CN112982915A

CN112982915A - Multi-degree-of-freedom mechanism, leveling device and floor tile paving machine

Info

Publication number: CN112982915A
Application number: CN201911305556.0A
Authority: CN
Inventors: 王齐美; 周兴明; 刘一鸣; 张吉; 王灿
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-12-16
Filing date: 2019-12-16
Publication date: 2021-06-18
Anticipated expiration: 2039-12-16
Also published as: CN112982915B

Abstract

A multi-degree-of-freedom mechanism, a leveling device and a floor tile paving machine belong to the field of automatic building construction machinery. The multi-degree-of-freedom mechanism comprises a body, a limiting body, a first moving body and a second moving body. The limiting body is connected to the body. The two ends of the limiting body are rotatably connected with the first moving body and the second moving body, and the rotating centers of the two moving bodies are in a crisscross shape. This ceramic tile paving machine can realize paving the ceramic tile with higher roughness.

Description

Multi-degree-of-freedom mechanism, leveling device and floor tile paving machine

Technical Field

The application relates to the field of automatic building construction machinery, in particular to a multi-degree-of-freedom mechanism, a leveling device and a floor tile paving machine.

Background

Indoor or outdoor floors and walls of various buildings are usually required to be paved with decorative building materials such as tiles, plates and the like based on aesthetic and practical requirements. Therefore, the development and research of automation equipment have been promoted in the construction industry.

Generally, for floor tile, it is generally desirable to improve the accuracy of the paving based on the flatness requirement of the floor. For example, in some cases, the whole level of the tile is required to be controlled within 3mm after the tile is laid, and the height difference of the joints between the tiles is controlled within 0.5 mm. This places relatively high demands on the paving accuracy of the tiles.

Disclosure of Invention

In order to improve and even solve the problem that the flatness of the floor tile is low, the application provides a multi-degree-of-freedom mechanism, a leveling device and a floor tile paving machine.

The application is realized as follows:

in a first aspect, examples of the present application provide a multiple degree of freedom mechanism.

The multi-degree-of-freedom mechanism comprises a body, a limiting body, a first moving body and a second moving body.

Wherein, the spacing body fixed connection is in the body and both ends extend the body and form first tip and the second tip of keeping away from each other.

The first moving body comprises a first rotating shaft and a first rotating member which are fixedly connected with each other, and the first rotating member is rotatably connected to the first end part by taking the first rotating shaft as a rotating center.

The second moving body comprises a second rotating shaft and a second rotating part which are fixedly connected with each other, and the second rotating part is rotatably connected to the second end part by taking the second rotating shaft as a rotating center.

The projections of the first rotating shaft and the second rotating shaft on the body are in a crisscross shape.

The first rotating part and the second rotating part of the multi-degree-of-freedom mechanism can rotate around respective rotating shafts respectively, so that posture alignment can be realized through the two rotating parts, and the multi-degree-of-freedom mechanism can be used for adjusting flatness. The mechanism is simple in overall structure, can be driven by a pure mechanical structure, so that the manufacturing period and cost are lower, the working stability is higher, the maintenance is convenient, the electronic component is prevented from being matched for transmission, and the stability and the higher cost performance are realized.

With reference to the first aspect, in a first possible implementation manner of the first aspect of the present application, the first rotating shaft and the second rotating shaft are both connected to the limiting body through a bearing.

Optionally, the first rotating shaft is connected with the limiting body through at least two bearings, and the bearings are deep groove ball bearings.

Optionally, the second rotating shaft is connected with the limiting body through at least two bearings, and the bearings are deep groove ball bearings.

The use of bearings can improve the smoothness of the gyrating motion while reducing mechanical wear in the motion of the component, thereby contributing to improved life.

With reference to the first aspect, in a second possible implementation manner of the first aspect of the present application, the body is provided with a surrounding wall, a through groove defined by the surrounding wall, and the limiting body penetrates through the through groove and is in interference fit with the surrounding wall of the body.

Or the first rotating piece is provided with a first side wall and a first through hole limited by the first side wall, and the first end part of the limiting body is in clearance fit with the first through hole.

