CN114434426A - Building site robot that intelligence was built - Google Patents
Building site robot that intelligence was built Download PDFInfo
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- CN114434426A CN114434426A CN202210232671.5A CN202210232671A CN114434426A CN 114434426 A CN114434426 A CN 114434426A CN 202210232671 A CN202210232671 A CN 202210232671A CN 114434426 A CN114434426 A CN 114434426A
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- negative pressure
- tile
- pressure adsorption
- unit
- adsorption unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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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
Abstract
The invention discloses an intelligently constructed construction site robot which comprises a first mechanical arm, a second mechanical arm and a third mechanical arm; the second mechanical arm and the third mechanical arm of the first mechanical arm are all arranged on the same walking unit; the tail end of the third mechanical arm is connected with a ceramic tile laying unit; the tail end of the first mechanical arm is connected with a ceramic tile taking unit; the tail end of the second mechanical arm is connected with a cement mortar smearing unit; the cement mortar smearing unit and the tile taking unit are respectively positioned on the left upper side and the right upper side of the tile laying unit; the automatic ceramic tile pasting function of a large batch of building sites can be realized.
Description
Technical Field
The invention belongs to the field of intelligent construction robots.
Background
The tile laying is the ending project of the building project, the ground surfaces of large squares, halls and the like need a large amount of tiles to be laid, a large amount of labor cost needs to be consumed, and the laying quality completely depends on the level of workers, so the quality consistency of the laid tiles is not high; it is therefore necessary to design a robot structure capable of automatically laying tiles.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides an intelligent construction site robot which can automatically lay ground tiles.
The technical scheme is as follows: in order to achieve the above object, an intelligently constructed construction site robot of the present invention includes a first robot arm, a second robot arm, and a third robot arm; the first mechanical arm, the second mechanical arm and the third mechanical arm are all arranged on the same walking unit;
the tail end of the third mechanical arm is connected with a ceramic tile laying unit; the tail end of the first mechanical arm is connected with a ceramic tile taking unit; the tail end of the second mechanical arm is connected with a cement mortar smearing unit; the cement mortar smearing unit and the tile taking unit are respectively positioned at the left upper side and the right upper side of the tile laying unit;
the tile taking unit connected with the tail end of the first mechanical arm can take any tile and place the tile into the tile laying unit, and the cement mortar smearing unit connected with the tail end of the second mechanical arm can extrude cement mortar and smear the cement mortar on the back side of the tile placed on the tile laying unit; the tile laying unit can horizontally lay the tiles coated with cement mortar on the reverse sides on the ground.
Further, the tile taking unit comprises a gripper bracket fixed at the tail end of the first mechanical arm, a gripper is mounted on the gripper bracket, and the gripper can grip the tile; the cement mortar smearing unit comprises a cement mortar extrusion box body, and a plurality of mortar extrusion nozzles are arranged on one side of the cement mortar extrusion box body, which is close to the tile laying unit; the mortar discharging end of the mortar supply pipe is communicated with the inner cavity of the mortar extrusion box body; and a mortar pump is arranged on the cement mortar supply pipe.
Further, the tile laying unit comprises a box body overturning motor and a negative pressure mechanism box body which are fixed at the tail end of the third mechanical arm, and the box body overturning motor and the tail end of the rotating shaft are vertically and fixedly connected with the geometric center of the side wall of the negative pressure mechanism box body; thereby enabling the box body of the negative pressure mechanism to synchronously rotate along with the rotating shaft;
the negative pressure mechanism box body is provided with a first tile negative pressure adsorption unit, a second tile negative pressure adsorption unit and a third tile negative pressure adsorption unit in a circumferential array by taking the axis of the rotating shaft as the center;
the first ceramic tile negative pressure adsorption unit, the second ceramic tile negative pressure adsorption unit and the third ceramic tile negative pressure adsorption unit which are distributed in a circumferential array are completely the same in structure; the first tile negative pressure adsorption unit, the second tile negative pressure adsorption unit and the third tile negative pressure adsorption unit can adsorb a tile.
Further, the inside of the negative pressure mechanism box body is an airtight negative pressure cabin, a negative pressure pump is fixedly mounted on the side wall of the negative pressure mechanism box body, an exhaust pipe of the negative pressure pump is communicated with the airtight negative pressure cabin in the negative pressure mechanism box body, and an air outlet of the negative pressure pump is communicated with the outside.
Furthermore, a valve is arranged on the exhaust tube.
