CN115787406A - Front-end mechanical movable arm of mobile robot - Google Patents

Abstract

The invention provides a front mechanical movable arm of a mobile robot, which consists of a left movable arm and a right movable arm which are symmetrically arranged at the left side and the right side of the front part of a frame of a laying machine; the left movable arm and the right movable arm both comprise longitudinal supporting legs and horizontal upper arms and lower arms, the front ends of the upper arms and the lower arms are hinged with the supporting legs, the upper arms of the upper arms are hinged with the top ends of the supporting legs, the rear ends of the lower arms are movably connected with the middle parts of the upper arms through connecting rod supporting arms, the upper arms, the lower arms, the supporting legs hinged with the front ends and the rear ends and the connecting rod supporting arms form a parallel four-bar linkage mechanism, a vertical jacking mechanism is hinged with the upper arms, and a horizontal pushing mechanism is fixedly connected to the connecting rod supporting arms; the quick detach installing support is installed to the landing leg bottom, lays the mechanism and is connected with the quick detach installing support, is connected with a swing jar between quick detach installing support and the landing leg, adjusts the angle of quick detach installing support by the swing jar. The front mechanical movable arm can provide stable support for a laying mechanism on the front side of the mobile robot.

Description

Front-end mechanical movable arm of mobile robot

Technical Field

The invention relates to municipal construction equipment, in particular to a front mechanical movable arm of a mobile robot.

Background

With the development of the current urban construction level, the requirements on municipal road surfaces are higher and higher, and flat road bricks and curb stones are generally paved in large areas in places such as sidewalks, squares and the like. At present, paving of the pavement bricks and the kerbs generally adopts pure manual operation or a mechanical and manual combination mode, and the mechanical and manual combination construction method comprises the following steps: the bricks are lifted by a rope through a crane, then the bricks are unloaded after the falling point position is manually controlled, and finally the compaction operation is carried out. The laying mode is time-consuming and labor-consuming, the laying effect depends on the technical level of constructors, meanwhile, the labor intensity of workers is high, more constructors are needed, and the laying cost is improved.

In order to improve efficiency, some brick paving machines exist at present, but the brick paving machines can only pave one type of bricks, namely paving bricks or curb stones independently, if paving both curb stones and paving bricks is needed, at least two different types of brick paving machines are needed to pave respectively, and therefore cost is high.

Therefore, a novel mechanical movable arm on the paver body is urgently needed to be researched and developed, the novel mechanical movable arm can be quickly detached from the tail end laying device, so that the requirements of different fields are met, and the tail end laying device of the curb or the tail end laying device of the road floor tile can be quickly and efficiently switched.

Disclosure of Invention

The invention provides a front-end mechanical movable arm of a mobile robot, which is arranged on the front side of a brick paving mobile robot and used for providing support for a paving mechanism, wherein the length of the mobile robot is set to be in an X direction, the width of the mobile robot is set to be in a Y direction, the mechanical movable arm consists of a left movable arm and a right movable arm which are symmetrically arranged on the left side and the right side of the front part of a frame of the paving robot, and the left movable arm and the right movable arm are fixedly connected through a connecting rod;

the left movable arm and the right movable arm both comprise longitudinal support legs and horizontal upper arms and lower arms, the front ends of the upper arms and the lower arms are hinged with the support legs, the upper arms of the upper arms are hinged with the top ends of the support legs, the rear ends of the lower arms are movably connected with the middle parts of the upper arms through connecting rod support arms, the upper arms, the lower arms, the support legs hinged with the front ends and the rear ends and the connecting rod support arms form a parallel four-bar mechanism, a vertical jacking mechanism is hinged with the upper arms, and a horizontal pushing mechanism is fixedly connected onto the connecting rod support arms;

quick detach installing support is installed to the landing leg bottom, the mechanism is laid to the fragment of brick and quick detach installing support connection, be connected with a swing jar between quick detach installing support and the landing leg, adjust by the swing jar the angle of quick detach installing support the first support universal wheel of quick detach installing support bottom installation installs vertical climbing mechanism and horizontal push mechanism respectively in frame both sides.

Furthermore, vertical guide rails are arranged on the left side and the right side of the front portion of the frame, vertical sliding block supports which slide up and down are arranged on the vertical guide rails, and ejector rods of the vertical jacking mechanisms and the rear ends of the upper arms are hinged to the vertical sliding block supports.

Furthermore, the horizontal pushing mechanism is provided with a horizontal sliding block, and the horizontal sliding block is fixedly connected with the connecting rod supporting arm.

Furthermore, the quick-release mounting bracket is provided with two rotating shafts, the first rotating shaft is mounted on the supporting leg through a pin shaft, the second rotating shaft is hinged with a swing rod of a swing cylinder, and the swing cylinder drives the quick-release mounting bracket to rotate by taking the pin shaft as an axis.

Furthermore, the quick-release mounting bracket is provided with two triangular plates which are arranged in parallel, three vertexes of the two triangular plates are fixedly connected through connecting columns, a first connecting column is coaxially arranged with the pin shaft, the other two second connecting columns are used for being connected with a bayonet reserved by the brick laying mechanism, and a second rotating shaft is arranged between the two connecting columns;

one of the second connecting columns is an optical axis, the other second connecting column is a locking shaft with a non-circular cross section, one end of the locking shaft is fixedly connected with the handle, and the two bayonets of the quick-release mounting bracket are respectively clamped on the second connecting columns and rotate the handle to enable the brick laying mechanism to be fixedly connected with the quick-release mounting bracket in a locking mode.

Furthermore, a buckle used for fixing the handle is arranged on the outer side surface of one triangular plate.

