CN210342596U

CN210342596U - Automatic change intelligent fitment construction equipment

Info

Publication number: CN210342596U
Application number: CN201921020487.4U
Authority: CN
Inventors: 李含江; 陈国恒; 陈志彬; 罗文伟
Original assignee: Guangdong Zoje Construction Co Ltd
Current assignee: Guangdong Zoje Construction Co Ltd
Priority date: 2019-07-01
Filing date: 2019-07-01
Publication date: 2020-04-17
Anticipated expiration: 2029-07-01

Abstract

The utility model relates to an automatic change intelligent fitment construction equipment. The carrying device comprises a six-degree-of-freedom mechanical arm and an adsorption mechanism, wherein the adsorption mechanism is used for adsorbing the front surface of the ceramic tile to be paved so as to grab the ceramic tile to be paved, the tile storage frame and the six-degree-of-freedom mechanical arm are both installed on the frame, and a slurry coating mechanism used for spraying cement slurry to the back surface of the ceramic tile to be paved is also installed on the frame. The utility model discloses a set up and scribble thick liquid mechanism to the back spraying grout of waiting to spread tiling to further reduce fitment workman's work load, save the labour.

Description

Automatic change intelligent fitment construction equipment

Technical Field

The utility model relates to an automatic change intelligent fitment construction equipment.

Background

Automated intelligent finishing construction devices for laying tiles on walls or floors have appeared on the market, which apply automated intelligent techniques to the laying operation of tiles to improve tile laying efficiency and reduce the amount of labor of the finishing workers. However, in the prior art, when an automatic intelligent decoration construction device is used, cement paste needs to be manually coated on the back surface of the tile to be paved, so that further improvement is needed.

Disclosure of Invention

An object of the utility model is to provide a can further reduce the automatic intelligent fitment construction equipment of fitment workman's amount of labour.

The above purpose is realized by the following technical scheme:

the utility model provides an automatic change intelligent fitment construction equipment, be used for at wall or subaerial tiling of spreading, which comprises a vehicle rack, a handling device for placing the brick frame of depositing of waiting to spread the tiling and be used for carrying and wait to spread the tiling, this handling device includes a six degree of freedom arms and one locates the end of six degree of freedom arms and is used for adsorbing the front of waiting to spread the tiling in order to snatch the absorption mechanism of waiting to spread the tiling, should deposit brick frame and six degree of freedom arms and all install on the frame, still install on this frame and be used for to waiting to spread the grout mechanism of back spraying of tiling.

The utility model discloses a set up and scribble thick liquid mechanism to the back spraying grout of waiting to spread tiling to further reduce fitment workman's work load, save the labour.

Drawings

Fig. 1 shows a front view of the present invention, wherein a six-degree-of-freedom mechanical arm drives an adsorption mechanism to move to a brick storage rack;

FIG. 2 shows a close-up view of the end of the brick storage rack, the suction mechanism and the six-DOF robot arm of FIG. 1;

FIG. 3 is a schematic diagram of the six-degree-of-freedom mechanical arm driving the adsorption mechanism to move from the brick storage rack position to the mortar coating mechanism on the basis of FIG. 1;

FIG. 4 shows a close-up view of the end of the pasting mechanism, the adsorption mechanism and the six-DOF robot arm of FIG. 3;

FIG. 5 shows a schematic view of the handling apparatus of the upgrade platform mounted on a vehicle frame;

fig. 6 and 7 show perspective views of the carrying device of the present invention at two different angles, respectively;

fig. 8 and 9 show perspective views of the suction mechanism of the present invention at two different angles, respectively;

fig. 10 shows a front view of the adsorption mechanism of the present invention;

fig. 11 shows a top view of the suction mechanism of the present invention;

fig. 12 shows a bottom view of the suction mechanism of the present invention;

FIG. 13 is a perspective view showing the adsorption mechanism of the present invention adsorbing the tile to be tiled;

FIG. 14 is a main view showing that the adsorption mechanism of the present invention adsorbs the tile to be spread;

fig. 15 shows the depression body diagram of the tile to be spread and pasted by the adsorption mechanism of the utility model.

