CN115354544B - Road ceramic tile laying device - Google Patents
Road ceramic tile laying device Download PDFInfo
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- CN115354544B CN115354544B CN202210007164.1A CN202210007164A CN115354544B CN 115354544 B CN115354544 B CN 115354544B CN 202210007164 A CN202210007164 A CN 202210007164A CN 115354544 B CN115354544 B CN 115354544B
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- frame
- rod
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C5/00—Pavings made of prefabricated single units
- E01C5/04—Pavings made of prefabricated single units made of bricks
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/60—Planning or developing urban green infrastructure
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- Structural Engineering (AREA)
- Road Paving Machines (AREA)
Abstract
The invention provides a road floor tile paving device, which comprises a rack, a storage rack, a paving frame, a running mechanism, a laser radar and an electrical control unit, wherein the storage rack is arranged on the rack; the Y guide rail and the X guide rail are arranged on the laying frame, a conveying rod is connected above the frame, and a suction crane is connected on the conveying rod; the transportation rod is provided with a fixed stop block and a sliding stop block, when the suction crane takes bricks, the suction crane is stopped by the fixed stop block, and the center point of the suction crane and the center point of the storage rack are positioned on the same vertical line; the sliding stop block moves along with the laying frame, when the suction crane is used for placing bricks, the suction crane is stopped by the sliding stop block, the center point of the laying frame and the center point of the suction crane are positioned on the same vertical line, cameras are distributed on the steel rod, and the cameras are connected with the industrial personal computer. The floor tile laying device realizes self-positioning through the laser radar, fine adjustment is carried out on the laying position, the brick laying position is accurate, the manual demand is reduced, and the manual labor intensity is low.
Description
Technical Field
The invention relates to the technical field of floor tile paving, in particular to a road floor tile paving device.
Background
At present, a floor tile paving method is generally adopted to pave roads such as sidewalks, parks and the like, the roads need to be cleaned before paving, then hard cement mortar is paved for leveling, the floor tiles are paved manually and are beaten and reinforced, the whole paving process has high manual requirements, and workers need to squat and pave when paving the floor tiles, so that the labor intensity is high, and the labor efficiency is low. In addition, the requirement on the paving precision is higher when the floor tiles are paved, the distance between the bricks cannot be too large to influence the appearance or too small, because the bricks are hard objects, if the distance is too small, under the condition of no manual adjustment, the situation that the bricks collide and are raised can occur.
Disclosure of Invention
The invention provides a road floor tile paving device, which realizes self-positioning through a laser radar technology, fine-adjusts the paving position through a camera technology and a paving frame with adjustable positions, has accurate brick paving position, reduces the manual demand and has low manual labor intensity.
The technical scheme adopted for achieving the purposes of the invention is as follows:
the road floor tile paving device at least comprises a frame, a storage frame and a paving frame which are positioned on the frame, a running mechanism, an electric power unit and an electric control unit, wherein the running mechanism, the electric power unit and the electric control unit are connected below the frame; the storage rack is matched with the floor tile in shape and is arranged at the rear part of the frame, the laying frame is of a frame structure matched with the floor tile in shape, the bottom of the laying frame is of an opening structure, two opposite side surfaces of the laying frame are provided with Y guide rails, two outer sides of the laying frame on the two Y guide rails are vertically connected with two X guide rails, the X guide rails are fixedly arranged on the frame, a conveying rod is horizontally arranged and connected above the frame along the front-rear direction, the rear end of the conveying rod is fixed on the frame, the conveying rod is connected with a suction crane, and the suction crane is lifted up and down and moves along the conveying rod; the transportation rod is provided with a fixed stop block and a sliding stop block, the fixed stop block is fixedly connected to two sides of the transportation rod, which are close to the rear end, when the suction crane takes bricks, the suction crane is stopped by the fixed stop block, and the bottom center point of the suction crane and the center point of the storage rack are positioned on the same vertical line;
the upper part of a transport rod above the laying frame is provided with a sliding chute, the sliding stop block is matched with the sliding chute and is arranged in the sliding chute, the sliding stop block is fixedly connected with steel rods which are arranged at four corners of the top of the laying frame in an extending way, the front part of the transport rod is hung above the laying frame, the transport rod consists of a front rod body and a rear rod body, the front rod body and the rear rod body are hinged at a position between the laying frame and a storage frame, the front rod body rotates on a horizontal plane relative to the rear rod body, the laying frame moves along a Y guide rail to drive the sliding stop block to move along the sliding chute, the laying frame moves along an X guide rail and moves along the laying frame, so that the front rod body is pushed to horizontally rotate relative to the rear rod body, the central point of the sliding stop block and the central point of the laying frame are always positioned on the same vertical line, and when a suction crane is used for laying bricks, the bottom central point of the suction crane and the central point of the laying frame are positioned on the same vertical line; cameras are distributed and installed on the steel rod, collect road images below the opening at the bottom of the laying frame, and are connected with the electric control unit and transmit the road images to the electric control unit.
