CN210685307U - Floor tile laying robot - Google Patents

Abstract

The utility model provides a floor tile laying robot, which comprises a main body frame and a displacement adjusting mechanism, wherein the main body frame is enclosed into an accommodating space; the displacement adjustment mechanism is connected with the main body framework, and the displacement adjustment mechanism comprises a mounting mechanical arm module and a sliding mechanical arm module, wherein the mounting mechanical arm module is connected with the main body framework and is located in the accommodating space, the sliding mechanical arm module is slidably arranged on the mounting mechanical arm module, and the sliding mechanical arm module is provided with a containing position located in the accommodating space and an extending position extending out of the accommodating space along a first direction A in the horizontal plane. The utility model provides a ceramic tile laying robot among the prior art's practicality poor, the problem that can't realize effectively picking up and accurately shifting to the ceramic tile exists.

Description

Floor tile laying robot

Technical Field

The utility model relates to an intelligent robot's technical field particularly, relates to a robot is laid to ground brick.

Background

The floor tile is used as a floor decoration material laid in a large area, and can create living room environments with different styles through the color and the texture of the floor tile.

The floor tiles are manually laid, so that not only is the laying efficiency low, but also the quality of the floor tiles is different from person to person, the gaps between the floor tiles laid by inexperienced workers and the floor tiles are uneven, the overall attractiveness of the laid floor tiles is influenced, therefore, the floor tile laying robot can be transported as soon as possible, and the floor tile laying robot can conveniently and quickly complete the laying operation of the floor tiles. However, the mechanical arm module of the existing floor tile laying robot is fixedly installed on the main body frame, so that the floor tile laying robot has poor practicability and the problem that the floor tiles cannot be effectively picked up and accurately moved is caused.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a floor tile laying robot, which is poor in practicability and incapable of effectively picking up and accurately moving floor tiles.

In order to achieve the above purpose, the utility model provides a floor tile laying robot, which comprises a main body frame and a displacement adjusting mechanism, wherein the main body frame is enclosed into an accommodating space; the displacement adjustment mechanism is connected with the main body framework, and the displacement adjustment mechanism comprises a mounting mechanical arm module and a sliding mechanical arm module, wherein the mounting mechanical arm module is connected with the main body framework and is located in the accommodating space, the sliding mechanical arm module is slidably arranged on the mounting mechanical arm module, and the sliding mechanical arm module is provided with a containing position located in the accommodating space and an extending position extending out of the accommodating space along a first direction A in the horizontal plane.

Further, the mounting mechanical arm module comprises two mounting mechanical arms and a first driving part, wherein the two mounting mechanical arms are fixedly connected with the main body frame and are arranged at intervals in a second direction B perpendicular to the first direction A; the first driving part is arranged on the installation mechanical arm and is in driving connection with the sliding mechanical arm module, so that the sliding mechanical arm module is driven to slide between the accommodating position and the extending position.

Furthermore, the sliding mechanical arm module is arranged above the mounting mechanical arm module and comprises a supporting plate and sliding mechanical arms, wherein the supporting plate is slidably arranged on the two mounting mechanical arms; the two sliding mechanical arms are arranged on the supporting plate and are spaced in the second direction B.

Furthermore, the floor tile laying robot also comprises a tile suction clamp, the tile suction clamp is used for sucking floor tiles, and the tile suction clamp is connected with the sliding mechanical arm module so as to adjust the horizontal position under the driving of the sliding mechanical arm module; the displacement adjusting mechanism further comprises a connecting arm, the connecting arm is arranged on the two sliding mechanical arms in a sliding mode along the length direction of the sliding mechanical arms, the brick sucking clamp is connected with the sliding mechanical arm module through the connecting arm, the sliding mechanical arm module further comprises a second driving portion, and the second driving portion is arranged on the sliding mechanical arms and is in driving connection with the connecting arm.

Further, the displacement adjusting mechanism further comprises an installation beam and a third driving portion, wherein the installation beam is connected with the connecting arm in a sliding mode along the length direction of the connecting arm, and the third driving portion is arranged on the connecting arm and is in driving connection with the installation beam.