Further, when the third tile negative pressure adsorption unit faces downwards, the third tile negative pressure adsorption unit comprises a box wall at the lower end of a negative pressure mechanism box body, the lower surface of the box wall is fixedly connected with an elastic sealing ring, a negative pressure adsorption bin is arranged in the enclosing range of the elastic sealing ring, the lower end of the box wall is integrally connected with an enclosing thin wall in a rectangular enclosing manner along the outline, and the upward-looking outline of the enclosing thin wall is consistent with the outline of the tile; the lower end of the enclosing thin wall is lower than the lower end face of the elastic sealing ring; the elastic sealing ring is arranged in the enclosing range of the enclosing thin wall; when the front surface of a ceramic tile of the ceramic tile is attached to the lower surface of the elastic sealing ring, the ceramic tile is just in the enclosing range of the enclosing thin wall, and the negative pressure in the negative pressure adsorption bin can form adsorption force on the ceramic tile;
the box body is characterized in that a vertically through internal threaded hole is formed in the geometric center of the box wall, the box body further comprises an external threaded column, and external threads of the external threaded column are in threaded transmission fit with the internal threaded hole; a cylindrical valve core is coaxially and movably arranged in the valve core movable channel, an annular limiting inner edge is arranged in the lower end of the valve core movable channel, and the lower end of the cylindrical valve core is in contact with the annular limiting inner edge; an air guide cylinder is coaxially arranged at the inner part of the upper part of the valve core movable channel, the upper end of the air guide cylinder is integrally connected with the upper part of the external thread column, an air guide channel which is vertically communicated is arranged in an integrated structure formed by the air guide cylinder and the upper part of the external thread column, the lower end of the air guide channel is coaxially communicated with the valve core movable channel, and the upper end of the air guide channel is communicated with a negative pressure bin which is sealed in the negative pressure mechanism box body; a space is kept between the lower end of the gas cylinder and the upper end of the cylindrical valve core;
a spring ring cavity is formed between the outer wall of the air guide cylinder and the inner wall of the valve core movable channel, a spring is coaxially arranged in the spring ring cavity, the lower end of the spring elastically supports against the cylindrical valve core, a plurality of negative pressure transmission channels are also arranged in the external thread column, a lower end air inlet of each negative pressure transmission channel is communicated with the negative pressure adsorption bin, an air outlet of each negative pressure transmission channel is arranged on the inner wall of the valve core movable channel, the height of each air outlet is between the lower end of the air guide cylinder and the upper end of the cylindrical valve core, and the upward movement of the cylindrical valve core can enable the outer side wall of the cylindrical valve core to block the air outlet of each negative pressure transmission channel;
the lower end of the cylindrical valve core is fixedly connected with an ejector rod which extends downwards into the negative pressure adsorption bin, the lower end of the ejector rod is fixedly connected with an ejector head, and a space is formed between the ejector head and the ceramic tile attached to the lower surface of the elastic sealing ring.
Furthermore, the thickness of the thin wall of the enclosing thin wall is consistent with the gap between two adjacent tiles which are laid.
Furthermore, a transmission gear is integrally and coaxially arranged at the upper end of the external threaded column along the outline; the gear column is also included, and the outline of the gear column under the axis view angle is a gear outline; the gear profile of the gear column is meshed with the transmission gear, and the gear column and the transmission gear can slide along the axis direction; and a gear column driving motor is fixed on the upper side of the box wall, and an output shaft of the gear column driving motor is in coaxial driving connection with the gear column.
Furthermore, the upper end of the cylindrical valve core is fixedly connected with a transmission rack extending upwards, the upper end of the transmission rack penetrates upwards from the air guide channel to be higher than the transmission gear, a bearing seat is fixedly installed on the upper surface of the transmission gear, a brake shaft is rotatably installed on the bearing seat through a bearing, one end of the brake shaft is integrally connected with a brake gear coaxially, and the brake gear is meshed with the transmission rack; the upper surface of the transmission gear is also fixedly provided with a brake corresponding to the brake shaft, when the brake is not started, the brake shaft is not restricted by the brake, and when the brake is started, the brake shaft is locked and can not rotate.
Furthermore, the brake device also comprises an angle sensor corresponding to the brake shaft, and the angle sensor can record the rotating angle of the brake shaft.
Further, in the first step, the reverse sides of the tiles of the three tiles adsorbed by the first tile negative pressure adsorption unit, the second tile negative pressure adsorption unit and the third tile negative pressure adsorption unit face outwards;
step two, uniformly coating viscous cement mortar on the reverse sides of the tiles adsorbed by the first tile negative pressure adsorption unit, the second tile negative pressure adsorption unit and the third tile negative pressure adsorption unit;
paving tiles, wherein the tiles adsorbed by the first tile negative pressure adsorption unit (1.1), the second tile negative pressure adsorption unit and the third tile negative pressure adsorption unit are all paved;
and step four, reloading the ceramic tiles.
Has the advantages that: the scheme can realize the automatic tile pasting function of large-batch building sites; in the third step of the invention, the tile overcomes the adsorption force of the negative pressure adsorption bin and is separated from the elastic sealing ring, and the laying of one tile is realized; at this moment, because the ceramic tile is separated from the elastic sealing ring, although the negative pressure adsorption bin on the third ceramic tile negative pressure adsorption unit is in a communicated state with the atmospheric pressure, the previous cylindrical valve core enables the communication relation between the negative pressure adsorption bin on the third ceramic tile negative pressure adsorption unit and the negative pressure bin inside the negative pressure mechanism box body to be blocked, so that the negative pressure bin inside the negative pressure mechanism box body is still in a closed state, and the magnetic attraction of the other first ceramic tile negative pressure adsorption unit and the second ceramic tile negative pressure adsorption unit is not influenced.