Or the first rotating piece is provided with a second side wall and a second through hole limited by the second side wall, and the second end part of the limiting body is in clearance fit with the second through hole.

The body, the first rotating piece and the second rotating piece are all provided with hole groove structures, so that the limiting bodies are arranged and assembled in an in-built mode, the integration level is improved, the size is reduced, and the like.

With reference to the first aspect or the first or second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect of the present application, the body, the first rotating member, and the second rotating member are each independently configured in a planar plate shape, the body, the first rotating member, and the second rotating member are arranged in a stacked manner, and the body is located between the first rotating member and the second rotating member.

The body and the two rotating pieces are provided in a plate type structure, and are convenient to manufacture and assemble.

In a second aspect, examples of the present application provide a leveling device.

The leveling device comprises a first driver, a second driver and the multi-degree-of-freedom mechanism.

The first driver is used for driving the first rotating piece in the multi-degree-of-freedom mechanism to rotate. The second driver is independent of the first driver and is used for driving the second rotating part to rotate.

Because the first driver and the second driver can work independently, two rotating parts in the multi-degree-of-freedom mechanism can be adjusted independently as required, and leveling operation can be performed according to actual conditions.

In a first possible implementation of the second aspect of the present application in combination with the second aspect, one or both of the first drive, the second drive is an eccentric mechanism.

Optionally, the eccentric wheel mechanism comprises a motor and an eccentric wheel fixedly connected with an output shaft of the motor. The fixed arm is used for fixing the motor. The actuating arm is provided with a rotating groove for the eccentric wheel to rotate and is driven by the eccentric wheel which eccentrically rotates to drive the first rotating piece or the second rotating piece to move.

Optionally, the first driver comprises: the first motor, with the first eccentric wheel of the output shaft fixed connection of first motor. One end of the first fixing arm is fixedly connected with the first motor, and the other end of the first fixing arm is fixedly connected with the body. One end of the first movable arm is provided with a first rotating groove for the first eccentric wheel to rotate, and the first movable arm is driven by the first eccentric wheel which eccentrically rotates to drive the first rotating piece to move through the other end.

Optionally, the second driver comprises a second motor, a second eccentric wheel fixedly connected with an output shaft of the second motor. One end of the second fixed arm is fixedly connected with the second motor, and the other end of the second fixed arm is fixedly connected with the body. One end of the second movable arm is provided with a second rotating groove for the second eccentric wheel to rotate, and the second movable arm is driven by the second eccentric wheel which eccentrically rotates to drive the second rotating piece to move through the other end.

In a third aspect, embodiments of the present application provide a floor tile paving machine comprising:

can store the fuselage of ceramic tile.

The tool is used for obtaining and laying floor tiles from the machine body.

According to the leveling device, the device is used for connecting the tool with the machine body and adjusting the levelness of the tool.

With reference to the third aspect, in a first possible embodiment of the third aspect of the present application, the tile paver comprises one or more of the following definitions.

A first definition: the floor tile paving machine comprises a four-bar mechanism, wherein the leveling device and the tool are connected to the machine body through the four-bar mechanism, so that the tool and the leveling device are driven by the four-bar mechanism to synchronously and stably swing relative to the machine body in a given posture.

The second definition: the floor tile paving machine comprises a double-shaft inclination angle sensor connected to the tool, and the leveling device is configured to enable the first moving body and the second moving body to correspondingly act according to the posture of the tool fed back by the double-shaft inclination angle sensor so as to adjust the levelness of the tool.

The third limitation is that: the floor tile paving machine comprises at least three equal-height steering wheels connected to the machine body.

The fourth limitation is that: the floor tile paving machine comprises a lifting platform for controlling the lifting of the leveling device.

In a fourth aspect, embodiments of the present application provide a floor tile paving machine. The device comprises a machine body, a pair of connecting rod mechanisms, a lifting platform, a tool and a leveling device.

The pair of link mechanisms are respectively provided in the form of parallelogram mechanisms, and each link mechanism includes a frame, two cranks, and a link. The frames of the two link mechanisms are fixedly arranged on the machine body. The connecting rods of the two connecting rod mechanisms are connected through a rotatable rotating shaft and synchronously swing;

the lifting platform comprises a fixing frame and a lifting frame which are mutually connected in a lifting way. The lifting platform is connected to the rotating shaft through a fixing frame.

