CN113882635A - Fluidized body laying device, floor tile laying robot and slurry laying method - Google Patents
Fluidized body laying device, floor tile laying robot and slurry laying method Download PDFInfo
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- CN113882635A CN113882635A CN202010619799.8A CN202010619799A CN113882635A CN 113882635 A CN113882635 A CN 113882635A CN 202010619799 A CN202010619799 A CN 202010619799A CN 113882635 A CN113882635 A CN 113882635A
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- 239000002002 slurry Substances 0.000 title claims abstract description 227
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 239
- 230000007480 spreading Effects 0.000 claims abstract description 96
- 239000012530 fluid Substances 0.000 claims abstract description 85
- 238000001514 detection method Methods 0.000 claims abstract description 69
- 238000010276 construction Methods 0.000 claims description 22
- 239000000853 adhesive Substances 0.000 abstract description 6
- 230000001070 adhesive effect Effects 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 9
- 239000011440 grout Substances 0.000 description 6
- 239000004570 mortar (masonry) Substances 0.000 description 6
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 239000000919 ceramic Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- E04F21/20—Implements for finishing work on buildings for laying flooring
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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
- E04F21/20—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
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F15/00—Flooring
- E04F15/02—Flooring or floor layers composed of a number of similar elements
- E04F15/0215—Flooring or floor layers composed of a number of similar elements specially adapted for being adhesively fixed to an underlayer; Fastening means therefor; Fixing by means of plastics materials hardening after application
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Machines (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a fluid laying device, a floor tile paving robot and a slurry paving method, wherein the fluid laying device comprises: a chassis; the translation deviation rectifying mechanism is arranged on the chassis and comprises a moving seat moving along the direction vertical to the laying direction of the fluid and a deviation rectifying detection piece arranged on the moving seat; the slurry spreading mechanism is connected to the moving seat; the slurry supply mechanism is arranged on the chassis and used for supplying fluid bodies to the slurry spreading mechanism; when the fluid laying device works, the deviation rectifying detection piece controls the movable seat according to the received laser line, so that the slurry laying mechanism linearly lays slurry along the laying direction. The invention can ensure that the paved pulp surface is paved along a straight line, can replace manual work to finish the paving work of the adhesive fluid body, avoids the quality problem caused by the non-standard manual work, reduces the labor intensity of workers and improves the pulp paving efficiency.
Description
Technical Field
The invention relates to the technical field of building construction equipment, in particular to a fluid laying device, a floor tile paving robot and a slurry paving method.
Background
At present, when floor tiles are paved, a layer of bonding fluid body needs to be paved on the paving surface to effectively bond the tiles and the paving surface together. Generally, the adhesive fluid body is manually paved on a paving surface, and then the fluid body is scraped into a straight surface by a scraper, so that the paved slurry surface is easy to be not in a straight line due to the influence of proficiency factors of workers, and slurry is easy to be lacked below the ceramic tile after the ceramic tile is paved, thereby causing the quality problem of hollowing of the ceramic tile. In addition, the manual scraping and straightening method has high technical requirements on workers and high labor intensity, and is not beneficial to improving the efficiency of slurry paving operation.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a fluid laying device, which aims to solve the problems of low quality of a laid pulp surface and low working efficiency caused by the problem that the pulp surface is not in a straight line during manual laying.
The invention also aims to provide a floor tile paving and pasting robot applying the fluid body paving device.
The invention also aims to provide a slurry paving method applying the fluid body paving device.
According to an embodiment of the invention, a fluid laying device comprises: a chassis; the translation deviation rectifying mechanism is arranged on the chassis and comprises a moving seat moving along the direction vertical to the laying direction of the fluid body and a deviation rectifying detection piece arranged on the moving seat; the slurry spreading mechanism is connected to the movable seat; the slurry supply mechanism is arranged on the chassis and used for supplying a fluid body to the slurry paving mechanism; when the fluid body laying device works, the deviation rectifying detection piece controls the movable seat according to the received laser line, so that the pulp paving mechanism can pave pulp in a straight line along the laying direction.
According to the fluid body paving and mortar spreading device provided by the embodiment of the invention, the vertical laser line is used as the side line reference of the parallel floor tiles, and the deviation rectifying detection piece receives the signal of the side line laser line of the parallel floor tiles to control the translation deviation rectifying mechanism so as to rectify the deviation of the mortar spreading mechanism in the horizontal direction. The invention can ensure that the laid pulp surface is laid along the straight line, can replace the manual work to finish the laying work of the adhesive fluid body, avoids the quality problem caused by the non-standard manual work, reduces the labor intensity of workers and improves the pulp laying efficiency.
In some embodiments, the translational rectification mechanism further comprises: the driving piece is arranged on the moving seat; the moving assembly comprises a moving part and a guide supporting part connected with the moving part, the moving part is connected with the driving part, and the guide supporting part is connected with the chassis.
In some embodiments, the drive member is a first drive motor; the moving part is a lead screw which is connected to the output end of the first driving motor; the guide supporting piece is a nut, the nut is matched on the lead screw, and the nut is connected with the chassis.
In some embodiments, the slurry paving device for fluid body paving further comprises an upper leveling mechanism and a lower leveling mechanism, the upper leveling mechanism and the lower leveling mechanism are arranged between the movable seat and the slurry paving mechanism, the upper leveling mechanism and the lower leveling mechanism comprise a lifting piece and a leveling detection piece, the lifting piece is arranged on the movable seat, the output end of the lifting piece is connected with the slurry paving mechanism, and the leveling detection piece is arranged on the movable seat; when the fluid body laying device works, the leveling detection piece controls the lifting piece according to the received laser line, so that the bottom of the slurry paving mechanism is parallel to a construction surface.
Optionally, the upper and lower leveling mechanism further comprises a rotating part, the rotating part is arranged on the moving seat and can rotate around a vertical axis, the output end of the rotating part is connected with the leveling detection part, and the rotating part can adjust the detection direction of the leveling detection part.
Optionally, the number of the upper leveling mechanism and the lower leveling mechanism is two, and the upper leveling mechanism and the lower leveling mechanism are correspondingly arranged at two ends of the slurry paving mechanism in the length direction so as to respectively adjust the heights of the two ends of the slurry paving mechanism.