Drawings
FIG. 1 is a schematic view of a third robot arm and tile laying unit;
FIG. 2 is a schematic view of the first and second robotic arms and the tile laying unit;
FIG. 3 is a side view of the tile laying unit;
FIG. 4 is a front view of the tile laying unit;
FIG. 5 is a perspective view of the tile laying unit;
figure 6 is a first cross-sectional view of the tile laying unit;
FIG. 7 is a second cross-sectional view of the tile laying unit;
FIG. 8 is an enlarged schematic view of FIG. 7 taken at reference numeral 1.3;
FIG. 9 is a disassembled schematic view of FIG. 8;
FIG. 10 is a cross-sectional view of FIG. 9;
FIG. 11 is a schematic diagram of the transmission of gears and gear columns;
fig. 12 is a schematic diagram of a cylindrical valve core structure.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
An intelligently constructed construction site robot as shown in figures 1 to 12, comprising a first robot arm 8, a second robot arm 7 and a third robot arm 13; the second mechanical arm 7 and the third mechanical arm 13 of the first mechanical arm 8 are all arranged on the same walking unit 4;
the tail end of the third mechanical arm 13 is connected with a tile laying unit 03; the tail end of the first mechanical arm 8 is connected with a tile taking unit; the tail end of the second mechanical arm 7 is connected with a cement mortar smearing unit; the cement mortar smearing unit and the tile taking unit are respectively positioned at the left upper side and the right upper side of the tile laying unit 03;
the tile taking unit connected with the tail end of the first mechanical arm 8 can take any tile 36 and place the tile 36 on the tile laying unit 03, and the cement mortar smearing unit connected with the tail end of the second mechanical arm 7 can extrude cement mortar and smear the cement mortar on the back side 36.2 of the tile 36 placed on the tile laying unit 03; the tile installation unit 03 is capable of horizontally installing the tiles 36 with cement mortar applied to the reverse side 36.2 on the ground.
The tile taking unit comprises a gripper bracket 100 fixed at the tail end of the first mechanical arm 8, a gripper 101 is arranged on the gripper bracket 100, and the gripper 101 can grip the tile 36; the cement mortar smearing unit comprises a cement mortar extruding box body 11, and a plurality of mortar extruding nozzles 12 are arranged on one side, close to the tile laying unit 03, of the cement mortar extruding box body 11; the mortar extrusion box further comprises a cement mortar supply pipe 9, wherein a mortar outlet end of the cement mortar supply pipe 9 is communicated with an inner cavity of the cement mortar extrusion box body 11; a mortar pump is arranged on the cement mortar supply pipe 9.
The tile laying unit 03 comprises a box body overturning motor 14 and a negative pressure mechanism box body 3 which are fixed at the tail end of the third mechanical arm 13, and the box body overturning motor 14 and the tail end of a rotating shaft 15 are vertically and fixedly connected with the geometric center of the side wall of the negative pressure mechanism box body 3; thereby enabling the negative pressure mechanism box body 3 to synchronously rotate along with the rotating shaft 15;
the negative pressure mechanism box body 3 is provided with a first tile negative pressure adsorption unit 1.1, a second tile negative pressure adsorption unit 1.2 and a third tile negative pressure adsorption unit 1.3 in a circumferential array by taking the axis of the rotating shaft 15 as the center;
the structures of the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 which are distributed in a circumferential array are completely the same; the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 can adsorb a tile 36.
The inside of negative pressure mechanism box 3 is inclosed negative pressure storehouse 19, the lateral wall of negative pressure mechanism box 3 still fixed mounting has negative pressure pump 16, negative pressure pump 16's exhaust tube 17 intercommunication inclosed negative pressure storehouse 19 in the negative pressure mechanism box 3, negative pressure pump 16's gas outlet 18 communicates the external world.
And a valve is arranged on the exhaust pipe 17.
