CN210682389U - Brick conveying device and brick paving system - Google Patents
Brick conveying device and brick paving system Download PDFInfo
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- CN210682389U CN210682389U CN201921188017.9U CN201921188017U CN210682389U CN 210682389 U CN210682389 U CN 210682389U CN 201921188017 U CN201921188017 U CN 201921188017U CN 210682389 U CN210682389 U CN 210682389U
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Abstract
The application provides a fortune brick device and tiling system. This fortune brick device includes: a body having a placing surface for placing floor tiles; the first limiting assembly is positioned on the placing surface; a sensor assembly for detecting whether a tile is located within a predetermined area of a placement surface, the predetermined area comprising a first predetermined area; the adjusting component is arranged on the placing surface and is used for adjusting the position of the floor tile under the condition that the floor tile is not positioned in the first preset area, so that the floor tile is positioned in the first preset area; and the second limiting assembly is positioned in the boundary area and used for stopping the floor tiles in the first direction. The tile conveying device limits tiles conveyed at each time in a first preset area and a second preset area, so that a sucker or a manipulator of the robot sucks or grabs the same position of the tiles at each time, a follow-up robot can move the tiles based on the same moving parameters, the step of paving the tiles quickly is achieved, and tile paving efficiency is improved.
Description
Technical Field
The application relates to the field of paving floor tiles by robots, in particular to a tile conveying device and a tile paving system.
Background
In consideration of labor gaps and rising labor cost, the market has potential requirements for robots to participate in building construction, and automatic paving of floor tiles is one of the requirements. However, the brick paving efficiency of the brick paving robot on the market is not high at present.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
SUMMERY OF THE UTILITY MODEL
The application mainly aims to provide a brick conveying device and a brick paving system so as to solve the problem that in the prior art, the efficiency of automatic brick paving is low.
In order to achieve the above object, according to one aspect of the present application, there is provided a brick handling device comprising: a body having a placing surface for placing floor tiles; a first stop assembly located on the placement surface; a sensor assembly for detecting whether the tile is located within a predetermined area of the placement surface, the predetermined area comprising a first predetermined area; an adjustment assembly disposed on the placement surface for adjusting the position of the tile such that the tile is within the first predetermined area if the tile is not within the first predetermined area; the second limiting assembly is positioned on the placing surface and in a boundary area of one end where the first limiting assembly is not arranged, the second limiting assembly has a first state and a second state, and is used for stopping the floor tile in a first direction under the condition that the second limiting assembly is in the second state, and the first direction is parallel to the placing surface.
Furthermore, the number of the first limiting assemblies is at least two, and the first limiting assemblies are arranged in the boundary area at one end of the placing surface in a one-to-one correspondence mode.
Furthermore, there are two first limiting assemblies, the two first limiting assemblies are respectively located in a first boundary area and a second boundary area, the first boundary area and the second boundary area are two opposite boundary areas, and each first limiting assembly comprises a plurality of limiting columns arranged at intervals.
Further, the second spacing subassembly includes: the first movement mechanism has a first state and a second state, the length of the first movement mechanism in a second direction is shortest when the first movement mechanism is in the first state, the length of the first movement mechanism in the second direction is longest when the first movement mechanism is in the second state, the first movement mechanism is used for blocking the floor tile when the first movement mechanism is in the second state, and the second direction is a direction perpendicular to the placing surface and perpendicular to the first direction.
Further, the second spacing subassembly still includes: the first limiting part is located on one side of the first moving mechanism, the first limiting part is driven by the first moving structure to move, and the moving direction of the first limiting part is the second direction.
Further, the adjustment assembly includes: the second movement mechanism is located on the placing surface and has a first state and a second state, the length of the second movement mechanism in a third direction is shortest under the condition that the second movement mechanism is in the first state, the length of the second movement mechanism in the third direction is larger than that under the first state under the condition that the second movement mechanism is in the second state, and the third direction is perpendicular to the first direction and parallel to the placing surface.
