CN112746729B - Ceramic tile hammering device and ceramic tile hammering method - Google Patents
Ceramic tile hammering device and ceramic tile hammering method Download PDFInfo
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- CN112746729B CN112746729B CN201911046902.8A CN201911046902A CN112746729B CN 112746729 B CN112746729 B CN 112746729B CN 201911046902 A CN201911046902 A CN 201911046902A CN 112746729 B CN112746729 B CN 112746729B
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- tile
- hammering
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- sucker
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- 239000000919 ceramic Substances 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 238000001514 detection method Methods 0.000 claims description 17
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- 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
-
- 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 application provides a tile hammering device and a tile hammering method, comprising the following steps: a main body; the hammering mechanism is arranged on the main body and comprises an air hammer, and the output end of the air hammer is positioned at the bottom of the main body so as to hammer the ceramic tile; the sucker mechanism is arranged on the main body and comprises a sucker, and the sucker is connected with the main body through a spring. Compared with a vibration motor in the related art, the tile hammering device can provide larger impact force and only performs up-down movement to prevent transverse movement by hammering the tile hammering device by adopting the air hammer, and meanwhile, the sucker and the main body are connected through the spring, so that the hammering force can be isolated from the sucker, the damage to the sucker caused by inaccurate positioning when the sucker sucks tiles is avoided, the positioning deviation of external mobile equipment can be avoided, the vibration to the external mobile equipment is effectively reduced, and the hollowing rate is reduced.
Description
Technical Field
The application relates to the technical field of tile hammering equipment, in particular to a tile hammering device and a tile hammering method.
Background
In the building field, the laying of ceramic tiles is a common building technology, whether in indoor layout of people living building, layout of working building environment or layout of other buildings.
In the related art, the tile paving is carried out manually, so that a large amount of labor is consumed, the manual mode of paving tiles in some scenes can not reach the preset paving precision, and the working efficiency can not meet the requirements. When the robot is used for paving the ceramic tiles, phenomena such as hollowing of the ceramic tiles and the like easily occur under the condition of no human intervention, and the paving efficiency is affected.
Disclosure of Invention
The application mainly aims to provide a tile hammering device and a tile hammering method, which are used for solving the problem that in the prior art, tile hollowness is easy to occur when tiles are paved.
In order to achieve the above object, the present application provides a tile hammering device comprising: a main body; the hammering mechanism is arranged on the main body and comprises an air hammer, and the output end of the air hammer is positioned at the bottom of the main body so as to hammer the ceramic tile; the sucker mechanism is arranged on the main body and comprises a sucker, and the sucker is connected with the main body through a spring.
Further, the output direction of the air hammer is perpendicular to the extending direction of the ceramic tile.
Further, be provided with the hole of stepping down in the main part, sucking disc mechanism includes the mounting bracket, and the mounting bracket is installed in the main part to be located the hole top of stepping down, the spring wears to establish in the hole of stepping down, and the first end of spring is connected with the top of mounting bracket, and the second end of spring is connected with the sucking disc.
Further, the sucker mechanism further comprises a guide post, the guide post is fixed on the mounting frame and penetrates through the abdicating hole, and the spring is sleeved outside the guide post.
Further, the hammer leveling mechanism comprises a plurality of air hammers, and the plurality of air hammers are circumferentially arranged at intervals by taking the central line of the main body as an axis.
Further, the plurality of air hammers are each in communication with a different air source.
Further, a plurality of air hammers are all in communication with the same air source.
Further, a laser detection mechanism is provided at the bottom of the main body to detect the surface height of the tile.
Further, a connecting structure is arranged on the main body, and the main body is connected with an external moving mechanism through the connecting structure.
According to another aspect of the present application, there is provided a tile hammering method, the method being applied to the tile hammering device described above, the tile hammering device including a plurality of air hammers, the bottom of the main body being provided with a laser detection mechanism to detect the surface height of the tile, the method comprising: placing the ceramic tile at a preset position through a ceramic tile hammering device; hammering the ceramic tile for a first preset time through a plurality of air hammers; after a first preset time, detecting the ceramic tile through a laser detection mechanism to obtain levelness information of the ceramic tile; controlling an air hammer corresponding to the high position of the ceramic tile according to the levelness information, and hammering the ceramic tile for a second preset time; and detecting the ceramic tile again through the laser detection mechanism after the second preset time, stopping hammering if the levelness information accords with the preset levelness, and repeating the previous operation if the levelness information does not accord with the preset levelness.