The running mechanism is of a tire type structure, more than one inclined tooth is uniformly distributed on the surface of the tire of the running mechanism outwards along two sides of the bottom of the frame, the inclined teeth are made of rubber, and steel plates are embedded in the inclined teeth.
The steering mechanism comprises universal wheels and telescopic cylinders, wherein the telescopic cylinders are connected with the frame, and the universal wheels are connected to the bottoms of the telescopic cylinders and move up and down along with the telescopic cylinders.
The suction crane is fixedly connected with a support, is connected with the transport rod through the support and moves back and forth along the transport rod.
The upper portion of transportation pole is close to both sides and is provided with rack rail, and hydraulic motor and the gear that is connected are installed to the inside both sides of support, and the whole cover of support is on the transportation pole, makes the gear of both sides mesh with the rack rail of both sides on the transportation pole to make the suction crane be located the below of transportation pole, hydraulic motor drive gear rack transmission, hydraulic motor all is connected with electric control unit, through two hydraulic motor synchronous drive of electric control unit control.
The hydraulic motor is characterized in that a limit switch is arranged in the support, the position of the limit switch corresponds to the positions of the fixed stop block and the sliding stop block, the limit switch is connected with a circuit of the hydraulic motor, and when the support is contacted with the fixed stop block or the sliding stop block, the limit switch controls the circuit of the hydraulic motor to be disconnected, so that the hydraulic motor stops working.
The suction crane comprises a multi-stage telescopic cylinder and a suction disc frame, suction discs are uniformly distributed at the bottom of the suction disc frame, the suction disc frame is connected to the bottom of the multi-stage telescopic cylinder, an inclined strut is connected between the multi-stage telescopic cylinder and the suction disc frame, and the horizontal distance between the center point of the multi-stage telescopic cylinder and the center point of the suction disc frame is equal to the horizontal distance between the center point of a sliding stop block and the center point of a support when the suction crane discharges bricks; the sucker frame is matched with the floor tile in shape, the size of the sucker frame is smaller than that of the floor tile, the suction crane is connected with the electric control unit, and the electric control unit is used for controlling the suction crane to move up and down, take and put the floor tile.
The sliding stop block comprises a sliding block and a sliding rod which are fixedly connected into a whole from top to bottom, wherein the sliding block and the sliding rod are of a cylindrical structure, the diameter of the sliding block is larger than that of the sliding rod, the sliding groove comprises an upper groove and a lower groove which are communicated, the upper groove is communicated with the upper surface of the conveying rod, the width of the lower groove is matched with the diameter of the sliding block, the width of the upper groove is matched with the diameter of the sliding rod, and the sliding rod extends out of the upper groove and is fixedly connected with the steel rod; balls are distributed and connected to two sides of the upper portion of the lower groove, and the height of the lower groove is equal to the sum of the height of the sliding block and the diameter of the balls.
The front rod body is connected with the rear rod body through a precise hinge, a supporting rod is connected below the precise hinge, and the supporting rod is fixed on the frame.
The X guide rail and the Y guide rail are connected with the electric control unit, and the electric control unit is used for controlling the movement of the laying frame.
Compared with the prior art, the technical scheme provided by the invention has the following advantages: 1. the road floor tile paving device provided by the invention performs self-positioning by a laser radar technology, and the floor tile paving position is accurate, so that the manual demand is reduced.
2. The road floor tile paving device provided by the invention finishes automatic paving of turf through the storage frame, the suction crane and the paving frame, only needs to store the floor tiles manually, and has small manual requirement and low labor intensity.
3. The X guide rail and the Y guide rail are arranged on the paving frame of the road floor tile paving device in a matched manner, in addition, the camera is also arranged in a matched manner, further adjustment of paving positions can be realized by marking on a road bed to be paved, and meanwhile, the sliding stop block and the fixed stop block are arranged on the conveying rod, so that the positions of taking and placing the bricks by the suction crane are accurate, the floor tiles are accurately paved, and the road floor tile paving device is suitable for situations with high paving accuracy requirements on the floor tiles and the like.