In some embodiments, the slurry spreading mechanism comprises: the lower part of the slurry box is provided with a slurry outlet; the tooth-shaped scraper is arranged on the slurry outlet and extends along the length direction of the slurry box.
Optionally, the slurry supply mechanism includes: the slurry hopper is arranged on the chassis; the spiral conveying rod is pivotally arranged in the slurry hopper; the conveying pipeline is arranged on the slurry hopper, one end of the conveying pipeline is communicated with the conveying end of the spiral conveying rod, and the other end of the conveying pipeline is communicated with the slurry box; and the output end of the second driving motor is connected with the spiral conveying rod.
In some embodiments, the chassis comprises: the slurry supply mechanism is arranged above the chassis main body and is positioned on one side of the chassis main body in the width direction; a power supply system provided above the chassis main body and on the other side in the width direction of the chassis main body, the power supply system being provided along the length direction of the chassis main body; the travelling wheel is arranged below the chassis main body; the control cabinet is arranged below the chassis main body.
A tile paving robot according to an embodiment of the present invention includes: a fluid application device according to any one of the preceding claims.
According to the floor tile paving and pasting robot provided by the embodiment of the invention, the fluid body paving and pasting device utilizes the vertical laser line as the reference of the side line of the parallel floor tile, the deviation rectifying detection piece receives the signal of the laser line of the side line of the parallel floor tile to control the translation deviation rectifying mechanism, and the deviation rectifying mechanism is rectified in the horizontal direction, so that the paved grout surface can be ensured to be paved along a straight line, the paving work of the adhesive fluid body can be finished by replacing manpower, the quality problem caused by the non-standard manual operation is avoided, the labor intensity of workers is reduced, and the grout paving efficiency is improved.
The pulp paving method comprises the following steps: -a fluid laying device according to any of the preceding claims; the slurry spreading method comprises the following steps: the chassis moves along the slurry paving direction, the slurry supply mechanism conveys a fluid body into the slurry paving mechanism, and the slurry paving mechanism paves slurry on a construction surface; the deviation-rectifying detection part controls the translation deviation-rectifying mechanism according to the received laser line so as to adjust the horizontal position of the slurry-spreading mechanism and enable the fluid to be linearly spread along the spreading direction.
According to the mortar spreading method provided by the embodiment of the invention, the vertical laser line is used as the side line reference of the parallel floor tiles, and the deviation rectifying detection piece receives signals of the side line laser line of the parallel floor tiles to control the translation deviation rectifying mechanism so as to rectify deviation of the mortar spreading mechanism in the horizontal direction. The invention can ensure that the laid pulp surface is laid along the straight line, greatly improves the straightness of the laid pulp, can replace the manual work to finish the laying work of the adhesive fluid body, avoids the quality problem caused by the non-standard manual work, reduces the labor intensity of workers and improves the pulp laying efficiency.
In some embodiments, the fluid laying device further comprises an upper and lower leveling mechanism, the upper and lower leveling mechanism is arranged between the movable seat and the slurry laying mechanism, and the upper and lower leveling mechanism comprises a leveling detection piece; the pulp paving method further comprises the following steps: the leveling detection piece controls the upper leveling mechanism and the lower leveling mechanism according to the laser line so as to adjust the height of the slurry paving mechanism, and the bottom of the slurry paving mechanism is parallel to the construction surface.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic perspective view of a fluid application device according to an embodiment of the present invention;
FIG. 2 is a schematic partial perspective view of a fluid application device according to an embodiment of the present invention;
FIG. 3 is a schematic perspective view of a slurry supply mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic perspective view of the assembly of the motion chassis and the slurry supply mechanism in the embodiment of the present invention;
FIG. 5 is a schematic structural view of the working of the fluid application device in cooperation with the laser generator according to the embodiment of the present invention;
FIG. 6 is a schematic view of the slurry spreading mechanism of the fluid laying device of the embodiment of the present invention being kept horizontal with the construction surface;
FIG. 7 is a first schematic view of the left-hand deflection of the slurry spreading mechanism of the fluid application device of the embodiment of the present invention;
FIG. 8 is a second schematic diagram of the slurry spreading mechanism of the fluid application device of the embodiment of the present invention tilted to the left;
FIG. 9 is a first schematic diagram illustrating rightward deflection of the slurry spreading mechanism of the fluid application device according to an embodiment of the present invention;
FIG. 10 is a second schematic view of the slurry spreading mechanism of the fluid application device of the embodiment of the present invention tilted to the left;
FIG. 11 is a schematic view showing that the slurry spreading mechanism of the fluid laying device is not off tracking in the embodiment of the invention;
FIG. 12 is a schematic view showing the left deviation of the slurry spreading mechanism of the fluid laying device according to the embodiment of the present invention;
fig. 13 is a schematic diagram of the right deviation of the slurry spreading mechanism of the fluid laying device in the embodiment of the invention.
Reference numerals:
100. a fluid body laying device;
10. a chassis;
11. a chassis main body; 12. a traveling wheel; 13. a power supply system; 14. a control cabinet; 15. a universal wheel;
20. a translation deviation correcting mechanism;
21. a first drive motor; 22. a lead screw; 23. a movable seat; 231. a connecting plate; 24. a deviation rectifying detection piece; 25. a nut; 26. a lead screw supporting seat; 27. a coupling; 28. a first mounting seat; 29. a nut fixing seat;
30. a pulp spreading mechanism;
31. a slurry tank; 32. a toothed scraper;
40. a pulp supply mechanism;
41. a slurry hopper; 42. a screw conveying rod; 43. a delivery conduit; 44. a second drive motor; 45. a drive chain; 46. a sprocket; 47. a speed reducer;
50. an upper leveling mechanism and a lower leveling mechanism;
51. a lifting member; 511. a third motor; 512. a linear electric cylinder; 52. a rotating member; 53. leveling the detection piece; 54. a linear guide rail; 55. a pin shaft; 56. a connecting rod;
60. a guide mechanism;
61. a slide rail; 62. moving the slide block;
200. a laser generator; 300. constructing a surface; o2, horizontal laser line; o1, vertical laser line.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the indicated orientations and positional relationships based on the drawings, merely to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The fluid laying device 100 according to the embodiment of the present invention will be described below with reference to the drawings.