The frock is provided with biax inclination sensor, and the frock passes through levelling device to be connected in the crane of elevating platform.

The leveling device is configured to respond to the current posture of the tool fed back by the double-shaft tilt angle sensor and execute pitching motion to adjust the tool to a target posture.

With reference to the fourth aspect, in a first possible embodiment of the fourth aspect of the present application, the leveling device includes a body, a stopper, a first moving body, and a second moving body.

The first moving body comprises a first rotating shaft and a first rotating piece which are fixedly connected with each other, and the first rotating piece is rotatably connected to the first end part by taking the first rotating shaft as a rotating center.

And the second moving body comprises a second rotating shaft and a second rotating part which are fixedly connected with each other, and the second rotating part is rotatably connected to the second end part by taking the second rotating shaft as a rotating center.

In the realization process, the relative levelness of the tool and the reference surface can be adjusted by the floor tile paving machine provided by the embodiment of the application, and the problem of inclination of the machine caused by uneven ground is solved. And it can make the levelness precision of frock improve through twice leveling action to ensure that the level of paving of ceramic tile can guarantee.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic structural diagram of a dual spindle assembly in a multiple degree of freedom mechanism provided by an example of the present application;

FIG. 2 is a schematic structural view of a multiple degree of freedom mechanism provided in an example of the present application;

FIG. 3 is a schematic structural diagram of a leveling device provided in an example of the present application;

FIG. 4 illustrates a cross-sectional structural schematic view of a multiple degree of freedom mechanism used in the leveling device of FIG. 3;

fig. 5 is a schematic view of a tile paving machine according to an example of the present application;

fig. 6 is a schematic structural diagram of the connection and matching between the tooling and the leveling device in the floor tile paving machine shown in fig. 5.

Icon: 100-multi-degree-of-freedom mechanism; 101-a body; 102-a spacing body; 103-a first moving body; 104-a second moving body; 200-double rotating shaft parts; 300-leveling means; 301-a first driver; 302-a second driver; 400-a lifting platform; 401-a mount; 402-a crane; 403-a rack and pinion mechanism; 500-floor tile paving machine; 501-fuselage; 502-ceramic tile; 503-a parallelogram mechanism; 504-rotating shaft; 505-tooling; 506-dual axis tilt sensor; 1021-a first end; 1022-a second end portion; 1031-a first rotating shaft; 1032-a first rotating member; 1033-a first sidewall; 1034 — first via; 1041-a second rotating shaft; 1042 — a second rotating member; 3011-a first motor; 3012-a first fixed arm; 3013-a first boom; 3014-a first eccentric; 3015-a first rotation slot; 3021-a second electric machine; 3022-second fixed arm; 3023-second boom; 3024-second eccentric; 3025-second rotation groove.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of embodiments of the present application, generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it is to be noted that the terms "center", "upper", "lower", "horizontal", "inner", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally laid out when products of the application are used, and are only for convenience in describing the application and simplifying the 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 application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "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 meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

In the present application, all the embodiments, implementations, and features of the present application may be combined with each other without contradiction or conflict. In the present application, conventional equipment, devices, components, etc. are either commercially available or self-made in accordance with the present disclosure. In this application, some conventional operations and devices, apparatuses, components are omitted or only briefly described in order to highlight the importance of the present application.

In the prior art, tiles are typically manually applied. Obviously, the precision, accuracy and efficiency of manual placement are more or less problematic. Therefore, some studies are focused on how to realize mechanized paving of the floor tiles. However, the current mechanized paving equipment has some practical problems, such as that the flatness of the ground surface is difficult to achieve with high precision after the floor tiles are paved. Especially, in the occasions with higher requirements on the levelness of the ground and the height difference of the abutted seams of the floor tiles, the common machinery is difficult to realize. In some solutions, laying is attempted by means of, for example, a six-axis robotic arm, which, however, will obviously lead to a surge in the cost of the layup, the efficiency of which is also a possible problem.

In view of such a real situation, the inventor has studied and proposed a new solution to simplify the flatness and the height difference of the joints when the tile is laid.