When the third tile negative pressure adsorption unit 1.3 faces downwards, the third tile negative pressure adsorption unit 1.3 comprises a box wall 44 at the lower end of the negative pressure mechanism box body 3, an elastic sealing ring 43 is fixedly connected to the lower surface of the box wall 44, a negative pressure adsorption bin 41 is arranged in the enclosing range of the elastic sealing ring 43, the lower end of the box wall 44 is integrally connected with an enclosing thin wall 60 which is rectangular in enclosing along the outline, and the upward-looking outline of the enclosing thin wall 60 is consistent with the outline of the tile 36; the lower end of the enclosing thin wall 60 is lower than the lower end surface of the elastic sealing ring 43; the elastic sealing ring 43 is in the enclosing range of the enclosing thin wall 60; when the front face 36.1 of the ceramic tile 36 is attached to the lower surface of the elastic sealing ring 43, the ceramic tile 36 is just in the enclosing range of the enclosing thin wall 60, and the negative pressure in the negative pressure adsorption bin 41 can form adsorption force on the ceramic tile 36;
a vertically through internal threaded hole 46 is formed in the geometric center of the box wall 44, the box further comprises an external threaded column 21, and an external thread 47 of the external threaded column 21 is in threaded transmission fit with the internal threaded hole 46; a cylindrical valve core movable channel 42 which penetrates downwards is coaxially arranged at the lower part in the external thread column 21, a cylindrical valve core 37 is coaxially and movably arranged in the valve core movable channel 42, an annular limiting inner edge 34 is arranged in the lower end of the valve core movable channel 42, and the lower end of the cylindrical valve core 37 is in contact with the annular limiting inner edge 34; the inner part of the upper part of the valve core movable channel 42 is coaxially provided with an air guide cylinder 22, the upper end of the air guide cylinder 22 is integrally connected with the upper part of the external thread column 21, the inside of an integrated structure formed by the air guide cylinder 22 and the upper part of the external thread column 21 is a vertically through air guide channel 25, the lower end of the air guide channel 25 is coaxially communicated with the valve core movable channel 42, and the upper end of the air guide channel 25 is communicated with a sealed negative pressure bin 19 in the negative pressure mechanism box body 3; a space is kept between the lower end of the gas cylinder 22 and the upper end of the cylindrical valve core 37;
a spring ring cavity 30 is formed between the outer wall of the gas guide cylinder 22 and the inner wall of the valve core movable channel 42, a spring 33 is coaxially arranged in the spring ring cavity 30, the lower end of the spring 33 elastically pushes the cylindrical valve core 37, a plurality of negative pressure transmission channels 35 are further arranged in the external threaded column 21, the lower end gas inlet of each negative pressure transmission channel 35 is communicated with the negative pressure adsorption bin 41, the gas outlet 20 of each negative pressure transmission channel 35 is arranged on the inner wall of the valve core movable channel 42, the height of each gas outlet 20 is arranged between the lower end of the gas guide cylinder 22 and the upper end of the cylindrical valve core 37, and the upward movement of the cylindrical valve core 37 can enable the outer side wall of the cylindrical valve core 37 to block the gas outlet 20 of each negative pressure transmission channel 35;
the lower end of the cylindrical valve core 37 is fixedly connected with an ejector rod 40 which extends downwards into the negative pressure adsorption bin 41, the lower end of the ejector rod 40 is fixedly connected with an ejector head 38, and a space 38 is formed between the ejector head 38 and the ceramic tile 36 attached to the lower surface of the elastic sealing ring 43.
The thickness of the enclosing thin wall 60 is consistent with the gap between two adjacent ceramic tiles 36.
The upper end of the external threaded column 21 is integrally and coaxially provided with a transmission gear 26 along the outline; the gear column 29 is further included, and the outline of the gear column 29 in the axial view is the gear outline 28; the gear profile 28 of the gear column 29 is meshed with the transmission gear 26, and the gear column 29 and the transmission gear 26 can slide along the axial direction; a gear column driving motor 32 is fixed on the upper side of the box wall 44, and an output shaft 31 of the gear column driving motor 32 is coaxially in driving connection with the gear column 29.
The upper end of the cylindrical valve core 37 is fixedly connected with a transmission rack 24 extending upwards, the upper end of the transmission rack 24 penetrates upwards from the air guide channel 25 to be higher than the transmission gear 26, a bearing seat 49 is fixedly installed on the upper surface of the transmission gear 26, a brake shaft 50 is rotatably installed on the bearing seat 49 through a bearing, one end of the brake shaft 50 is integrally connected with a brake gear 23 coaxially, and the brake gear 23 is meshed with the transmission rack 24; the upper surface of the transmission gear 26 is also fixedly provided with a brake 48 corresponding to the brake shaft 50, when the brake 48 is not started, the brake shaft 50 is not restricted by the brake 48, and when the brake 48 is started, the brake shaft 50 is locked and can not rotate.
The brake device further comprises an angle sensor corresponding to the brake shaft 50, and the angle sensor can record the rotating angle of the brake shaft 50.