As shown in fig. 1, a fluid laying device 100 according to an embodiment of the present invention, used with a laser generator 200, includes: the device comprises a chassis 10, a translation deviation rectifying mechanism 20, a slurry paving mechanism 30 and a slurry supply mechanism 40.
The translational deviation rectifying mechanism 20 is arranged on the chassis 10, and the translational deviation rectifying mechanism 20 comprises a moving seat 23 moving along the direction perpendicular to the laying direction of the fluid and a deviation rectifying detection piece 24 arranged on the moving seat 23. The slurry spreading mechanism 30 is connected to the moving base 23. The slurry supply mechanism 40 is provided on the chassis 10 to supply the fluidized body to the slurry spreading mechanism 30. It can be understood that the slurry spreading mechanism 30 is disposed at the front end of the chassis 10, the slurry supply mechanism 40 supplies the slurry to the slurry spreading mechanism 30 when the fluid laying device 100 is in operation, the chassis 10 drives the fluid laying device 100 to move along a straight line as a whole, and the slurry spreading mechanism 30 performs slurry spreading operation on the construction surface 300.
As shown in fig. 5, when the fluid laying device 100 is in operation, the deviation-correcting detector 24 controls the movable base 23 according to the received laser line, so that the slurry spreading mechanism 30 spreads slurry linearly along the laying direction. That is, when the slurry spreading mechanism 30 normally works, the position of the vertical laser line O1, which is received by the deviation rectifying detection element 24 and is emitted by the laser generator 200, is a vertical zero point; the movable seat 23 is used for driving the slurry spreading mechanism 30 to move, so that the position of the vertical laser line O1 received by the deviation rectifying detection piece 24 can return to the vertical zero point. For example, when the slurry spreading mechanism 30 is used in a tile laying process, the slurry is spread in a straight line under normal operation, and the chassis 10 is liable to deviate from the slurry spreading direction due to the skill of the operator, for example, the slurry spreading mechanism 30 deviates to the left or to the right (as shown in fig. 12 and 13) with respect to the fluid body laying direction, and thus the slurry cannot be spread in a straight line. When the position of the vertical laser line O1 sent by the laser generator 200 and received by the deviation-correcting detection piece 24 is not at the vertical zero point, the translation deviation-correcting mechanism 20 is started, the moving seat 23 drives the slurry-spreading mechanism 30 to move along the direction perpendicular to the motion direction of the chassis 10, so that the position of the slurry-spreading mechanism 30 is adjusted, the position of the vertical laser line O1 received by the deviation-correcting detection piece 24 returns to the vertical zero point, and the slurry surface laid by the slurry-spreading mechanism 30 is ensured to be in a straight line.
According to the slurry paving device 100 for paving the fluid body, the vertical laser line O1 is used as the side line reference of the parallel floor tiles, the deviation rectifying detection piece 24 receives signals of the side line laser lines of the parallel floor tiles to control the translation deviation rectifying mechanism 20 and conduct horizontal deviation rectifying on the slurry paving mechanism 30, and due to the fact that the existing slurry paving robot cannot walk straight lines and cannot pave straight lines in the walking process of the robot due to the fact that impurities such as ground flatness and gravel exist, the paved slurry can be guaranteed to be paved along the straight lines, paving work of the bonded fluid body can be completed instead of manual work, quality problems caused by manual work non-standardization are avoided, labor intensity of workers is reduced, and slurry paving efficiency is improved.
In some embodiments, the deskew detection member 24 is an electro-optical position sensitive sensor.
In some embodiments, as shown in fig. 2, the translational deviation correcting mechanism 20 includes a driving member disposed on the movable base 23; the moving assembly comprises a moving part and a guide supporting part connected with the moving part, the moving part is connected with a driving part, and the guide supporting part is connected with the chassis 10.
Specifically, the driving member is a first driving motor 21; the moving part is a lead screw 22, and the lead screw 22 is connected to the output end of the first driving motor 21; the guiding support is a nut 25, the nut 25 fits over the lead screw 22, and the nut 25 is connected to the chassis 10. When the translation deviation rectifying mechanism 20 works, the first driving motor 21 is started to drive the screw rod 22 to rotate, the screw rod 22 generates thrust on the nut 25, and the reaction force of the nut 25 on the screw rod 22 drives the moving seat 23 to do translation movement, so that the slurry paving mechanism 30 is driven to horizontally move to realize translation deviation rectifying. Because the deviation-rectifying detection piece 24 and the slurry spreading mechanism 30 are both arranged on the movable base 23, the deviation-rectifying detection piece 24 can visually reflect the position of the slurry spreading mechanism 30 by receiving a vertical laser line O1 emitted by the laser generator 200, and the deviation-rectifying detection piece 24 moves on the movable base 23 along with the slurry spreading mechanism 30, so that whether the slurry spreading mechanism 30 is in place in a deviation rectifying mode can be detected in real time.
Optionally, as shown in fig. 2, the other end of the lead screw 22 is pivotally provided with a lead screw supporting seat 26, and the lead screw supporting seat 26 is connected to the moving seat 23, so that the connection reliability of the lead screw 22 and the moving seat 23 is enhanced, and the process of the lead screw 22 driving the moving seat 23 to move is more stable. One end of the screw rod 22 is connected with the output shaft of the first driving motor 21 through a coupler 27, so that the screw rod 22 and the first driving motor 21 can be conveniently installed.
Optionally, the screw 22 is a ball screw, and certainly, the screw 22 in the present invention is not limited thereto, and is not described herein again.
Optionally, as shown in fig. 2, the first driving motor 21 is a servo motor, the first driving motor 21 is connected to a first mounting seat 28, and the first mounting seat 28 is disposed on the moving seat 23 to facilitate mounting of the first driving motor 21.
Optionally, as shown in fig. 2, the nut 25 is connected to a nut fixing seat 29, and the nut fixing seat 29 is connected to the moving chassis 10, so as to facilitate installation of the nut 25 and improve connection reliability between the nut 25 and the moving chassis 10.