In an example, the inventor utilizes a tool to lay tiles. Specifically, the floor tiles are attached to the tool, then the tool is moved to the position where the floor tiles need to be laid, and the floor tiles are released from the tool by adjusting the levelness of the tool to a satisfactory degree. The tool can fix the floor tiles in a sucking mode through a sucking disc and the like and then release the floor tiles, so that the fixing and releasing operations of the floor tiles are simplified. The tiles can be sucked and released by means of a negative pressure, usually by means of an air pump. The suction cup can be provided in plurality to suck large area floor tile and stability.

Therefore, how to adjust the flatness of the tool becomes an important factor for the paving quality of the floor tiles. In the present example, a mechanism is provided that has flexibility in at least two directions. The mechanism mainly comprises a part that can rotate in two directions as shown in fig. 1. The direction of the rotational movement of the member is shown in figure 1 by the two pointed circles. And the rotation direction is not limited in the drawing, in other words, the rotation directions of the two can be independently selected to be clockwise or counterclockwise according to different requirements. Thus, in the example, the components as shown in fig. 1 are represented by a double shaft component 200. As can be seen from fig. 1, the rotation centers of the two rotating shafts are staggered with each other and are arranged in a substantially longitudinal and transverse direction. It will be appreciated that in an alternative example, the two are perpendicular to each other.

Based on the dual spindle unit 200, a multiple degree of freedom mechanism 100 is proposed as an example, and the multiple degree of freedom mechanism 100 includes three laminated units of plate-like structures and the dual spindle unit 200 as described above fitted thereto.

In this example, referring to fig. 1 and 2, the multiple degree of freedom mechanism 100 includes a body 101, a stopper 102, a first moving body 103, and a second moving body 104.

The body 101 is a plate-shaped structure. The position-limiting body 102 is coupled to the body 101 (the two may be kept relatively still), and the position-limiting body 102 is shown to be fixedly connected to the body 101, and two ends of the position-limiting body extend out of the body 101 to form a first end 1021 and a second end 1022 which are far away from each other.

The first moving body 103 includes a first rotating shaft 1031 and a first rotating member 1032 which are fixedly connected to each other, and the first rotating member 1032 is rotatably connected to the first end portion 1021 with the first rotating shaft 1031 as a rotation center. The second moving object 104 includes a second rotating shaft 1041 and a second rotating member 1042 fixedly connected to each other, and the second rotating member 1042 is rotatably connected to the second end 1022 with the second rotating shaft 1041 as a rotation center. Meanwhile, the projections of the first rotating shaft 1031 and the second rotating shaft 1041 on the body 101 are crisscross.

In fig. 2, the body 101, the first rotating member 1032, and the second rotating member 1042 are respectively configured in a plate/plane plate structure, and the two rotating members are respectively located at both sides of the body 101. Since the first and

second rotation shafts

1031 and 1041 are rotatable, the first and

second rotation members

1032 and 1042 are rotatable. For example, as shown in fig. 2, the first rotating member 1032 may swing in the a direction; accordingly, the second rotating member 1042 can swing in the B direction. The matching of the components inside the multiple degree of freedom mechanism can be seen in the disclosure of the following figures (fig. 3 and 4) related to the leveling device 300 as an example of the application of the multiple degree of freedom mechanism.

In order to enable the first rotating member 1032 and the second rotating member 1042 to rotate relatively smoothly, the first rotating shaft 1031 and the second rotating shaft 1041 may be connected to the position-limiting body 102 through bearings (not shown in fig. 1 and 2). Optionally, the number of bearings is even or odd more than 1, thereby providing constraint to the shaft in at least two locations, and making its rotation more smooth. As an alternative example, the bearing is a deep groove ball bearing.

Furthermore, the structure can be improved to ensure that the movement of the whole mechanism is more accurate and stable, and the shaking and other conditions are reduced. For example, the body 101 has a through slot defined by a surrounding wall, and the stopper 102 is inserted into the through slot and is in interference fit with the surrounding wall of the body 101. In this manner, the body 101 and the spacing body 102 can move more uniformly and synchronously. Of course, both may be integrally formed. However, in order to improve the manufacturing efficiency of the device and facilitate maintenance, the two parts can be manufactured into different parts by selecting the above method and then assembled by interference fit.