By applying the technical scheme of the application, the tile hammering device adopts the air hammer to hammer, compared with a vibrating motor in the related art, the tile hammering device can provide larger impact force, only performs up-down movement action and prevents transverse movement, meanwhile, the sucker and the main body are connected through the spring, so that the hammering force can be isolated from the sucker, the damage to the sucker caused by inaccurate positioning when the sucker sucks tiles is avoided, the positioning deviation of external mobile equipment can be avoided, the vibration to the external mobile equipment is effectively reduced, and the hollowing rate is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 schematically illustrates a block diagram of an embodiment of the tile hammering device of the present application;
fig. 2 schematically illustrates a front view of an embodiment of the tile hammering device of the present application;
fig. 3 schematically shows a flow chart of an embodiment of the tile hammering method of the present application.
Wherein the above figures include the following reference numerals:
10. a main body; 20. an air hammer; 30. a suction cup; 31. a spring; 32. a mounting frame; 33. and a guide post.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
As described in the background art, the tile paving is performed manually, so that a lot of labor is consumed by paving the tiles manually, and the preset paving precision cannot be achieved in a manual mode in the process of paving the tiles in some scenes, and the working efficiency cannot meet the requirements. When the robot is used for paving the ceramic tiles, phenomena such as hollowing of the ceramic tiles and the like easily occur under the condition of no human intervention, and the paving efficiency is affected.
In order to solve the above problems, referring to fig. 1 to 2, an embodiment of the present application provides a tile hammering device, which includes a main body 10, a hammering mechanism and a suction cup mechanism, wherein the hammering mechanism is mounted on the main body 10, the hammering mechanism includes an air hammer 20, and an output end of the air hammer 20 is positioned at the bottom of the main body 10 to hammer the tile; the sucker mechanism is arranged on the main body 10, and comprises a sucker 30, and the sucker 30 is connected with the main body 10 through a spring 31. Compared with a vibration motor in the related art, the tile hammering device can provide larger impact force, only performs up-down movement and prevents transverse movement, the sucker is connected with the main body through the spring, the hammering force can be isolated from the sucker, the sucker is prevented from being damaged due to inaccurate positioning when the sucker sucks tiles, meanwhile, the positioning deviation of the external mobile equipment can be avoided, the vibration to the external mobile equipment is effectively reduced, and the hollowing rate is reduced.
In order to ensure that the hammering direction of the hammering force is perpendicular to the tile surface, the output direction of the air hammer 20 in this embodiment is perpendicular to the tile extending direction, so that the hammering force can vertically strike the tile surface when the hammering operation is performed by making the output direction of the air hammer perpendicular to the tile extending direction, and the tile is prevented from being laterally moved, wherein the lateral movement referred to in the present application is a movement in a direction parallel to the tile surface.
Referring to fig. 1, in order to stably mount a spring 31, a main body 10 in this embodiment is provided with a yielding hole, a suction cup mechanism includes a mounting frame 32, the mounting frame 32 is mounted on the main body 10 and located above the yielding hole, the spring 31 is threaded in the yielding hole, a first end of the spring 31 is connected with a top of the mounting frame 32, a second end of the spring 31 is connected with the suction cup 30, and the first end of the spring is fixed by setting the mounting frame, so that connection between the spring and the main body is more stable.
In order to prevent the sucker from deflecting, the sucker mechanism in this embodiment further includes a guide post 33, the guide post 33 is fixed on the mounting frame 32 and is inserted into the yielding hole, the spring 31 is sleeved outside the guide post 33, and the guide post guides the movement of the spring to limit the lateral movement of the spring, thereby preventing the sucker from tilting.
In order to make the stress of the tile more uniform, the hammering mechanism in this embodiment includes a plurality of air hammers 20, and a plurality of air hammers 20 are circumferentially spaced apart with the center line of the main body 10 as the axis.
In order to facilitate the selective control of the air hammers, the air hammers 20 in this embodiment are respectively communicated with different air sources, and in operation, one or more air sources can be controlled to supply air, so as to realize the hammering of one or more air hammers, and facilitate the targeted hammering of different positions on the surface of the tile.
Of course, in other embodiments, in order to reduce the cost, the air hammers 20 in this embodiment are all connected to the same air source, so that the air hammers can be prevented from being selectively controlled, and an electromagnetic valve is disposed on each air pipe between the air source and the air hammers, so as to realize on-off of the air pipe, thereby realizing hammering of one or more air hammers, and facilitating targeted hammering of different positions on the tile surface.
In order to achieve measurement of the tile surface, the bottom of the main body 10 in this embodiment is provided with a laser detection mechanism to detect the surface height of the tile, wherein preferably, the laser detection mechanism includes a plurality of laser rangefinders, and the laser rangefinder detects different positions of the tile surface, so that the levelness information of the tile can be obtained through processing, and a data base is provided for the subsequent targeted hammering operation. Preferably, the bottom of main part still is provided with the inclination sensor, and the inclination sensor can assist laser detection mechanism to carry out the measurement of levelness information.