Optionally, as shown in fig. 2, a connection plate 231 is disposed on the movable seat 23, and the deviation rectifying detector 24 is disposed on the connection plate 231.
In some embodiments, the translational deviation correcting mechanism 20 includes a gear (not shown) driving a rack (not shown) to perform a linear motion, for example, the first driving motor 21 drives the gear to rotate, the gear engages with the rack to drive the rack to move, and the slurry spreading mechanism 30 is connected to the rack and can also perform a horizontal movement correcting function.
In some embodiments, as shown in fig. 4, a guiding mechanism 60 is disposed between the movable seat 23 and the motion chassis 10, the guiding mechanism 60 includes a sliding rail 61 and a movable slider 62, the sliding rail 61 is disposed on the motion chassis 10 and is disposed along the width direction of the motion chassis 10, and the movable slider 62 is engaged on the sliding rail 61 and is connected to the movable seat 23. When the movable base 23 moves horizontally, the movable base 23 can be ensured to move stably on the moving chassis 10 under the action of the slide rail 61 and the movable slide block 62, and the movement reliability is improved.
In some embodiments, as shown in fig. 4, the moving block 62 is provided in plurality at intervals on the slide rail 61, for example, two moving blocks 62 are provided.
In some embodiments, as shown in fig. 1 and 2, the fluid spreading and slurry spreading apparatus 100 further includes an upper and lower leveling mechanism 50, the upper and lower leveling mechanism 50 is disposed between the movable base 23 and the slurry spreading mechanism 30 to adjust the height of both ends of the slurry spreading mechanism 30 in the length direction, the upper and lower leveling mechanism 50 includes a lifting member 51 and a leveling detection member 53, the lifting member 51 is disposed on the movable base 23, the output end of the lifting member 51 is connected to the slurry spreading mechanism 30, and the leveling detection member 53 is disposed on the movable base 23. When the vertical leveling is performed, the lifter 51 is raised to increase the height of the end position of the mortar applying mechanism 30 relative to the construction surface 300, and the lifter 51 is lowered to decrease the height of the end position of the mortar applying mechanism 30 relative to the construction surface 300.
When the fluid laying device 100 works, the leveling detector 53 controls the lifting member 51 to lift according to the received laser line, so that the bottom of the slurry laying mechanism 30 is parallel to the construction surface. That is, when the fluid laying device 100 normally works, the position of the horizontal laser line O2 emitted from the laser generator 200 received by the leveling detection piece 53 is a horizontal zero point; the upper and lower leveling mechanisms 50 are used for driving the slurry spreading mechanism 30 to ascend and descend, so that the position of the horizontal laser line O2 received by the leveling detection piece 53 can return to the horizontal zero point. In the tile laying process, the bottom of the slurry laying mechanism 30 is kept horizontal with the construction surface 300 under normal work of the slurry laying mechanism 30, and the laid slurry surface is uneven in height due to the influence of unevenness of the laid surface. When the position of the horizontal laser line O2 sent by the laser generator 200 received by the leveling detection part 53 is not at the horizontal zero point, the upper and lower leveling mechanisms 50 are started to adjust the heights of the two ends of the slurry paving mechanism 30, so that the bottom of the slurry paving mechanism 30 is kept parallel to the construction surface 300, and the slurry paving surface is guaranteed to be highly level. The leveling detection part 53 receives a signal of the horizontal level elevation reference to control the upper and lower leveling mechanisms 50 by using the horizontal laser line O2 emitted by the laser generator 200 as the horizontal level elevation reference, so as to solve the quality problem of uneven paved surface caused by uneven construction surface 300.
Optionally, the leveling detector 53 is an optoelectronic position sensitive sensor.
Optionally, as shown in fig. 2, there are two upper and lower leveling mechanisms 50, and the two upper and lower leveling mechanisms 50 are correspondingly disposed at two ends of the slurry spreading mechanism 30 in the length direction, so as to respectively adjust the heights of the two ends of the slurry spreading mechanism 30. That is, the two upper and lower leveling mechanisms 50 can individually adjust the heights of both ends of the slurry spreading mechanism 30, for example, as shown in fig. 7 and 8, when the construction surface 300 at the left end of the slurry spreading mechanism 30 is higher, the upper and lower leveling mechanism 50 at the left end lifts the slurry spreading mechanism 30 upward; when the construction surface 300 at the left end of the slurry paving mechanism 30 is lower, the upper and lower leveling mechanism 50 at the left end lowers and adjusts the slurry paving mechanism 30. As shown in fig. 9 and 10, when the construction surface 300 at the right end of the slurry paving mechanism 30 is higher, the upper and lower leveling mechanisms 50 at the right end lift the slurry paving mechanism 30 upward; when the construction surface 300 at the right end of the slurry spreading mechanism 30 is low, the upper and lower leveling mechanisms 50 at the right end lower the slurry spreading mechanism 30.
In some embodiments, as shown in fig. 2, the lifting member 51 includes a third motor 511 and a linear electric cylinder 512, the third motor 511 is connected to the linear electric cylinder 512 to drive the linear electric cylinder 512 to extend and retract, and the extension rod of the linear electric cylinder 512 is connected to the slurry spreading mechanism 30.
Optionally, as shown in fig. 2, the up-down leveling mechanism 50 further includes a rotating member 52, the rotating member 52 is disposed on the moving base 23 and can rotate around a vertical axis, an output end of the rotating member 52 is connected to the leveling detecting member 53, and the rotating member 52 can adjust a detecting direction of the leveling detecting member 53. The rotating member 52 aligns the horizontal laser line O2 emitted from the laser generator 200 by rotating the leveling detector 53 such that the leveling detector 53 rotates to an optimal angle.
Optionally, the rotating part 52 is a steering engine, an output end of the steering engine is connected with the leveling detection part 53, and the steering engine is adopted to conveniently and accurately control the rotation angle of the leveling detection part 53. Of course, the rotating member 52 can also be a stepping motor or a rotating cylinder, which will not be described herein.
