CN209556305U - The both arms ground tile paving robot for having all-around mobile function - Google Patents
The both arms ground tile paving robot for having all-around mobile function Download PDFInfo
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- CN209556305U CN209556305U CN201821721829.0U CN201821721829U CN209556305U CN 209556305 U CN209556305 U CN 209556305U CN 201821721829 U CN201821721829 U CN 201821721829U CN 209556305 U CN209556305 U CN 209556305U
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Abstract
The utility model provides a kind of both arms ground tile paving robot for having all-around mobile function, in which: double freedom movable pulley includes two freedom degrees of two axial-rotations and radial rotary；Floor tile is transported to the position that need to be laid with by tile work mechanical arm from floor tile fixed platform, completes ground tile paving movement；Mechanical arm is starched in sandblasting will be on mortar spraying to ground before being laid with floor tile；Electric cabinet controls the rotation of the radial and axial motor of double freedom movable pulley and the movement of control tile work mechanical arm and sandblasting slurry mechanical arm；Floor tile fixed platform puts several floor tiles, and line position of going forward side by side sets fixation；Laser range finder measures the angles and positions that need to be laid with floor tile.The utility model structure is simple, and it is convenient to operate, and can move quickly into ground tile paving place, starches mechanical arm by sandblasting and carries out mortar injection, and pass through tile work mechanical arm for the ground tile paving of delivery in mortar surface, realizes the automatic laying of floor tile.
Description
Technical field
The utility model relates to industry and technical field of buildings, and in particular, to have the double of all-around mobile function
Arm ground tile paving robot.
Background technique
Ground tile paving is the normal process steps in building and fitting-out work, and existing ground tile paving mode generallys use people
Work is laid with, and completes ground tile paving process using the experience of paviour.This manual type usually has following defects that
1, worker's experience is different, and laying is horizontal irregular, and for same laying place, the result that different workers are laid with is not
Together, overall effect is influenced；
2, project progress is caused to delay when artificial laying has difficulties particular surroundings；
3, for hazardous environment, artificial process of deployment can not ensure the personal safety of paviour in the process, and there is also works
The security risk of journey construction.
Robot is widely used in construction at present, but a machine for having movement and being laid with function not yet
People occurs.
Utility model content
Aiming at the above shortcomings existing in the prior art, the purpose of the utility model is to provide have all-around mobile function
Both arms ground tile paving robot, which starches mechanical arm by sandblasting and carries out mortar injection, and mechanical by tile work
Arm is by the ground tile paving of delivery in mortar surface, and laying result is unified, suitable environment is wide.
To achieve the above object, the utility model uses following technical scheme:
A kind of both arms ground tile paving robot having all-around mobile function, comprising: the total pedestal of robot, double freedom
Movable pulley, tile work mechanical arm, sandblasting slurry mechanical arm, electric cabinet, floor tile fixed platform and laser range finder；Wherein: the machine
The total pedestal of device people is a rigid body platform, and the double freedom movable pulley is set to the corner location of the total pedestal of the robot；
The tile work mechanical arm, sandblasting slurry mechanical arm, the electric cabinet and the floor tile fixed platform are respectively arranged at the machine
On the total pedestal of device people；The laser range finder is set to the front end of the total pedestal of the robot；The double freedom movable pulley is extremely
It is less three, wherein each described double freedom movable pulley includes two freedom degrees of two axial-rotations and radial rotary；
The electric cabinet is electrically connected with the double freedom movable pulley, the tile work mechanical arm and the sandblasting slurry mechanical arm respectively.
Preferably, the electric cabinet includes that the motor of motor drive controller, tile work mechanical arm and sandblasting slurry mechanical arm drives
The motion controller and master controller of dynamic device, tile work mechanical arm and sandblasting slurry mechanical arm；Wherein: the input of the master controller
End connects the laser range finder, and the output end of the master controller connects the input terminal, described of the motor drive controller
Tile work mechanical arm and sandblasting slurry mechanical arm motion controller input terminal, the motor drive controller output end connection described in
It is mechanical that double freedom movable pulley, the tile work mechanical arm and the motion controller output end of sandblasting slurry mechanical arm connect the tile work
The input terminal of the motor driver of arm and sandblasting slurry mechanical arm, the motor driver of the tile work mechanical arm and sandblasting slurry mechanical arm
Output end connect the tile work mechanical arm and mechanical arm is starched in sandblasting.