In order to facilitate connection between the tile hammering device and the external moving mechanism, a connection structure is provided on the main body 10 in this embodiment, and the main body 10 is connected with the external moving mechanism through the connection structure, where the connection structure may be a plurality of threaded holes, threaded columns, or flanges.
Referring to fig. 3, according to another aspect of the present application, there is provided a tile hammering method including a plurality of air hammers 20, a bottom of a main body 10 being provided with a laser detection mechanism to detect a surface height of a tile, the method including: placing the ceramic tile at a preset position through a ceramic tile hammering device; hammering the ceramic tile for a first preset time through a plurality of air hammers 20; after a first preset time, detecting the ceramic tile through a laser detection mechanism to obtain levelness information of the ceramic tile; controlling an air hammer 20 corresponding to the high position of the ceramic tile according to the levelness information, and hammering the ceramic tile for a second preset time; and detecting the ceramic tile again through the laser detection mechanism after the second preset time, stopping hammering if the levelness information accords with the preset levelness, and repeating the previous operation if the levelness information does not accord with the preset levelness. The first preset time is 5 s-15 s, preferably 10s, and the second preset time is 1 s-5 s, preferably 3s, wherein the high position of the ceramic tile refers to a higher position of the ceramic tile, and the area of the ceramic tile higher than other positions according to levelness information, namely the position where the upper surface of the ceramic tile needs to be hammered downwards.
In addition, the tile hammering method further comprises the following steps: before the tile is placed at a preset position through the tile hammering device, the sucker is controlled to grab the tile, and preliminary levelness information of the grabbed tile is detected through the inclination sensor. Adjusting levelness of the grabbed tile according to the preliminary levelness information, including: acquiring the pitching angle and the yaw angle of the grabbed ceramic tile according to the preliminary levelness information; the levelness of the gripped target object is adjusted by an external moving mechanism, preferably a mechanical arm, according to the pitch angle and yaw angle of the gripped tile. The preliminary levelness information is used for representing the levelness information of the gripped floor tile relative to the laying surface. The method further comprises determining the descending distance of the sucker clamp according to the distance between the gripped floor tile and the laying surface detected by the laser detection mechanism, so as to place the floor tile.
From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:
compared with a vibrating motor in the related art, the tile hammering device can provide larger impact force and only perform up-down movement to prevent transverse movement, meanwhile, the sucker is connected with the main body through the spring, so that the hammering force can be isolated from the sucker, damage to the sucker due to inaccurate positioning during tile sucking by the sucker is avoided, positioning deviation of external mobile equipment can be avoided, vibration to the external mobile equipment is effectively reduced, and the hollowing rate is reduced.
It should be noted that the foregoing detailed description is illustrative and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.
Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures.
For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the above detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, like numerals typically identify like components unless context indicates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein. It will be readily understood that the aspects of the present disclosure, as generally described herein, and illustrated in the figures, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are explicitly contemplated herein.
The present disclosure, in accordance with the particular embodiments described herein, is not to be limited in scope and is intended as an illustration of the various aspects. As will be apparent to those skilled in the art, many modifications and variations are possible without departing from the spirit and scope of the disclosure. Functionally equivalent methods and apparatus, other than those enumerated herein, will be apparent to those skilled in the art from the foregoing description, within the scope of the present disclosure. Such modifications and variations are intended to fall within the scope of the appended claims. The present disclosure is to be limited only by the terms of the appended claims, along with the full scope of equivalents to which such claims are entitled. It will be understood that the present disclosure is not limited to particular methods, reagents, compounds, compositions, or biological systems, which may, of course, vary. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (7)
1. A tile hammering device, comprising:
a main body (10);
the hammering mechanism is arranged on the main body (10) and comprises an air hammer (20), and the output end of the air hammer (20) is positioned at the bottom of the main body (10) so as to hammer the ceramic tile;
the sucker mechanism is arranged on the main body (10) and comprises a sucker (30), and the sucker (30) is connected with the main body (10) through a spring (31);
the number of the air hammers (20) is plural, the number of the suction cups (30) is plural, the plurality of the suction cups (30) and the plurality of the air hammers (20) are alternately arranged along the circumferential direction of the main body (10) to hammer different positions of the tile surface in a targeted manner, and the plurality of the air hammers (20) are configured to communicate with different air sources, respectively;
the bottom of main part (10) is provided with laser detection mechanism and inclination sensor, laser detection mechanism includes a plurality of laser rangefinders, detects the different positions on ceramic tile surface through a plurality of laser rangefinders to detect the levelness of ceramic tile provides the data basis to hammering operation.