4. The running mechanism of the road floor tile paving device provided by the invention is of a tire-type structure with inclined teeth, the mortar layer is less damaged during running, and the steering mechanism is also arranged, so that the road floor tile paving device is convenient to steer.
Drawings
FIG. 1 is a schematic view of the overall structure of a road tile paving apparatus according to the present invention;
FIG. 2 is a side view of the individual components of the running gear of the present invention;
FIG. 3 is a partial perspective view of the running gear of the present invention;
FIG. 4 is a schematic view of the steering mechanism of the present invention;
FIG. 5 is a schematic diagram of the connection of the suction crane to the transport rod in the present invention;
FIG. 6 is a schematic view of a suction crane according to the present invention;
FIG. 7 is a schematic view of a suction crane of the present invention when the suction crane is used for tile removal;
FIG. 8 is a schematic view of a sliding stop and chute according to the present invention;
FIG. 9 is a cross-sectional view taken along the direction A-A of FIG. 8;
FIG. 10 is a schematic illustration of the deflection of the transport rod of the present invention;
FIG. 11 is a schematic view of a suction crane of the present invention when laying bricks;
FIG. 12 is a schematic illustration of a tile deployment route provided by the present invention;
in the figure: 1-frame, 2-storage rack, 3-running mechanism, 31-skewed tooth, 4-laying frame, 5-universal wheel, 6-telescopic cylinder, 7-Y guide rail, 8-X guide rail, 9-transport bar, 901-front bar body, 902-rear bar body, 10-suction crane, 1001-multistage telescopic cylinder, 1002-suction cup rack, 1003-suction cup, 1004-skewed brace, 11-support, 12-hydraulic motor, 13-gear, 14-rack rail, 15-fixed stopper, 16-sliding stopper, 1601-slider, 1602-slide bar, 17-chute, 1701-upper groove, 1702-lower groove, 18-ball, 19-steel bar, 20-support bar, 21-camera, 22-power unit, electrical control unit, 23-precision hinge, 100-base to be paved, 200-floor tile, 300-floor tile laying route.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific examples, but the scope of the present invention is not limited to the following examples.
The road tile paving device provided by the invention, as shown in fig. 1, at least comprises a frame 1, a storage rack 2 and a paving frame 4 which are positioned on the frame, a running mechanism 3 (not shown in fig. 1) connected below the frame, an electric power unit and an electric control unit 22. In this embodiment, the running mechanism has a tire type structure, and more than one tire is distributed along two sides of the bottom of the frame, specifically, two sides of the bottom of the frame are respectively provided with a row of tires, the tires are distributed more tightly, the surface of each tire of the running mechanism is outwards and uniformly provided with helical teeth 31, the helical teeth are made of rubber, and steel plates are embedded in the helical teeth, as shown in fig. 2 and 3. The setting of skewed tooth and inseparable tire are arranged, when can guaranteeing road ceramic tile laying device and mortar layer contact, whole road ceramic tile laying device supports on the mortar layer through skewed tooth, and skewed tooth and mortar layer's area of contact is little, and skewed tooth surface parcel has rubber moreover, and is less to the damage on mortar layer when going, also can protect the net mark of making on the later stage mortar layer. In this embodiment, steering mechanisms (not shown in fig. 1) are connected at four corners of the bottom of the frame, the structure of the steering mechanisms is shown in fig. 4, the steering mechanisms include universal wheels 5 and telescopic cylinders 6, the telescopic cylinders are connected with the frame, and the universal wheels are connected to the bottom of the telescopic cylinders and move up and down along with the telescopic cylinders. Specifically, the electrical control unit controls the telescopic cylinder to stretch out and draw back, when the road floor tile paving device lays the floor tile, the telescopic cylinder is retracted, the road floor tile paving device is supported and walked through the travelling mechanism, when the road floor tile paving device turns to, the telescopic cylinder is extended, the road floor tile paving device is supported through the steering mechanism, at the moment, the universal wheels are controlled to turn through the person or through the electrical control unit program, so that the whole steering of the road floor tile paving device is realized, and after the steering is finished, the telescopic cylinder is retracted again, so that the road floor tile paving device is supported on the travelling mechanism. This ensures that the paving device turns on a "square wave" path when paving tiles.