The invention has the advantages that: the brick laying mechanisms (the pavement brick laying mechanism and the curb stone laying mechanism) of different types are quickly disassembled and mounted on the mechanical movable arm, on one hand, the mechanical movable arm provides stable support for the brick laying mechanism, and in addition, the mechanical movable arm can drive the brick laying mechanism to move back and forth in the vertical direction and in the horizontal direction, and can accurately adjust the brick laying mechanism to reach a specified position so as to lay pavement bricks or curb stones; the upper arm, the lower arm, the supporting legs hinged to the front end and the rear end and the parallel four-bar linkage mechanism formed by the connecting rod supporting arms enable the horizontal/vertical movement of the supporting legs to be linear.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1a is an overall appearance diagram of a paving brick robot for paving a pavement brick provided by the invention;

FIG. 1b is a top view of the paving brick paving robot;

FIG. 2a is an overall outline view of a curb paving robot according to the present invention;

FIG. 2b is a top view of the curb tiling robot;

FIG. 3a is a perspective view of the lifting mechanism;

FIG. 3b is a perspective view of the lift plate of the lift mechanism raised to half-empty;

FIG. 3c is a side view of the lifting mechanism with the warehouse racks deployed;

FIG. 3d is a side view of the warehouse rack after folding;

FIG. 4a is a side view of the clamp pusher mechanism in the X direction;

FIG. 4b is a perspective view of the clamping and pushing mechanism;

FIG. 4c is a bottom view of the clamp and push mechanism;

FIG. 4d is the schematic view of the advancing rail shown hidden in FIG. 4a, showing the advancing rail having two rails (i.e., an upper rail and a lower lifting rail), wherein the clamping device is the initial section of the advancing rail;

FIG. 4e is a side view of the clamping pusher sliding to the end of travel of the advancing rail;

FIG. 4f is a side view of the clamp pusher in the Y direction;

FIG. 5a is a perspective view of a mechanical boom;

FIG. 5b is a side view of the mechanical boom

FIG. 5c is a perspective view of the quick release mounting bracket;

FIG. 6a is a top view of a paving brick laying mechanism;

FIG. 6b is a side view of the paving brick laying mechanism;

FIG. 6c is a perspective view of a main frame of the paving brick laying mechanism;

FIG. 6d is a view of the installation position of the positioning mechanism at the front end of the paving brick mechanism;

fig. 6e is a perspective view of the paving brick laying mechanism, in which the placement device of the turnover mechanism is arranged to receive bricks from the conveyor mechanism;

FIG. 6f is a perspective view of the canting mechanism;

FIG. 6g is a schematic view of the screeding mechanism of the flipping mechanism performing screeding operations;

FIG. 6h is a schematic view of the placement device of the turnover mechanism holding the paving bricks delivered from the delivery mechanism (the same state as FIG. 6 e);

FIG. 6i is a schematic view of the placing device of the turnover mechanism turning forward and laying the pavement bricks on the ground;

FIG. 6j is a schematic diagram of a rolling mechanism of the turnover mechanism performing a rolling operation;

FIG. 7a is a perspective view of the curb laying mechanism with the positioning guard plates in front hidden;

FIG. 7b is a top view of the curb laying mechanism;

FIG. 7c is a side view of the curb laying mechanism;

fig. 7d is a front view of the curb laying mechanism.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

Referring to fig. 1, the invention provides a tile paving mobile robot 10, a chassis 11 of a frame 11 of the tile paving mobile robot 10 is provided with a traveling device 12, the traveling device 12 is provided with 4 steerable traveling wheels 13, and the traveling device 12 can drive the tile paving mobile robot 10 to travel. For convenience of description, the longitudinal direction of the frame 11 is defined as X-direction, and the width direction is defined as Y-direction. The brick paving mobile robot 10 of the present invention can be used for paving both flat paving bricks and kerbs. When a flat pavement brick needs to be paved, a corresponding pavement brick paving mechanism 400 is installed on a mechanical movable arm 500 at the front side of the brick paving mobile robot 10; when it is required to lay a curb, we mount the corresponding curb laying mechanism 600 to the mechanical boom 500 at the front side of the tile moving robot 10.

The following description will be given in detail with reference to the brick laying mobile robot 10 on which the paving brick laying mechanism 400 is mounted.

A lifting mechanism 100 and a clamping and pushing mechanism 200 are mounted at the tail of a frame 11 of the brick paving mobile robot 10, a front mechanical movable arm 500 is mounted at the front of the frame 11, a paving brick paving mechanism 400 is mounted on the mechanical movable arm 500, and a conveying mechanism 300 positioned between the paving brick paving mechanism 400 and the clamping and pushing mechanism 200 is mounted on the frame 11; the lifting mechanism 100 is provided with a first transmission mechanism 104, a lifting plate 103 and a lifting device 120, wherein the first transmission mechanism 104 transfers the pavement bricks 01 stacked up and down to the lifting plate 103 and the lifting device 120 drives the lifting plate 103 to lift upwards; the clamping and pushing mechanism 200 comprises a forward moving guide rail 210 and a clamping device 220 slidably mounted on the forward moving guide rail 210, the clamping device 220 clamps two ends of the raised pavement brick 01 to be conveyed forward in the X direction and then loosens and lays on the conveying mechanism 300, and the conveying mechanism 300 conveys the pavement brick 01 forward in the X direction to the pavement brick laying mechanism 400; the pavement brick laying mechanism 400 is provided with a pavement brick laying frame, a turnover mechanism 430 which slides back and forth in the X direction is installed on the pavement brick laying frame, the turnover mechanism 430 is provided with a Y-direction turnover shaft, the turnover mechanism 430 is provided with a placing device 431 which rotates by taking the turnover shaft as an axis, after the placing device 431 clamps one pavement brick 01 conveyed by the conveying mechanism 300, the placing device 431 forwards overturns to lay the clamped pavement brick 01 on the ground; positioning mechanisms are respectively arranged on the paving framework of the pavement bricks and the turnover mechanism 430, and the two sets of positioning mechanisms are matched to provide positioning for paving the pavement bricks 01.

According to the brick paving mobile robot 10, the stacked pavement bricks 01 are lifted integrally through the lifting mechanism 100, then the clamping and pushing mechanism 200 clamps the pavement bricks one by one and transfers the pavement bricks to the conveying mechanism 300 to lay horizontally, the conveying mechanism 300 conveys the pavement bricks laid horizontally to the pavement brick paving mechanism 400, and the pavement bricks are laid horizontally on the ground by the pavement brick paving mechanism 400 and laid in the floor brick paving grooves. The whole process is completely and mechanically operated, so that the laying efficiency is greatly improved, and meanwhile, the required labor cost is reduced; meanwhile, when the floor tiles are laid, manual assistance is not needed, and operators do not need to participate in resurgence, so that the labor intensity of people is reduced.