Further, the connecting arm is arranged along the second direction B, and the mounting beam is arranged along the vertical direction.

Further, displacement adjustment mechanism still includes the tank chain, and the tank chain setting is on main body frame to be connected with the arm module that slides.

Further, the tile suction jig is position-adjustably provided in a length direction of the installation beam.

Furthermore, the floor tile laying robot also comprises an electric cabinet, an AGV trolley and a support frame, wherein the electric cabinet is connected with the main body frame and is arranged in the accommodating space, and the electric cabinet is positioned above the displacement adjusting mechanism; the AGV dolly sets up in main body frame's bottom, and the support frame is connected with main body frame collapsiblely, and the support frame is used for installing camera and laser rangefinder sensor.

By applying the technical scheme of the utility model, in the process of paving floor tiles by the floor tile paving robot, firstly, the sliding mechanical arm module of the floor tile paving robot is positioned at the accommodating position in the accommodating space so as to reduce the overall occupied space of the floor tile paving robot and avoid the collision between the floor tile paving robot and peripheral objects in the moving process, so that the floor tile paving robot has good practicability; the displacement adjusting mechanism is arranged to comprise the mounting mechanical arm module and the sliding mechanical arm module, the mounting mechanical arm module plays a role in stably supporting the sliding mechanical arm module, and the sliding mechanical arm module is matched with the mounting mechanical arm module in a sliding manner, so that the assembly relation between the two modules is simplified, the simple structure of the displacement adjusting mechanism is ensured, the assembly is easy to realize, and the overall processing and manufacturing cost of the displacement adjusting mechanism can be effectively controlled; when the floor tile laying robot lays, the slippage mechanical arm module of the displacement adjusting mechanism can be controlled by the floor tile laying robot to stretch out of the accommodating space in the horizontal plane along the first direction A, so that the floor tile laying robot has high intelligent degree, the floor tile laying operation process is fast and convenient, the floor tile can be effectively picked up and accurately displaced, and the multiple floor tiles laid are neat and attractive.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic view illustrating a floor tile laying robot according to an alternative embodiment of the present invention, when a sliding robot arm module of a displacement adjustment mechanism of the floor tile laying robot is in an extended position;

fig. 2 shows a schematic view of another perspective of the tile laying robot of fig. 1.

Wherein the figures include the following reference numerals:

100. a main body frame; 101. an accommodating space; 200. a displacement adjustment mechanism; 10. a sliding robot module; 300. a brick suction clamp; 20. installing a mechanical arm module; 21. mounting a mechanical arm; 22. a first driving section; 11. a support plate; 12. a sliding mechanical arm; 30. a connecting arm; 13. a second driving section; 40. mounting a beam; 50. a third driving section; 60. a tank chain; 400. an electric cabinet; 500. an AGV trolley; 600. a support frame; 700. a camera; 800. laser rangefinder sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In order to solve the problems that the floor tile laying robot in the prior art has poor practicability and cannot effectively pick up and accurately shift floor tiles, the utility model provides a floor tile laying robot, as shown in fig. 1 and 2, the floor tile laying robot comprises a main body frame 100 and a displacement adjusting mechanism 200, wherein the main body frame 100 encloses an accommodating space 101; the displacement adjusting mechanism 200 is connected with the main body frame 100, and the displacement adjusting mechanism 200 includes an installation mechanical arm module 20 and a sliding mechanical arm module 10, wherein the installation mechanical arm module 20 is connected with the main body frame 100 and is located in the accommodating space 101, the sliding mechanical arm module 10 is slidably arranged on the installation mechanical arm module 20, and the sliding mechanical arm module 10 has a receiving position located in the accommodating space 101 and an extending position extending out of the accommodating space 101 along the first direction a in the horizontal plane.