In this embodiment, a laser radar (not shown) is installed at the front end of the frame, and the laser radar is connected with an electrical control unit, and the electrical control unit is connected with a driving motor on the running mechanism and controls the running mechanism to run. Specifically, the laser radar scans the side lines of the frame and the paved floor tiles and obtains the relative position information of the frame and the paved positions, and the electric control unit receives the side lines and the position information and controls the driving motor to move the frame to the paved positions, so that the positioning function of the paving device is realized. When laying first ceramic tile, can remove the position of waiting to lay through the manual work with whole device, when the ceramic tile of back was laid, road ceramic tile laying device self-align, need not the manual work and remove, degree of automation is high. The algorithm adopted in the whole positioning process is a conventional algorithm in the field, such as an outdoor three-dimensional synchronous positioning and mapping method based on a laser radar disclosed in China patent CN112767490A, an autonomous positioning device and a positioning method based on laser radar imaging disclosed in CN113418525A, an intelligent trolley positioning navigation method and a system based on the laser radar and an odometer SLAM disclosed in CN111240331A, an instant positioning and map construction system of an unmanned sweeper disclosed in CN111664842A, and a dwarf close-planted jujube tree pruning and girdling robot disclosed in CN 110063157A.
In this embodiment, the storage rack is matched with the tile in shape and is mounted at the rear part of the rack, the tile is stacked on the storage rack, the tile can be stacked on the storage rack before being laid by manpower or by means of tools, the storage rack can be in a box-shaped, grid-shaped and other structures, the bottom of the storage rack in this embodiment is in a flat plate shape, the periphery of the storage rack is grid-shaped, specifically, four support posts are arranged around the storage rack, and grid frames (not shown in fig. 1) are connected around the storage rack through the support posts.
In the invention, because the precision requirement of floor tile laying is higher, after the floor tile laying device is self-positioned by the laser radar, the laying position is further positioned, namely the position of the laying frame is adjusted, and the concrete principle is as follows: before paving the floor tiles, marking the roadbed, arranging a camera above the paving frame, shooting the roadbed on the road below the opening at the bottom of the paving frame by the camera, and if the mark is shot on the road below the opening at the bottom of the paving frame, indicating that the paving position of the floor tiles is deviated, adjusting the position of the paving frame at the moment so that no mark exists in the paving frame, namely the paving position is in error. Specifically, the paving frame 4 is of a frame structure matched with the floor tile in shape, the bottom of the paving frame is of an opening structure, steel rods 19 are arranged at four corners of the top of the paving frame in an extending mode, cameras 21 are distributed and installed on the steel rods, the cameras are required to be ensured to be capable of completely shooting road images under the opening of the bottom of the paving frame, in addition, in order to avoid deviation of shot images, the bottom of the paving frame is close to a road subgrade, and the whole running of the device is not influenced. The camera collects road images under the opening at the bottom of the laying frame, and is connected with the electric control unit and transmits the road images to the electric control unit.
The upper part of the frame is horizontally provided with a transport rod 9 along the front-back direction, the rear end of the transport rod is fixed on the frame, the transport rod is connected with a suction crane 10, and the suction crane is lifted up and down and moves back and forth above the frame along the transport rod. Specifically, a support 11 is fixedly connected to the suction crane, and the suction crane is connected with the transport rod through the support and moves back and forth along the transport rod.
In this embodiment, rack tracks 14 are arranged on the upper portion of the transport rod near two sides, a hydraulic motor 12 and a gear 13 which are connected are arranged on two sides of the interior of the support, the support is integrally sleeved on the transport rod, the gears on the two sides are meshed with the rack tracks on the two sides of the transport rod, the suction crane is located below the transport rod, the hydraulic motor drives the gear rack to drive, the schematic diagram is shown in fig. 5, the hydraulic motors are connected with an electric control unit, and the electric control unit controls the two hydraulic motors to synchronously drive, so that the suction crane moves forwards and backwards above the frame along the transport rod, and the floor tile is transported from the storage frame to the laying frame. Specifically, the suction crane comprises a multi-stage telescopic cylinder 1001 and a suction cup frame 1002, wherein suction cups 1003 are uniformly distributed at the bottom of the suction cup frame, as shown in fig. 6, in this embodiment, the suction cups are special suction cups for sucking floor tiles, and the suction cup frame is connected to the bottom of the multi-stage telescopic cylinder. The sucker frame is matched with the floor tile in shape, the size of the sucker frame is smaller than that of the floor tile, the suction crane is connected with the electric control unit, and the electric control unit is used for controlling the suction crane to move up and down and take and put the floor tile.