Reference numerals:

10 frames, 101 wheels;

20 ceramic tiles;

30, storing a brick shelf;

the tail ends of a 40-six-degree-of-freedom mechanical arm and a 401-six-degree-of-freedom mechanical arm;

50 adsorption mechanisms, 501 central supports, 502 peripheral supports, 503 supporting arms, 504 vacuum chucks, 505 cylinders, 506 knocking heads and 507 extending arms;

60 coating mechanisms, 601 slurry inlet hoppers, 602 slurry delivery cylinders, 603 slurry inlet ports, 604 slurry outlet ports, 605 helical blades and 606 rotation driving mechanisms;

70 lifting platforms, 701 lifting driving mechanisms and 702 guiding mechanisms.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

An automatic intelligent decoration construction device as shown in fig. 1 and fig. 15 is used for paving ceramic tiles on a wall or a ground, and comprises a frame 10, a tile storage frame 30 for placing the ceramic tiles 20 to be paved, and a carrying device for carrying the ceramic tiles to be paved, wherein the carrying device comprises a six-degree-of-freedom mechanical arm 40 and an adsorption mechanism 50 which is arranged at the tail end 401 of the six-degree-of-freedom mechanical arm and is used for adsorbing the front side of the ceramic tiles 20 to be paved so as to grab the ceramic tiles 20 to be paved, the tile storage frame 30 and the six-degree-of-freedom mechanical arm 40 are both arranged on the frame 10, and a mortar coating mechanism 60 for spraying cement mortar to the back side of the ceramic tiles 20 to be paved is also arranged on the frame 10.

In this embodiment, tiles to be laid are stacked on the tile storage frame one by one from bottom to top in a manner that the front surface of the tiles to be laid faces up in advance (for example, manually), then the adsorption mechanism is driven to move to the tile storage frame by the six-degree-of-freedom mechanical arm, the adsorption mechanism is driven to adsorb the topmost tile to be laid on the tile storage frame, the adsorption mechanism and the adsorbed tile to be laid are driven to move to the slurry coating mechanism by the six-degree-of-freedom mechanical arm, cement slurry is sprayed to the back surface of the tile to be laid by the slurry coating mechanism, and the adsorption mechanism and the adsorbed tile to be laid are driven to move to a predetermined position to be laid by the six-degree-of-freedom mechanical arm after the cement slurry is sprayed.

According to the technical scheme, the cement paste is sprayed on the back surface of the tile to be paved through the arrangement of the paste coating mechanism, so that the workload of decorating workers is further reduced, and the labor force is saved.

In this embodiment, the six-degree-of-freedom mechanical arm is a mechanical arm capable of moving in six degrees of freedom in space, and the six-degree-of-freedom mechanical arm may adopt the prior art, such as a six-degree-of-freedom bionic mechanical arm disclosed in chinese patent application publication CN109397272A, a lightweight six-degree-of-freedom mechanical arm disclosed in chinese utility model patent publication CN207841380U, or a DR robot having a six-degree-of-freedom mechanical arm disclosed in CN 208784756U, which is not described herein again.

The coating mechanism 60 comprises a slurry inlet funnel 601, a slurry feeding cylinder 602 and a spiral conveying mechanism;

the pulp feeding cylinder 602 is provided with a pulp inlet 603 and a pulp outlet 604;

the grout inlet funnel 601 is communicated with a grout inlet 603 of the grout feeding cylinder, so that the grout poured into the grout inlet funnel 601 falls into the grout feeding cylinder 602 through the grout inlet 603;

the screw conveying mechanism comprises a screw blade 605 arranged in a slurry feeding cylinder 602;

the cement slurry in the slurry feed cylinder 602 is discharged from the slurry outlet 604 when the screw blade 605 rotates.

The mortar coating mechanism disclosed by the technical scheme is simple in structure, and adopts the spiral conveying mechanism to facilitate pushing of cement mortar in the mortar barrel.

The slurry inlet 603 of the slurry feeding cylinder is arranged on the side wall of the slurry feeding cylinder 602, the slurry outlet 604 is arranged at the head end of the slurry feeding cylinder 602, the screw conveying mechanism further comprises a rotation driving mechanism 606 for driving the screw blade 605 to rotate, and the rotation driving mechanism 606 is arranged at the tail end of the slurry feeding cylinder 602.