Preferably, the tile work mechanical arm, sandblasting slurry mechanical arm are equipped with several joints, and each joint is equipped with joint motor,
The joint motor connects the output end of the motor driver of the tile work mechanical arm and sandblasting slurry mechanical arm, and the tile work is mechanical
Control of the motor driver of arm and sandblasting slurry mechanical arm in the tile work mechanical arm and the motion controller of sandblasting slurry mechanical arm
Under, drive the motion profile movement of the joint motor as requested.
Preferably, the electric cabinet is powered using battery or external power supply.
Preferably, the double freedom movable pulley includes: movable pulley, axial-rotation motor, L-type support, radial rotary electricity
Machine, movable pulley support plate, radial buffering and carry buffering；Wherein:
The double freedom movable pulley includes: movable pulley, axial-rotation motor, L-type support, radial rotary motor, movement
Take turns support plate, radial buffering and carry buffering；The stator of the axial-rotation motor is fixed on one side of the L-type support, institute
The rotor for stating axial-rotation motor connects the movable pulley；The L-type support is by the movable pulley and the movable pulley support plate
Connection, the rotor of the fixed radial rotary motor in the another side of the L-type support；The stator of the radial rotary motor connects
The movable pulley support plate；The movable pulley support plate is the branch of a rotary shaft rotation stretched out around the total pedestal of the robot
Fagging, the movable pulley support plate are connect by radial buffering with the L-type support；Described in one end connection of the carry buffering
The other end of movable pulley support plate, the carry buffering connects the total pedestal of robot.
Preferably, the structure of spring or air pressure is respectively adopted in the radial buffering and carry buffering.
Preferably, the axial-rotation motor and radial rotary motor are using AC servo motor, direct current permanent magnet motor, straight
Flow brushless motor, any one in DC stepper motor；
The axial-rotation motor and radial rotary motor directly export rotation torque, or are subtracted using planetary gear, harmonic wave
Fast device, RV retarder, cycloid reducer, in gear reduction unit any one by torque send out it is big after output rotation turn round
Square；
The axial-rotation motor and radial rotary motor are using photoelectric encoder, magnetic coder, potentiometer, rotation displacement
Any one in device carries out the detection of the position of motor rotation speed.
Preferably, the tile work mechanical arm is to open using multiple degrees of freedom series connection mechanical arm, the tool tip of tile work mechanical arm
Dynamic absorption claw.
Preferably, the sandblasting slurry mechanical arm starches the tool tip of mechanical arm using multiple degrees of freedom series connection mechanical arm, sandblasting
For pectination mortar spraying mouth.
Preferably, the floor tile fixed platform is equipped with X-direction fixed mechanism and Y-direction fixed mechanism, wherein the side X
To fixed mechanism and Y-direction fixed mechanism using any one following applied force structure:
Rotating electric machine drives the structure of lead screw or worm and gear；
The structure of hydraulic linear movement；
The structure of straight line cylinder progress movement output.
Compared with prior art, the utility model have it is below the utility model has the advantages that
The utility model has filled up blank in the prior art, has structure simple, operates convenient feature, can be quick
It is moved to ground tile paving place, mechanical arm is starched by sandblasting and carries out mortar injection, and passes through tile work mechanical arm for the floor tile of delivery
It is laid on mortar surface, realizes the automatic laying of floor tile, there is good practical value and commercial promise.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of one preferred embodiment of the utility model；
In figure: the total pedestal of 010- robot, 020- double freedom movable pulley, 030- tile work mechanical arm, 040- sandblasting pulp grinder
Tool arm, 050- electric cabinet, 060- floor tile fixed platform, 070- laser range finder；
Fig. 2 is the structural schematic diagram of the double freedom movable pulley of one preferred embodiment of the utility model；Wherein, based on (a)
View (b) is perspective view；
In figure: 021- movable pulley, 022- axial-rotation motor, 023-L type bracket, 024- radial rotary motor, 025- are moved
Driving wheel support plate, 026- are radially buffered, 027- carry buffering；
Fig. 3 is the schematic diagram of the comprehensive steering of one preferred embodiment of the utility model；Wherein, (a) is former direction movement
Schematic diagram (b) is to move schematic diagram after turning to；
Fig. 4 is the operation schematic diagram of the laying floor tile of one preferred embodiment of the utility model；Wherein: (a) starching rank for sandblasting
Section (b) is the floor tile stage；
Fig. 5 is the structural schematic diagram of the floor tile fixed platform of one preferred embodiment of the utility model；
In figure: the direction 061-X fixed mechanism, the direction 062-Y fixed mechanism.