The structure of the lifting mechanism 100 is further described below:

the lifting mechanism 100 is provided with a longitudinal lifting support 102 installed at the tail part of the frame 11, the first transmission mechanism 104 is fixedly installed at the bottom of the longitudinal lifting support 102, the lifting plate 103 is driven by the lifting device 120 on the longitudinal lifting support 102 to do lifting motion in the vertical direction of the first transmission mechanism 104, and the lifting plate 103 is provided with an open slot corresponding to the position of the first transmission mechanism 104 so that the lifting plate 103 can be lowered below the upper surface of the first transmission mechanism 104. A storage rack 130 is installed at the bottom of the rear side of the lifting rack, the front end of the storage rack 130 is rotatably connected to the bottom of the rear side of the longitudinal lifting rack 102, the storage rack 130 can be turned up and down and folded and stored by taking the front end as a rotation point, as shown in fig. 3b and 3c, a second transmission mechanism 132 is arranged on the storage rack 130; the warehouse rack 130 conveys the tiles stacked one above the other in the direction X forward to the first conveyor 104, and the first conveyor 104 continues to convey the tiles forward to the lifting plate 103. A guard plate 101 is provided at an upper portion of the longitudinal elevating bracket 102.

In an alternative embodiment, lifting devices 120 are mounted on the longitudinal lifting bracket 102 on both sides of the lifting plate 103 in the Y direction, and each lifting device 120 includes a lifting cylinder 121 and a lifting chain 122. The lifting cylinder 121 is vertically fixed on the longitudinal lifting support 102; two ends of the lifting chain 122 are respectively fixedly connected with the lifting plate 103 and the mandril of the lifting cylinder 121, or two ends of the lifting chain 122 are respectively positioned at two sides of the lifting cylinder 121 and cross the mandril of the lifting cylinder 121, one end of the lifting chain 122 is fixedly connected with the lifting plate 103, and the other end is fixed on the longitudinal lifting bracket 102 at one side of the lifting cylinder 121. The top rod of the lifting cylinder 121 slides upwards to drive the tail ends of the lifting chains 122 to move upwards, and the two groups of lifting chains 122 drive the middle lifting plate 103 to lift stably.

In an alternative embodiment, vertical guide channel rails 105 are provided on the longitudinal lifting bracket 102 at both sides of the lifting plate 103, a lifting web 106 is slidably mounted on each vertical guide channel rail 105 up and down, and one end of the lifting chain 122 and the lifting plate 103 are fixedly connected to the lifting web 106.

In an alternative embodiment, the storage rack 130 is mounted at the bottom of the longitudinal lifting rack 102 through a self-resetting flip rack 131, and a spring support 135 is mounted at the bottom of the longitudinal lifting rack 102;

the bottom of the self-resetting overturning bracket 131 is provided with a limiting steel pipe 138 and a return spring 137, the limiting steel pipe 138 sequentially penetrates through the two baffles 136 on the back of the self-resetting overturning bracket 131 and is rotatably connected with the spring support 135, and the return spring 137 is sleeved on the limiting steel pipe 138 between the two baffles 136;

the storage rack 130 has a lateral width less than that of the longitudinal lifting rack 102, and the storage rack 130 is pivotally connected to the bottom center of the longitudinal lifting rack 102.

The lifting mechanism 100 adopts the principle of differential forklift lifting, the lifting cylinder 121 and the lifting chain 122 are combined and placed on the left side and the right side, one end of the chain is connected with the frame, the other end of the chain is connected with the brick body lifting plate 103, and bearings are arranged on the left side and the right side of the lifting plate 103 and can roll up and down on the vertical guide channel steel rail 105. The storage rack 130 is provided with a second transmission mechanism 132, and the second transmission mechanism 132 comprises rollers, a chain wheel and chain 133, a driving motor 134 and the like, so as to receive and transmit the bricks.

As shown in fig. 3a-3, the design of the lifting mechanism 100 highlights: 1) The continuous supply of the brick bodies can be guaranteed through the design of the storage and lifting parts, the requirement of the front-end brick bodies is met, the efficiency is improved, and the structure is tight. 2) The lifting part can be designed to accurately lift corresponding height according to the thickness of the brick body. 3) When fork truck placed the material in the design, correspond the storage riser with the double-layered mouth that fork truck both ends board formed, and the width of storage riser is far less than and presss from both sides a mouthful width, applicable in various fork trucks, the big or small brick body of being convenient for is placed and is transported, and the operation is very convenient. 4) When the operation is accomplished to the storage material, the manual promotion storage riser of accessible upwards rotates 90, packs up the storage part to vertical state, reduces whole car length, is convenient for transition and transportation. And when the storage mechanism is horizontally placed, the storage outer frame and the frame can be automatically limited to support the horizontal state, and the storage structure can be easily placed and folded by the spring assembly.

The structure of the gripper pusher 200 will be further described with reference to fig. 4a-4 f:

the forward moving guide rail 210 is provided with two first slide rails 211 with the length in the X direction, the opposite inner side surfaces of the first slide rails 211 are provided with upper rails 212, the first slide rails 211 are provided with lower lifting rails 213 positioned below the upper rails 212, the lower side edges of the lower lifting rails 213 are provided with front and rear inlet openings 213-1 with downward openings, a front and rear pair of first rollers 202 are installed in each upper rail 212, the front and rear ends of the two sides of the clamping device 220 are respectively fixed with second rollers 221, the corresponding first rollers 202 and the second rollers 221 are movably connected through a driven rod 230, the first traverse pushing cylinder 240 drives the first rollers 202 to slide forward in the upper rails 212 to drive the clamping device 220 to traverse forward, and the first rollers 202 drive the second rollers 221 to enter the lower lifting rails 213 from the inlet openings 213-1 through the driven rod 230 in the forward sliding process to lift the height of the clamping device 220.