The technical scheme has reasonable design and is convenient to implement.

In this embodiment, six degree of freedom arms drive adsorption device and when waiting to spread ceramic tile that adsorbs moves to scribbling thick liquid mechanism, wait to spread ceramic tile and put with its back up mode, and the back of waiting to spread ceramic tile is located the below of sending the grout outlet of thick liquid section of thick bamboo.

The rotational drive mechanism 606 is an electric motor.

The bottom of the frame 10 is provided with a running gear.

The running gear comprises wheels 101.

The frame 10 is provided with a lifting platform 70, a lifting driving mechanism 701 for driving the lifting platform 70 to lift up and down is arranged between the lifting platform 70 and the frame 10, and the six-degree-of-freedom mechanical arm 40 is mounted on the lifting platform 70.

This technical scheme is through setting up lift platform and installing six degrees of freedom arms on lift platform in order to adjust the height of six degrees of freedom arms relative frame (being ground) through lift platform, thereby in order to adjust the home range of six degrees of freedom arms to make six degrees of freedom arms can adapt to the higher wall in a wider range or the operation of ceramic tile of mating formation on ground. Through the technical scheme, the six-degree-of-freedom mechanical arm with shorter length can be adopted to realize higher and larger range of movement.

A guide mechanism 702 for guiding the lifting platform 70 to lift up and down is further disposed between the lifting platform 70 and the vehicle frame 10.

In this embodiment, the guide mechanism is provided to guide the lifting movement of the lifting platform, so that the lifting platform can move stably. In this embodiment, the guide mechanism includes a guide sleeve having one end fixed to the frame and the other end extending upward, and a guide post having one end fixed to the lift platform and the other end extending downward and slidably inserted into the guide sleeve. The guide mechanism can adopt other prior arts besides the above structure, and is not described herein again.

The utility model discloses an other undisclosed structures or theory of operation of automatic intelligent fitment construction equipment can refer to prior art, for example the full-automatic ceramic tile that an automatic intelligent fitment construction equipment or china invention patent application publication specification CN 109736554A disclosed that china utility model patent specification CN 208122212U discloses spreads equipment and method of subsides, and no longer the repeated description here.

The lifting driving mechanism 701 includes a hydraulic cylinder, a cylinder body of the hydraulic cylinder is fixedly installed on the frame 10, and a piston rod of the hydraulic cylinder is fixedly connected with the lifting platform 701.

As shown in fig. 8 to 15, the suction mechanism includes a central support 501 connected to the end 401 of the six-degree-of-freedom robot arm and a plurality of peripheral supports 502 circumferentially spaced (especially equally spaced circumferentially) around the central support 501, a support arm 503 is connected between each peripheral support 502 and the central support 501, and a vacuum chuck 504 is disposed on each peripheral support 502;

the central support 501 and the peripheral supports 502 are respectively provided with a knocking mechanism for knocking the tiles to be paved.

This technical scheme can strike the ceramic tile at the tiling in-process through setting up the knocking mechanism, especially when the ceramic tile reachs predetermined position of mating formation and makes the back of ceramic tile lean on wall or ground, strikes the ceramic tile to grout on the back that makes the ceramic tile can be more even, has the effect of compaction ceramic tile, makes the planarization that bonds firmly, guarantees the ceramic tile and paves.

The knocking mechanisms are respectively arranged on the central support and each peripheral support to realize multipoint knocking, so that the uniformity of cement paste on the back of the ceramic tile is favorably realized.

The knocking mechanism comprises a cylinder 505 and a knocking head 506 arranged on a piston rod of the cylinder 505;

the cylinder body of the cylinder 505 of the knocking mechanism on the center support 501 is fixedly mounted on the center support 501;

an extension arm 507 is arranged on the side surface of each peripheral support 502, one end of the extension arm 507 is a near end fixedly connected with the peripheral support 502, and the other end is a far end far away from the peripheral support 502;

the cylinder of the cylinder 505 of the rapping mechanism on each peripheral support 502 is fixedly mounted to the distal end of the extension arm 507 of the peripheral support.