In some embodiments, as shown in fig. 2, the upper and lower leveling mechanism 50 further includes a linear guide 54, the linear guide 54 is connected to the output end of the lifting member 51, the sliding block of the linear guide 54 is connected to the movable base 23, and the linear guide 54 is connected to the slurry spreading mechanism 30 through a pin 55. That is to say, the linear guide rail 54 can play a guiding role, and the lifting piece 51 has better stability when driving the slurry spreading mechanism 30 to lift.
In some embodiments, as shown in FIG. 2, the upper end of linear guide 54 is connected to the output end of lifter 51 by a connecting rod 56.
In some embodiments, as shown in fig. 2, the slurry spreading mechanism 30 includes: a slurry tank 31, wherein a slurry outlet (not shown) is arranged below the slurry tank 31; and a tooth-shaped scraper 32, wherein the tooth-shaped scraper 32 is arranged on the slurry outlet and extends along the length direction of the slurry box 31. That is, the slurry in the slurry tank 31 reaches the toothed scraper 32 through the slurry outlet, and is scraped into a flat toothed surface by the toothed scraper 32.
Alternatively, as shown in fig. 3, the pulp supply mechanism 40 includes: a pulp hopper 41, wherein the pulp hopper 41 is arranged on the chassis 10; a screw conveying rod 42, wherein the screw conveying rod 42 is pivotally arranged in the slurry hopper 41; the conveying pipeline 43 is arranged on the slurry hopper 41, one end of the conveying pipeline 43 is communicated with the conveying end of the spiral conveying rod 42, and the other end of the conveying pipeline 43 is communicated with the slurry tank 31; and the output end of the second driving motor 44 is connected with the spiral conveying rod 42. It can be understood that the screw conveying rod 42 is arranged at the bottom of the slurry hopper 41, the second driving motor 44 drives the screw conveying rod 42 to rotate, the slurry in the slurry hopper 41 is discharged to the conveying end along with the screw conveying rod 42, and then the slurry reaches the slurry tank 31 through the conveying pipeline 43, so that the slurry is supplied to the slurry spreading mechanism 30.
Optionally, as shown in fig. 3, a chain transmission mechanism is disposed between the second driving motor 44 and the spiral conveying rod 42, the chain transmission mechanism includes a transmission chain 45 and two chain wheels 46, the two chain wheels 46 are respectively connected to an output shaft of the second driving motor 44 and a shaft of the spiral conveying rod 42, and the transmission chain 45 is sleeved on the two chain wheels 46. The second driving motor 44 is activated to rotate the sprocket 46 thereon, and the other sprocket 46 is rotated via the transmission chain 45, thereby driving the screw conveyor 42 to rotate.
Optionally, as shown in fig. 3, the second driving motor 44 is a servo motor, and a speed reducer 47 is disposed between the second driving motor 44 and the sprocket 46.
In some embodiments, as shown in fig. 4, the chassis 10 includes: a chassis main body 11, wherein the slurry supply mechanism 40 is arranged above the chassis main body 11 and is positioned at one side of the chassis main body 11 in the width direction; and a power supply system 13, wherein the power supply system 13 is arranged above the chassis main body 11 and positioned at the other side of the chassis main body 11 in the width direction, and the power supply system 13 is arranged along the length direction of the chassis main body 11. In this way, the layout of the slurry supply mechanism 40 and the power supply system 13 in the chassis main body 11 is compact, which is beneficial to reducing the volume of the upper space of the whole chassis main body 11. And the walking wheels 12 are arranged below the chassis main body 11, and the power supply system 13 provides power for the walking wheels 12 to drive the chassis main body 11 to walk. The control cabinet 14 is arranged below the chassis main body 11, so that the upper space of the chassis 11 can be saved.
Alternatively, as shown in fig. 4, the road wheels 12 are steering wheels, and the sport chassis 10 further includes universal wheels 15 disposed below the chassis body 11.
An embodiment of the fluid application device 100 of the present invention will now be described with reference to the accompanying drawings.
As shown in fig. 1 to 4, a fluid application device 100 for use with a laser generator 200 comprises: the device comprises a chassis 10, a translation deviation rectifying mechanism 20, a slurry paving mechanism 30, a slurry supply mechanism 40 and an upper and lower leveling mechanism 50.
The translational deviation rectifying mechanism 20 is arranged on the chassis 10, and the translational deviation rectifying mechanism 20 comprises a moving seat 23 moving along the direction perpendicular to the laying direction of the fluid and a deviation rectifying detection piece 24 arranged on the moving seat 23.
The translation deviation correcting mechanism 20 includes: the device comprises a first driving motor 21, a screw rod 22, a moving seat 23, a deviation rectifying detection piece 24 and a nut 25, wherein the first driving motor 21 is arranged on the moving seat 23; one end of the lead screw 22 is connected to the output end of the first driving motor 21; the nut 25 is matched on the screw rod 22, the nut 25 is connected with the moving chassis 10, and the deviation rectifying detection piece 24 is a photoelectric position sensitive sensor.
But lead screw 22's the other end pivot ground is equipped with lead screw supporting seat 26, the output shaft of first driving motor 21 is passed through shaft coupling 27 and is connected to lead screw 22's one end, lead screw 22 is ball, first driving motor 21 is servo motor, first driving motor 21 is connected with first mount pad 28, first mount pad 28 is established on removing seat 23, nut 25 is connected with nut fixing base 29, nut fixing base 29 is connected on chassis 10, be equipped with connecting plate 231 on removing the seat 23, the detection piece 24 of rectifying is established on connecting plate 231.
The slurry spreading mechanism 30 is connected to the moving base 23. The slurry spreading mechanism 30 includes: a slurry tank 31 and a tooth-shaped scraper 32, wherein a slurry outlet (not shown) is arranged below the slurry tank 31; the tooth-shaped scraper 32 is arranged along the length direction of the slurry tank 31, and the tooth-shaped scraper 32 is arranged on the slurry outlet.
The slurry supply mechanism 40 is provided on the base plate 10 to supply the slurry to the slurry spreading mechanism 30.