In an alternative embodiment, the front and rear pairs of first rollers 202 in the upper rail 212 are both mounted on a lateral push plate 214, the lateral push plate 214 is fixedly connected to the top rod of the first lateral pushing cylinder 240, and the lateral push plate 214 is pushed by the first lateral pushing cylinder 240 to drive the front and rear pairs of first rollers 202 to roll back and forth in the upper rail 212.

The upper end and the lower end of the driven rod 230 are respectively hinged with the first roller 202 in the upper first slide rail 211 and the second roller 221 of the clamping device, and there are four hinge points, so as to form a parallel four-bar linkage mechanism (as shown by the rectangle broken line frame in fig. 4 d), that is, four corners of the clamping device are respectively movably connected below the first slide rail 211 through the connecting rod 230; the second roller 221 is rotatably mounted on the frame of the clamping device 220. During specific work, the first transverse pushing cylinder 240 drives the side push plate 214 to drive the first roller 202 to roll forward in the upper rail 212, the lower end of the driven rod 230 drives the clamping device 220 to form a parallel four-bar linkage mechanism to realize forward pushing of the whole clamping mechanism, before the clamping device 220 slides forward, the second roller 221 arranged on the clamping device 220 firstly enters the lower lifting rail 213 to lift the height of the clamping device 220, so that the height of a brick clamped by the clamping device is also lifted, friction between the clamped brick and a brick below the clamped brick is avoided, and the surface of the brick is scratched, as shown in fig. 4 e. The clamping device 220 is raised a little bit high and then moved forward. Preferably, when the clamping device 220 is at the rearmost position of the stroke, both second rollers 221 are located at the entrance of the lower lifting rail 213, so that the clamping device 220 is lifted to the height and then slides forward.

As shown in fig. 4c, the clamping device 220 includes a clamping frame 223, the clamping frame 223 is mounted with a second slide rail 224 in the Y direction and a multi-link linkage mechanism, two clamping plates 225 capable of sliding relatively are disposed on the second slide rail 224, the multi-link linkage mechanism is composed of a middle swing rod 226 and two clamping links 227 hinged at two ends of the swing rod 226, the center of the swing rod 226 is rotatably connected to the clamping frame 223 through a swing rod center pin, and the other ends of the two clamping links 227 are respectively hinged to opposite surfaces of the two clamping plates 225; one end of the swing link 226 is hinged to the clamping driving cylinder 228, and the clamping driving cylinder 228 drives the multi-link linkage mechanism to drive the two clamping plates 225 to slide relatively or oppositely on the second slide rail 224 to clamp or release the floor tile.

By adopting the multi-link linkage mechanism, the two clamping plates 225 can slide relatively or oppositely on the second slide rail 224 to clamp or loosen the floor tile at the same time only by one clamping driving cylinder 228, so that the driving structure is simplified, and on the other hand, the movement of the two clamping plates 225 is synchronous, so that the clamping and loosening actions are more linear. Preferably, the opposite surfaces of the two clamping plates 225 are detachably provided with rubber plates, which play a role of protecting the floor tile when clamping the floor tile.

In an alternative embodiment, the transfer mechanism 300 is a roller or belt based transport mechanism.

Referring now to fig. 5a-5b, the structure of the mechanical boom 500 is further described:

the left side and the right side of the front part of the frame 11 are symmetrically provided with a mechanical movable arm 500, the two mechanical movable arms 500 are fixedly connected through a connecting rod 540, the left side and the right side of the front part of the frame 11 are fixedly provided with a vertical guide rail 501 and a horizontal guide rail 503, the vertical guide rail 501 is provided with a vertical slider support 502 capable of sliding up and down, and the horizontal guide rail 503 is provided with a horizontal slider 504 capable of sliding horizontally; the vertical slide mount 502 is connected to a vertical jack 505 fixed to the front of the frame 11, and the horizontal slide 504 is connected to a horizontal pusher 506 fixed to the front of the frame 11. The vertical jacking mechanism 505 and the horizontal pushing mechanism 506 are any one of an air cylinder, a hydraulic oil cylinder, an electric push rod and a screw lead screw pair.

The mechanical movable arm 500 comprises a longitudinal leg 530, a horizontal upper arm 510 and a horizontal lower arm 520, wherein the front ends of the upper arm 510 and the lower arm 520 are hinged with the leg 530, the rear end of the upper arm 510 is hinged on the vertical slider support 502, the lower arm 520 is fixedly connected with the horizontal slider 504, and the rear end of the lower arm 520 is movably connected with the upper arm 510 through a connecting rod support arm 521. As shown in fig. 5b, the upper arm 510, the lower arm 520, the leg 530 hinged to the front end and the lower arm 520, and the link support arm 521 form a parallelogram (shown by dotted lines), which has the advantage that the front leg can be better controlled by the rear vertical jacking mechanism 505 and the horizontal pushing mechanism 506. A quick-release mounting bracket 531 is mounted at the bottom of the leg 530, a swing cylinder 532 is connected between the quick-release mounting bracket 531 and the leg 530, and a quick-release first support universal wheel 533 is mounted at the bottom of the quick-release mounting bracket 531.

As shown in FIG. 5c, the quick release mounting bracket 531 is provided with two rotating shafts, the first rotating shaft is mounted on the supporting leg 530 through a pin 531-2, the second rotating shaft 531-6 is hinged to the swing rod of the swing cylinder 532, and the swing cylinder 532 drives the quick release mounting bracket 531 to rotate around the pin 531-2.

