CN211923422U

CN211923422U - Floor installation robot

Info

Publication number: CN211923422U
Application number: CN202020255052.4U
Authority: CN
Inventors: 邓国山; 康小东; 何永泰
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-03-04
Filing date: 2020-03-04
Publication date: 2020-11-13
Anticipated expiration: 2030-03-04

Abstract

The utility model discloses a floor installation robot, floor installation robot are suitable for the installation floor, and floor installation robot includes: organism, workbin, floor hoist mechanism and arm. The bin is arranged on the machine body and is suitable for loading the floor, and a discharge hole is formed in the upper part of the bin. The floor lifting mechanism is arranged on the machine body close to the material box and is suitable for extending into the material box to lift the floor towards the material outlet. The mechanical arm is movably arranged on the machine body to take out the floor from the discharge port. The utility model discloses floor installation robot can load the floor in the workbin, and the in-process on floor of mating formation upwards lifts to the discharge gate through floor hoist mechanism with the floor in the workbin, makes things convenient for the arm to take out the floor from discharge gate department. Because the position of the discharge hole is unchanged, the position of the mechanical arm for taking the floor every time is kept unchanged, the speed of the mechanical arm for taking the floor is increased, and the installation efficiency of the floor is improved.

Description

Floor installation robot

Technical Field

The utility model belongs to the technical field of interior decoration, specifically a floor installation robot.

Background

The existing indoor floor is installed manually, so that the installation efficiency is low, and the working labor intensity is high. When laying a floor indoors, the floor is usually placed on the surface without installation, and when the floor is laid to the placement position of the floor, the floor needs to be moved, so that the construction efficiency is low. If the non-installed floor is stacked on the already paved floor, the floor is easily inclined or partially deformed, and the installation quality is poor. Also some construction teams adorn the floor in the workbin, and the workbin car drives the workbin and removes to the position that needs, and when the floor was adorned in the workbin, along with the installation progress on floor, the required distance that stretches into the workbin of floor of taking increases gradually and makes and be difficult to the floor of taking, reduces floor installation speed. The existing floor is connected in a locking manner, when the floor is installed, a long edge of the floor needs to be inclined at a certain angle, then the floor is pressed flat, short edges are knocked again, and therefore the wood floor can be finally installed, and more labor needs to be consumed.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a floor installation robot, floor installation robot can promote the floor, and the arm floor of taking is convenient, and the installation effectiveness is high, has solved the in-process manpower on the floor of mating formation and has consumeed big, put and the floor inconvenient problem of taking.

According to the utility model discloses floor installation robot, floor installation robot is suitable for the installation floor, floor installation robot includes: a body; the bin is arranged on the machine body and is suitable for loading the floor, and a discharge hole is formed in the upper part of the bin; the floor lifting mechanism is arranged on the machine body close to the material box and is suitable for extending into the material box so as to lift the floor towards the material outlet; the mechanical arm is movably arranged on the machine body so as to take out the floor from the discharge port.

According to the utility model discloses floor installation robot can load the floor in the workbin, and the in-process on floor of mating formation, floor have specific parking position, need not to frequently move. The floor in the material box is lifted upwards to the material outlet through the floor lifting mechanism, so that the floor can be taken out from the material outlet by the mechanical arm conveniently. Because the position of the discharge hole is unchanged, the position of the mechanical arm for taking the floor every time is kept unchanged, the speed of the mechanical arm for taking the floor is increased, and the installation efficiency of the floor is improved.

According to the utility model discloses a floor installation robot of embodiment, floor hoist mechanism includes: the mounting plate is arranged on the machine body; the supporting plate is arranged on the mounting plate in a lifting manner and is suitable for holding the floor; and the driving mechanism is arranged on the mounting plate to drive the supporting plate to move up and down.