Further, the adjustment assembly further comprises: the second limiting part is arranged on the placing surface and located on one side of the second movement mechanism, the second limiting part is driven by the second movement structure to move, and the movement direction is the third direction.
Further, the first motion mechanism is an electric push rod.
Further, the second motion mechanism is an electric push rod.
Further, the predetermined area also includes a second predetermined area, and the sensor group includes a first sensor for detecting whether the tile is within the first predetermined area and a second sensor for detecting whether the tile is within the second predetermined area.
According to another aspect of the present application, there is provided a tile laying system comprising a robot for laying floor tiles, the tile laying system further comprising any one of the tile transport devices.
Use the technical scheme of this application, foretell fortune brick device all restricts the ceramic tile that transports at every turn in first predetermined area and second predetermined area for the sucking disc of robot or manipulator absorb or snatch the same position of ceramic tile at every turn, follow-up robot can remove the ceramic tile based on the same removal parameter like this, and then realize the step of laying the ceramic tile fast, improved the efficiency of laying the brick.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 to 3 show a schematic structural view of an embodiment of a brick handling device according to the present application.
Wherein the figures include the following reference numerals:
10. a body; 20. a first limit component; 21. a limiting column; 30. a second limiting component; 31. a first movement mechanism; 32. a first limit piece; 40. an adjustment assembly; 41. a second movement mechanism; 42. a second limiting member.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As mentioned in the background of the invention, the prior art lacks a solution to the problem of fully automatic tiling, including the lack of automatic brick handling devices, and to solve the above technical problems, the present application provides a brick handling device, a control method for a brick handling device, a control device, a robot, a storage medium, and a processor.
In an exemplary embodiment of the present application, a brick conveying device is provided, as shown in fig. 1, 2 and 3, which includes a body 10, a first limiting assembly 20, a sensor assembly and an adjusting assembly 40. Wherein, the body 10 has a placing surface for placing the floor tiles; the first stop assembly 20 is located on the resting surface; the sensor assembly is used for detecting whether the floor tiles are positioned in a preset area of the placing surface, and the preset area comprises a first preset area; an adjustment assembly 40 disposed on the placement surface, the adjustment assembly 40 being configured to adjust the position of the tile so that the tile is within the first predetermined area when the tile is not within the first predetermined area; the second restraining element 30 is positioned on the setting surface in the boundary area where the first restraining element 20 is not positioned, the second restraining element 30 having a first state and a second state for restraining the tile in a first direction parallel to the setting surface when the second restraining element 30 is in the second state, the second restraining element 30 restraining the tile in a second predetermined area when the tile is not in the second predetermined area.
The tile conveying device limits the tiles conveyed at each time in the first preset area and the second preset area, so that the suckers or the mechanical arms of the robot can suck or grab the same position of the tiles at each time, and therefore the follow-up robot can move the tiles based on the same moving parameters, the step of paving the tiles quickly is achieved, and tile paving efficiency is improved.
To further ensure that the tiles are confined within the first predetermined area, in one embodiment of the present application, as shown in fig. 1, there are at least two first limiting members 20, and the first limiting members 20 are disposed in a one-to-one correspondence in the boundary area at one end of the placing surface.
As shown in fig. 1, there are only two first limiting members 20, two of the first limiting members 20 are respectively located in a first boundary area and a second boundary area, the first boundary area and the second boundary area are two opposite boundary areas, and each of the first limiting members 20 includes a plurality of limiting columns 21 arranged at intervals.
Of course, the structure of the first limiting member 32 in fig. 1 is only an example, and the structure of the first limiting member 32 in the present application may be any structure that is disposed at the boundary area at one end of the placing surface and is used to limit the position of the floor tile, and those skilled in the art can select a suitable structure as the first limiting member 32 in the present application according to the actual situation.
In addition, it should be noted that the number of the first limiting members 32 in the present application is not limited to two as shown in fig. 1, and may also be three or four, and this may be set according to the shape of the body, for example, the placing surface of the body is a hexagon, and then, the number of the corresponding first limiting members may be any one of two to six.