The transportation rod is provided with a fixed stop block 15 and a sliding stop block 16, and when the suction crane moves on the transportation rod and the support on the suction crane touches the fixed stop block and the sliding stop block, the hydraulic motor stops driving, so that the suction crane stops moving. Specifically, a limit switch (not shown in the figure) is arranged in the support, the position of the limit switch corresponds to the positions of the fixed stop block and the sliding stop block, the limit switch is connected with a circuit of the hydraulic motor, and when the support is contacted with the fixed stop block or the sliding stop block, the limit switch controls the circuit of the hydraulic motor to be disconnected, so that the hydraulic motor stops working. And a limit switch is arranged on the support and in contact with the fixed stop block and the sliding stop block, and the stop of the hydraulic motor is controlled by the limit switch.
In this embodiment, the fixed stop blocks are fixedly connected to two sides of the transport rod, which are close to the rear end, when the suction crane takes bricks, the suction crane is stopped by the fixed stop blocks, and at this time, the bottom center point of the suction crane and the center point of the storage rack are located on the same vertical line, as shown in fig. 7, so that the position of the suction crane is ensured to be accurate every time the suction crane takes bricks.
The upper part of the transport rod above the laying frame in this embodiment is provided with a chute 17, and the sliding stopper is matched with the chute and mounted in the chute, as shown in fig. 8 and 9. Specifically, the slip stop dog includes by last slider 1601 and slide bar 1602 as an organic whole that is connected as an organic whole to both fixed, and wherein slider and slide bar are cylinder structure, and the diameter of slider is greater than the diameter of slide bar, the spout includes upper groove 1701 and lower groove 1702 of intercommunication, upper groove intercommunication transportation pole's upper surface, the width in lower groove and the diameter assorted of slider, the upper portion both sides of lower groove are divided equally and are connected with ball 18, and the height in lower groove equals the sum of the height of slider and the diameter of ball, ensures that the slider matches in lower groove size, and the cylindric setting of slider and the setting of ball can guarantee that the slider slides in lower groove simultaneously and have not blockked. The width of the upper groove is matched with the diameter of the sliding rod, and the sliding rod extends out of the upper groove and is fixedly connected with the steel rod 19, so that the front part of the transport rod is hung above the laying frame.
When laying the frame and remove along Y guide rail, can drive the slip stopper and remove along the spout, when laying the frame and remove along X guide rail, in order to guarantee that the slip stopper can remove along with laying the frame, the transportation pole comprises preceding body of rod 901 and back body of rod 902 in this embodiment, and preceding body of rod is articulated with the back body of rod in the position of laying between frame and the storage frame, makes preceding body of rod rotate on the horizontal plane for the back body of rod. Specifically, the front rod body and the rear rod body are connected by the precision hinge 23, and reference may be made to a precision hinge in the prior art, such as a precision hinge used in the internet of things or a hinge in a folding screen, and the structure of the precision hinge will not be described in detail herein. Because the movement of the laying frame is fine-tuned, and the adjustment displacement is far smaller than the length of the front rod body, when the sliding stop block moves left and right along with the laying frame, the front rod body is only driven to slightly deflect, and the schematic diagram is shown in fig. 10, so that the movement of the suction crane on the conveying rod is not influenced. In this embodiment, an electric power unit and an electric control unit 22 are placed at a position between the laying frame and the storage frame, the electric power unit and the electric control unit are provided with mounting plates, a support rod 20 is connected between the lower part of the precision hinge and the mounting plates, stability of the connection position is guaranteed, and the middle part of the transport rod is supported.
The sliding stop block moves left and right or moves back and forth along with the laying frame, so that the center point of the sliding stop block and the center point of the laying frame are always on the same vertical line, as shown in fig. 11, when the suction crane is used for laying bricks, the suction crane is stopped by the sliding stop block, and in the embodiment, the horizontal distance between the center point of the multistage telescopic cylinder and the center point of the suction cup frame is equal to the horizontal distance between the center point of the sliding stop block and the center point of the support when the suction crane is used for laying bricks, so that the bottom center point of the suction crane and the center point of the laying frame are always on the same vertical line, and the accuracy of the brick laying position is ensured. Therefore, in this embodiment, the center point of the multi-stage telescopic cylinder and the center point of the suction cup frame are not on the same vertical line, and in order to ensure the stability of the suction crane, an inclined stay 1004 is connected between the multi-stage telescopic cylinder and the suction cup frame, as shown in fig. 6.
The concrete method for paving the floor tile by using the floor tile paving device provided by the invention comprises the following steps: (1) Cleaning a to-be-paved substrate 100, paving a mortar layer on the to-be-paved substrate, and leveling the mortar layer; specifically, a template is used for surrounding a to-be-paved base, the height of the template is consistent with the height of a mortar layer, the total amount of required mortar is calculated according to the area of the to-be-paved base and the height of the mortar layer, the required total amount of mortar is uniformly paved on the to-be-paved base at one time through a screw mixer, and the mortar layer is leveled through a mortar leveling machine.