The tiles 20 to be paved are square;

the number of the peripheral supports 502 of the suction mechanism is 4, and the striking head 506 of the striking mechanism on each peripheral support 502 corresponds to the position of one corner of the tile 20 to be tiled when the tile 20 to be tiled is sucked by the suction mechanism 50. According to the technical scheme, 5 points (including 4 knocking heads of peripheral supports and one knocking head of a central support) can be adopted for knocking, so that the uniformity of cement paste on the back of the ceramic tile can be further realized.

In this embodiment, the knocking mechanism can adopt other prior art besides the above structure as long as the knocking mechanism can knock the ceramic tile, for example, the knocking mechanism is composed of an electric push rod and a knocking head arranged on the push rod of the electric push rod. In this embodiment, the knocking device can knock the tile at a predetermined knocking frequency.

In this embodiment, the operating principle of each vacuum chuck can adopt prior art, for example, each vacuum chuck and vacuum generator (for example, vacuum pump) intercommunication can be connected through the trachea, lean on each vacuum chuck to wait to spread the positive back of ceramic tile, start vacuum generator and suck to produce the negative pressure in each vacuum chuck, thereby will wait to spread ceramic tile and inhale firmly, can begin to carry and wait to spread ceramic tile. When the tile to be paved needs to be released, the vacuum generator smoothly inflates air into each vacuum sucker, so that negative air pressure in each vacuum sucker is changed into zero air pressure or slightly positive air pressure, each vacuum sucker is separated from the front surface of the tile to be paved, and the operations of adsorption, grabbing and carrying are finished.

In this embodiment, the central support may be fixedly connected to the end of the six-dof robotic arm.

Claims

1. The utility model provides an automatic change intelligent fitment construction equipment for spread tiling on wall or subaerial, includes the frame, be used for placing the handling device who waits to spread tiling depositing the brick frame and be used for carrying and wait to spread tiling, this handling device includes six degrees of freedom arms and one locates the end of six degrees of freedom arms and is used for adsorbing the front of waiting to spread tiling and treats the absorption mechanism of waiting to spread tiling, should deposit brick frame and six degrees of freedom arms and all install on the frame, its characterized in that: the frame is also provided with a paste coating mechanism for spraying cement paste to the back of the tile to be paved.

2. The automated intelligent finishing construction device of claim 1, wherein: the slurry coating mechanism comprises a slurry inlet hopper, a slurry feeding barrel and a spiral conveying mechanism;

the pulp feeding cylinder is provided with a pulp inlet and a pulp outlet;

the grout inlet funnel is communicated with a grout inlet of the grout conveying cylinder so that the grout poured into the grout inlet funnel falls into the grout conveying cylinder through the grout inlet;

the spiral conveying mechanism comprises a spiral blade arranged in the slurry feeding cylinder;

the cement slurry in the slurry feeding cylinder is sprayed out from the slurry outlet when the helical blade rotates.

3. The automated intelligent finishing construction device of claim 2, wherein: the slurry outlet is arranged at the head end of the slurry feeding barrel, the spiral conveying mechanism further comprises a rotation driving mechanism for driving the spiral blade to rotate, and the rotation driving mechanism is arranged at the tail end of the slurry feeding barrel.

4. The automated intelligent finishing construction device of claim 3, wherein: the rotary drive mechanism is an electric motor.

5. The automated intelligent finishing construction device of claim 4, wherein: the bottom of the frame is provided with a running mechanism.

6. The automated intelligent finishing construction device of claim 5, wherein: the running gear comprises wheels.

7. The automated intelligent finishing construction device of claim 6, wherein: the frame is provided with a lifting platform, a lifting driving mechanism for driving the lifting platform to lift up and down is arranged between the lifting platform and the frame, and the six-degree-of-freedom mechanical arm is arranged on the lifting platform.

8. The automated intelligent finishing construction device of claim 7, wherein: a guide mechanism for guiding the lifting platform to ascend and descend is also arranged between the lifting platform and the frame.

9. The automated intelligent finishing construction device of claim 8, wherein: the lifting driving mechanism comprises a hydraulic cylinder, a cylinder body of the hydraulic cylinder is fixedly arranged on the frame, and a piston rod of the hydraulic cylinder is fixedly connected with the lifting platform.