In practical applications, for the tile transportation device of fig. 1, which only includes two first limiting members 32, it is necessary to limit the tile in other directions, in one embodiment of the present application, the predetermined area further includes a second predetermined area, and the sensor set includes a first sensor and a second sensor, the first sensor is used for detecting whether the tile is within the first predetermined area, and the second sensor is used for detecting whether the tile is within the second predetermined area, that is, whether the tile is already within the second predetermined area.
Specifically, in one embodiment of the present invention, as shown in fig. 1, the second stopper assembly 30 includes a first movement mechanism 31, the first movement mechanism 31 has a first state and a second state, when the first movement mechanism 31 is in the first state, the length of the first movement mechanism 31 in the second direction is shortest, when the first movement mechanism 31 is in the second state, the length of the first movement mechanism 31 in the second direction is longest, that is, the first state is an initial state, the second state is an extended state, when the first movement mechanism 31 is in the second state, the first movement mechanism 31 is used for stopping the floor tile, and the second direction is a direction perpendicular to the placement surface and perpendicular to the first direction.
In order to further ensure that the position of the floor tile is accurately limited, in an embodiment of the present invention, as shown in fig. 1, the second limiting component 30 further includes a first limiting component 32 located at one side of the first moving mechanism 31, the first limiting component 32 is driven by the first moving mechanism to move, and the moving direction is the second direction.
The first limiting member of the present application may be any structure that can move along with the first motion mechanism and can limit the position of the floor tile in the prior art, and those skilled in the art can select the first limiting member having a suitable structure according to the actual situation.
To further ensure that the tile is confined to the first predetermined area, in one embodiment of the present application, as shown in fig. 1, the adjusting assembly 40 includes a second moving mechanism 41, the second moving mechanism 41 is located on the placing surface, the second movement mechanism has a first state and a second state, and when the second movement mechanism 41 is in the first state, the length of the second movement mechanism 41 in the third direction is shortest, and when the second movement mechanism 41 is in the second state, the length of the second movement mechanism 41 in the third direction is longer than that in the first state, i.e., the first state is an initial state, the second state is an extended state, and the specific extension amount of the second motion mechanism 41 can be determined according to the actual position of the first predetermined area, and the third direction is perpendicular to the first direction and parallel to the placing surface. Specifically, the first direction may be a Y-axis direction, the second direction may be a Z-axis direction, and the third direction may be an X-axis direction.
In another embodiment of the present application, as shown in fig. 1, the adjusting assembly 40 further includes a second limiting member 42, the second limiting member 42 is disposed on the placing surface and located at one side of the second moving mechanism 41, the second limiting member 42 is driven by the second moving mechanism to move, and the moving direction is the third direction.
The second limiting member of the present application may be any feasible structure in the prior art, and a person skilled in the art may set the second limiting member having a suitable structure according to practical situations.
The first and second motion mechanisms of the present application can be any motion mechanism available in the prior art, and those skilled in the art can select a suitable motion mechanism according to actual conditions, and in a specific embodiment of the present application, as shown in fig. 1, the first motion mechanism 31 is an electric push rod, and the second motion mechanism 41 is an electric push rod. Of course, the two electric push rods may be electric push rods with different models and structures, or may be the same electric push rod.
The body in this application can be the body of dolly, can also be the fortune brick body of other suitable structures, and suitable body can be selected according to actual conditions to the skilled person in the art.
The brick conveying device can be integrated with a robot, and can be of a discrete structure, and a person skilled in the art can set the brick conveying device in a proper form according to actual conditions.
In another exemplary embodiment of the present application, there is provided a tile laying system comprising a robot for laying a floor tile, the tile laying system further comprising any one of the above tile transport devices.