The pulp supply mechanism 40 includes: the device comprises a pulp hopper 41, a spiral conveying rod 42, a conveying pipeline 43 and a second driving motor 44, wherein the pulp hopper 41 is arranged on the chassis 10; the screw conveying rod 42 is pivotally arranged in the pulp hopper 41; the conveying pipeline 43 is arranged on the slurry hopper 41, one end of the conveying pipeline 43 is communicated with the conveying end of the spiral conveying rod 42, and the other end of the conveying pipeline 43 is communicated with the slurry tank 31; the output end of the second drive motor 44 is connected to the auger screw 42.
A chain transmission mechanism is arranged between the second driving motor 44 and the spiral conveying rod 42, the chain transmission mechanism comprises a transmission chain 45 and two chain wheels 46, the two chain wheels 46 are respectively connected with an output shaft of the second driving motor 44 and a shaft of the spiral conveying rod 42, and the transmission chain 45 is sleeved on the two chain wheels 46.
The second driving motor 44 is a servo motor, and a speed reducer 47 is provided between the second driving motor 44 and the sprocket 46.
The upper and lower leveling mechanisms 50 are arranged between the moving seat 23 and the slurry spreading mechanism 30, each upper and lower leveling mechanism 50 comprises a leveling detection piece 53, each leveling detection piece 53 is a photoelectric position sensitive sensor, the number of the upper and lower leveling mechanisms 50 is two, and the two upper and lower leveling mechanisms 50 are correspondingly arranged at two ends of the slurry spreading mechanism 30 in the length direction.
The upper and lower leveling mechanisms 50 each include: the lifting member 51, the rotating member 52, the leveling detection member 53 and the linear guide rail 54. The lifting piece 51 is arranged on the moving base 23, the lifting piece 51 comprises a third motor 511 and a linear electric cylinder 512, the third motor 511 is connected with the linear electric cylinder 512 to drive the linear electric cylinder 512 to extend and retract, and the telescopic rod of the linear electric cylinder 512 is connected to the slurry spreading mechanism 30. The rotating part 52 is a steering engine, and the output end of the steering engine is connected with the leveling detection part 53. The linear guide rail 54 is connected with the output end of the lifting piece 51, the slide block of the linear guide rail 54 is connected with the movable base 23, and the linear guide rail 54 is connected with the slurry spreading mechanism 30 through a pin shaft 55. The upper end of the linear guide 54 is connected to the output end of the elevating member 51 through a connecting rod 56.
The chassis 10 includes: the slurry supply device comprises a chassis main body 11, traveling wheels 12, a power supply system 13 and a control cabinet 14, wherein a slurry supply mechanism 40 is arranged above the chassis main body 11 and is positioned on one side of the chassis main body 11 in the width direction; the power supply system 13 is arranged above the chassis main body 11 and positioned at the other side of the chassis main body 11 in the width direction, and the power supply system 13 is arranged along the length direction of the chassis main body 11; the traveling wheels 12 are provided below the chassis main body 11. The control cabinet 14 is arranged below the chassis body 11, the traveling wheels 12 are steering wheels, and the moving chassis 10 further comprises universal wheels 15 arranged below the chassis body 11.
The working method of the invention is described below:
as shown in fig. 5, the laser generator 200 and the chassis 10 are placed at the position shown in the figure, the horizontal laser line O2 and the vertical laser line O1 are turned on, the slurry hopper 41 of the slurry supply mechanism 40 is filled with slurry, the second driving motor 44 is turned on to drive the speed reducer 47 to rotate, the speed reducer is driven to rotate through the chain wheel 46 and the driving chain 45, so as to drive the spiral conveying rod 42 to rotate, the spiral conveying rod 42 conveys the slurry to the slurry tank 31 through the conveying pipeline 43, and the toothed scraper 32 installed at the slurry outlet cuts the slurry into a toothed surface.
The power supply system 13 of the chassis 10 provides power, the control cabinet 14 provides a control program to drive the traveling wheels 12 to drive the chassis main body 11 to travel, and the slurry spreading mechanism 30 mounted on the linear guide rail 54 also moves along with the chassis 10.
As shown in fig. 6, when the ground is horizontal, the slurry outlets of the chassis 10 and the slurry spreading mechanism 30 are in a horizontal state, and the position of the leveling detection member 53 on the slurry spreading mechanism 30, which is connected to the horizontal laser line O2 emitted by the laser generator 200, is a horizontal zero point.
As shown in fig. 7 and 9, when the ground surface is uneven, the chassis 10 is inclined, the slurry spreading mechanism 30 is inclined along with the chassis 10, the chassis 10 in fig. 7 is inclined leftward, the chassis 10 in fig. 9 is inclined rightward, the leveling detection member 53 on the slurry spreading mechanism 30 senses that the position of the horizontal laser line O2 emitted by the laser generator 200 is away from the horizontal zero point, the leveling detection member 53 generates a signal, and the third motor 511 is controlled by a program to drive the piston rod of the linear electric cylinder 512 to move up and down, so as to drive the connecting rod 56, the linear guide rail 54, the rotating member 52, the leveling detection member 53, the pin shaft 55 and the slurry tank 31 to move up and down together, until the horizontal laser line O2 emitted by the laser generator 200 returns to the horizontal zero point of the leveling detection member 53, and the slurry outlet is in the horizontal state, as shown in fig. 8 and 10.