Specific embodiment
The utility model is described in detail combined with specific embodiments below.Following embodiment will be helpful to this field
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, various modifications and improvements can be made.
These are all within the protection scope of the present invention.
As shown in Figure 1, the both arms ground tile paving machine for having all-around mobile function of one preferred embodiment of the utility model
Device people's structural schematic diagram, including: the total pedestal 010 of robot, double freedom movable pulley 020, tile work mechanical arm 030, sandblasting
Starch mechanical arm 040, electric cabinet 050, floor tile fixed platform 060, laser range finder 070.Wherein: the total pedestal 010 of robot is one
Mechanical arm 040, electric cabinet 050, floor tile are starched in a rigid body platform, carrying double freedom movable pulley 020, tile work mechanical arm 030, sandblasting
Fixed platform 060, laser range finder 070, wherein double freedom movable pulley 020 is at least three, convenient for moving freely.Double freedom
Degree movable pulley 020 be fixed on the total pedestal 010 of robot, include two freedom degrees, may be implemented wheel axial-rotation and
The radial rotary of wheel；Tile work mechanical arm 030 is located on the total pedestal 010 of robot, for one piece of floor tile is fixed flat from floor tile
The position of laying is transported in the cumulative several floor tiles of platform 060；Sandblasting slurry mechanical arm 040 is located on the total pedestal 010 of robot, uses
In will be on mortar spraying to ground before being laid with floor tile；Electric cabinet 050 is used to control the radial direction and axis of double freedom movable pulley 020
The movement of rotation and control tile work mechanical arm 030 and sandblasting slurry mechanical arm 040 to motor；Floor tile fixed platform 060 is used for
Position is fixed after putting several floor tiles and being laid with all floor tiles；Laser range finder 070 need to be laid with ground for measuring
Measured value is simultaneously sent to the progress ground tile paving of tile work mechanical arm 030 by the angles and positions of brick.
In a preferred embodiment, electric cabinet 050 may include motor drive controller, tile work mechanical arm 030 and sandblasting slurry
Motion controller, the master controller of mechanical arm 040 are starched in motor driver, tile work mechanical arm 030 and the sandblasting of mechanical arm 040,
In: the input terminal of master controller connects laser range finder 070, the input of the output end connection motor drive controller of master controller
The motion controller input terminal of mechanical arm 040 is starched in end, tile work mechanical arm 030 and sandblasting, and the output end of motor drive controller connects
Double freedom movable pulley 020 is connect, tile work mechanical arm 030 connects tile work with the motion controller output end of sandblasting slurry mechanical arm 040
The input terminal of the motor driver of mechanical arm 030 and sandblasting slurry mechanical arm 040, mechanical arm 040 is starched in tile work mechanical arm 030 and sandblasting
Motor driver output end connection tile work mechanical arm 030 and sandblasting starch mechanical arm 040.Specifically, master controller according to
The instruction at family sends control instruction to motor drive controller, and motor drive controller respectively drives the multiple double freedoms of control
The rotation speed and rotation angle of movable pulley 020；Master controller is according to the instruction of user, and also transmission control instruction is to brick paving machine
The motion controller of tool arm 030 and sandblasting slurry mechanical arm 040, by the movement control of tile work mechanical arm 030 and sandblasting slurry mechanical arm 040
The motor driver drive control tile work mechanical arm 030 and sandblasting of device control tile work mechanical arm 030 processed and sandblasting slurry mechanical arm 040
Starch the rotation speed and rotation angle of mechanical arm 040.Master controller realizes drive control tile work according to the instruction of user as a result,
The movement speed and motion track of the motion profile and the entire robot of control of mechanical arm 030 and sandblasting slurry mechanical arm 040.
Further, above-mentioned tile work mechanical arm 030, sandblasting slurry mechanical arm 040 can be equipped with several joints, and each joint is set
There is joint motor, the joint motor connects the motor driver of the tile work mechanical arm and sandblasting slurry mechanical arm, and tile work is mechanical
The motion controller of arm 030 and sandblasting slurry mechanical arm 040, to the motor driven of tile work mechanical arm 030 and sandblasting slurry mechanical arm 040
Device sends instruction, and the joint motor for allowing tile work mechanical arm 030 and sandblasting to starch mechanical arm 040 is moved according to certain motion profile.