The quick-release mounting bracket 531 is provided with two triangular plates 531-1 which are arranged in parallel, three vertexes of the two triangular plates 531-1 are fixedly connected through connecting columns, a first connecting column is coaxially arranged with a pin 531-2, the other two connecting columns 531-7 are used for being connected with a bayonet reserved by a brick laying mechanism, and a second rotating shaft 531-6 is arranged between the two connecting columns; one of the second connecting columns is an optical axis 531-7, the other second connecting column is a locking shaft 531-3 with a non-circular cross section, one end of the locking shaft 531-3 is fixedly connected with a handle 531-4, two reserved bayonets of the brick laying mechanism are clamped on the optical axis 531-7 and the locking shaft 531-3 respectively, and then the handle 531-4 is rotated to enable the locking shaft 531-3 to rotate so as to clamp the brick laying mechanism, so that the brick laying mechanism is fixedly connected with the quick-release mounting bracket 531 in a locking manner. The outer side surface of one triangular plate is provided with a buckle 531-5 for fixing the handle 531-4, and the buckle is used for keeping the handle 531-4 fixed in a locking state.

The mechanical arm 500 may enable longitudinal and vertical positioning of and provide support for the front mounted paving brick laying mechanism 400. Through the cooperative operation of the vertical jacking mechanism 505, the horizontal pushing mechanism 506 and the swing cylinder 532 of the mechanical boom 500, the paving mechanism 400 for the front-end pavement bricks can be ensured to be always kept in a horizontal state, so that the ground can be conveniently scraped, the floor tiles can be conveniently placed, the floor tiles can be conveniently rolled and the like.

The quick detach installing support 531 of landing leg 530 bottom is convenient for lay mechanism 400 or curb with the pavior brick and lay mechanism 600 quick detach and be connected, and through the flexible of swing cylinder 532, the angle of adjustable quick detach installing support 531, the quick location and the combination of mechanism 400 or curb laying mechanism 600 are laid to convenient and pavior brick, realize quick installation and dismantlement.

The mechanical boom 500 is used to provide support for the paving brick laying mechanism 400 or the curb laying mechanism 600. In a non-paving working state, the mechanical arm 500 slides upwards on the vertical guide rail 501 to drive the paving brick paving mechanism 400 or the curb paving mechanism 600 to leave the ground and suspend the paving brick paving mechanism 400 or the curb paving mechanism 600 in the air, so that the paving brick paving mechanism 400 or the curb paving mechanism 600 is protected; after moving to the paving position, the mechanical arm 500 descends, and the horizontal pushing mechanism 506 drives the supporting leg 530 to move horizontally back and forth, so as to adjust the position of the paving brick paving mechanism 400 or the curb paving mechanism 600 at the bottom of the mechanical arm 500.

Referring now to FIGS. 6a-6f, the construction of the paving brick laying mechanism 400 is further described below:

the body frame structure of the pavior brick laying mechanism 400 is as follows: paving mechanism 400 rear portion both sides are equipped with back slide rail backup pad 401, and anterior both sides are equipped with preceding slide rail backup pad 402, are provided with supporting legs 404 and second support universal wheel 405 in preceding slide rail backup pad 402 bottom. The supporting legs 404 can be used for maintaining the parking of the paving brick paving mechanism 400 and the stability thereof together with the second supporting universal wheel 405 after the paving brick paving mechanism 400 is detached from the mechanical movable arm 500. When the placing bracket 431-5 is pulled out after the road floor tiles are placed, the mechanical arm supporting legs can support the laid bricks, and the bricks which are well positioned outside are prevented from moving. The rear rail support plate 401 is fixedly connected to the front rail support plate 402 by a quick release connection plate 403, and the quick release connection plate 403 is provided with two bayonets (as shown in fig. 6 b) respectively clamped on the optical axis 531-7 and the locking axis 531-3.

The paving brick paving mechanism 400 is detachably mounted between the quick-release mounting brackets 531 on both sides through the quick-release connecting plate 403.

Side frames 436 slidably engaged with the front rail support plate 402 are mounted on both sides of the turnover mechanism 430, that is, the side frames 436 can drive the turnover mechanism 430 to slide back and forth, and the turnover mechanism 430 can rotate on the side frames 436. The rear rail support plate 401 is connected to the side frames 436 via the horizontal telescopic cylinder 406, and the side frames 436 and the turnover mechanism 430 thereof are moved forward and backward in the X direction by the horizontal telescopic cylinder 406.

As shown in fig. 6e-6f, the turning mechanism 430 is further provided with a strickle mechanism 432 and a roller mechanism 433 which rotate around the turning shaft as an axis, the strickle mechanism 432, the roller mechanism 433 and the placing device 431 synchronously rotate around the turning shaft as an axis, and the turning shaft is a turning cylinder 434. The structure and operation of the scraping mechanism 432 and the rolling mechanism 433 will be further described below:

the scraping mechanism 432 is provided with a sawtooth scraper, the scraper is obliquely contacted with the ground through the overturning of the scraping mechanism 432, and the horizontal telescopic cylinder 406 drives the overturning mechanism 430 to integrally move back and forth so as to scrape the ground. Wherein, through the scraper blade of adjustment or change different width to be suitable for different width brick bodies. The leveling mechanism 432 is firstly positioned by the positioning mechanism to enable the paving mechanism 400 to reach a preset position, the overturning oil cylinder 434 is used for overturning to realize the leveling of the initial position by the leveling mechanism 432, and then the horizontal telescopic cylinder 406 drives the overturning mechanism 430 to horizontally move back and forth in the X direction to realize the purpose of leveling the ground.

The rolling mechanism 433 is provided with a first rolling wheel with a convex rib on the outer diameter, the first rolling wheel is contacted with the upper surface of the laid floor tile through the overturning of the rolling mechanism 433, and the horizontal telescopic cylinder 406 drives the overturning mechanism 430 to move back and forth so as to roll the laid floor tile. The outer diameter of the first rolling wheel is provided with a convex rib, and the brick body is compacted through rolling and beating.

As shown in fig. 6d, a first laser emitter 421 is mounted at the front end of the front rail support plate 402 on both sides, and a second laser emitter 422 is mounted at the front end of the side frame 436 on both sides; each first laser emitter 421 is used for emitting a first positioning laser 421-1 crossed in a cross shape to the ground surface right below the first laser emitter 421 on the other side, the second laser emitter 422 is used for emitting a second positioning laser 422-1 crossed in a cross shape perpendicular to the ground surface, and the positioning of paving the floor tiles is determined through the superposition of the second positioning laser 422-1 and the first positioning laser 421-1. The colors of the first positioning laser 421-1 and the second positioning laser 422-1 are different, so that the user can determine whether the first positioning laser 421-1 and the second positioning laser 422-1 on the same side of the ground are overlapped.