According to the utility model discloses a further embodiment, floor hoist mechanism still includes: the transmission mechanism comprises a lead screw and a nut, the output end of the driving mechanism is connected with the lead screw, and the nut is connected with the supporting plate; the guide mechanism comprises a sliding block and a sliding rail, the sliding block is arranged on one of the mounting plate and the supporting plate, and the sliding rail is arranged on the other one of the mounting plate and the supporting plate; the guide direction of the guide mechanism is consistent with the transmission direction of the lead screw.

Optionally, the driving mechanism includes a servo motor, the servo motor is arranged in parallel with the lead screw, and the transmission mechanism further includes: the flexible part is connected between the driving wheel and the driven wheel, the output end of the servo motor is connected with the driving wheel, and the driving wheel is connected with the lead screw.

According to the utility model discloses a floor installation robot, the workbin includes: the bottom plate is arranged on the machine body; the plurality of baffles are arranged at the periphery of the bottom plate at intervals, a loading space is formed between the bottom plate and the plurality of baffles so as to load the floor, and the discharge hole is formed in the upper part of the loading space. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

According to the utility model discloses a floor installation robot, extracting mechanism is connected with the installation to the output of arm the long limit on floor, extracting mechanism includes: the material taking connecting plate is rotatably connected to the output end of the mechanical arm; the sucking disc is arranged at the bottom of the material taking connecting plate and is suitable for being adsorbed on the surface of the floor; the positioning piece is arranged on the material taking connecting plate and is suitable for abutting against the side edge of the floor.

Advantageously, the material taking mechanism further comprises: the distance measuring sensor is used for sensing the distance between the floor to be installed and the installed floor, and is connected to the material taking connecting plate; the shooting device is connected to the material taking connecting plate to shoot the floor to be installed.

According to the utility model discloses a further embodiment, the feeding agencies still includes: and the connecting flange is arranged in the middle of the material taking connecting plate and is connected with the output end of the mechanical arm.

According to the utility model discloses a floor installation robot, be equipped with the AGV chassis on the organism in order to drive the organism goes, navigates and hinders more.

According to the utility model discloses a floor installation robot still includes minor face installation mechanism, minor face installation mechanism is close to the minor face setting of workbin is in on the organism, minor face installation mechanism is suitable for the installation the minor face on floor.

Additional aspects and advantages of the invention will be set forth in the description which follows, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic view of a floor installation robot according to an embodiment of the present invention when taking a floor.

Fig. 2 is a front view of fig. 1.

Fig. 3 is a schematic view of a floor lifting mechanism lifting a floor according to an embodiment of the present invention.

Fig. 4 is a schematic perspective view of a floor lifting mechanism according to an embodiment of the present invention.

Fig. 5 is a front view of fig. 4.

Fig. 6 is a schematic perspective view of a material taking mechanism according to an embodiment of the present invention.

Reference numerals:

a floor installation robot 100,

A machine body 1, an AGV chassis 11,

A material box 2, a loading space 201,

A discharge port 21, a bottom plate 22, a baffle plate 24,

A mechanical arm 30,

A material taking mechanism 32, a suction cup 321, a material taking connecting plate 322, a positioning piece 323,

A distance measuring sensor 324, a camera 325, a connecting flange 326,

A short side mounting mechanism 4,

A support frame 41, an auxiliary wheel 411, a lifting mechanism 42, a lifting platform 43, a short edge clamping piece 44, an elastic piece 45,

An electric control cabinet 6, a mechanical arm controller 7,

A floor lifting mechanism 8,

Mounting plate 81, supporting plate 82, vertical connecting plate 821, horizontal lifting plate 822, driving mechanism 83,

A transmission mechanism 84, a lead screw 841,

A flexible member 843, a driving wheel 844a, a driven wheel 844b,

A guide mechanism 85, a slide block 851, a slide rail 852,

An air compressor 9,

Floor 200, long side 210, short side 220.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "middle", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

The floor installation robot 100 according to the embodiment of the present invention is described below with reference to the drawings attached to the specification.