Similarly, the first rotating member 1032 may be provided with a first sidewall 1033, a first through hole 1034 surrounded by the first sidewall 1033. In the assembled multiple degree of freedom mechanism, the first end 1021 of the spacing body 102 is clearance fit with the first through-hole 1034. Wherein the clearance fit means that the first rotating member 1032 does not move in the axial direction of the first rotating shaft 1031, but retains its freedom of rotation/oscillation in the a direction through the clearance. Alternatively, the second rotating member 1042 is provided with a second side wall, a second through hole defined by the second side wall, and the second end 1022 of the limiting body is in clearance fit with the second through hole. The clearance fit means that the second rotating member 1042 does not move in the axial direction of the second rotating shaft 1041, and the rotation/swing freedom in the B direction is retained by the clearance.

For a multiple degree of freedom mechanism, there may be multiple modes of motion.

For example, when the body 101 is fixed, the first rotating member 1032 and the second rotating member 1042 may be driven to swing in two different directions by an appropriate mechanism.

For example, when the first rotating member 1032 is fixed, the body 101 and the second rotating member 1042 may be driven to move synchronously by a suitable mechanism, and the second rotation may also be rotated. In other words, in such an example, the second rotating member 1042 may participate in both rotations at the same time. Of course, only the second rotating member 1042 may rotate itself without rotating the main body 101.

For example, when the second rotating member 1042 is fixed, the body 101 and the first rotating member 1032 can be driven to move synchronously by a suitable mechanism, and the first rotation can also be rotated. In other words, in such an example, the first rotating member 1032 may engage in both rotations simultaneously. Of course, only the first rotating member 1032 may rotate by itself without rotating the main body 101.

Therefore, it is easy to know that the multi-degree-of-freedom mechanism can be selectively driven in different ways according to needs so as to realize the movement in multiple directions.

In order to drive the multi-freedom mechanism into motion, a levelling device 300 is realized in the example on the basis of its selection, see fig. 3 and 4. It includes a first driver 301, a second driver 302, and a multiple degree of freedom mechanism 100. The first driver 301 is configured to drive the first rotating member 1032 to rotate, and the second driver 302 is configured to drive the second rotating member 1042 to rotate. As described above, since the first rotating member 1032 and the second rotating member 1042 can independently select whether to swing or not and the direction of swinging, the first driver 301 and the second driver 302 may be configured to swing corresponding rotating members independently of each other.

In addition, in order to facilitate installation, fixation, and movement of the multiple degree of freedom mechanism 100, it is generally necessary to perform an elevating motion when it is applied to a floor tile installation, for example. Thus, the levelling device 300 may be provided with a lifting platform 400 comprising a fixed frame 401 and a lifting frame 402 (which will be mentioned again later in the floor tile laying machine). The fixing frame 401 is used to fix other devices and apparatuses, and the lifting frame 402 can be connected to the multiple degree of freedom mechanism 100. The lifting mode can be, for example, a gear and rack mechanism 403 formed by a gear and a rack, or a crank block structure.

Typically, the drive may be provided by way of various motors, or may also be powered in conjunction with mechanical components such as reducers, couplings, and the like. In an example, an implementation of an eccentric mechanism as the first driver 301 and the second driver 302 is provided. The eccentric wheel mechanism comprises a motor, an eccentric wheel, a fixed arm and an actuating arm. Wherein, the eccentric wheel is fixedly connected with the output shaft of the motor. The fixed arm is used for fixing the motor. The actuating arm has a rotating slot for the eccentric wheel to rotate and is driven by the eccentric wheel to eccentrically rotate so as to move the first rotating member 1032 or the second rotating member 1042.

Of course, the two drivers may be alternatively implemented, and are not limited thereto. In the present example. Both drives are eccentric wheel mechanisms. For example, the first driver 301 includes a first motor 3011, a first eccentric 3014 fixedly connected to an output shaft of the first motor 3011, a first fixed arm 3012, and a first movable arm 3013. One end of the first fixed arm 3012 is fixedly connected to the first motor 3011 and the other end is fixedly connected to the body 101. The first movable arm 3013 has a first rotation slot 3015 for the first eccentric 3014 to rotate, and is driven by the first eccentric 3014 to rotate eccentrically and drives the first rotating member 1032 to move through the other end.