In a preferred embodiment, the total pedestal 010 of robot may include battery, give double freedom movable pulley 020, tile work
Mechanical arm 030, sandblasting slurry mechanical arm 040, electric cabinet 050, floor tile fixed platform 060 and laser range finder 070 provide electric energy, when
So, in other embodiments, it can also be starched by external power supply to double freedom movable pulley 020, tile work mechanical arm 030, sandblasting
Mechanical arm 040, electric cabinet 050, floor tile fixed platform 060 and laser range finder 070 provide electric energy.
In Fig. 2 shown in (a) and (b), in preferred embodiment shown in the figure, double freedom movable pulley 020 includes: mobile
Wheel 021, axial-rotation motor 022, L-type support 023, radial rotary motor 024, movable pulley support plate 025, radial buffering 026
With carry buffering 027, in which: the stator of axial-rotation motor 022 is fixed on one side of L-type support 023, axial-rotation motor
022 rotor connects movable pulley 021, and movable pulley 021 is driven to carry out axial-rotation movement；L-type support 023 is used for movable pulley
021 and movable pulley support plate 025 connect, the stator of the rotating electric machine 022 fixed axial on one side of L-type support 023 fixes diameter on one side
To the rotor of rotating electric machine 024；Radial rotary motor 024 is for providing the radial rotary of movable pulley 021, radial rotary motor
024 stator connects movable pulley support plate 025, one side of the rotor connection L-type support 023 of radial rotary motor 024；Movable pulley
Support plate 025 is the support plate of a rotary shaft rotation stretched out around the total pedestal 010 of robot, and movable pulley support plate 025 passes through
Radial buffering 026 is connect with L-type support 023；Radial buffering 026 connects L-type support 023 and movable pulley support plate 025, and leads to
The mode for crossing spring or air pressure will buffer in motion process because of the radial vibration of movable pulley 021 caused by the out-of-flatness of ground
Isolation；Carry buffers 027 one end and connects movable pulley support plate 025, and one end connects the total pedestal 010 of robot, and by spring or
The mode of air pressure will carry out buffering isolation because of the axial vibration of movable pulley 021 caused by the out-of-flatness of ground in motion process.
In Fig. 3 shown in (a) and (b), axial-rotation motor 022, radial rotary motor 024 are all connected with drive and control of electric machine
Device is driven by motor controller and respectively drives the rotation speed for controlling each double freedom movable pulley 020 and rotation angle.Pass through
All-around mobile, no turning radius may be implemented in the cooperation of several groups of double freedom movable pulleys 020.When needing to turn, Suo Youshuan
The radial rotary motor 024 of freedom degree movable pulley 020 rotates to the angle of turning, passes through all double freedom movable pulleys later
The turning action of no turning radius can be realized in the coordination rotation of 020 axial-rotation motor 022.
In some embodiments, the axial-rotation motor 022 of double freedom movable pulley 020 and radial rotary motor 024 can
To use one of AC servo motor, direct current permanent magnet motor, DC brushless motor, DC stepper motor.
In some embodiments, axial-rotation motor 022 and radial rotary motor 024 can directly export rotation torque,
One of planetary gear, harmonic speed reducer, RV retarder, cycloid reducer, gear reduction unit can also be used, by torque
It carries out sending out big rear output rotation torque.
In some embodiments, the encoder of axial-rotation motor 022 and radial rotary motor 024 can be compiled using photoelectricity
One of code device, magnetic coder, potentiometer, rotation deflection machine carry out the detection of the position of motor rotation speed.
In Fig. 4 shown in (a) and (b), in a preferred embodiment, tile work mechanical arm 030 is a kind of multiple degrees of freedom cascade machine
Tool arm, including but not limited to: 4DOF SCARA humanoid robot, 4DOF series connection humanoid robot, 6DOF tandem type machine
People, 7 freedom degrees series connection humanoid robot.The tool tip of tile work mechanical arm 030 is that claw is adsorbed in a kind of starting, for consolidating floor tile
The floor tile being superimposed on fixed platform 060 topmost adsorbs and is routed to designated position for one piece.Sandblasting starch mechanical arm 040 be it is a kind of mostly from
By degree series connection mechanical arm, including but not limited to: 4DOF SCARA humanoid robot, 4DOF series connection humanoid robot, 6DOF
Series connection humanoid robot, 7 freedom degrees series connection humanoid robot.Sandblasting is starched the tool tip of mechanical arm 040 and is sprayed for a kind of mortar of pectination
Mouth is applied, each comb end is a spout for spray furnace to the ground.