As shown in fig. 11, when the chassis 10 is not deviated, the slurry outlet of the slurry spreading mechanism 30 and the chassis 10 are aligned, and the position of the deviation rectifying detection element 24 on the slurry spreading mechanism 30, which is connected to the vertical laser line O1 emitted by the laser generator 200, is a vertical zero point. As shown in fig. 12 and 13, when the chassis 10 deviates, at this time, the slurry spreading mechanism 30 deviates along with the chassis 10, the deviation-correcting detecting element 24 on the slurry spreading mechanism 30 senses that the position of the vertical laser line O1 emitted by the laser generator 200 leaves the vertical zero position, the deviation-correcting detecting element 24 generates a signal, the first driving motor 21 is controlled by a program to drive the screw rod 22 to rotate through the coupler 27, the screw rod 22 generates a thrust force on the nut 25 fixed on the nut fixing seat 29, the nut 25 generates a reaction thrust force on the screw rod 22, and the screw rod 22 makes the movable seat 23, the connecting plate 231 and the deviation-correcting detecting element 24 perform a translational motion together through the screw rod supporting seat 26 until the position of the vertical laser line O1 emitted by the laser generator 200 returns to the vertical zero position of the deviation-correcting detecting element 24. As shown in fig. 12, the chassis 10 deviates to the right, the moving seat 23 of the translational deviation rectifying mechanism 20 drives the slurry spreading mechanism 30 to move to the left for rectifying deviation, so that the position of the received vertical laser line O1 returns to the vertical zero point; as shown in FIG. 13, the chassis 10 deviates to the left, the movable base 23 of the translational deviation rectifying mechanism 20 drives the slurry spreading mechanism 30 to move to the right for rectifying deviation, so that the position of the received vertical laser line O1 returns to the vertical zero point. In this way, the position of the grout outlet is maintained with respect to the position of the vertical laser line O1 generated by the laser generator 200, and the same level and alignment of the toothed grout surface required for tiling can be achieved.
In summary, the combination chassis 10, the slurry supply mechanism 40, the translation deviation rectifying mechanism 20, the up-down leveling mechanism 50 and the slurry spreading mechanism 30 are integrated, and the laser beam emitted by the laser generator 200 is used as a reference line, so that the toothed slurry surface which is on the same horizontal plane and is in a straight line can be laid.
A tile paving robot (not shown) according to an embodiment of the present invention includes: the fluid laying device 100 according to any of the preceding claims.
According to the floor tile paving and pasting robot provided by the embodiment of the invention, the fluid body paving and pasting device 100 utilizes the vertical laser line O1 as the side line reference of the parallel floor tiles, the deviation rectifying detection piece 24 receives the signal of the side line laser line of the parallel floor tiles to control the translation deviation rectifying mechanism 20, and the horizontal deviation rectifying is carried out on the slurry paving mechanism 30, so that the paved slurry surface can be ensured to be paved along a straight line, the paving work of the bonding fluid body can be completed instead of manual work, the quality problem caused by the non-standard manual work is avoided, the labor intensity of workers is reduced, and the slurry paving efficiency is improved.
The pulp paving method comprises the following steps: the fluid laying device 100 according to the foregoing.
As shown in fig. 6 to 13, the slurry spreading method includes:
step S1: the moving chassis 10 moves along the slurry paving direction, the slurry supply mechanism 40 conveys the fluid body into the slurry paving mechanism 30, and the slurry paving mechanism 30 paves slurry on the construction surface 300. That is, when the fluid laying device 100 works normally, the construction surface 300 is horizontal, the moving chassis 10 and the slurry spreading mechanism 30 are in a horizontal state, the moving chassis 10 is not deviated, the slurry spreading mechanism 30 and the moving chassis 10 are in an aligned state, the position of the deviation rectification detecting member 24 receiving the vertical laser line O1 emitted by the laser generator 200 is a vertical zero point, and the fluid laying device 100 spreads slurry along a straight line.
Step S2: the deviation-rectifying detection part 23 controls the translation deviation-rectifying mechanism 20 according to the received laser line so as to adjust the horizontal position of the slurry-spreading mechanism 30, so that the fluid keeps spreading slurry linearly along the spreading direction.
Specifically, when the position of the vertical laser line O1 received by the deviation-correcting detection piece 24 is not at the vertical zero position, the movable seat 23 drives the slurry spreading mechanism 30 to move until the position of the vertical laser line O1 received by the deviation-correcting detection piece 24 returns to the vertical zero position.
That is to say, when the moving chassis 10 deviates, the slurry spreading mechanism 30 and the moving chassis 10 are not in an aligned state, and at this time, the position of the vertical laser line O1 received by the deviation-correcting detection piece 24 is not at the vertical zero point, the translational deviation-correcting mechanism 20 is started, and the moving seat 23 drives the slurry spreading mechanism 30 to move for deviation correction until the position of the vertical laser line O1 received by the deviation-correcting detection piece 24 returns to the vertical zero point.
According to the slurry spreading method provided by the embodiment of the invention, the vertical laser line O1 is used as the reference of the side line of the parallel floor tiles, and the deviation rectifying detection piece 24 receives the signal of the side line laser line of the parallel floor tiles to control the translation deviation rectifying mechanism 20 so as to rectify the deviation of the slurry spreading mechanism 30 in the horizontal direction. The invention can ensure that the laid pulp surface is laid along the straight line, can replace the manual work to finish the laying work of the adhesive fluid body, avoids the quality problem caused by the non-standard manual work, reduces the labor intensity of workers and improves the pulp laying efficiency.
In some embodiments, the fluid laying apparatus 100 further comprises an upper and lower leveling mechanism 50, the upper and lower leveling mechanism 50 is disposed between the movable base 23 and the slurry spreading mechanism 30, and the upper and lower leveling mechanism 50 comprises a leveling detector 53.
The pulp paving method further comprises the following steps:
step S3: the leveling detector 53 controls the upper and lower leveling mechanisms 50 according to the laser line to adjust the height of the grout spreading mechanism 30, so that the bottom of the grout spreading mechanism 30 is parallel to the construction surface.
Specifically, when the fluid laying device 100 is operating normally, the position of the leveling detection piece 53 receiving the horizontal laser line O2 emitted from the laser generator 200 is the horizontal zero point. When the fluidized body laying device 100 works and the position of the horizontal laser line O2 received by the leveling detection piece 53 is not at the horizontal zero point, the upper and lower leveling mechanisms 50 drive at least one end of the slurry spreading mechanism 30 to lift until the position of the horizontal laser line O2 received by the leveling detection piece 53 returns to the horizontal zero point.
That is, when the construction surface 300 is not horizontal, the moving chassis 10 and the slurry spreading mechanism 30 are not in a horizontal state, and the position of the horizontal laser line O2 received by the leveling detector 53 is not at the horizontal zero point, the upper and lower leveling mechanisms 50 are started to drive the left end or the right end of the slurry spreading mechanism 30 to lift until the position of the horizontal laser line O2 received by the leveling detector 53 returns to the horizontal zero point.
