute (310), an upper rack (311), a third driving gear (312), a lower rack (313), a first electric cylinder (314), a first guide sleeve (315), a first guide rod (316), a cross rod (317), a second guide sleeve (318) and a second guide rod (319); the device comprises a second stepping motor (320), a second driving gear (321), a third guide rod (322), a second electric cylinder (323), a fourth stepping motor (324), a third guide sleeve (325), a first spring (326), a first troweling plate (327), a target detection camera (328), an adhesive output pipe (329), a second troweling plate (330) and a second spring (331);
the longitudinal sliding platform (301) is connected with a longitudinal guide rail (210) in a sliding mode through a specially-made I-shaped groove, the first driving gear (302) is fixedly connected with a shaft of the first stepping motor (303), the first stepping motor (303) is fixedly connected with the longitudinal sliding platform (301), the transverse guide rail (304) is fixedly connected with the bottom of the longitudinal sliding platform (301), the transverse sliding platform (305) is connected with the transverse guide rail (304) in a sliding mode through a specially-made I-shaped groove, the third stepping motor (306) is fixedly connected with the transverse sliding platform (305), the reversing driving gear (307) is fixedly connected with a shaft of the third stepping motor (306), the reversing driven gear (308) is fixedly connected with the reversing disc (309), and the reversing disc (309) is connected with the bottom of the transverse sliding platform (305) through a radial bearing, the sliding chute (310) is fixedly connected with a third guide sleeve (325), the upper rack (311) is slidably connected with the upper part of the sliding chute (310), the third driving gear (312) is fixedly connected with a fourth stepping motor (324), the lower rack (313) is slidably connected with the lower part of the sliding chute (310), one end of the first electric cylinder (314) is fixedly connected with the bottom of the sliding chute (310), the other end of the first electric cylinder is fixedly connected with the middle part of a cross rod (317), the first guide sleeve (315) is fixedly connected with the end part of the lower rack (313), the first guide rod (316) is slidably connected with the first guide sleeve (315), the bottom end of the first guide rod is also provided with a guide sleeve, the cross rod (317) is slidably connected with the guide sleeve at the bottom end of the first guide rod (316), the second guide sleeve (318) is fixedly connected with the end part of the upper rack (311), and the second guide rod (319) is slidably connected with the second guide sleeve (318), the bottom end of the transverse rod is also provided with a guide sleeve, the transverse rod (317) is connected with the guide sleeve at the bottom end of a second guide rod (319) in a sliding manner, a second stepping motor (320) is fixedly connected with a transverse sliding platform (305), a second driving gear (321) is fixedly connected with a shaft of the second stepping motor (320), a third guide rod (322) is fixedly connected with the bottom of a reversing disc (309), one end of a second electric cylinder (323) is fixedly connected with the third guide rod (322), the other end of the second electric cylinder is fixedly connected with a third guide sleeve (325), a fourth stepping motor (324) is fixedly connected with the third guide sleeve (325), the third guide sleeve (325) is fixedly connected with the third guide rod (322), one end of a first spring (326) is fixedly connected with the bottom of the second guide rod (319), the other end of the first spring is fixedly connected with the upper part of a first floating plate (327), and the first floating plate (327) is hinged with the bottom of the second guide rod (319), the target detection camera (328) is fixedly connected with the bottom of the third guide sleeve (325), the adhesive output pipe (329) is fixedly connected with the side face of the third guide sleeve (325), the tail end of the adhesive output pipe is connected with an output pipe port (207) of the small pump through a special hose, one end of the second spring (331) is fixedly connected with the bottom of the first guide rod (316), the other end of the second spring is fixedly connected with the upper part of the second troweling plate (330), and the second troweling plate (330) is hinged with the bottom of the first guide rod (316);
before working, tiles are adjacently and obliquely placed on the ground, the smooth surfaces of the tiles face the front end of the robot, and a tail direct drive motor (203) of the rack part drives the robot to automatically advance to a position in front of the first tile by a certain distance; the first hydraulic cylinder (101) and the second hydraulic cylinder (103) control the extension of the mechanical arm, the third hydraulic cylinder (105) is matched with the angle of the tail-end sucker (107), the electromagnetic valve (109) controls the opening state of the air guide pipe (108), when the sucker (107) compresses the ceramic tile, the electromagnetic valve (109) controls the air guide pipe (108) to be closed, the ceramic tile is further sucked, and then the mechanical arm is retracted to place the ceramic tile on a rubber platform (209) of the rack part; and then the three-translation execution part automatically plasters the tiles, after plastering is finished, the electromagnetic valve (109) is opened, a worker can take away the tiles for use, and after taking away the electromagnetic valve, the worker automatically plasters the next tile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110103372.7A CN112647689B (en) | 2021-01-26 | 2021-01-26 | Automatic ceramic tile grabbing and plastering robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110103372.7A CN112647689B (en) | 2021-01-26 | 2021-01-26 | Automatic ceramic tile grabbing and plastering robot |
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| CN112647689A CN112647689A (en) | 2021-04-13 |
| CN112647689B true CN112647689B (en) | 2022-06-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE1015401A3 (en) * | 2003-03-05 | 2005-03-01 | Daglau N V | Bonding agent applicator for floor, wall or ceiling coverings, applies predetermined dosed amounts of agent |
| CN204531324U (en) * | 2015-01-04 | 2015-08-05 | 李振卿 | A kind of wood floor bolck laydown machine |
| CN105113771B (en) * | 2015-09-15 | 2017-06-06 | 安徽工程大学 | Exterior wall Machine for sticking ceramic tile |
| CN107013026B (en) * | 2017-06-20 | 2019-04-02 | 广东善建建设股份有限公司 | A kind of wall tile intelligence stickers machine people |
| CN207174872U (en) * | 2017-08-07 | 2018-04-03 | 淄博欣科陶瓷机械有限公司 | A kind of ceramic tile palletizing apparatus |
| CN112192578A (en) * | 2019-06-23 | 2021-01-08 | 周惠兴 | Double-mechanical-arm ceramic tile paving and pasting robot |
| CN112878644A (en) * | 2019-11-05 | 2021-06-01 | 兰泽(荆门)智能科技有限公司 | Tiling method of wall surface tile-pasting machine with limiting pin |
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