It should be noted that, in the process of laying floor tiles by the floor tile laying robot, firstly, the sliding mechanical arm module 10 of the floor tile laying robot is located at the storage position in the accommodating space 101, so as to reduce the overall occupied space of the floor tile laying robot, and avoid the collision between the floor tile laying robot and peripheral objects in the moving process, so that the floor tile laying robot has good practicability; by arranging the displacement adjusting mechanism 200 to include the mounting mechanical arm module 20 and the sliding mechanical arm module 10, the mounting mechanical arm module 20 plays a role in stably supporting the sliding mechanical arm module 10, and the sliding mechanical arm module 10 is matched with the mounting mechanical arm module 20 in a sliding manner, so that the assembly relationship between the two is simplified, the simple structure of the displacement adjusting mechanism 200 is ensured, the assembly is easy, and the overall processing and manufacturing cost of the displacement adjusting mechanism 200 can be effectively controlled; when the floor tile laying robot lays, the floor tile laying robot can control the sliding mechanical arm module 10 of the displacement adjusting mechanism 200 to extend out of the accommodating space 101 along the first direction a in the horizontal plane, so that the floor tile laying robot has high intelligent degree, the floor tile laying operation process is fast and convenient, the floor tile can be effectively picked up and accurately displaced, and the multiple floor tiles laid are neat and attractive.

Specifically, as shown in fig. 1 and 2, the mounting robot arm module 20 includes two mounting robot arms 21 and a first driving unit 22, wherein the two mounting robot arms 21 are fixedly connected to the main body frame 100, and the two mounting robot arms 21 are spaced apart from each other in a second direction B perpendicular to the first direction a; the first driving portion 22 is disposed on the mounting robot arm 21 and is drivingly connected to the sliding robot arm module 10 to drive the sliding robot arm module 10 to perform sliding movement between the storage position and the extended position. Thus, the two mounting mechanical arms 21 play a role in stably supporting the sliding mechanical arm module 10, and the sliding mechanical arm module 10 is ensured to stably slide along the length direction of the mounting mechanical arms 21; the two installation mechanical arms 21 are arranged at intervals in the second direction B perpendicular to the first direction a, so that the contact area with the sliding mechanical arm module 10 can be reduced as much as possible on the premise of ensuring stable support of the sliding mechanical arm module 10, and unnecessary friction loss is avoided; the arrangement of the first driving part 22 can ensure the motion reliability of the sliding mechanical arm module 10, so as to ensure that the floor tile laying robot can accurately and stably shift the floor tiles to the laying position, thereby improving the practicability of the floor tile laying robot.

As shown in fig. 1 and 2, the sliding robot module 10 is disposed above the mounting robot module 20, the sliding robot module 10 includes a support plate 11 and a sliding robot 12, wherein the support plate 11 is slidably disposed on two mounting robots 21; the number of the sliding mechanical arms 12 is two, and the two sliding mechanical arms 12 are arranged on the support plate 11 and spaced in the second direction B. In this way, the support plate 11 is provided to stably mount the two sliding mechanical arms 12, and the two sliding mechanical arms 12 slide between the storage position and the extending position along with the support plate 11, so as to ensure that the floor tile laying robot effectively adjusts the position of the sliding mechanical arm module 10 in the first direction a.

As shown in fig. 1, the floor tile laying robot further includes a tile suction fixture 300, the tile suction fixture 300 is used for sucking floor tiles, the tile suction fixture 300 is connected with the sliding mechanical arm module 10, so as to adjust the horizontal position under the driving of the sliding mechanical arm module 10; the displacement adjusting mechanism 200 further comprises a connecting arm 30, the connecting arm 30 is slidably arranged on the two sliding mechanical arms 12 along the length direction of the sliding mechanical arm 12, the brick suction clamp 300 is connected with the sliding mechanical arm module 10 through the connecting arm 30, the sliding mechanical arm module 10 further comprises a second driving portion 13, and the second driving portion 13 is arranged on the sliding mechanical arm 12 and is in driving connection with the connecting arm 30. Thus, when the tile laying robot moves to the position for placing the tile, the tile laying robot can control the sliding mechanical arm module 10 of the displacement adjusting mechanism 200 to extend out of the accommodating space 101 along the first direction a in the horizontal plane and drive the tile suction clamp 300 connected with the sliding mechanical arm module to move to the position right above the place for placing the tile, the tile suction clamp 300 sucks the tile, the tile suction clamp 300 is driven by the sliding mechanical arm module 10 to lay the tile at the preset laying position, so as to complete the laying of the tile, the arrangement of the connecting arm 30 not only serves to connect two sliding mechanical arms 12 to increase the overall structural strength of the sliding mechanical arm module 10, but also more importantly, the connecting arm 30 can slide along the length direction of the sliding mechanical arms 12, so as to greatly increase the displacement of the tile suction clamp 300 in the first direction a, namely the length direction of the sliding mechanical arms 12, further, the tile suction jig 300 is conveniently driven to a position farther from the main body frame 100, the area of the tile laying robot is effectively increased, and the practicability of the tile laying robot is improved; the arrangement of the second driving portion 13 is such that the connecting arm 30 slides along the length direction of the sliding mechanical arm 12 to provide power output, and the motion stability of the connecting arm 30 is ensured.