According to the utility model discloses a floor installation robot 100, floor installation robot 100 are suitable for erection floor 200, and floor 200 here can be bamboo timber apron, solid wood floor, laminate flooring, multilayer solid wood floor, cork floor etc. the utility model discloses floor installation robot 100 mainly used installs the floor 200 that long limit 210 and minor face 220 have buckle draw-in groove cooperation structure.

As shown in fig. 1, the floor mounting robot 100 includes: the machine body 1, the bin 2, the floor lifting mechanism 8 and the mechanical arm 30.

Wherein, the bin 2 is arranged on the machine body 1, the bin 2 is suitable for loading the floor 200, and the upper part of the bin 2 forms a discharge hole 21.

As shown in fig. 1 and 2, floor lifting mechanism 8 is provided on body 1 adjacent to magazine 2, floor lifting mechanism 8 being adapted to extend into magazine 2 to lift floor 200 towards discharge hatch 21. Here, the position of the magazine 2 relative to the machine body 1 remains unchanged and the position of the discharge opening 21 remains unchanged. Floor lifting mechanism 8 only lifts floor 200 in bin 2 and does not lift bin 2.

As shown in fig. 1, a robot arm 30 is movably provided on the body 1 to take out the floor 200 from the discharge port 21.

According to the structure, the utility model discloses floor installation robot 100, workbin 2 establish on organism 1 and can remove along with organism 1 jointly, loads floor 200 in the workbin 2, and the in-process on floor 200 of mating formation, floor 200 have specific parking position, need not to carry out frequent manpower because of occuping the ground of treating the installation and move.

The floor 200 in the bin 2 is lifted upwards to the discharge port 21 by the floor lifting mechanism 8, and the position of the discharge port 21 is unchanged, so that the position of the mechanical arm 30 for taking the floor 200 every time is unchanged, the floor 200 is conveyed in a fixed point, and the mechanical arm 30 is convenient to take the floor 200 out of the discharge port 21. The position of the mechanical arm 30 for taking the materials every time is unchanged, the speed of the mechanical arm 30 for taking the floor 200 is increased, and the installation efficiency of the floor 200 is improved.

The mechanical arm 30 is flexibly rotated, swung or swung, manpower required for taking, moving and installing the floor 200 can be replaced by manual operation, and the labor intensity is greatly reduced.

It can be understood that the floor boards 200 are taken by the mechanical arm 30 from the fixed point (the discharge port 21) each time, compared with the floor boards 200 which are not stacked, in the process of installing the floor boards 200, the mechanical arm 30 does not need to increase the depth for taking the floor boards, which is beneficial to the accurate positioning of the mechanical arm 30 and reduces the distance for taking the floor boards 200, and the action complexity of the mechanical arm 30 for taking the floor boards 200 is reduced.

Because the floor lifting mechanism 8 in the application only lifts the floor 200, but not the material box 2, the acting force required to be borne when the floor lifting mechanism 8 lifts is reduced, the floor lifting mechanism 8 can lift a corresponding number of floors 200 as required to lift or lift the floors 200 in the material box 2 for a plurality of times in batches, and in the process that the floor lifting mechanism 8 lifts the floors 200, the space range in which the floors 200 move is in the space range limited by the material box 2, so that other parts of the floor mounting robot 100 cannot be touched when the floors 200 are lifted, and extra lifting space does not need to be occupied.

In some embodiments of the present invention, as shown in fig. 2, the floor lifting mechanism 8 includes: the device comprises a mounting plate 81, a supporting plate 82 and a driving mechanism 83, wherein the mounting plate 81 is arranged on the machine body 1; the supporting plate 82 is arranged on the mounting plate 81 in a lifting way, and the supporting plate 82 is suitable for holding the floor 200; a driving mechanism 83 is provided on the mounting plate 81 to drive the lifting movement of the pallet 82. Through setting up mounting panel 81, for layer board 82, actuating mechanism 83 provide installation and arrangement position to make layer board 82, actuating mechanism 81, the relative position of laying of workbin 2 more reasonable, so that actuating mechanism 81 drives layer board 82 better, and make layer board 82 stretch into workbin 2 more easily and hold in the palm floor 200, make the overall arrangement between each mechanism compacter. The pallet 82 provides a large lifting surface for lifting the floor 200 to stably lift the floor 200.

