CN113738078A - Four-pile positioning sucker type wall climbing and tiling robot and working method thereof - Google Patents
Four-pile positioning sucker type wall climbing and tiling robot and working method thereof Download PDFInfo
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- CN113738078A CN113738078A CN202111086405.8A CN202111086405A CN113738078A CN 113738078 A CN113738078 A CN 113738078A CN 202111086405 A CN202111086405 A CN 202111086405A CN 113738078 A CN113738078 A CN 113738078A
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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
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
- E04F21/1844—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one
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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
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
- E04F21/1844—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one
- E04F21/1872—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one using suction-cups
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Abstract
The invention provides a four-pile positioning suction cup type wall climbing and tile sticking robot, which comprises: a body having parallel runners; the pile legs are arranged in the sliding grooves in a sliding mode; the same side end of the pile leg is provided with a sucking disc; the traction mechanism comprises a motor and a steel wire rope, one end of the steel wire rope is connected with the rotating end of the motor, and the other end of the steel wire rope bypasses the far end of the sliding chute and is connected with the pile leg in series and then is connected with the rotating end of the motor; a tile installation comprising: the tile storage box comprises a working arm, a tile storage box, a steering connector, a box cover, an elastic mounting plate and a mounting sucker; a positioning system, comprising: prism, singlechip, total powerstation and PC end, prism, singlechip are installed on the body, and the singlechip passes through signal device and total powerstation, PC end and carries out the interaction. The invention also provides a working method of the four-pile positioning sucker type wall-climbing tile-sticking robot. The invention aims to ensure that the wall tiling work is not required to be finished manually, realize automation and improve the efficiency and quality of automatic tiling.
Description
Technical Field
The invention relates to the technical field of construction robots, in particular to a four-pile positioning suction cup type wall-climbing tile-sticking robot and a working method thereof.
Background
With the continuous improvement of modern life and production quality, a plurality of high buildings and special-purpose buildings with high vertical height are built according to the needs. In the face of the wall tiling work of the large-scale building, the traditional and simple manual tiling method is used, and operators in the outer wall have high life risk, and once safety accidents occur, casualties can be caused, and meanwhile, great economic losses can be brought to the country, the group and the individuals. At this time, we need to find other ways of tiling to solve these problems.
An automatic tiling robot is an industrial robot capable of automatically tiling or tiling other coatings. Industrial robots, being an important device that cannot be replaced in advanced manufacturing, have become an important mark for measuring the state of manufacturing and the state of scientific technology. The automatic tile-sticking wall-climbing robot has the advantages of intelligence, high efficiency, convenience and the like, is widely applied to field operations such as wall surface tile sticking of high-rise buildings, and is generally accepted and loved by people.
The existing wall climbing robot is mainly divided into the following types according to the wall climbing mode:
firstly, the guide rails are utilized, namely a plurality of guide rails are arranged on the vertical surface, so that the robot can move on the guide rails through the crawler or other walking mechanisms, the requirements on the material and the shape of a plane are not high in the wall climbing mode, but the appearance of the plane can be changed by arranging the guide rails;
secondly, the robot is connected to the wall to move by using other auxiliary devices such as a rod frame and the like, and the wall climbing mode has the defects that the moving range of the robot is limited and the robot is not suitable for the wall of a high-rise building;
thirdly, the air between the robot and the wall is pumped away by using a sucker to form negative pressure so as to be fixed on a vertical plane by a vacuum adsorption mode, and the wall climbing mode has the defect that certain requirements are required for the plane flatness;
fourthly, the wall climbing mode is only limited to special planes such as metal and is not suitable for common walls through an electromagnetic adsorption mode such as an electromagnet;
and fifthly, the pneumatic type is adopted, namely the friction force is increased through the reverse pressure generated by the reverse rotation of the rotor wing, so that the robot stays on the wall surface, and the wall climbing mode has high manufacturing cost, high power consumption and strict requirements on the surrounding environment.
The tile robot existing in the domestic robot market is mainly a universal joint robot, is generally high in price, is generally used in industry and is rarely used in the building industry. Therefore, a new automatic tile-sticking wall-climbing robot which can meet the requirements of modern building construction is needed to be provided.