The detailed working principle of the scheme is as follows:
step one, setting process of initial state: the negative pressure pump 16 is in a running state with constant power, so that the negative pressure bin 19 in the negative pressure mechanism box body 3 is under negative pressure, and the negative pressure of the negative pressure bin 19 is finally transmitted to the negative pressure adsorption bin 41 on the first tile negative pressure adsorption unit 1.1, the negative pressure adsorption bin 41 on the second tile negative pressure adsorption unit 1.2 and the negative pressure adsorption bin 41 on the third tile negative pressure adsorption unit 1.3 through the air guide channels 25 and the negative pressure transmission channels 35; meanwhile, in the initial state of the mechanism, the negative pressure adsorption bins 41 on the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 all adsorb a tile 36, so that the negative pressure bin 19 in the negative pressure mechanism box 3 is completely isolated from the outside, and the negative pressure value of the negative pressure bin 19 in the negative pressure mechanism box 3 is in a stable state; at this time, the tile back surfaces 36.2 of the three tiles 36 respectively adsorbed by the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 are all outward;
step two, the cement mortar smearing method comprises the following steps: controlling a box body overturning motor 14 to enable the box body 3 of the negative pressure mechanism to synchronously rotate along with a rotating shaft 15; the box body 3 of the negative pressure mechanism synchronously rotates along with the rotating shaft 15 to enable the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 adsorbing the tiles 36 to rotate along with the rotating shaft 15, so that the tiles 36 adsorbed by the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 are sequentially corresponding to a plurality of mortar extrusion nozzles 12 at the tail end of the second mechanical arm 7, when the second tile negative pressure adsorption unit 1.2 is corresponding to a plurality of mortar extrusion nozzles 12 at the tail end of the second mechanical arm 7, the mortar extrusion nozzles 12 are controlled to slowly extrude viscous cement mortar to tiles 36.2 on the back surface of the tiles 36 adsorbed by the second tile negative pressure adsorption unit 1.2, and at the same time, the second mechanical arm 7 is controlled, so that the mortar extrusion nozzles 12 continuously reciprocate the tile 36.2 on the back surface of the tiles 36 adsorbed by the second tile negative pressure adsorption unit 1.2 while slowly extruding cement mortar, so that the mortar extruding nozzle 12 uniformly coats the extruded cement mortar on the reverse side 36.2 of the tile 36 adsorbed by the second tile negative pressure adsorption unit 1.2, thereby finishing coating the cement mortar on the reverse side 36.2 of the tile 36 adsorbed by the second tile negative pressure adsorption unit 1.2;
according to the working method of the step, when the tiles 36 adsorbed by the first tile negative pressure adsorption unit 1.1 and the third tile negative pressure adsorption unit 1.3 correspond to the plurality of mortar extrusion nozzles 12 at the tail end of the second mechanical arm 7, viscous cement mortar is uniformly coated on the tiles; so that the reverse sides 36.2 of the tiles 36 adsorbed by the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 are uniformly coated with viscous cement mortar;
step three, the tile laying method comprises the following steps: controlling a box body overturning motor 14 to enable the box body 3 of the negative pressure mechanism to synchronously rotate along with a rotating shaft 15; the box body 3 of the negative pressure mechanism synchronously rotates along with the rotating shaft 15, so that the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 adsorbing the tiles 36 rotate along with the rotating shaft 15, and the back surfaces 36.2 of the tiles 36, which are coated with viscous cement mortar, adsorbed by the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 are gradually and horizontally downward;
the tile laying method is described below by taking the third tile negative pressure adsorption unit 1.3 as an example as follows: when the reverse side 36.2 of the tile coated with viscous cement mortar of the tile 36 adsorbed by the third tile negative pressure adsorption unit 1.3 is downward horizontally, the box body overturning motor 14 is suspended, and then the third mechanical arm 13 drives the tile laying unit 03 to integrally reach the position right above the ground where the tile is to be laid; then the third mechanical arm 13 drives the tile laying unit 03 to descend integrally, so that the tile 36 adsorbed by the third tile negative pressure adsorption unit 1.3 descends to contact the ground, at this time, the reverse side 36.2 of the tile 36 adsorbed by the third tile negative pressure adsorption unit 1.3, coated with viscous cement mortar, is horizontally adhered to the ground, and at this time, the enclosing thin wall 60 at the periphery of the tile 36 adsorbed by the third tile negative pressure adsorption unit 1.3 enables the tile 36 being laid and the adjacent tile 36 laid to form a necessary laying gap; the laying of the tile 36 can be completed only by separating the elastic sealing ring 43 on the third tile negative pressure adsorption unit 1.3 from the tile 36; the specific separation method is as follows: the gear column 29 on the third tile negative pressure adsorption unit 1.3 is controlled to rotate, so that the external thread column 21 is driven to rotate along the axis under the action of meshing transmission, the external thread column 21 rotates along the axis and moves downwards under the thread transmission of the external thread, so that the cylindrical valve core 37 and the ejector rod 40 are driven to descend, when the ejector head 38 at the lower end of the ejector rod 40 descends to contact with the front face 36.1 of the tile 36, the descending of the ejector rod 40 and the cylindrical valve core 37 is blocked, but the external thread column 21 continues to move downwards, so that the cylindrical valve core 37 overcomes the elasticity of the spring 33 to move upwards relative to the external thread column 21, the cylindrical valve core 37 moves upwards relative to the external thread column 21, so that the outer side wall of the cylindrical valve core 37 blocks the air outlet 20 of each negative pressure transmission channel 35, and the communication relation between the negative pressure adsorption bin 41 on the third tile negative