(2) Marking the whole mortar layer of the base to be paved according to the size of the tile to be paved and the preset distance between the gaps, and dividing the base to be paved into grids matched with the shape of the tile to be paved; specifically, the size of each grid is the size of a floor tile plus the size of a preset gap, wherein the preset gap distance is 0.3 cm-1 cm; the marks are colored marks or bright-colored lines, and the width of the marks is 0.1 cm-0.3 cm.
(3) Manually moving the paving apparatus to an initial paving position, and storing the tile 200 on the paving apparatus; the storage of tiles may be accomplished manually or by a borrowing tool.
(4) The method comprises the steps that an image of an opening at the bottom of a paving frame on a paving device is collected through a camera on the paving device, the position of the paving frame on the paving device is adjusted, the collected image is transmitted to an electric control unit through the camera, and if no mark exists on the collected image, the electric control unit sends out a command to control a brick taking mechanism (a suction crane) to lay tiles; if the collected image is marked, the electric control unit converts the marking signal on the image into a displacement signal and controls the paving frame to move until the image collected by the camera is unmarked, and the electric control unit sends out an instruction to control the tile taking mechanism to lay the tiles, so that no mark is formed on a mortar layer at the opening of the bottom of the paving frame before the tiles are laid. Since the size of one grid is the sum of the sizes of one tile and one slit when marking, the size of the bottom opening of the laying frame in this embodiment is matched with the size of one tile, that is, the bottom opening of the laying frame is larger than the size of the grid when laying according to the grid, if no mark exists at the bottom opening of the laying frame, the laying error of the tile is within the controllable allowable range. The concrete brick taking step is as follows: the tile taking mechanism on the paving device takes out the tiles and vertically drops the tiles from the top of the paving frame to the base to be paved, and the tile taking mechanism drops the tiles and vertically returns to the original position upwards.
(5) And (3) when the floor tile is put down, controlling a driving mechanism on the paving device by adopting an electric control unit through side line information and environment information acquired by the laser radar on the paving device, moving the paving device to the next position to be paved, and repeating the step (4), wherein the paving of the floor tile at the back is positioned through the laser radar and the electric control unit. Specifically, the lidar collects side line information and environmental information of the paved floor tile and paving frame, and the electrical control unit receives the signals and controls the driving mechanism on the paving device so as to move the paving device to the next position to be paved, and the paving frame of the paving mechanism is aligned with a grid mark.
(6) The overall tile paving route 300 is in a rectangular wave shape, and when one rectangular wave shape is completed, the next rectangular wave shape is performed in the reverse direction, and the steps are repeated in sequence until the paving of the base to be paved is completed;
the method comprises the following specific steps: the wave width of the rectangular wave is N of the width or length of the floor tile 1 Multiple of N 1 For even numbers, the "bandwidth" is the distance labeled L in FIG. 1; when a rectangular wave is completed, the laying device rotates 90 degrees in the opposite direction of the rectangular wave and moves forward N 2 Width or length of tile, N 2 Is odd number and N 2 ＜N 1 The paving device is rotated 90 degrees in the opposite direction of the rectangular wave again, and the next rectangular wave shape is paved from the opposite direction, wherein the width or the length of the tile is used as the standard, and the size of the ground tile in the left-right direction of the paving device is determined, namely if the length of the tile is along the left-right direction of the paving device, the length of the tile is used as the standard, namely the wave width of the rectangular wave is N of the length of the tile 1 Multiple times. The floor tile paving route is shown in fig. 12, and the route can ensure that the running mechanisms of the paving device are positioned at the same height in the whole paving process, namely, the running mechanisms at two sides are simultaneously supported on the mortar layer or simultaneously supported on the paved floor tile, so that the problem of uneven station of the paving device in the conventional method is solved. N is described in the present embodiment 1 Is 2, N 2 1, only two opposite rectangular wave routes are needed to be paved in the whole paving process, and the distance between two side running mechanisms on the paving device is even times of the width or length of the floor tile, so that the condition that the two side running mechanisms are always at the same height is met. If N 1 4, N at this time 2 For 1 or 3, the whole laying process only needs to lay four rectangular wave routes, and the distance between running mechanisms is correspondingly adjusted, so that the running mechanisms on two sides are always at the same height. For convenience, when planning a paving route, paving is completed as much as possible by two opposite "rectangular waves".