The brick paving system can realize full-automatic paving of the floor tiles, and the paving efficiency of the floor tiles is high.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) the utility model provides a fortune brick device all restricts the ceramic tile that transports at every turn in first predetermined area and second predetermined area for the sucking disc of robot or manipulator absorb or snatch the same position of ceramic tile at every turn, and follow-up robot can remove the ceramic tile based on the same removal parameter like this, and then realizes laying the step of ceramic tile fast, has improved the efficiency of tiling.
2) The tile paving system can realize full-automatic tile paving, and the efficiency of paving the tile is higher.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. A brick handling device, comprising:
a body having a placing surface for placing floor tiles;
a first stop assembly located on the placement surface;
a sensor assembly for detecting whether the tile is located within a predetermined area of the placement surface, the predetermined area comprising a first predetermined area;
an adjustment assembly disposed on the placement surface for adjusting the position of the tile such that the tile is within the first predetermined area if the tile is not within the first predetermined area;
the second limiting assembly is positioned on the placing surface and in a boundary area of one end where the first limiting assembly is not arranged, the second limiting assembly has a first state and a second state, and is used for stopping the floor tile in a first direction under the condition that the second limiting assembly is in the second state, and the first direction is parallel to the placing surface.
2. The tile conveying apparatus of claim 1, wherein there are at least two of said first limiting assemblies, and said first limiting assemblies are disposed in a one-to-one correspondence in said border area at one end of said placement surface.
3. The tile handling device of claim 1, wherein there are two of said first retaining assemblies, two of said first retaining assemblies being located in a first border area and a second border area, said first border area and said second border area being two opposing said border areas, each of said first retaining assemblies comprising a plurality of spaced apart retaining posts.
4. A tile handling device according to any of claims 1 to 3, wherein the second stop assembly comprises:
the first movement mechanism has a first state and a second state, the length of the first movement mechanism in a second direction is shortest when the first movement mechanism is in the first state, the length of the first movement mechanism in the second direction is longest when the first movement mechanism is in the second state, the first movement mechanism is used for blocking the floor tile when the first movement mechanism is in the second state, and the second direction is a direction perpendicular to the placing surface and perpendicular to the first direction.
5. The tile transport device of claim 4, wherein the second stop assembly further comprises:
the first limiting part is located on one side of the first moving mechanism, the first limiting part is driven by the first moving structure to move, and the moving direction of the first limiting part is the second direction.
6. The tile handling device of claim 1, wherein the adjustment assembly comprises:
the second movement mechanism is located on the placing surface and has a first state and a second state, the length of the second movement mechanism in a third direction is shortest under the condition that the second movement mechanism is in the first state, the length of the second movement mechanism in the third direction is larger than that under the first state under the condition that the second movement mechanism is in the second state, and the third direction is perpendicular to the first direction and parallel to the placing surface.
7. The tile handling device of claim 6, wherein the adjustment assembly further comprises:
the second limiting part is arranged on the placing surface and located on one side of the second movement mechanism, the second limiting part is driven by the second movement structure to move, and the movement direction is the third direction.
8. The tile transport device of claim 4, wherein the first motion mechanism is a power push rod.
9. The tile transport device of claim 6, wherein the second motion mechanism is a power push rod.
10. The tile transport device of claim 4, wherein the predefined areas further comprise a second predefined area, and wherein the set of sensors comprises a first sensor for detecting whether the tile is within the first predefined area and a second sensor for detecting whether the tile is within the second predefined area.
11. A tile laying system comprising a robot for laying tiles, wherein the tile laying system further comprises a tile handling device according to any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921188017.9U CN210682389U (en) | 2019-07-25 | 2019-07-25 | Brick conveying device and brick paving system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921188017.9U CN210682389U (en) | 2019-07-25 | 2019-07-25 | Brick conveying device and brick paving system |
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| CN210682389U true CN210682389U (en) | 2020-06-05 |
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| CN201921188017.9U Active CN210682389U (en) | 2019-07-25 | 2019-07-25 | Brick conveying device and brick paving system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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- 2019-07-25 CN CN201921188017.9U patent/CN210682389U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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