pressure adsorption unit 1.3 and the negative pressure bin 19 inside the negative pressure mechanism box body 3 is blocked, when the cylindrical valve core 37 continues to move upwards relative to the external thread column 21 until the upper end of the cylindrical valve core 37 contacts the lower end of the gas guide cylinder 22, the valve core 37 can synchronously descend along with the external thread column 21 under the rigid jacking pressure of the gas guide cylinder 22, and at the moment, the jacking head 38 at the lower end of the jacking rod 40 synchronously descends along with the external thread column 21 and rigidly jacks the ceramic tile 36 downwards, so that the ceramic tile 36 overcomes the adsorption force of the negative pressure adsorption bin 41 and is separated from the elastic sealing ring 43, and the laying of one ceramic tile 36 is realized; at this time, since the tile 36 is separated from the elastic sealing ring 43, at this time, although the negative pressure adsorption bin 41 on the third tile negative pressure adsorption unit 1.3 is in a state of being communicated with the atmospheric pressure, the previous cylindrical valve core 37 has blocked the communication relation between the negative pressure adsorption bin 41 on the third tile negative pressure adsorption unit 1.3 and the negative pressure bin 19 inside the negative pressure mechanism box 3, so that the negative pressure bin 19 inside the negative pressure mechanism box 3 is still in a closed state, thereby ensuring that the magnetic attraction of the other first tile negative pressure adsorption unit 1.1 and the second tile negative pressure adsorption unit 1.2 is not affected; at this time, the brake 48 on the third tile negative pressure adsorption unit 1.3 is started to lock the brake shaft 50 to be incapable of rotating, and the relative position of the cylindrical valve core 37 and the external threaded column 21 is locked according to the transmission relation, so that the state that the communication relation between the negative pressure adsorption bin 41 on the third tile negative pressure adsorption unit 1.3 and the negative pressure bin 19 in the negative pressure mechanism box 3 is blocked can be maintained;
according to the tile laying method exemplified by the third tile negative pressure adsorption unit 1.3 in this step, when the tile 36 adsorbed by the first tile negative pressure adsorption unit 1.1 and the second tile negative pressure adsorption unit 1.2 is coated with the tile reverse side 36.2 of viscous cement mortar, and faces horizontally downward, the adsorbed tile 36 can be smoothly laid on the ground by referring to the above method; so that the tiles 36 adsorbed by the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 are all paved;
step four, the method for reloading the ceramic tiles comprises the following steps: after the step three is finished, the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 do not have the tile 36 and need to be reloaded; the process is as follows:
controlling a box body overturning motor 14 to enable the box body 3 of the negative pressure mechanism to synchronously rotate along with a rotating shaft 15; the box body 3 of the negative pressure mechanism synchronously rotates along with the rotating shaft 15, so that the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 rotate along with the rotating shaft 15, and the tiles 36 adsorbed by the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 sequentially correspond to the tiles 36 clamped by the end gripper 101 of the first mechanical arm 8, when the first tile negative pressure adsorption unit 1.1 corresponds to the tiles 36 clamped by the end gripper 101 of the first mechanical arm 8, the first mechanical arm 8 drives the tiles 36 clamped by the gripper 101 to be placed in the enclosing range of the enclosing thin wall 60 of the first tile negative pressure adsorption unit 1.1; then, the brake 48 on the first tile negative pressure adsorption unit 1.1 is controlled to release the brake shaft 50, so that the brake shaft 50 is restored to a free state, at this time, under the strong rebound action of the compressed spring 33, the cylindrical valve core 37 overcomes the negative pressure suction force of the narrow air guide channel 25 to return to an initial state, so that the communication relationship between the negative pressure adsorption bin 41 on the first tile negative pressure adsorption unit 1.1 and the negative pressure bin 19 inside the negative pressure mechanism box 3 is restored, so that the negative pressure adsorption bin 41 on the first tile negative pressure adsorption unit 1.1 is restored to the adsorption force of adsorbing the tile 36, and the loading of the first tile 36 is further realized;
according to the above method of this step, loading of the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 can be achieved when the second tile negative pressure adsorption unit 1.2 and the third tile negative pressure adsorption unit 1.3 correspond to the tile 36 held by the gripper 101 at the end of the first robot arm 8, and when loading of the first tile negative pressure adsorption unit 1.1, the second tile negative pressure adsorption unit 1.2, and the third tile negative pressure adsorption unit 1.3 with tiles is completed, the initial state of "step one" is restored.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. An intelligently built construction site robot comprising a first robot arm (8), a second robot arm (7) and a third robot arm (13); the second mechanical arm (7) and the third mechanical arm (13) of the first mechanical arm (8) are all arranged on the same walking unit (4);
the method is characterized in that: the tail end of the third mechanical arm (13) is connected with a tile laying unit (03); the tail end of the first mechanical arm (8) is connected with a tile taking unit; the tail end of the second mechanical arm (7) is connected with a cement mortar smearing unit; the cement mortar smearing unit and the tile taking unit are respectively positioned at the left upper side and the right upper side of the tile laying unit (03);
the tile taking unit connected with the tail end of the first mechanical arm (8) can take any tile (36) and place the tile into the tile laying unit (03), and the cement mortar smearing unit connected with the tail end of the second mechanical arm (7) can extrude cement mortar and smear the cement mortar on the back surface (36.2) of the tile (36) placed on the tile laying unit (03); the tile laying unit (03) can horizontally lay the tiles (36) with cement mortar coated on the reverse surfaces (36.2) on the ground.