Disclosure of Invention
In view of the above, the invention aims to provide a four-pile positioning suction cup type wall-climbing tile-sticking robot and a working method thereof, so that the wall tile-sticking work is not required to be completed manually, and the automation is realized and the efficiency and the quality of automatic tile-sticking are improved.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, the present invention provides a four-pile positioning suction cup-based wall-climbing tile-sticking robot, comprising:
the body is provided with two parallel sliding chutes;
the pile comprises pile legs, two pile legs are arranged in each sliding groove in a sliding mode, and the four pile legs are telescopic rods which stretch along the length direction of the pile legs and are perpendicular to the sliding direction in the sliding grooves; wherein, the same side ends of the four pile legs are provided with suckers which are connected with a vacuum pump through pipelines;
the traction mechanism comprises a motor and steel wire ropes, wherein the motor is fixedly arranged in the middle of the sliding chute, one end of each steel wire rope is connected with the rotating end of the motor, and the other end of each steel wire rope bypasses the far end of the sliding chute and is connected with the rotating end of the motor after being connected with the pile leg in series to form a transmission loop;
a tile installation, comprising: the tile storage box comprises a working arm, a tile storage box, steering connectors, a box cover, an elastic mounting plate and mounting suckers, wherein the working arm and the tile storage box are arranged on a body, the working arm is connected with a plurality of steering connectors so as to realize multi-degree-of-freedom movement, the steering connectors at the tail end are provided with the elastic mounting plate, and the mounting suckers are uniformly distributed on the elastic mounting plate; and
a positioning system, comprising: prism, singlechip, total powerstation and PC end, prism, singlechip are installed on the body, and the singlechip passes through signal device and total powerstation, PC end and carries out the interaction.
In some embodiments, two steering connectors are provided.
In some embodiments, the motor is a stepper motor.
In a second aspect, the invention further provides a working method of the four-pile positioning sucker type wall-climbing tile-sticking robot, which comprises the following steps:
s1, grabbing the wall: the sucking discs at the end parts of the four pile legs are adsorbed on the wall needing tiling under the action of a vacuum pump;
s2, walking: the sucking discs at the end parts of the first group of two pile legs on the diagonal are adsorbed on the wall under the action of a vacuum pump, and the sucking discs at the end parts of the second group of two pile legs release the suction force and retract and lift up to enable the sucking discs to leave the wall surface; the two pile legs of the second group respectively move to the next position in the sliding chute under the pulling of the traction mechanism, extend out to enable respective sucking discs to be attached to the wall surface, and then are tightly sucked under the action of a vacuum pump; next, releasing the suction force of the suckers at the ends of the first group of two pile legs, and retracting and lifting the suckers to enable the suckers to be away from the wall surface; the first group of two pile legs respectively move to the next position in the sliding chute under the pulling of the traction mechanism, and alternately act to drive the body to move forwards;
s3, positioning: the total station has a coordinate forming function, emits laser to irradiate on the prism, and reflects the laser emitted by the total station, so that coordinate information of the wall climbing tiling robot is calibrated; the PC end receives the coordinate information transmitted by the whole station instrument and transmits the coordinate information to the single chip microcomputer in the wall climbing tiling robot; the single chip microcomputer is also electrically connected with the motor and controls the process of the motor according to the coordinate information, so that the moving distance of the pile leg is controlled by pulling the steel wire rope, and the accurate position movement is realized;
s4, tiling: when snatching the tile, the case lid of tile storage box is opened, the work arm turns to the connector through a plurality of on it and realizes the multi-angle, multi-direction rotation, aim at the tile that will snatch with the installation sucking disc, and produce the negative pressure and adsorb, make the tile firmly inhale on the installation sucking disc, then the work arm is through turning to the connector and aim at the position that the wall will tile with the tile, paste the tile, firm back sucking disc of laminating and tile autosegregation, this process finishes, accomplish a tiling operation promptly.
In some embodiments, at least the suction cups at the ends of the two diagonal legs in S1 are sucked to the wall to be tiled by the vacuum pump.
In some embodiments, in S3, the prism has a capability of receiving laser light of three hundred and sixty degrees, and the laser light emitted by the total station can be easily received by being carried on the robot, so as to calibrate the position of the wall-climbing tile-patching robot in real time.
Compared with the prior art, the invention has the beneficial effects that: the wall tiling work does not need to be finished manually any more, the automation is realized, the efficiency and the quality of automatic tiling are improved, and the method has good market popularization value.