The workflow of tile work mechanical arm 030 and sandblasting slurry mechanical arm 040 in above-described embodiment are as follows:
The stage is starched in first step sandblasting, and tile work mechanical arm 030 runs to the top of floor tile fixed platform 060, sandblasting pulp grinder tool
Arm 040 starches the motion profile of mechanical arm 040 in the place for needing spray furnace by sandblasting, and/or, double freedom movable pulley
020 motion profile will need to be laid with the position spray furnace of floor tile；
Second floor tile stage, sandblasting slurry mechanical arm 040 move to a designated position, and tile work mechanical arm 030 is by ground
The floor tile that brick fixed platform 060 is superimposed topmost is adsorbed for one piece, calculates floor tile according to the distance that laser range finder 070 measures
Floor tile is simultaneously put in the position of laying, pushes；
As shown in figure 5, floor tile fixed platform 060 includes X-direction fixed mechanism 061 and Y-direction fixed mechanism 062, in which:
The power for one X-direction of floor tile that X-direction fixed mechanism 061 adds up to all floor tile fixed platforms 060, so that the X of all floor tiles
Direction alignment；The power for one Y-direction of floor tile that Y-direction fixed mechanism 062 adds up to all floor tile fixed platforms 060, so that institute
There is the Y-direction of floor tile to be aligned；X-direction fixed mechanism 061 and Y-direction fixed mechanism 062 can drive lead screw using rotating electric machine
Or the mode of worm and gear, it can also can also be transported by the way of straight line cylinder by the way of hydraulic linear movement
Dynamic output.
The utility model both arms ground tile paving robot system provided by the above embodiment for having all-around mobile function,
Its structure is simple, and it is convenient to operate, and can move quickly into ground tile paving place, starches mechanical arm by sandblasting and carries out mortar injection,
And pass through tile work mechanical arm for the ground tile paving of delivery in mortar surface, there is good practical value and commercial promise.
In the description of the present invention, it should be understood that term " on ", "lower", "front", "rear", "left", "right",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "top", "bottom", "inner", "outside" be orientation based on the figure or
Positional relationship is merely for convenience of description and simplification description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims,
This has no effect on the substantive content of the utility model.In the absence of conflict, the spy in embodiments herein and embodiment
Sign can be arbitrarily combined with each other.
Claims (7)
1. a kind of both arms ground tile paving robot for having all-around mobile function characterized by comprising the total base of robot
Seat, double freedom movable pulley, tile work mechanical arm, sandblasting slurry mechanical arm, electric cabinet, floor tile fixed platform and laser range finder；
Wherein: the total pedestal of robot is a rigid body platform, and the double freedom movable pulley is set to the total pedestal of the robot
Corner location；The tile work mechanical arm, sandblasting slurry mechanical arm, the electric cabinet and the floor tile fixed platform are set respectively
It is placed on the total pedestal of the robot；The laser range finder is set to the front end of the total pedestal of the robot；It is described double free
Degree movable pulley is at least three, and wherein each described double freedom movable pulley includes two axial-rotations and radial rotary two
A freedom degree；The electric cabinet starches mechanical arm with the double freedom movable pulley, the tile work mechanical arm and the sandblasting respectively
Electrical connection；
The floor tile fixed platform includes X-direction fixed mechanism and Y-direction fixed mechanism, in which: X-direction fixed mechanism is to all
The power of cumulative one X-direction of floor tile of floor tile fixed platform, so that the X-direction of all floor tiles is aligned；Y-direction fixed mechanism is to institute
The power for one Y-direction of floor tile for having floor tile fixed platform cumulative, so that the Y-direction of all floor tiles is aligned；
The electric cabinet includes motor driver, the brick paving machine of motor drive controller, tile work mechanical arm and sandblasting slurry mechanical arm
The motion controller and master controller of tool arm and sandblasting slurry mechanical arm；Wherein: described in the input terminal connection of the master controller
Laser range finder, the output end of the master controller connect the input terminal of the motor drive controller, the tile work mechanical arm
With the motion controller input terminal of sandblasting slurry mechanical arm, the output end of the motor drive controller connects the double freedom and moves
Driving wheel, the tile work mechanical arm connect the tile work mechanical arm and sandblasting slurry with the motion controller output end of sandblasting slurry mechanical arm
The output end of the motor driver of the input terminal of the motor driver of mechanical arm, the tile work mechanical arm and sandblasting slurry mechanical arm connects
Connect the tile work mechanical arm and sandblasting slurry mechanical arm；
The tile work mechanical arm, sandblasting slurry mechanical arm are equipped with several joints, and each joint is equipped with joint motor, the joint motor
Connect the output end of the motor driver of the tile work mechanical arm and sandblasting slurry mechanical arm, the tile work mechanical arm and sandblasting pulp grinder
The motor driver of tool arm drives the pass under the control of the tile work mechanical arm and the motion controller of sandblasting slurry mechanical arm
Save the motion profile movement of motor as requested；
The sandblasting slurry mechanical arm is pectination mortar spraying using multiple degrees of freedom series connection mechanical arm, the tool tip of the mechanical arm
Mouthful.