As shown in fig. 1, the displacement adjusting mechanism 200 further includes a mounting beam 40 and a third driving portion 50, wherein the mounting beam 40 is slidably connected to the connecting arm 30 along the length direction of the connecting arm 30, and the third driving portion 50 is disposed on the connecting arm 30 and drivingly connected to the mounting beam 40. In this way, the mounting beam 40 can slide in the length direction of the connecting arm 30, so that the position of the tile suction jig 300 in the length direction of the connecting arm 30 can be adjusted, the laying position of the floor tile can be more accurately specified, and the practicability of the floor tile laying robot is improved.

Alternatively, the connecting arm 30 is arranged in the second direction B and the mounting beam 40 is arranged in the vertical direction. In this way, the connecting arm 30 is arranged along the second direction B, and the mounting beam 40 slides in the length direction of the connecting arm 30, so that the tile suction fixture 300 can move in the first direction a and also in the first direction B perpendicular to the first direction a, which is beneficial for a floor tile laying robot to accurately calibrate the position of the tile suction fixture 300 in the horizontal plane, thereby improving the precision of the floor tile laying operation; in addition, installation beam 40 sets up along vertical direction, is favorable to inhaling the installation of brick anchor clamps 300, lacks the overall structure who makes ceramic tile laying robot regular.

Alternatively, the tile suction jig 300 is position-adjustably provided in the lengthwise direction of the installation beam 40. Thus, the tile taking and placing actions of the tile suction clamp 300 are simply and reliably realized, and the smooth completion of the tile laying operation is ensured.

As shown in fig. 1, the displacement adjusting mechanism 200 further includes a tank chain 60, and the tank chain 60 is disposed on the main body frame 100 and connected to the sliding robot module 10. Like this, tank chain 60's setting has played the stabilizing action to the motion of the arm module 10 of sliding, has avoided the arm module 10 of sliding to appear rocking when sliding, has improved the job stabilization nature of ceramic tile laying robot.

As shown in fig. 1 and 2, the floor tile laying robot further includes an electric cabinet 400, an AGV cart 500, and a support frame 600, wherein the electric cabinet 400 is connected to the main body frame 100 and disposed in the accommodating space 101, and the electric cabinet 400 is located above the displacement adjusting mechanism 200; the AGV car 500 is provided at the bottom of the main body frame 100, and the support frame 600 is foldably connected to the main body frame 100, and the support frame 600 is used to mount the camera 700 and the laser ranging sensor 800.

Specifically, a controller, an electromagnetic valve and a battery are arranged in the electric cabinet 400, wherein the controller is used for controlling the sliding mechanical arm module 10, the electromagnetic valve is used for controlling the tile suction clamp 300, and the battery is used for supplying power to the floor tile laying robot; in addition, through different communication modes and the communication of ceramic tile laying robot, for example WiFi, moreover, electric cabinet 400 self has certain ground weight, has reduced ceramic tile laying robot's whole focus, has avoided ceramic tile laying robot to tumble because of the focus is unstable.

The AGV trolley 500 is provided with a storage bucket, a brick receiving mechanism, mechanical arms and other parts, and the AGV trolley 500 can perform automatic navigation and positioning, so that the floor tile laying robot can move to a position where bricks need to be laid.