Preferably, the angles of the two first laser emitters 421 on the front rail support plate 402 are adjustable, so that the included angle between the first positioning laser 421-1 and the ground can be changed, and the distance between the two first positioning lasers 421-1 can be adjusted to adapt to the positioning of floor tiles with different widths.

The laser positioning mechanism controls the paving brick mechanism 400 to be kept horizontal at any time through the mechanical movable arm, and the paving brick mechanism 400 is longitudinally and transversely positioned based on the laser positioning principle, and the positioning principle is as follows:

because the two groups of laser positioning devices are arranged on the left side and the right side of the frame, the laser positioning devices are symmetrically arranged in the left-right direction. One group of first laser transmitters 421 fixed on front slide rail support plates 402 on two sides of the front end of a paving framework of the pavement brick are fixedly connected with a mechanical movable arm and are used for positioning the whole vehicle, when the next brick is paved, the two groups of first laser transmitters 421 of the whole vehicle emit cross-shaped first positioning laser 421-1 to the ground on the opposite side, the paved brick or marked lines and the like are used as marks to roughly position the whole vehicle, the position deviation is ensured to be within a specified range, and preparation is made for adjusting the position of a front pavement brick paving mechanism 400; the other group is a second laser emitter 422 fixed on the side frame 436 of the turnover mechanism 430, and moves synchronously with the side frame 436, after the whole machine stops, before links of strickling, paving and compacting, the second laser emitter 422 emits two beams of left and right cross-shaped second positioning lasers 422-1 perpendicular to the ground, when the second positioning lasers 422-1 on the same side are basically coincident with the first positioning lasers 421-1, the placement position can be judged in advance, and the paving position can be positioned only by performing small-amplitude position adjustment, so that the paved bricks are more orderly.

As shown in FIG. 6f, the placing device 431 is provided with a clamping fixing frame 431-1, a supporting plate 431-4 is arranged on one side of the clamping fixing frame 431-1, a Y-direction adjusting guide rail 431-2 is arranged on the clamping fixing frame 431-1, a bracket 431-5 on the same side as the supporting plate is arranged on the adjusting guide rail 431-2, the bracket 431-5 is connected with the clamping fixing frame 431-1 through a fine adjustment cylinder 431-3 to adjust the position of the bracket 431-5 in the Y direction, and therefore transverse fine adjustment and positioning of the paving brick laying mechanism 400 during placing of the paving bricks can be achieved.

A plurality of X-direction supporting plates 407 are mounted on the rear rail supporting plate 401, and rollers are provided on the supporting plates 407. The supporting plate 407 serves as a brick transfer function, and the transfer mechanism 300 transfers the floor tiles forward in the X direction through the supporting plate 407 to between the pallet 431-4 and the bracket 431-5.

The paving brick paving mechanism 400 of the invention is an infrared laser positioning paving system integrating leveling, placing and compacting. When paving the pavement brick, the pavement brick paving mechanism 400 firstly screeds the ground under the guidance of the positioning mechanism, then places the floor tiles and compacts the floor tiles. The strickle mechanism 432, the placing device 431 and the rolling mechanism 433 are all connected with an overturning oil cylinder 434, the overturning oil cylinder 434 is installed on a side frame 436 through an overturning oil cylinder supporting plate 435, and the strickle mechanism 432, the placing device 431 and the rolling mechanism 433 are overturned by more than 180 degrees along with the overturning oil cylinder 434 by the overturning oil cylinder 434.

When we need to lay the kerbstone, the paving mechanism 400 on the mechanical arm can be detached, and the kerbstone laying mechanism 600 can be installed to lay the kerbstone, and the following will refer to fig. 7a to 7d to further explain the structure of the kerbstone laying mechanism 600:

the curb laying mechanism 600 is provided with a curb laying frame 610 mounted on the mechanical boom 500, a curb laying port 611 with an adjustable width in the Y direction is arranged in the middle of the curb laying frame 410, a positioning guard plate 616 in the Y direction is mounted in front of the curb laying port 6411, a buffer plate 620 capable of turning downward is mounted behind the curb laying port 611, a guide slope plate 613 is fixed between the positioning guard plate 616 and the buffer plate 620, a gap is left between the front end of the guide slope plate 613 and the positioning guard plate 616, the buffer plate 620 supports the curb conveyed by the conveying mechanism 300, the curb 02 lying on the conveying mechanism 300 is conveyed to the guide slope plate 613 by the buffer plate 620 turning downward, and the curb 02 slides down to the gap on the guide slope plate 613 and stands on the ground in the Y direction.

An interface 617 for quick release is arranged on the curb laying frame 610, so that the curb laying frame 610 can be detachably mounted between quick release mounting brackets 531 of the mechanical boom supporting legs 530. Width adjusting plates 612 are symmetrically installed on the two sides of the width of the kerbstone laying frame 610 (an opening area between the two width adjusting plates 612 is a kerbstone laying opening 611), the width adjusting plates 612 are fixed on the kerbstone laying frame 610 through adjusting plates 614 and first adjusting guide rails 618, the adjusting plates 614 are provided with a plurality of fixing holes, the distance between the two width adjusting plates 612 is adjusted through different fixing holes, and manual adjustment of bricks with different lengths can be achieved. Preferably, the width adjusting plate 612 is a vertical plate in the X direction and is provided with a folding edge 615 bent at the outer side at the rear end, so as to play a role in guiding and facilitate the kerbstone to better enter the kerbstone laying opening 611.

