CN202787918U - Automatic intelligent equipment for efficiently paving building coats - Google Patents

Automatic intelligent equipment for efficiently paving building coats Download PDF

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Publication number
CN202787918U
CN202787918U CN 201220428853 CN201220428853U CN202787918U CN 202787918 U CN202787918 U CN 202787918U CN 201220428853 CN201220428853 CN 201220428853 CN 201220428853 U CN201220428853 U CN 201220428853U CN 202787918 U CN202787918 U CN 202787918U
Authority
CN
China
Prior art keywords
building coats
support
laying
automatic intelligent
intelligent equipment
Prior art date
Application number
CN 201220428853
Other languages
Chinese (zh)
Inventor
许威燕
Original Assignee
维和泰隆(北京)科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 维和泰隆(北京)科技有限公司 filed Critical 维和泰隆(北京)科技有限公司
Priority to CN 201220428853 priority Critical patent/CN202787918U/en
Application granted granted Critical
Publication of CN202787918U publication Critical patent/CN202787918U/en

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Abstract

The utility model discloses automatic intelligent equipment for efficiently paving building coats. The automatic intelligent equipment comprises a base, a multi-shaft moving mechanism and a multifunctional clamp, wherein the multi-shaft moving mechanism is arranged on the base; the multifunctional clamp is arranged on the multi-shaft moving mechanism; a levelness measuring sensor and a horizontal adjusting support post are further arranged on the base, and are used for automatically leveling the base; the multi-shaft moving mechanism is a moving mechanism of over two dimensions; a taking and placing device and an information acquisition module are arranged on the multifunctional clamp; a walking device is further arranged on the base, and is used for horizontally moving the entire equipment; and a spraying device is arranged on the multifunctional clamp, and is used for spraying a bonding material. A visual device is applied to intelligent recognition, a distance measuring device is used for scanning the height of a paving region to be paved, and high-accuracy full-automatic pavement of building coats can be performed in cooperation with a high-accuracy multi-dimensional moving mechanism.