1. The positioning pile legs are adopted for walking the wall-climbing robot on the wall, and the four pile legs can enable the robot to realize climbing in all directions; when the positioning pile legs are sucked by the air pump, the wall climbing robot is fixed on the wall, the suckers are installed at the bottoms of the four positioning pile legs, and the wall climbing robot can be tightly attached to the wall through the negative pressure generated by the suckers connected with the vacuum pump, so that the possibility of falling is reduced.
2. In the crawling process of the robot, when two positioning pile legs on one group of diagonal lines are sucked on a wall through air pump suction force, two pile legs on the other group of diagonal lines release the air pump suction force, lift and move, and suck on the wall again, the wall-climbing robot finishes one-time movement, the positioning pile legs are alternately and repeatedly executed, and the wall-climbing robot can freely walk on the wall; and because the positioning pile legs are independent and do not influence each other, and the height distance of the bottom of the pile leg is variable, the wall climbing robot can walk on the curved wall.
3. The wall climbing robot of the invention is used as a machine device for automatically executing work, can accept manual command operation, and can run a pre-arranged program, thereby assisting or replacing manual tiling, and obviously reducing the danger existing in manual tiling.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, 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 invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic perspective view of an embodiment of the present invention;
fig. 2 is a schematic diagram of a total station and a prism used in conjunction with the present invention;
fig. 3 is a schematic view of the coupling structure of the traction mechanism of fig. 1 according to the present invention.
In the figure: 1. pile legs; 2. a working arm; 3. a tile storage bin; 4. a steering connector; 5. a suction cup; 6. a motor; 7. a wire rope; 8. a box cover; 9. a chute; 10. an elastic mounting plate; 11. installing a sucker; 12. a vacuum pump; 13. a prism; 14. a total station; 15. and a PC terminal.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
Referring to fig. 1-3, fig. 1 is a schematic perspective view of an embodiment of the present invention; fig. 2 is a schematic diagram of a total station and a prism used in conjunction with the present invention; fig. 3 is a schematic view of the coupling structure of the traction mechanism of fig. 1 according to the present invention.
In a specific embodiment, in a first aspect, embodiments of the present invention provide a four-pile positioning suction cup type wall-climbing tile robot, including:
the body is provided with two parallel sliding chutes 9;
the pile comprises pile legs 1, wherein two pile legs 1 are arranged in each sliding groove 9 in a sliding mode, and the four pile legs 1 are telescopic rods which stretch along the length direction of the pile legs and are perpendicular to the sliding direction in the sliding grooves 9; wherein, the same side ends of the four pile legs 1 are provided with suckers 5, and the suckers 5 are connected with a vacuum pump 12 through a pipeline;
the traction mechanism is provided with four groups, each group controls the sliding of one pile leg 1, the traction mechanism comprises a motor 6 and a steel wire rope 7, the motor 6 is fixedly arranged in the middle of the sliding chute 9, one end of the steel wire rope 7 is connected with the rotating end of the motor 6, and the other end of the steel wire rope 7 bypasses the far end of the sliding chute 9 and is connected with the pile leg 1 in series and then is connected with the rotating end of the motor 6 to form a transmission loop;
a tile installation, comprising: the brick storage box comprises a working arm 2, a brick storage box 3, steering connectors 4, a box cover 8, an elastic mounting plate 10 and mounting suckers 11, wherein the working arm 2 and the brick storage box 3 are arranged on a body, the working arm 2 is connected with the steering connectors 4 to realize multi-degree-of-freedom movement, the elastic mounting plate 10 is arranged on the steering connector 4 at the tail end, and the mounting suckers 11 are uniformly distributed on the elastic mounting plate 10; and
a positioning system, comprising: prism 13, singlechip, total powerstation 14 and PC end 15, prism 13, singlechip are installed on the body, and the singlechip passes through signal device and total powerstation 14, PC end 15 and carries out the interaction.
In order to implement multi-degree-of-freedom rotation, in this embodiment, optionally, two steering connectors 4 are provided, and rotation according to a cartesian coordinate system is implemented.
In order to control the accurate drawing of the steel wire rope, in this embodiment, the motor 6 is optionally a stepping motor.