Be equipped with thickness adjustment assembly on the border stone lays frame 610, can realize the automatic elastic adjustment who turns different thickness, its structure specifically is: frame 610 is laid to curb is installed horizontally thickness positioning wheel 630 at car width bilateral symmetry, tile paving mobile robot is in laying the curb in-process in succession, the thickness positioning wheel 630 butt of advancing direction rear end is on the curb back lateral wall of laying, thickness positioning wheel 630 is fixed on a thickness adjusting plate 631, thickness adjusting plate 631 is the riser of Y direction, thickness adjusting plate 631 is fixed on frame 610 is laid to the curb through second regulation guide rail 633, be provided with thickness adjusting spring 632 on second regulation guide rail 633, wherein, thickness adjusting plate 631 is adjustable in the front and back position of X direction, and then can adjust the distance between thickness positioning wheel 630 and location backplate 616.

The buffer plate 620 is used for buffering the falling brick body, the rotating shaft of the buffer plate is a horizontal rotating shaft in the Y direction, two ends of the horizontal rotating shaft are connected with the curb laying frame 610, and a buffer spring 621 is arranged on the horizontal rotating shaft between the curb laying frame 610 and the buffer plate 620.

The left and right sides of car width all installs hack cleaning plate 660 in curb laying frame 610, and hack cleaning plate 640 top articulates on curb laying frame 610 in order to rotate in the Y direction, installs second roller 641 on hack cleaning plate 640, and the outside limit of hack cleaning plate 640 is the inclined plane. In the paving process of the kerbstone paving equipment, the soil crushing and cleaning plate 640 at the front end of the advancing direction is in a sagging state and is used for cleaning soil crushing in the kerbstone paving groove, the soil crushing and cleaning plate 660 at the rear side of the advancing direction is upwards turned to be horizontally arranged, and the second rolling wheel 641 is rolled on the upper surface of the paved kerbstone 02.

The front end of the guide slope plate 613 is provided with a vertical plate 613-1 which is vertical to the ground downwards and parallel to the positioning guard plate 616, and a gap which is slightly larger than the thickness of the kerbstone is left between the vertical plate 613-1 and the positioning guard plate 616. The curb 02 falls onto the guide slope plates 613 by the buffer plates 620 turning down, and the curb 02 slides down into the gap at the guide slope plates 613 and stands on the ground in the Y direction.

The working process of the pavement brick is explained in detail as follows:

first we stack the bricks (pavior bricks or kerbs) on the forks of a forklift truck with the front and back sides of the stacked bricks in contact. Then, the storage rack 130 is put down to be in a horizontal state, the forklift is driven to transfer the stacked floor tiles to the storage rack 130, the storage rack 130 is rotatably connected to the center of the bottom of the longitudinal lifting rack 102, a space for the supply fork to move is formed on two sides of the storage rack 130, and the storage rack 130 can extend into the center of the opening of the fork when the forklift runs close to the paving device 10 for the flat bricks. The forklift unloads the tiles and leaves after driving into position.

A second conveyor 132 of rollers or belts is provided on the storage rack 130, and the stacked bricks are conveyed forward onto the lifting plate 103 by the second conveyor 132. The top rods of the lifting devices 120 on both sides of the lifting plate 103 slide upwards, and the top rods drive the lifting chains 122 to move upwards to drive the lifting webs 106 on both sides to move upwards steadily, so as to lift the lifting plate 103 at the height shown in fig. 3 b.

The holding device 220 of the holding and pushing mechanism 200 is slid backward to the rear direction of the vehicle, the clamping plates 225 hold and fix the left and right ends of the uppermost brick, and then the holding device 220 is moved forward. In the forward sliding process of the clamping device 220, the second roller 221 slides into the lower lifting rail 213 to lift the height of the clamping device 220, so that the clamping device 220 slightly lifts the height of the brick while driving the brick to move forward, and the clamped brick is prevented from scraping the brick on the lifting plate 103, thereby affecting the attractiveness of the brick.

As the gripping device 220 slides on the forward rail 210 over the transfer mechanism 300, the two jaws 225 are released and the brick falls onto the transfer mechanism 300 and is transported further forward by the transfer mechanism 300.

The above steps are general steps of the paving mechanism 400 for road bricks and the paving mechanism 600 for kerbs, when paving road bricks, the paving mechanism 400 for road bricks is mounted on the mechanical movable arm 500, and the paving process of the paving mechanism 400 for road bricks is as follows:

after the carriage moves to the designated position of the paving area, the position of the paving mechanism 400 for paving the pavement bricks is positioned by the positioning mechanism 320, the turnover oil cylinder 434 drives the turnover mechanism 430 to turn over integrally, so that the saw-tooth scrapers of the scraping mechanism 432 are in inclined contact with the ground, and then the horizontal telescopic cylinder 406 drives the turnover mechanism 430 to move back and forth integrally on the frame to scrape the ground, as shown in fig. 6 g.

After the floor is leveled, the floor tiles transferred by the transfer mechanism 300 are transferred between the pallet 431-4 and the bracket 431-5 through the supporting plate 407, so that the floor tiles are held by the placing mechanism 431. Then, the overturning oil cylinder 434 drives the overturning mechanism 430 to overturn integrally, so that the placing mechanism 431 with the brick clamped on the rear side overturns to the front side and becomes a horizontal state, as shown in fig. 6h-6i, then the horizontal telescopic cylinder 406 drives the overturning mechanism 430 to retreat, the bracket 431-5 is pulled out from a gap between the pavement brick 01 and the ground, and at this time, the pavement brick 01 is paved on the ground.

Then, the turnover cylinder 434 drives the turnover mechanism 430 to turn over integrally, so that the first rolling wheel contacts with the upper surface of the laid floor tile by turning over of the rolling mechanism 433, and then the horizontal telescopic cylinder 406 drives the turnover mechanism 430 to move back and forth, so that the first rolling wheel rolls the upper surface of the laid floor tile back and forth, as shown in fig. 6 j.

After the rolling is completed, the horizontal telescopic cylinder 406 drives the turnover mechanism 430 to return to the initial position, and the turnover cylinder 434 drives the turnover mechanism 430 to turn over to a state where the placement mechanism 431 is connected to the conveying mechanism 300 (i.e. to return to the state of fig. 6 e). And then the vehicle body moves to the laying position of the next brick, and two sets of positioning mechanisms are used for positioning and ensuring that the laid brick falls into the designated position.