2. Tile hammering device according to claim 1, characterized in that the output direction of said air hammer (20) is perpendicular to the tile extension direction.
3. Tile hammering device according to claim 1, characterized in that, a hole of stepping down is provided on said main body (10), said sucking disc mechanism comprises a mounting frame (32), said mounting frame (32) is mounted on said main body (10) and located above said hole of stepping down, said spring (31) is penetrated in said hole of stepping down, a first end of said spring (31) is connected with the top of said mounting frame (32), a second end of said spring (31) is connected with said sucking disc (30).
4. A tile hammering device according to claim 3, characterized in that said suction cup mechanism further comprises a guiding column (33), said guiding column (33) is fixed on said mounting frame (32) and is penetrated in said receding hole, and said spring (31) is sleeved outside said guiding column (33).
5. A tile hammering device according to claim 3, characterized in that said hammering mechanism comprises a plurality of said air hammers (20), and a plurality of said air hammers (20) are arranged at intervals circumferentially around the center line of said main body (10).
6. Tile hammering device according to claim 1, characterized in that said main body (10) is provided with a connection structure, through which said main body (10) is connected with an external moving mechanism.
7. A tile hammering method, characterized in that it employs a tile hammering device according to any one of claims 1 to 6, said tile hammering device comprising a plurality of air hammers (20) and a plurality of suction cups, a plurality of said suction cups (30) being alternately arranged with a plurality of said air hammers (20) along a circumferential direction of said main body (10) to hammer different positions of said tile surface in a targeted manner; the bottom of the main body (10) is provided with a laser detection mechanism and an inclination sensor, the laser detection mechanism comprises a plurality of laser rangefinders to detect the surface height of the tile, the method comprises:
placing the ceramic tile at a preset position through the ceramic tile hammering device;
hammering the tile for a first preset time by a plurality of air hammers (20);
after the first preset time, detecting the ceramic tile through the laser detection mechanism to obtain levelness information of the ceramic tile;
controlling the air hammer (20) corresponding to the high position of the tile according to the levelness information, and hammering the tile for a second preset time;
and detecting the ceramic tile again through the laser detection mechanism after the second preset time, stopping hammering if the levelness information accords with the preset levelness, and repeating the previous operation if the levelness information does not accord with the preset levelness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911046902.8A CN112746729B (en) | 2019-10-30 | 2019-10-30 | Ceramic tile hammering device and ceramic tile hammering method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911046902.8A CN112746729B (en) | 2019-10-30 | 2019-10-30 | Ceramic tile hammering device and ceramic tile hammering method |
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| Publication Number | Publication Date |
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| CN112746729A CN112746729A (en) | 2021-05-04 |
| CN112746729B true CN112746729B (en) | 2023-11-10 |
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| CN201911046902.8A Active CN112746729B (en) | 2019-10-30 | 2019-10-30 | Ceramic tile hammering device and ceramic tile hammering method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03235867A (en) * | 1990-02-09 | 1991-10-21 | Inax Corp | Tile sticking device |
| CN105003067A (en) * | 2015-07-23 | 2015-10-28 | 李保迎 | Tile laying device |
| CN205330123U (en) * | 2016-01-28 | 2016-06-22 | 中国十九冶集团有限公司 | A appurtenance that is used for ceramic tile spread to paste an operation |
| CN106522528A (en) * | 2015-09-14 | 2017-03-22 | 付泽田 | Flooring tile paving mechanical hand |
| CN109736554A (en) * | 2019-03-14 | 2019-05-10 | 山东交通学院 | A kind of full-automatic paving device and method of ceramic tile |
-
2019
- 2019-10-30 CN CN201911046902.8A patent/CN112746729B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03235867A (en) * | 1990-02-09 | 1991-10-21 | Inax Corp | Tile sticking device |
| CN105003067A (en) * | 2015-07-23 | 2015-10-28 | 李保迎 | Tile laying device |
| CN106522528A (en) * | 2015-09-14 | 2017-03-22 | 付泽田 | Flooring tile paving mechanical hand |
| CN205330123U (en) * | 2016-01-28 | 2016-06-22 | 中国十九冶集团有限公司 | A appurtenance that is used for ceramic tile spread to paste an operation |
| CN109736554A (en) * | 2019-03-14 | 2019-05-10 | 山东交通学院 | A kind of full-automatic paving device and method of ceramic tile |
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| CN112746729A (en) | 2021-05-04 |
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