In a second aspect, the invention further provides a working method of the four-pile positioning sucker type wall-climbing tile-sticking robot, which comprises the following steps:
s1, grabbing the wall: the sucking discs 5 at the end parts of the four pile legs 1 are adsorbed on the wall needing tiling under the action of a vacuum pump 12;
s2, walking: the sucking discs 5 at the end parts of the first group of two pile legs 1 on the diagonal are adsorbed on the wall under the action of a vacuum pump 12, and the sucking discs 5 at the end parts of the second group of two pile legs 1 release the suction force and retract and lift to enable the sucking discs 5 to leave the wall surface; the two pile legs 1 of the second group respectively move to the next position in the sliding chute 9 under the pulling of the traction mechanism, and the two pile legs 1 of the second group extend out to enable the respective sucking discs 5 to be attached to the wall surface and then tightly sucked under the action of the vacuum pump 12; next, releasing the suction force of the suckers 5 at the ends of the first group of two pile legs 1, and retracting and lifting the suckers 5 to enable the suckers 5 to be away from the wall surface; the first group of two pile legs 1 respectively move to the next position in the sliding chute 9 under the pulling of the traction mechanism, and alternately act to drive the body to move forwards;
s3, positioning: the total station 14 has a coordinate forming function, the total station 14 emits laser to irradiate on the prism 13, and the prism 13 reflects the laser emitted by the total station 14, so that coordinate information of the wall climbing tiling robot is calibrated; the PC terminal 15 receives the coordinate information transmitted by the total station 14 and transmits the coordinate information to a single chip microcomputer in the wall climbing tiling robot; the single chip microcomputer is also electrically connected with the motor 6, and the process of the motor 6 is controlled according to the coordinate information, so that the moving distance of the pile leg 1 is controlled by pulling the steel wire rope 7, and the accurate position movement is realized;
s4, tiling: when snatching the tile, case lid 8 of tile storage box 3 is opened, work arm 2 turns to connector 4 through a plurality of above that and realizes the multi-angle, multi-direction rotation, in order to aim at the tile that will snatch with installation sucking disc 11, and produce the negative pressure and adsorb, make the tile firmly inhale on installation sucking disc 11, then work arm 2 is through turning to the position that connector 4 aimed at the wall tile wall and will tile, paste the tile, firm back sucking disc and tile autosegregation of laminating, this process finishes, accomplish a tiling operation promptly.
In S1, the suction cups 5 at the ends of at least two diagonal legs 1 are sucked to the wall to be tiled by the vacuum pump 12.
In the above S3, the prism 13 has a capability of receiving laser light at three hundred and sixty degrees, and can be mounted on the robot body to easily receive laser light emitted from the total station 14, so as to calibrate the position of the wall climbing tile robot in real time.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.
Claims (6)
1. The utility model provides a wall tiling robot climbs based on four stake location sucking disc formulas which characterized in that includes:
the body is provided with two parallel sliding chutes (9);
the pile comprises pile legs (1), wherein two pile legs (1) are arranged in each sliding groove (9) in a sliding mode, the four pile legs (1) are telescopic rods which stretch along the length direction of the pile legs, and the direction of the telescopic rods is perpendicular to the sliding direction in the sliding grooves (9); wherein, the same side ends of the four pile legs (1) are provided with suckers (5), and the suckers (5) are connected with a vacuum pump (12) through a pipeline;
the traction mechanism is provided with four groups, each group controls the sliding of one pile leg (1), the traction mechanism comprises a motor (6) and a steel wire rope (7), the motor (6) is fixedly arranged in the middle of the sliding chute (9), one end of the steel wire rope (7) is connected with the rotating end of the motor (6), and the other end of the steel wire rope bypasses the far end of the sliding chute (9) and is connected with the pile leg (1) in series and then is connected with the rotating end of the motor (6) to form a transmission loop;
a tile installation, comprising: the tile storage box comprises a working arm (2), tile storage boxes (3), steering connectors (4), box covers (8), elastic mounting plates (10) and mounting suckers (11), wherein the working arm (2) and the tile storage boxes (3) are arranged on a body, the working arm (2) is connected with a plurality of steering connectors (4) to achieve multi-degree-of-freedom movement, the elastic mounting plates (10) are arranged on the steering connectors (4) at the tail ends, and the mounting suckers (11) are uniformly distributed on the elastic mounting plates (10); and
a positioning system, comprising: prism (13), singlechip, total powerstation (14) and PC end (15), prism (13), singlechip are installed on the body, and the singlechip passes through signal device and total powerstation (14), PC end (15) and carries out the interaction.
2. The four-pile based positioning suction cup type wall-climbing tile robot according to claim 1, characterized in that two turning joints (4) are provided.