When paving the curb, the curb paving mechanism 600 is installed to the mechanical boom 500, and the paving process of the curb paving mechanism 600 is as follows:

when the transfer mechanism 300 moves to the foremost end, the kerbstone 02 is firstly blocked by the buffer plate 620, the lower side surface (namely, the bottom edge for contacting with the ground) of the kerbstone 02 is in contact with the buffer plate 620, then the buffer plate 620 turns downwards, the kerbstone 02 loses the blocking of the buffer plate 620 and slides onto the guide slope plate 613, the kerbstone 02 slides forwards on the guide slope plate 613 under the action of gravity, and is blocked by the positioning protection plate 616 when falling from the guide slope plate 613 and stands in the kerbstone laying groove in the Y direction, and at the moment, the laying operation of one piece of kerbstone 02 is completed, so that the kerbstone 02 stands in the kerbstone laying groove on the ground.

Subsequently, running gear 12 drives tile-laying mobile robot 10 and traverses in the Y direction, and the hack clearance board 640 that is located the direction of laying front side is the flagging state, and at the curb laying equipment in-process of marcing, hack clearance board 640 can clear away the hack in the curb laying groove for the curb laying groove is more level and more smooth, and is whole more neat in order to guarantee that follow-up curb falls into the laying groove. The soil crushing and cleaning plate 640 at the rear side in the paving direction rotates the plate to a horizontal state, the second rolling roller 641 of the soil crushing and cleaning plate 640 rolls on the upper surface of the curb 02 at the rear side in the paving direction of the paving frame 610, and the downward rolling operation is performed on the curb paved at the rear side in the process of the transverse movement of the tile paving mobile robot 10; moreover, the thickness positioning wheel 630 positioned at the rear side in the laying direction abuts against the back of the kerbstone laid at the rear side, and forward rolling operation is provided for the kerbstone by the thickness positioning wheel 630 in the transverse moving process; through carrying out downwards and forward roll-in to the good curb of rear laying, can make the good curb of laying more neat.

The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in which devices and structures not described in detail are understood to be implemented in a manner that is conventional in the art; those skilled in the art can make many possible variations and modifications to the disclosed solution, or modify the equivalent embodiments with equivalent variations, without departing from the scope of the solution, without thereby affecting the spirit of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.

Claims (6)

1. The front mechanical movable arm of the mobile robot is arranged on the front side of the brick paving mobile robot and used for providing support for a brick paving mechanism, the length of the mobile robot is set to be in an X direction, and the width of the mobile robot is set to be in a Y direction, and the front mechanical movable arm is characterized in that the mechanical movable arm (500) is composed of a left movable arm and a right movable arm which are symmetrically arranged on the left side and the right side of the front part of a frame (11) of the paving machine, and the left movable arm and the right movable arm are fixedly connected through a connecting rod (540);

the left movable arm and the right movable arm both comprise longitudinal supporting legs (530), horizontal upper arms (510) and horizontal lower arms (520), the front ends of the upper arms (510) and the lower arms (520) are hinged with the supporting legs (530), the upper arms (510) are hinged with the top ends of the supporting legs (530), the rear ends of the lower arms (520) are movably connected with the middle parts of the upper arms (510) through connecting rod supporting arms (521), the upper arms (510), the lower arms (520), the supporting legs (530) hinged with the front ends and the rear ends and the connecting rod supporting arms (521) form a parallel four-bar linkage mechanism, a vertical jacking mechanism (505) is hinged with the upper arms (510), and a horizontal pushing mechanism (506) is fixedly connected to the connecting rod supporting arms (521);

quick detach installing support (531) are installed to landing leg (530) bottom, the mechanism is laid to the fragment of brick is connected with quick detach installing support (531), be connected with a swing jar (532) between quick detach installing support (531) and landing leg (530), adjust by swing jar (532) the angle of quick detach installing support (531) bottom installation first support universal wheel (533), install vertical climbing mechanism (505) and horizontal push mechanism (506) respectively in frame (11) both sides.

2. The front mechanical boom of the mobile robot as claimed in claim 1, wherein vertical guide rails (501) are installed on the left and right sides of the front portion of the frame (11), vertical slider supports (502) which slide up and down are installed on the vertical guide rails (501), and the top bar of the vertical jacking mechanism (505) and the rear end of the upper arm (510) are both hinged to the vertical slider supports (502).

3. The front end mechanical boom of a mobile robot as claimed in claim 1, characterized in that the horizontal pushing mechanism (506) is provided with a horizontal slider (504), and the horizontal slider (504) is fixedly connected with the connecting rod supporting arm (521).

4. The front mechanical movable arm of the mobile robot as claimed in claim 1, wherein the quick release mounting bracket (531) has two rotating shafts, the first rotating shaft is mounted on the supporting leg (530) through a pin (531-2), the second rotating shaft (531-6) is hinged to a swing rod of a swing cylinder (532), and the swing cylinder (532) drives the quick release mounting bracket (531) to rotate around the pin (531-2).

5. The front mechanical movable arm of the mobile robot as claimed in claim 4, characterized in that the quick release mounting bracket (531) is provided with two triangular plates (531-1) arranged in parallel, three vertexes of the two triangular plates (531-1) are fixedly connected through connecting columns, a first connecting column is coaxially arranged with the pin shaft (531-2), the other two connecting columns (531-7) are used for being connected with a bayonet reserved by the brick laying mechanism, and a second rotating shaft (531-6) is arranged between the two connecting columns;

one second connecting column is an optical axis (531-7), the other second connecting column is a locking shaft (531-3) with a non-circular cross section, one end of the locking shaft (531-3) is fixedly connected with a handle (531-4), two bayonets of the quick-release mounting bracket (531) are respectively clamped on the second connecting column, and the handle is rotated to enable the brick laying mechanism and the quick-release mounting bracket (531) to be fixedly connected in a locking mode.

6. Front mechanical boom of a mobile robot according to claim 5, characterized in that a catch (531-5) for fixing the handle (531-4) is provided on the outer side of one of the triangular plates.

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