The support frame 600 is convenient to install the camera 700 and the laser ranging sensor 800, wherein the camera 700 is used for identifying the position information of the floor tiles and the position information of the floor tiles to be paved, and the laser ranging sensor 800 is used for collecting the information of the floor tiles from the ground, so that the floor tile paving robot can place the floor tiles at the accurate positions and pave the floor tiles.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

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 is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. A floor tile laying robot, comprising:

a main body frame (100), wherein the main body frame (100) encloses an accommodating space (101);

the displacement adjusting mechanism (200), the displacement adjusting mechanism (200) is connected with the main body frame (100), the displacement adjusting mechanism (200) includes a mounted mechanical arm module (20) and a sliding mechanical arm module (10), wherein the mounted mechanical arm module (20) is connected with the main body frame (100) and is located in the accommodating space (101), the sliding mechanical arm module (10) is slidably arranged on the mounted mechanical arm module (20), and the sliding mechanical arm module (10) has a storage position located in the accommodating space (101) and an extending position extending out of the accommodating space (101) along a first direction A in a horizontal plane.

2. The tile laying robot according to claim 1, wherein said mounting robot arm module (20) comprises:

the mounting mechanical arms (21) are fixedly connected with the main body frame (100), the number of the mounting mechanical arms (21) is two, and the two mounting mechanical arms (21) are arranged at intervals in a second direction B perpendicular to the first direction A;

the first driving part (22) is arranged on the installation mechanical arm (21) and is in driving connection with the sliding mechanical arm module (10) so as to drive the sliding mechanical arm module (10) to perform sliding movement between the storage position and the extending position.

3. Tile laying robot according to claim 2, characterized in that the glide robot arm module (10) is arranged above the mounting robot arm module (20), the glide robot arm module (10) comprising:

a support plate (11), the support plate (11) being slidably disposed on the two mounting robot arms (21);

the two sliding mechanical arms (12) are arranged, and the two sliding mechanical arms (12) are arranged on the supporting plate (11) and are spaced in the second direction B.

4. The tile laying robot according to claim 3, further comprising a tile suction jig (300), wherein the tile suction jig (300) is used for sucking tiles, and the tile suction jig (300) is connected with the sliding mechanical arm module (10) to adjust the horizontal position under the driving of the sliding mechanical arm module (10); displacement adjustment mechanism (200) still include linking arm (30), linking arm (30) are followed the length direction slidable of arm (12) that slides sets up two on the arm (12) that slides, inhale brick anchor clamps (300) and pass through linking arm (30) with arm module (10) that slides are connected, arm module (10) that slides still includes second drive division (13), second drive division (13) set up on the arm (12) that slides and with linking arm (30) drive connection.

5. The tile laying robot according to claim 4, wherein the displacement adjusting mechanism (200) further comprises a mounting beam (40) and a third driving part (50), wherein the mounting beam (40) is slidably connected to the connecting arm (30) along a length direction of the connecting arm (30), and the third driving part (50) is provided on the connecting arm (30) and drivingly connected to the mounting beam (40).

6. The tile laying robot according to claim 5, wherein the connecting arm (30) is disposed in a second direction B, and the mounting beam (40) is disposed in a vertical direction.

7. The tile laying robot according to claim 6, wherein the tile suction jig (300) is position-adjustably provided in a length direction of the installation beam (40).

8. The tile paving robot according to claim 1, wherein the displacement adjusting mechanism (200) further comprises a tank chain (60), the tank chain (60) being disposed on the main body frame (100) and connected with the sliding robot module (10).

9. The floor tile laying robot according to claim 1, further comprising an electric cabinet (400), an AGV cart (500), and a support stand (600), wherein the electric cabinet (400) is connected to the main body frame (100) and disposed within the accommodating space (101), and the electric cabinet (400) is located above the displacement adjusting mechanism (200); the AGV trolley (500) is arranged at the bottom of the main body frame (100), the supporting frame (600) is foldably connected with the main body frame (100), and the supporting frame (600) is used for installing a camera (700) and a laser ranging sensor (800).

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