(7) After the paving device is paved, the paving of the floor tiles with the corner being smaller than the floor tile size roadbed is manually completed, after the paving of the whole floor tile to be paved is completed, the surface of the floor tile is knocked by a floor tile knocking machine, and then the paving of the road kerbs to be paved is manually completed.
Claims (10)
1. The utility model provides a road ceramic tile laying device, includes frame, storage frame and the frame of laying that is located in the frame at least, connects in running gear, power unit and the electric control unit of frame below, its characterized in that: the front end of the frame is provided with a laser radar, the laser radar is connected with an electrical control unit, and the electrical control unit is connected with a driving motor on the running mechanism and controls the running mechanism to run; the storage rack is matched with the floor tile in shape and is arranged at the rear part of the frame, the laying frame is of a frame structure matched with the floor tile in shape, the bottom of the laying frame is of an opening structure, two opposite side surfaces of the laying frame are provided with Y guide rails, two outer sides of the laying frame on the two Y guide rails are vertically connected with two X guide rails, the X guide rails are fixedly arranged on the frame, a conveying rod is horizontally arranged and connected above the frame along the front-rear direction, the rear end of the conveying rod is fixed on the frame, the conveying rod is connected with a suction crane, and the suction crane is lifted up and down and moves along the conveying rod; the transportation rod is provided with a fixed stop block and a sliding stop block, the fixed stop block is fixedly connected to two sides of the transportation rod, which are close to the rear end, when the suction crane takes bricks, the suction crane is stopped by the fixed stop block, and the bottom center point of the suction crane and the center point of the storage rack are positioned on the same vertical line;
the upper part of a transport rod above the laying frame is provided with a sliding chute, the sliding stop block is matched with the sliding chute and is arranged in the sliding chute, the sliding stop block is fixedly connected with steel rods which are arranged at four corners of the top of the laying frame in an extending way, the front part of the transport rod is hung above the laying frame, the transport rod consists of a front rod body and a rear rod body, the front rod body and the rear rod body are hinged at a position between the laying frame and a storage frame, the front rod body rotates on a horizontal plane relative to the rear rod body, the laying frame moves along a Y guide rail to drive the sliding stop block to move along the sliding chute, the laying frame moves along an X guide rail and moves along the laying frame, so that the front rod body is pushed to horizontally rotate relative to the rear rod body, the central point of the sliding stop block and the central point of the laying frame are always positioned on the same vertical line, and when a suction crane is used for laying bricks, the bottom central point of the suction crane and the central point of the laying frame are positioned on the same vertical line; cameras are distributed and installed on the steel rod, collect road images below the opening at the bottom of the laying frame, and are connected with the electric control unit and transmit the road images to the electric control unit.
2. The road tile installation according to claim 1, wherein: the running mechanism is of a tire type structure, more than one inclined tooth is uniformly distributed on the surface of the tire of the running mechanism outwards along two sides of the bottom of the frame, the inclined teeth are made of rubber, and steel plates are embedded in the inclined teeth.
3. The road tile installation according to claim 1, wherein: the steering mechanism comprises universal wheels and telescopic cylinders, wherein the telescopic cylinders are connected with the frame, and the universal wheels are connected to the bottoms of the telescopic cylinders and move up and down along with the telescopic cylinders.
4. The road tile installation according to claim 1, wherein: the suction crane is fixedly connected with a support, is connected with the transport rod through the support and moves back and forth along the transport rod.
5. The road tile installation of claim 4, wherein: the upper portion of transportation pole is close to both sides and is provided with rack rail, and hydraulic motor and the gear that is connected are installed to the inside both sides of support, and the whole cover of support is on the transportation pole, makes the gear of both sides mesh with the rack rail of both sides on the transportation pole to make the suction crane be located the below of transportation pole, hydraulic motor drive gear rack transmission, hydraulic motor all is connected with electric control unit, through two hydraulic motor synchronous drive of electric control unit control.
6. The road tile installation of claim 5, wherein: the hydraulic motor is characterized in that a limit switch is arranged in the support, the position of the limit switch corresponds to the positions of the fixed stop block and the sliding stop block, the limit switch is connected with a circuit of the hydraulic motor, and when the support is contacted with the fixed stop block or the sliding stop block, the limit switch controls the circuit of the hydraulic motor to be disconnected, so that the hydraulic motor stops working.