3. The four-pile based positioning suction cup type wall-climbing tile robot according to claim 1, characterized in that the motor (6) is a stepper motor.
4. A working method based on a four-pile positioning suction cup type wall-climbing tile robot according to any of the claims 1-3, characterized by the steps of:
s1, grabbing the wall: the sucking discs (5) at the end parts of the four pile legs (1) are adsorbed on the wall needing tiling under the action of a vacuum pump (12);
s2, walking: the sucking discs (5) at the end parts of the first group of two pile legs (1) on the diagonal are adsorbed on the wall under the action of a vacuum pump (12), and the sucking discs (5) at the end parts of the second group of two pile legs (1) release the suction force and retract and lift to enable the sucking discs (5) to leave the wall surface; the pile driving mechanism comprises a first group of pile legs (1), a second group of pile legs (1), a traction mechanism, a vacuum pump (12), a first sliding groove (9), a second sliding groove (12), a first sliding groove (1), a second sliding groove (9), a second sliding groove (1), a second sliding groove (12), a second sliding groove (3), a second sliding groove (2), a second sliding groove (12), a second sliding groove (3) and a third sliding groove (12); next, releasing the suction force of the suckers (5) at the ends of the first group of two pile legs (1), and retracting and lifting the suckers (5) to enable the suckers to leave the wall surface; the pile comprises a first group of pile legs (1), a second group of pile legs (9), a traction mechanism and a main body, wherein the first group of pile legs (1) respectively move to the next position in the sliding chute (9) under the pulling of the traction mechanism and alternately act to drive the main body to move forwards;
s3, positioning: the total station (14) has a coordinate forming function, the total station (14) emits laser to irradiate on the prism (13), and the prism (13) reflects the laser emitted by the total station (14), so that coordinate information of the wall climbing tile pasting robot is calibrated; the PC end (15) receives coordinate information transmitted by the total station (14) and transmits the coordinate information to a single chip microcomputer in the wall-climbing tile-sticking robot; the single chip microcomputer is also electrically connected with the motor (6) and controls the process of the motor (6) according to the coordinate information, so that the moving distance of the pile leg (1) is controlled by pulling the steel wire rope (7) to realize accurate position movement;
s4, tiling: when snatching the tile, case lid (8) of tile storage box (3) are opened, work arm (2) realize the multi-angle through a plurality of connectors (4) that turn to above that, multi-direction rotation, aim at the tile that will snatch with installation sucking disc (11), and produce the negative pressure and adsorb, make the tile firmly inhale on installation sucking disc (11), then work arm (2) aim at the position that the wall will tile through turning to connector (4) with the tile, paste the tile, firm back sucking disc and tile autosegregation laminate, this process finishes, accomplish a tiling operation promptly.
5. Working method according to claim 4, characterized in that at least the suction cups (5) at the ends of the two diagonal legs (1) in S1 are sucked to the wall to be tiled by means of a vacuum pump (12).
6. The working method of claim 4, wherein in the step S3, the prism (13) has the capability of receiving laser light by three hundred and sixty degrees, and the laser light emitted by the total station (14) can be easily received by being carried on the robot, so that the position of the wall climbing tile robot can be calibrated in real time.
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| CN202111086405.8A CN113738078A (en) | 2021-09-16 | 2021-09-16 | Four-pile positioning sucker type wall climbing and tiling robot and working method thereof |
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| CN202111086405.8A CN113738078A (en) | 2021-09-16 | 2021-09-16 | Four-pile positioning sucker type wall climbing and tiling robot and working method thereof |
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| CN114199296A (en) * | 2021-12-06 | 2022-03-18 | 四川省建筑科学研究院有限公司 | Foot-imitating detection device |
| CN115349789A (en) * | 2022-08-22 | 2022-11-18 | 昆明环节科技有限公司 | Automatic deashing robot of building outer wall |
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| CN113152862A (en) * | 2021-06-04 | 2021-07-23 | 李俊岭 | Multifunctional integrated automatic brick sticking machine and operation method thereof |
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| CN114199296A (en) * | 2021-12-06 | 2022-03-18 | 四川省建筑科学研究院有限公司 | Foot-imitating detection device |
| CN115349789A (en) * | 2022-08-22 | 2022-11-18 | 昆明环节科技有限公司 | Automatic deashing robot of building outer wall |
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Application publication date: 20211203 |