2. An intelligently built building site robot as claimed in claim 1, characterised in that: the tile taking unit comprises a clamp holder support (100) fixed at the tail end of a first mechanical arm (8), a clamp holder (101) is installed on the clamp holder support (100), and the clamp holder (101) can clamp the tile (36); the cement mortar smearing unit comprises a cement mortar extruding box body (11), and a plurality of mortar extruding nozzles (12) are arranged on one side, close to the tile laying unit (03), of the cement mortar extruding box body (11); the mortar discharging device is characterized by also comprising a cement mortar supply pipe (9), wherein the mortar discharging end of the cement mortar supply pipe (9) is communicated with the inner cavity of the cement mortar extrusion box body (11); and a mortar pump is arranged on the cement mortar supply pipe (9).
3. An intelligently built building site robot as claimed in claim 2, characterised in that: the tile laying unit (03) comprises a box body overturning motor (14) and a negative pressure mechanism box body (3) which are fixed at the tail end of the third mechanical arm (13), and the tail ends of the box body overturning motor (14) and a rotating shaft (15) are vertically and fixedly connected with the geometric center of the side wall of the negative pressure mechanism box body (3); thereby enabling the negative pressure mechanism box body (3) to synchronously rotate along with the rotating shaft (15);
the negative pressure mechanism box body (3) is provided with a first tile negative pressure adsorption unit (1.1), a second tile negative pressure adsorption unit (1.2) and a third tile negative pressure adsorption unit (1.3) in a circumferential array by taking the axis of the rotating shaft (15) as the center;
the structures of a first tile negative pressure adsorption unit (1.1), a second tile negative pressure adsorption unit (1.2) and a third tile negative pressure adsorption unit (1.3) which are distributed in a circumferential array are completely the same; the first tile negative pressure adsorption unit (1.1), the second tile negative pressure adsorption unit (1.2) and the third tile negative pressure adsorption unit (1.3) can adsorb a tile (36).
4. An intelligently built building site robot as claimed in claim 2, characterised in that: the inside of negative pressure mechanism box (3) is inclosed negative pressure storehouse (19), the lateral wall of negative pressure mechanism box (3) still fixed mounting have negative pressure pump (16), aspiration tube (17) intercommunication of negative pressure pump (16) inclosed negative pressure storehouse (19) in negative pressure mechanism box (3), gas outlet (18) the intercommunication of negative pressure pump (16) are external.
5. An intelligently built building site robot as claimed in claim 4, characterised in that: and a valve is arranged on the air exhaust pipe (17).
6. An intelligently built building site robot as claimed in claim 5, characterised in that: when the third tile negative pressure adsorption unit (1.3) faces downwards, the third tile negative pressure adsorption unit (1.3) comprises a box wall (44) of a negative pressure mechanism box body (3) with the lower end horizontal, an elastic sealing ring (43) is fixedly connected to the lower surface of the box wall (44), a negative pressure adsorption bin (41) is arranged in the enclosing range of the elastic sealing ring (43), the lower end of the box wall (44) is integrally connected with an enclosing thin wall (60) which is enclosed in a rectangular shape along the outline, and the upward-looking outline of the enclosing thin wall (60) is consistent with the outline of the tile (36); the lower end of the enclosing thin wall (60) is lower than the lower end surface of the elastic sealing ring (43); the elastic sealing ring (43) is arranged in the enclosing range of the enclosing thin wall (60); when the front surface (36.1) of the ceramic tile (36) is attached to the lower surface of the elastic sealing ring (43), the ceramic tile (36) is just in the enclosing range of the enclosing thin wall (60), and the negative pressure in the negative pressure adsorption bin (41) can form adsorption force on the ceramic tile (36);
the box body is characterized in that a vertically through internal threaded hole (46) is formed in the geometric center of the box wall (44), the box body further comprises an external threaded column (21), and an external thread (47) of the external threaded column (21) is in threaded transmission fit with the internal threaded hole (46); a cylindrical valve core moving channel (42) which penetrates downwards is coaxially arranged at the lower part in the external thread column (21), a cylindrical valve core (37) is coaxially and movably arranged in the valve core moving channel (42), an annular limiting inner edge (34) is arranged in the lower end of the valve core moving channel (42), and the lower end of the cylindrical valve core (37) is in contact with the annular limiting inner edge (34); an air guide cylinder (22) is coaxially arranged in the upper part of the valve core movable channel (42), the upper end of the air guide cylinder (22) is integrally connected with the upper part of the external thread column (21), an air guide channel (25) which is vertically communicated is arranged in an integrated structure formed by the air guide cylinder (22) and the upper part of the external thread column (21), the lower end of the air guide channel (25) is coaxially communicated with the valve core movable channel (42), and the upper end of the air guide channel (25) is communicated with a negative pressure bin (19) which is sealed in the negative pressure mechanism box body (3); a space is kept between the lower end of the gas cylinder (22) and the upper end of the cylindrical valve core (37);