Description

The efficient automatic intelligent equipment of laying building coats
Technical field
The utility model relates to building coats and lays technical field of automation equipment, relates in particular to a kind of automation equipment of laying building coats of efficient, high degree of intelligence.
Background technology
Building coats relates generally to decoration panel (brick), plate surface layer, the construction timbers such as wood, bamboo surface layer.The most employing manually of the laying of traditional building coats laid.Artificial laying is affected by human factors very large, and the planeness of laying, hollowing rate, horizontal error, positional precision, uniformity etc. are not easy to guarantee.Labor strength is large, and working environment is relatively poor.The sector belongs to labour intensive profession, and requires the workman to grasp certain technical level.In recent years, " recruitment is waste " appearred in the building coats paviour, even wage has reached the level of white collar, also still can not solve the phenomenon of personnel's shortage.
The utility model content
The technical problems to be solved in the utility model provides a kind ofly can finish automatic laying building coats, has the precision height, degree of intelligence is high, can automatically identify ground level, difference in height, automatically locate, Intelligent Recognition building coats, automatic coating adhesive linkage, automatically laying, accurate laying pressure are controlled the automatic intelligent equipment of the efficient laying building coats of wearing and tearing and failure rate is low.
For solving above technical problem, the technical solution adopted in the utility model is: a kind of automatic intelligent equipment of efficient laying building coats, comprise: support, Multi-shaft movement mechanism and multi-functional clamp, Multi-shaft movement mechanism are installed on the support, and multi-functional clamp is installed on the Multi-shaft movement mechanism; Wherein, also be equipped with on the described support: horizontal degree measurement sensor and Level tune pillar, horizontal degree measurement sensor and Level tune pillar are used for the automatic leveling support; Described Multi-shaft movement mechanism is the above motion of two dimension; Be equipped with on the described multi-functional clamp: fetching device and information acquisition module; Fetching device is used for picking and placeing building coats; Information acquisition module comprises: sighting device, range unit and device for measuring force, sighting device be used for to gather the position, pattern of building coats and laying work area is scanned, range unit is used for gathering lays elevation information, and device for measuring force is used for gathering laying dynamics information.
Preferably, described Multi-shaft movement mechanism is the mechanical arm of six axles.
Preferably, also be equipped with on the described multi-functional clamp: spray equipment, this spray equipment is used for the spraying and adhesive bonding material.
Preferably, the automatic intelligent equipment of described efficient laying building coats also comprises spraying container, is installed in support one side, adhesives is housed in this spraying container and by pipeline adhesives is transported to described spray equipment.
Preferably, the automatic intelligent equipment of described efficient laying building coats also comprises safety device, be used for the detection of safety zone, this safety device is installed on the support, and this safety device is safe light curtain, security protection sensor, alarm or protective guard.
Preferably, counterweight is installed also on the described support, is used for the distribution of weight of balance support in case the inclination of stop machine seat.
Preferably, running gear is installed also on the described support, running gear is used for moving horizontally whole equipment.
Describe as can be known according to technique scheme, the utility model has adopted sighting device as Intelligent Recognition, the laying work area height is treated in range unit scanning, cooperate high-precision multi-dimensional movement mechanism, can carry out high-precision full-automatic building coats lays, cooperate device for measuring force and accurate spray equipment, can effectively control cost, low hollowing rate, assurance laying quality and uniformity.This automation degree of equipment is high, and degree of intelligence is high, greatly reduces number of workers and labour intensity.
Description of drawings
Fig. 1 is the overall diagram that the utility model is efficiently laid the automatic intelligent equipment of building coats.
Fig. 2 is the precedence diagram that the utility model is efficiently laid the laying work area of building coats.
Wherein:
1 Level tune pillar, 2 security protection sensors,
3 counterweights, 4 bodies,
5 running gears, 6 Multi-shaft movement mechanisms the 1st axle,
7 Multi-shaft movement mechanisms the 2nd axle, 8 Multi-shaft movement mechanisms the 3rd axle,
9 Multi-shaft movement mechanisms the 4th axle, 10 Multi-shaft movement mechanisms the 5th axle,
11 Multi-shaft movement mechanisms the 6th axle, 12 multi-functional clamps,
13 device for measuring force, 14 range units,
15 spray equipments, 16 sighting devices,
17 fetching devices, 18 spraying containers,
19 base platforms.
The specific embodiment
With reference to Fig. 1, the utility model is efficiently laid the automatic intelligent equipment of building coats, and it comprises: body 4, base platform 19, Multi-shaft movement mechanism and multi-functional clamp 12.Base platform 19 is installed on the body 4, on the base platform 19 Multi-shaft movement mechanism is installed, multi-functional clamp 12 is installed on the Multi-shaft movement mechanism.
Horizontal degree measurement sensor and Level tune pillar 1 are installed on the base platform 19.Horizontal degree measurement sensor and Level tune pillar 1, be used for automatic leveling base platform 19, namely according to the signal of horizontal degree measurement sensor feedback, adopt hydraulic pressure, pneumatic, the modes such as motor-driven drive Level tune pillar 1, until base platform 19 is adjusted to level.
Running gear 5 is installed on the body 4, is used for moving horizontally whole equipment.
Multi-shaft movement mechanism is the above motion of two dimension, such as manipulator, robot, mechanical arm etc.Among the embodiment, Multi-shaft movement mechanism is the mechanical arm of six axles, comprising as described in Figure 1: Multi-shaft movement mechanism the 1st axle 6, Multi-shaft movement mechanism the 2nd axle 7, Multi-shaft movement mechanism the 3rd axle 8, Multi-shaft movement mechanism the 4th axle 9, Multi-shaft movement mechanism the 5th axle 10, Multi-shaft movement mechanism the 6th axle 11.