2. the both arms ground tile paving robot according to claim 1 for having all-around mobile function, which is characterized in that institute
Stating double freedom movable pulley includes: movable pulley, axial-rotation motor, L-type support, radial rotary motor, movable pulley support plate, diameter
To buffering and carry buffering；The stator of the axial-rotation motor is fixed on one side of the L type bracket, the axial-rotation
The rotor of motor connects the movable pulley；The L-type support connects the movable pulley with the movable pulley support plate, the L
The rotor of the fixed radial rotary motor in the another side of type bracket；The stator of the radial rotary motor connects the movable pulley
Support plate；The movable pulley support plate is the support plate of a rotary shaft rotation stretched out around the total pedestal of the robot, described
Movable pulley support plate is connect by radial buffering with the L-type support；One end of the carry buffering connects the movable pulley branch
The other end of fagging, the carry buffering connects the total pedestal of robot.
3. the both arms ground tile paving robot according to claim 2 for having all-around mobile function, which is characterized in that institute
It states radial buffering and the structure of spring or air pressure is respectively adopted in carry buffering.
4. the both arms ground tile paving robot according to claim 1 for having all-around mobile function, which is characterized in that institute
Tile work mechanical arm is stated using multiple degrees of freedom series connection mechanical arm, the tool tip of the tile work mechanical arm is starting absorption claw.
5. the both arms ground tile paving robot according to claim 1-4 for having all-around mobile function, special
Sign is that the electric cabinet is powered using battery or external power supply.
6. special according to the described in any item both arms ground tile paving robots for having all-around mobile function of Claims 2 or 3
Sign is that the axial-rotation motor and radial rotary motor are using AC servo motor, direct current permanent magnet motor, brush DC electricity
Any one in machine, DC stepper motor；
The axial-rotation motor and radial rotary motor directly export rotation torque, or using planetary gear, harmonic speed reducer,
RV retarder, cycloid reducer, in gear reduction unit any one by torque send out it is big after export rotation torque；
The axial-rotation motor and radial rotary motor are using in photoelectric encoder, magnetic coder, potentiometer, rotation deflection machine
Any one carry out motor rotation speed position detection.
7. the both arms ground tile paving robot according to claim 1-4 for having all-around mobile function, special
Sign is that the X-direction fixed mechanism and Y-direction fixed mechanism are using any one following applied force structure:
Rotating electric machine drives the structure of lead screw or worm and gear；
The structure of hydraulic linear movement；
The structure of straight line cylinder progress movement output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821721829.0U CN209556305U (en) | 2018-10-23 | 2018-10-23 | The both arms ground tile paving robot for having all-around mobile function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821721829.0U CN209556305U (en) | 2018-10-23 | 2018-10-23 | The both arms ground tile paving robot for having all-around mobile function |
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| CN209556305U true CN209556305U (en) | 2019-10-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114263333A (en) * | 2020-09-16 | 2022-04-01 | 广东博智林机器人有限公司 | Interface processing device, brick paving robot and brick paving method thereof |
| WO2022116932A1 (en) * | 2020-12-02 | 2022-06-09 | 广东博智林机器人有限公司 | Paving robot, paving system and paving method |
-
2018
- 2018-10-23 CN CN201821721829.0U patent/CN209556305U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114263333A (en) * | 2020-09-16 | 2022-04-01 | 广东博智林机器人有限公司 | Interface processing device, brick paving robot and brick paving method thereof |
| CN114263333B (en) * | 2020-09-16 | 2023-09-15 | 广东博智林机器人有限公司 | Brick laying robot and brick laying method thereof |
| WO2022116932A1 (en) * | 2020-12-02 | 2022-06-09 | 广东博智林机器人有限公司 | Paving robot, paving system and paving method |
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