a spring ring cavity (30) is formed between the outer wall of the gas cylinder (22) and the inner wall of the valve core movable channel (42), a spring (33) is coaxially arranged in the spring ring cavity (30), the lower end of the spring (33) elastically pushes the cylindrical valve core (37), a plurality of negative pressure transmission channels (35) are further arranged inside the external threaded column (21), the air inlets at the lower ends of the negative pressure transmission channels (35) are communicated with the negative pressure adsorption bin (41), the air outlets (20) of the negative pressure transmission channels (35) are arranged on the inner wall of the valve core movable channel (42), the heights of the air outlets (20) are arranged between the lower end of the air guide cylinder (22) and the upper end of the cylindrical valve core (37), the upward movement of the cylindrical valve core (37) can enable the outer side wall of the cylindrical valve core (37) to plug the air outlet (20) of each negative pressure transmission channel (35);
the lower end of the cylindrical valve core (37) is fixedly connected with an ejector rod (40) which extends downwards into the negative pressure adsorption bin (41), the lower end of the ejector rod (40) is fixedly connected with an ejector head (38), and a space (38) is formed between the ejector head (38) and the ceramic tile (36) attached to the lower surface of the elastic sealing ring (43).
7. An intelligently built building site robot as claimed in claim 6, characterised in that: the thickness of the enclosing thin wall (60) is consistent with the gap between two adjacent ceramic tiles (36).
8. An intelligently built building site robot as claimed in claim 6, characterised in that: the upper end of the external threaded column (21) is integrally and coaxially provided with a transmission gear (26) along the outline; the gear column (29) is further included, and the outline of the gear column (29) in the axial view is a gear outline (28); the gear profile (28) of the gear column (29) is meshed with the transmission gear (26), and the gear column (29) and the transmission gear (26) can slide along the axial direction; a gear column driving motor (32) is fixed on the upper side of the box wall (44), and an output shaft (31) of the gear column driving motor (32) is in coaxial driving connection with the gear column (29).
9. An intelligently built building site robot as claimed in claim 8, wherein: the upper end of the cylindrical valve core (37) is fixedly connected with a transmission rack (24) extending upwards, the upper end of the transmission rack (24) penetrates upwards from an air guide channel (25) to be higher than a transmission gear (26), a bearing seat (49) is fixedly installed on the upper surface of the transmission gear (26), a brake shaft (50) is rotatably installed on the bearing seat (49) through a bearing, one end of the brake shaft (50) is integrally connected with a brake gear (23) with the same axis, and the brake gear (23) is meshed with the transmission rack (24); the upper surface of the transmission gear (26) is also fixedly provided with a brake (48) corresponding to the brake shaft (50), when the brake (48) is not started, the brake shaft (50) is not restricted by the brake (48), and when the brake (48) is started, the brake shaft (50) is locked and can not rotate;
the brake device further comprises an angle sensor corresponding to the brake shaft (50), and the angle sensor can record the rotating angle of the brake shaft (50).
10. The working method of the intelligently built construction site robot of claim 9, wherein:
firstly, enabling the tile back surfaces (36.2) of three tiles (36) adsorbed by a first tile negative pressure adsorption unit (1.1), a second tile negative pressure adsorption unit (1.2) and a third tile negative pressure adsorption unit (1.3) to be outward;
step two, uniformly coating viscous cement mortar on the back surfaces (36.2) of the tiles (36) adsorbed by the first tile negative pressure adsorption unit (1.1), the second tile negative pressure adsorption unit (1.2) and the third tile negative pressure adsorption unit (1.3);
paving tiles, namely paving the tiles (36) adsorbed by the first tile negative pressure adsorption unit (1.1), the second tile negative pressure adsorption unit (1.2) and the third tile negative pressure adsorption unit (1.3);
and step four, reloading the ceramic tiles.
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| CN202210232671.5A CN114434426B (en) | 2022-03-09 | 2022-03-09 | Intelligent building site robot of building |
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| CN202210232671.5A CN114434426B (en) | 2022-03-09 | 2022-03-09 | Intelligent building site robot of building |
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| CN114434426B CN114434426B (en) | 2023-09-05 |
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|---|---|
| CN114434426B (en) | 2023-09-05 |
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