Be equipped with on the multi-functional clamp 12: fetching device 17, spray equipment 15 and signal acquisition module.Fetching device 17 is used for picking and placeing building coats.Spray equipment 15 is used for the spraying and adhesive bonding material.Information acquisition module comprises: sighting device 16, range unit 14 and device for measuring force, sighting device 16 is used for gathering the position, pattern of building coats and laying work area is positioned, range unit 14 is used for gathering lays elevation information, and device for measuring force is used for gathering laying dynamics information.
As shown in Figure 1 among the embodiment, the better counterweight 3 that also is equipped with on the body 4, be used for balance body 4 distribution of weight in case stop machine body 4 roll.
As shown in Figure 1 among the embodiment, the utility model efficiently lay the automatic intelligent equipment of building coats better also comprise spraying container 18, be installed in body 4 one sides, adhesives be housed in the spraying container 18 and by pipeline adhesives be transported to spray equipment 15.
Among the embodiment, the utility model is efficiently laid better also the comprising of automatic intelligent equipment of building coats as shown in Figure 1: safety device, be used for the detection of safety zone, and safety device is installed on the body 4.Safety device, can for safe light curtain, security protection sensor 2(as shown in fig. 1), the electronic protection device such as alarm, also can be the mechanical protection devices such as protective guard.
Among the embodiment, body 4 and base platform 19 also can merge becomes a support as shown in Figure 1, and this support can be integrated, or adopts and the method such as to be fixedly connected with and to form this support.
Rely on automatic control technology and software to realize, the utility model is efficiently laid the automatic intelligent equipment of building coats can identify paving location automatically, the building coats kind, realize differentiation and the laying of high-intelligentization and automation, automaticity is high, can lay various, decoration panel (brick), the plate surface layer, the construction timbers such as wood, bamboo surface layer.
The utility model is efficiently laid the course of work of the automatic intelligent equipment of building coats: running gear 5 is peripheral to laying work area with equipment moving, the horizontal degree measurement sensor adjustment base platform 19 that is equipped with on Level tune pillar 1 and the base platform 19 is to horizontal level (can effectively guarantee to lay precision thereby whole equipment has possessed horizontal reference), Multi-shaft movement mechanism drives range unit 14 and carries out the scanning of laying work area height to the laying work area top, if satisfying, difference in height lays requirement, Multi-shaft movement mechanism driving sighting device 16 is identified to building coats top to be laid and is located, if satisfying, building coats lays requirement, pick up by fetching device 17, Multi-shaft movement mechanism drives spray equipment 15 at laying work area (perhaps at building coats) spraying and adhesive bonding material, Multi-shaft movement mechanism drives fetching device 17 building coats is placed on laying work area, and carry out compacting, range unit is laid highly and is measured simultaneously, device for measuring force carries out the laying dynamics to be measured, and guarantees to lay requirement.
The specific works process of the utility model efficiently being laid the automatic intelligent equipment of building coats below with reference to example is specifically described.With reference to Fig. 2, always need to lay 30*15=450 piece building coats.Equipment is each lays 15, can be laying work area 1(1-1,1-2........1-15 with the paved surface integration), laying work area 2(2-1,2-2........2-15), until laying work area 30(30-1,30-2........30-15).
(1) the automatic intelligent equipment of efficiently laying building coats moves to laying work area 1 periphery by running gear 5, and arrives level by horizontal degree measurement sensor and Level tune pillar 1 automatic adjusting base platform 19.
(2) Multi-shaft movement mechanism moves to laying work area 1 top, carries out height scanning by 14 pairs of laying work areas of range unit 1, whether satisfies the laying requirement for height to detect laying work area 1.
(3) Multi-shaft movement mechanism to utilize 16 couples of laying work area 1-1(of sighting device be the 1st position of laying work area 1) position.
(4) Multi-shaft movement mechanism moves to building coats to be laid top, utilizes 16 pairs of building coats of sighting device to identify and locate, and lays requirement if building coats satisfies, and utilizes fetching device 17 to pick up building coats.
(5) Multi-shaft movement mechanism drives spray equipment 15 at the building coats that has picked up or laying work area 1-1 spraying and adhesive bonding material.
(6) Multi-shaft movement mechanism drives the building coats that fetching device 17 will pick up and is placed on laying work area 1-1, and carry out compacting, range unit 14 is laid highly and is measured simultaneously, device for measuring force carries out the laying dynamics and measures, lay requirement to guarantee that laying height and laying dynamics satisfy, thereby finish the laying of laying work area 1-1.
(7) repeating step (3) to (6) is laid with next the piece position to laying work area 1, finishes until all lay 15 positions of laying work area 1.
(8) repeating step (1) to (7) is finished until laying work area 30 is laid so that next laying work area is laid.
In the utility model, because the running gear design has been adopted in design, can make equipment freely movable between different laying work areas, adopt simultaneously accurate multiaxial motion system, can guarantee multifreedom motion, the laid scope of this equipment is increased greatly.This equipment has the following advantages:
1. greatly reduce number of workers, at most only need 1 operating personnel to get final product.
2. greatly alleviate workman's work working strength and occupational disease risk.
3. laying speed is fast, is tens times of the speed of manually laying.
4. extremely low hollowing rate can be avoided in theory fully.
5. the larger market space can be arranged.
The above only is preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of within spirit of the present utility model and principle, making, be equal to and replace and improvement etc., all should be included within the protection domain of the present utility model.