7. The road tile installation of claim 4, wherein: the suction crane comprises a multi-stage telescopic cylinder and a suction disc frame, suction discs are uniformly distributed at the bottom of the suction disc frame, the suction disc frame is connected to the bottom of the multi-stage telescopic cylinder, an inclined strut is connected between the multi-stage telescopic cylinder and the suction disc frame, and the horizontal distance between the center point of the multi-stage telescopic cylinder and the center point of the suction disc frame is equal to the horizontal distance between the center point of a sliding stop block and the center point of a support when the suction crane discharges bricks; the sucker frame is matched with the floor tile in shape, the size of the sucker frame is smaller than that of the floor tile, the suction crane is connected with the electric control unit, and the electric control unit is used for controlling the suction crane to move up and down, take and put the floor tile.
8. The road tile installation according to claim 1, wherein: the sliding stop block comprises a sliding block and a sliding rod which are fixedly connected into a whole from top to bottom, wherein the sliding block and the sliding rod are of a cylindrical structure, the diameter of the sliding block is larger than that of the sliding rod, the sliding groove comprises an upper groove and a lower groove which are communicated, the upper groove is communicated with the upper surface of the conveying rod, the width of the lower groove is matched with the diameter of the sliding block, the width of the upper groove is matched with the diameter of the sliding rod, and the sliding rod extends out of the upper groove and is fixedly connected with the steel rod; balls are distributed and connected to two sides of the upper portion of the lower groove, and the height of the lower groove is equal to the sum of the height of the sliding block and the diameter of the balls.
9. The road tile installation according to claim 1, wherein: the front rod body is connected with the rear rod body through a precise hinge, a supporting rod is connected below the precise hinge, and the supporting rod is fixed on the frame.
10. The road tile installation according to claim 1, wherein: the X guide rail and the Y guide rail are connected with the electric control unit, and the electric control unit is used for controlling the movement of the laying frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210007164.1A CN115354544B (en) | 2022-01-05 | 2022-01-05 | Road ceramic tile laying device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210007164.1A CN115354544B (en) | 2022-01-05 | 2022-01-05 | Road ceramic tile laying device |
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| Publication Number | Publication Date |
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| CN115354544A CN115354544A (en) | 2022-11-18 |
| CN115354544B true CN115354544B (en) | 2023-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210007164.1A Active CN115354544B (en) | 2022-01-05 | 2022-01-05 | Road ceramic tile laying device |
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| EP0640721A1 (en) * | 1993-08-27 | 1995-03-01 | Arend Luijten | Method and apparatus for transforming layers of paving bricks from a uniformly oriented initial pattern to a herringbone laying pattern. |
| CN108385484A (en) * | 2018-03-06 | 2018-08-10 | 康珏 | A kind of blind road floor tile laying apparatus |
| CN109162180A (en) * | 2018-09-11 | 2019-01-08 | 中建路桥集团有限公司 | A kind of highway pavement spells paving vehicle automatically |
| CN110453576A (en) * | 2019-08-25 | 2019-11-15 | 袁利峰 | A kind of automatic floor tile machine |
| CN111877712A (en) * | 2020-08-03 | 2020-11-03 | 江苏宏尧建设有限公司 | Multi-functional ceramic tile laying device that building decoration used |
| CN212611840U (en) * | 2020-05-15 | 2021-02-26 | 深圳市湛艺建设集团有限公司 | Machine tool for reducing labor intensity and laying floor tiles |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITCH20030002A1 (en) * | 2003-02-19 | 2004-08-20 | Di Gi Costruzioni Meccaniche S R L | AUTOMATIC MACHINE FOR INSTALLATION AND FINISHING OF FLOORS OF ANY KIND: TILES, CERAMICS, TERRACOTTA, CONCRETE AND SIMILAR MATERIALS. |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0640721A1 (en) * | 1993-08-27 | 1995-03-01 | Arend Luijten | Method and apparatus for transforming layers of paving bricks from a uniformly oriented initial pattern to a herringbone laying pattern. |
| CN108385484A (en) * | 2018-03-06 | 2018-08-10 | 康珏 | A kind of blind road floor tile laying apparatus |
| CN109162180A (en) * | 2018-09-11 | 2019-01-08 | 中建路桥集团有限公司 | A kind of highway pavement spells paving vehicle automatically |
| CN110453576A (en) * | 2019-08-25 | 2019-11-15 | 袁利峰 | A kind of automatic floor tile machine |
| CN212611840U (en) * | 2020-05-15 | 2021-02-26 | 深圳市湛艺建设集团有限公司 | Machine tool for reducing labor intensity and laying floor tiles |
| CN111877712A (en) * | 2020-08-03 | 2020-11-03 | 江苏宏尧建设有限公司 | Multi-functional ceramic tile laying device that building decoration used |
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| CN115354544A (en) | 2022-11-18 |
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