The second driver 302 includes a second motor 3021, a second eccentric wheel 3024 fixedly connected to an output shaft of the second motor 3021, a second fixed arm 3022, and a second movable arm 3023. One end of the second fixed arm 3022 is fixedly connected to the second motor 3021, and the other end is fixedly connected to the body 101. The second movable arm 3023 has a second rotation groove 3025 at one end for rotating the second eccentric wheel 3024, and drives the second rotation member 1042 through the other end by the second eccentric wheel 3024 rotating eccentrically.

As an example of an application of the leveling device 300 described above, the present application also provides a floor tile laying machine 500, see fig. 5 and 6. The floor tile paving machine 500 includes a machine body 501, a tooling 505, and a leveling device 300.

Wherein the body 501 is capable of storing tiles 502. To facilitate movement of the tile paver 500 it may also include a running gear, such as a wheeled or tracked running gear. At least three equal-height steering wheels connected to the body 501 can be selected for the wheel type travelling mechanism to form a stable travelling plane and keep the body 501 stable.

Tooling 505 is used to obtain and lay tiles 502 from the fuselage 501. The leveling device 300 is used for connecting the tool with the machine body 501 and adjusting the levelness of the tool 505. Therefore, the floor tile paving machine 500 can change the posture of the tool 505 through the leveling device 300, thereby completing the floor tile paving work according to the requirement.

For example, the leveling device 300 is fixed to the body 501 by a direct bracket and is lifted and lowered by the crane 402 as described above. It can be raised to pick up the tiles from the fuselage 501 and then lowered close to the paving surface, and then the levelling device 300 can adjust the flatness of the tooling 505 and then release the tiles (although it is also possible to perform appropriate vibration, compaction, etc. operations on the tiles).

In addition to the above-described manner of fixing the leveling device 300 by the bracket and lifting the leveling device 300 by the lifting frame 402, a movement mechanism may be selected by the cooperation of the link mechanism and the lifting frame 402 to drive the leveling device 300. For example, the tile paver 500 may be provided with a four bar linkage as an example. The linkage lifts or lowers the leveling device 300 by swinging. In the present example, a four-bar linkage is selected and the leveling device 300 and the tool 505 are both connected to the body 501 by the four-bar linkage, so that the tool 505 and the leveling device 300 can be driven by the four-bar linkage to synchronously swing smoothly at a given attitude with respect to the body 501. In such a configuration, the four-bar linkage arrangement cooperates with the leveling device 300 to achieve a dual leveling action. The link mechanism can allow the entire leveling device 300 to swing relatively stably, and then, when the link mechanism swings to a proper position, adjustment with higher accuracy can be performed by fine adjustment of the leveling device 300.

In addition, in order to improve the real-time performance and flexibility of the adjustment of the tool 505, the floor tile paving machine 500 may further include a biaxial inclination sensor 506 connected to the tool 505. The double-shaft tilt sensor 506 adopts MEMS technology and a digital output double-shaft high-precision tilt sensor, the measurement range is +/-15 degrees, the highest precision reaches 0.001 degrees, and the temperature drift is 0.0003 degrees/DEG C. The sensor adopts a high-resolution differential digital-to-analog converter and is internally provided with an automatic compensation and filtering algorithm, so that the error caused by environmental change is reduced to the greatest extent. The change of the static gravity field is converted into the change of the inclination angle, and the current roll angle and the current pitch angle are directly output in a digital mode.

The dual axis tilt sensor 506 can detect the pitch and angle of the tool. Thus, the leveling device 300 is adaptively operated for on-demand and real-time adjustment based on its given pitch angle profile. Thus, the leveling device 300 can adjust the levelness of the tool by moving the first moving body 103 and the second moving body 104 in correspondence with each other in accordance with the posture of the tool fed back by the biaxial inclination sensor 506.