Claims (7)

1. an efficient automatic intelligent equipment of laying building coats is characterized in that comprise: support, Multi-shaft movement mechanism and multi-functional clamp, Multi-shaft movement mechanism are installed on the support, and multi-functional clamp is installed on the Multi-shaft movement mechanism;
Wherein, also be equipped with on the described support: horizontal degree measurement sensor and Level tune pillar, horizontal degree measurement sensor and Level tune pillar are used for the automatic leveling support;
Described Multi-shaft movement mechanism is the above motion of two dimension;
Be equipped with on the described multi-functional clamp: fetching device and information acquisition module; Fetching device is used for picking and placeing building coats; Information acquisition module comprises: sighting device, range unit and device for measuring force, sighting device be used for to gather the position, pattern of building coats and laying work area is scanned, range unit is used for gathering lays elevation information, and device for measuring force is used for gathering laying dynamics information.
2. the automatic intelligent equipment of efficient laying building coats according to claim 1 is characterized in that, described Multi-shaft movement mechanism is the mechanical arm of six axles.
3. the automatic intelligent equipment of efficient laying building coats according to claim 1 and 2 is characterized in that: also be equipped with on the described multi-functional clamp: spray equipment, this spray equipment is used for the spraying and adhesive bonding material.
4. the automatic intelligent equipment of efficient laying building coats according to claim 3 is characterized in that, also comprises spraying container, is installed in support one side, adhesives is housed in this spraying container and by pipeline adhesives is transported to described spray equipment.
5. the automatic intelligent equipment of efficient laying building coats according to claim 1 and 2, it is characterized in that: also comprise safety device, be used for the detection of safety zone, this safety device is installed on the support, and this safety device is safe light curtain, security protection sensor, alarm or protective guard.
6. the automatic intelligent equipment of efficient laying building coats according to claim 1 and 2 is characterized in that: counterweight also is installed on the described support, is used for the distribution of weight of balance support in case the inclination of stop machine seat.
7. the automatic intelligent equipment of efficient laying building coats according to claim 1 and 2 is characterized in that: running gear also is installed on the described support, and running gear is used for moving horizontally whole equipment.
CN 201220428853 2012-08-27 2012-08-27 Automatic intelligent equipment for efficiently paving building coats CN202787918U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220428853 CN202787918U (en) 2012-08-27 2012-08-27 Automatic intelligent equipment for efficiently paving building coats

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220428853 CN202787918U (en) 2012-08-27 2012-08-27 Automatic intelligent equipment for efficiently paving building coats

Publications (1)

Publication Number Publication Date
CN202787918U true CN202787918U (en) 2013-03-13

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CN 201220428853 CN202787918U (en) 2012-08-27 2012-08-27 Automatic intelligent equipment for efficiently paving building coats

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104499695A (en) * 2014-11-28 2015-04-08 芜湖银星汽车零部件有限公司 Special paving equipment
CN105822044A (en) * 2016-02-26 2016-08-03 三汽车制造有限公司 Brick tiling device
CN106121206A (en) * 2016-06-23 2016-11-16 陆玥 A kind of full-automatic architecture indoor ground tile paving machine performs device
CN106736195A (en) * 2017-03-08 2017-05-31 吉利汽车研究院(宁波)有限公司 A kind of base construction of weld jig
CN107288324A (en) * 2017-06-20 2017-10-24 安徽吉乃尔电器科技有限公司 A kind of interior architecture decorative strip fixing device
CN110386455A (en) * 2019-07-25 2019-10-29 广东博智林机器人有限公司 Sucker clamp and its control method

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104499695A (en) * 2014-11-28 2015-04-08 芜湖银星汽车零部件有限公司 Special paving equipment
CN105822044A (en) * 2016-02-26 2016-08-03 三汽车制造有限公司 Brick tiling device
CN106121206A (en) * 2016-06-23 2016-11-16 陆玥 A kind of full-automatic architecture indoor ground tile paving machine performs device
CN106121206B (en) * 2016-06-23 2018-06-01 湖南工学院 A kind of full-automatic architecture indoor ground tile paving machine executive device
CN106736195A (en) * 2017-03-08 2017-05-31 吉利汽车研究院(宁波)有限公司 A kind of base construction of weld jig
CN107288324A (en) * 2017-06-20 2017-10-24 安徽吉乃尔电器科技有限公司 A kind of interior architecture decorative strip fixing device
CN107288324B (en) * 2017-06-20 2019-08-02 安徽吉乃尔电器科技有限公司 A kind of interior architecture fixes device with decorative strip
CN110386455A (en) * 2019-07-25 2019-10-29 广东博智林机器人有限公司 Sucker clamp and its control method

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130313

Termination date: 20160827

CF01 Termination of patent right due to non-payment of annual fee