Other constructions and the like and operation of the fluid laying device 100 according to embodiments of the invention are known to those skilled in the art and will not be described in detail here.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (11)
1. A fluid laying device, comprising:
a chassis;
the translation deviation rectifying mechanism is arranged on the chassis and comprises a moving seat moving along the direction vertical to the laying direction of the fluid body and a deviation rectifying detection piece arranged on the moving seat;
the slurry spreading mechanism is connected to the movable seat;
the slurry supply mechanism is arranged on the chassis and used for supplying a fluid body to the slurry paving mechanism; wherein,
when the fluid laying device works, the deviation rectifying detection piece controls the movable seat according to the received laser line, so that the slurry laying mechanism linearly lays slurry along the laying direction.
2. The fluid application device of claim 1, wherein the translational rectification mechanism further comprises:
the driving piece is arranged on the moving seat;
the moving assembly comprises a moving part and a guide supporting part connected with the moving part, the moving part is connected with the driving part, and the guide supporting part is connected with the chassis.
3. Fluid laying device according to claim 2,
the driving piece is a first driving motor;
the moving part is a lead screw which is connected to the output end of the first driving motor;
the guide supporting piece is a nut, the nut is matched on the lead screw, and the nut is connected with the chassis.
4. The fluid laying device of claim 1, further comprising:
the upper leveling mechanism and the lower leveling mechanism are arranged between the moving seat and the slurry spreading mechanism, the upper leveling mechanism and the lower leveling mechanism comprise a lifting piece and a leveling detection piece, the lifting piece is arranged on the moving seat, the output end of the lifting piece is connected with the slurry spreading mechanism, and the leveling detection piece is arranged on the moving seat; wherein,
when the fluid laying device works, the leveling detection piece controls the lifting piece to lift according to the received laser line, so that the bottom of the slurry laying mechanism is parallel to the construction surface.
5. The fluid laying apparatus of claim 4, wherein said upper and lower leveling mechanism further comprises:
the rotating part is arranged on the moving seat and can rotate around a vertical axis, the output end of the rotating part is connected with the leveling detection part, and the rotating part can adjust the detection direction of the leveling detection part.
6. The fluid laying device according to claim 4,
the upper leveling mechanism and the lower leveling mechanism are correspondingly arranged at two ends of the slurry paving mechanism in the length direction, so that the heights of the two ends of the slurry paving mechanism are respectively adjusted.
7. The fluid application device of claim 1, wherein the slurry spreading mechanism comprises:
the lower part of the slurry box is provided with a slurry outlet;
the tooth-shaped scraper is arranged on the slurry outlet and extends along the length direction of the slurry box.
8. A fluid laying apparatus according to claim 7 wherein the slurry supply means comprises:
the slurry hopper is arranged on the chassis;
the spiral conveying rod is pivotally arranged in the slurry hopper;
the conveying pipeline is arranged on the slurry hopper, one end of the conveying pipeline is communicated with the conveying end of the spiral conveying rod, and the other end of the conveying pipeline is communicated with the slurry box;
and the output end of the second driving motor is connected with the spiral conveying rod.
9. The fluid laying device of claim 1, wherein the chassis comprises:
a chassis main body;
the travelling wheel is arranged below the chassis main body;
the control cabinet is arranged below the chassis main body.
10. A floor tile paving robot, comprising: a fluid application device according to any one of claims 1 to 9.
11. A method of spreading a slurry, comprising: a fluid laying device according to any one of claims 1 to 9;
the slurry spreading method comprises the following steps:
the chassis moves along the slurry paving direction, the slurry supply mechanism conveys a fluid body into the slurry paving mechanism, and the slurry paving mechanism paves slurry on a construction surface;
the deviation-rectifying detection part controls the translation deviation-rectifying mechanism according to the received laser line so as to adjust the horizontal position of the slurry-spreading mechanism and enable the fluid to be linearly spread along the spreading direction.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010619799.8A CN113882635B (en) | 2020-07-01 | 2020-07-01 | Fluidized body laying device, floor tile laying robot and slurry laying method |
| PCT/CN2021/098880 WO2022001597A1 (en) | 2020-07-01 | 2021-06-08 | Fluid laying device, floor tile laying robot and slurry laying method |
| US18/004,061 US20230265666A1 (en) | 2020-07-01 | 2021-06-08 | Fluid Laying Device, Floor Tile Laying Robot and Slurry Laying Method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010619799.8A CN113882635B (en) | 2020-07-01 | 2020-07-01 | Fluidized body laying device, floor tile laying robot and slurry laying method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113882635A true CN113882635A (en) | 2022-01-04 |
| CN113882635B CN113882635B (en) | 2022-09-16 |
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| CN202010619799.8A Active CN113882635B (en) | 2020-07-01 | 2020-07-01 | Fluidized body laying device, floor tile laying robot and slurry laying method |
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| Country | Link |
|---|---|
| US (1) | US20230265666A1 (en) |
| CN (1) | CN113882635B (en) |
| WO (1) | WO2022001597A1 (en) |
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| CN114161432A (en) * | 2020-09-10 | 2022-03-11 | 广东博智林机器人有限公司 | Fluid body material transporting robot |
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- 2021-06-08 WO PCT/CN2021/098880 patent/WO2022001597A1/en active Application Filing
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Also Published As
| Publication number | Publication date |
|---|---|
| US20230265666A1 (en) | 2023-08-24 |
| WO2022001597A1 (en) | 2022-01-06 |
| CN113882635B (en) | 2022-09-16 |
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Effective date of registration: 20240403 Address after: 528225, Room 204-2, 2nd Floor, Office Building, Zone A, No. 40 Boai Middle Road, Shishan Town, Nanhai District, Foshan City, Guangdong Province (Residence Declaration) Patentee after: Pai Turner (Foshan) Robot Technology Co.,Ltd. Country or region after: China Address before: 201-11, second floor, East office, No. 11, Junye East Road, Beijiao Industrial Park, Shunjiang neighborhood committee, Beijiao Town, Shunde District, Foshan City, Guangdong Province Patentee before: GUANGDONG BOZHILIN ROBOT Co.,Ltd. Country or region before: China |