Therefore, by combining the lifting platform 400, the link mechanism and the leveling device 300, the lifting movement, the swinging movement and the levelness adjustment of the tooling of the paving machine can be realized, and the lifting movement, the swinging movement and the levelness adjustment can be respectively and independently implemented, so that the tooling can realize relatively complex movement, and the capability of executing complex work is improved.

Based on the foregoing, an example of the tile paving machine 500 is given in the example, which includes a body 501, a pair of parallelogram mechanisms 503, a lifting platform 400, a tooling 505, and a leveling device 300.

The parallelogram mechanism 503 is a link mechanism, and includes a frame, two cranks, and a link. And the distance between the two ends of the frame is the same as the length of the connecting rod, and the lengths of the two cranks are also the same. Therefore, when the link mechanism swings, the link can always keep a relatively stable posture. Therefore, the connecting rod is used as a base, when the leveling device 300 is connected to the connecting rod, the leveling device 300 can keep a relative posture with the machine body 501 stable in the swinging process of the connecting rod mechanism, and can also keep certain flatness according to the mutual horizontal position of the machine body 501 and the ground, so that the operation intensity of leveling by the leveling device 300 in the follow-up process can be reduced.

The racks of the two link mechanisms are both fixedly arranged on the machine body 501, and the connecting rods of the two link mechanisms are connected through a rotatable rotating shaft 504 and synchronously swing. The connecting rods of the two link mechanisms can also be connected by a non-rotating shaft/fixed rod. At this time, the leveling device 300 is usually connected to the fixing rod after being previously adjusted in position.

The lifting platform 400 has the structure as described above, and includes a fixing frame 401 and a lifting frame 402 which are connected to each other in a lifting manner, and the lifting platform 400 is connected to the rotating shaft 504 through the fixing frame 401.

The tool is provided with a biaxial inclination sensor and is connected to a crane 402 of the lifting table 400 through a leveling device 300. For example, the tool 505 is connected to the second rotating member 1042 of the leveling device 300 (as shown in fig. 6), and meanwhile, the leveling device 300 is connected to the lifting frame 402 of the lifting platform 400 through the first rotating member 1032, and the rack of the lifting frame 402 is matched with the gear of the fixing frame 401. The fixed frame 401 is connected to the rotating shaft 504 between the two links of the pair of parallelogram mechanisms 503.

Based on such a connection manner, the leveling device 300 may perform a pitching motion to adjust the tool to a target posture in response to the current posture of the tool fed back by the dual-axis tilt sensor. The tile paver 500 may be configured with a controller based on automated and quick response adjustment, taking into account the efficiency and accuracy of the strip tile paving. The controller may be any of a variety of electronic components or collection of components capable of certain data storage and processing. For example, a Central Processing Unit (CPU), a Micro Control Unit (MCU), an editable logic controller (PLC), a Programmable Automation Controller (PAC), an industrial control computer (IPC), a Field-Programmable Gate Array (FPGA), an Application Specific Integrated Circuit chip (ASIC chip), and the like.

Therefore, in the actual floor tile paving process, when the double-shaft tilt angle sensor detects that the posture of the tooling does not meet the preset requirement, the feedback tooling posture data can be received and processed by the controller, so that the required pitch angle/levelness adjustment parameter is calculated, one or both of the first motor 3011 and the second motor 3021 are driven to act, leveling is realized in a matching manner, and the influence of the inclination of the main body and the reference surface of the machine body 501 on the floor tile paving caused by uneven ground is eliminated.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multiple degree of freedom mechanism, comprising:

a body;

the limiting body is fixedly connected to the body, and two ends of the limiting body extend out of the body to form a first end part and a second end part which are far away from each other;

the first moving body comprises a first rotating shaft and a first rotating piece which are fixedly connected with each other, and the first rotating piece is rotatably connected to the first end part by taking the first rotating shaft as a rotating center;

the second moving body comprises a second rotating shaft and a second rotating part which are fixedly connected with each other, and the second rotating part can be rotatably connected to the second end part by taking the second rotating shaft as a rotating center;

2. The multiple degree of freedom mechanism of claim 1, wherein the first rotating shaft and the second rotating shaft are both connected with the position limiting body through bearings;

optionally, the first rotating shaft is connected with the limiting body through at least two bearings, and the bearings are deep groove ball bearings;

optionally, the second rotating shaft is connected to the limiting body through at least two bearings, and the bearings are deep groove ball bearings.

3. The multiple degree of freedom mechanism of claim 1, wherein the body is provided with a surrounding wall, a through slot defined by the surrounding wall, and the limiting body penetrates through the through slot and is in interference fit with the surrounding wall of the body;

or the first rotating piece is provided with a first side wall and a first through hole limited by the first side wall, and the first end part of the limiting body is in clearance fit with the first through hole;

4. The multiple degree of freedom mechanism according to any one of claims 1 to 3, wherein the body, the first rotating member, and the second rotating member are each independently constructed in a planar plate shape, the body, the first rotating member, and the second rotating member are arranged in a stacked manner, and the body is located between the first rotating member and the second rotating member.

5. A leveling device, comprising:

the multiple degree of freedom mechanism of any one of claims 1 to 4;

the first driver is used for driving the first rotating piece to rotate;

and the second driver is independent of the first driver and is used for driving the second rotating part to rotate.

6. Leveling device according to claim 5,

one or both of the first drive, the second drive is an eccentric mechanism;

alternatively, the eccentric wheel mechanism includes:

a motor;

the eccentric wheel is fixedly connected with an output shaft of the motor;

the fixing arm is used for fixing the motor;

an actuating arm having a rotating groove for rotating the eccentric wheel and driven by the eccentric wheel to move the first rotating member or the second rotating member;

alternatively, the first driver includes:

a first motor;

the first eccentric wheel is fixedly connected with an output shaft of the first motor;

one end of the first fixed arm is fixedly connected with the first motor, and the other end of the first fixed arm is fixedly connected with the body;

the first movable arm is provided with a first rotating groove for the first eccentric wheel to rotate at one end and is driven by the first eccentric wheel which eccentrically rotates to drive the first rotating piece to move through the other end;

alternatively, the second driver includes:

a second motor;

the second eccentric wheel is fixedly connected with an output shaft of the second motor;

one end of the second fixed arm is fixedly connected with the motor, and the other end of the second fixed arm is fixedly connected with the body;

and one end of the second movable arm is provided with a second rotating groove for the second eccentric wheel to rotate, and the second movable arm is driven by the second eccentric wheel which eccentrically rotates to drive the second rotating piece to move through the other end.

7. A floor tile paver, characterized by comprising:

a body capable of storing floor tiles;

the tool is used for obtaining and paving floor tiles from the machine body;

the leveling device of claim 5 or 6, which is used for connecting the tool with the machine body and adjusting the levelness of the tool.

8. A tile paving machine according to claim 7, wherein the tile paving machine includes one or more of the following limitations;

a first definition: the floor tile paving machine comprises a four-bar mechanism, the leveling device and the tool are connected to the machine body through the four-bar mechanism, so that the tool and the leveling device are driven by the four-bar mechanism to synchronously and stably swing relative to the machine body in a given posture;

the second definition: the floor tile paving machine comprises a double-shaft inclination angle sensor connected to a tool, and the leveling device is configured to enable the first moving body and the second moving body to correspondingly act according to the posture of the tool fed back by the double-shaft inclination angle sensor so as to adjust the levelness of the tool;

the third limitation is that: the floor tile paving machine comprises at least three equal-height steering wheels connected to the machine body;

the fourth limitation is that: the floor tile paving machine comprises a lifting platform used for controlling the leveling device to lift.

9. A floor tile paver, characterized by comprising:

a body;

the connecting rod mechanisms are provided in a parallelogram mechanism mode respectively, each connecting rod mechanism comprises a rack, two cranks and a connecting rod, the racks of the two connecting rod mechanisms are fixedly arranged on the machine body, and the connecting rods of the two connecting rod mechanisms are connected through a rotatable rotating shaft and synchronously swing;

the lifting platform comprises a fixed frame and a lifting frame which are mutually connected in a lifting way, and the lifting platform is connected to the rotating shaft through the fixed frame;

the tool is provided with a double-shaft tilt angle sensor and is connected to the lifting frame of the lifting table through a leveling device;

10. A tile paving machine according to claim 9, wherein the levelling means comprises:

a body;