In other examples, the above-mentioned mounting plate 81 may be eliminated, and the support plate 82 and the driving mechanism 83 may be provided on the machine body 1 or in the hopper 2.

Alternatively, the driving mechanism 83 includes a servo motor, a lift electric cylinder, or a lift air cylinder, which is not particularly limited herein.

Optionally, the driving mechanism 83 further includes a speed reducer, and the speed reducer is connected to the servo motor.

Optionally, as shown in fig. 2 and fig. 3, the mounting plate 81 is vertically disposed at a side portion of the material box 2, a supporting plate 82 is disposed on a side wall of the mounting plate 81 facing the material box 2, and a moving space is formed in the material box 2 corresponding to the supporting plate 82, so that the driving mechanism 83 drives the supporting plate 82 to move up and down in the moving space, and further drives the floor 200 to be lifted to the discharge hole 21 in the material box 2.

Advantageously, mounting panel 81 is established on the long limit one side of workbin 2, and mounting panel 81 is established at the long limit middle part of workbin 2, layer board 82 stretches into the middle part of lifting floor 200 in workbin 2, the center of gravity of floor 200 is concentrated in the middle part region on floor 200, layer board 82 lifts floor 200 from the middle part region on floor 200 and is favorable to steadily, fast lifting floor 200, and make floor 200 keep the level at the in-process that lifts, prevent that floor 200 from lifting's in-process slope, make things convenient for arm 30 to take floor 200 after lifting.

Alternatively, as shown in fig. 3, 4 and 5, the floor lifting mechanism 8 further includes: a transmission mechanism 84 and a guide mechanism 85.

The transmission mechanism 84 includes a lead screw 841 and a nut, the output end of the driving mechanism 83 is connected with the lead screw 841, and the nut is connected with the supporting plate 82. The supporting plate 82 is driven to lift by adopting the matching mode of the lead screw 841 and the nut, so that the transmission speed of the supporting plate 82 can be controlled, and the transmission distance of the supporting plate 82 is increased to adapt to different depths of the material box 2 and the lifting height required by the floor 200.

As shown in fig. 4, the guide mechanism 85 includes a slider 851 and a slide rail 852, one of the mounting plate 81 and the support plate 82 is provided with the slider 851, and the other of the mounting plate 81 and the support plate 82 is provided with the slide rail 852; the guiding direction of the guiding mechanism 85 coincides with the transmission direction of the lead screw 841. Through setting up guiding mechanism 85, can greatly increase the stability when layer board 82 lifts floor 200 to make floor 200 lift along the straight line of settlement orbit, the in-process that floor 200 was lifted is difficult for the jamming on the inner wall of workbin 2. In addition, the guide mechanism 85 can increase the connection point between the supporting plate 82 and the mounting plate 81, and ensure that the supporting plate 82 is kept horizontal in the moving process.

Alternatively, as shown in fig. 4, the supporting plate 82 is formed in an L shape, the supporting plate 82 includes a vertical connecting plate 821 and a horizontal lifting plate 822 connected to each other, the vertical connecting plate 81 connects the guiding mechanism 85 and the nut, and the horizontal lifting plate 822 extends horizontally into the material box 2 in a direction away from the mounting plate 81 to lift the floor 200.

Advantageously, as shown in fig. 3, the drive mechanism 83 comprises a servomotor arranged in parallel with the lead screw 841; the transmission mechanism 84 further includes: the flexible member 843 and at least two driving wheels 844, the at least two driving wheels 844 include a driving wheel 844a and a driven wheel 844b, the flexible member 843 is connected between the driving wheel 844a and the driven wheel 844b, the output end of the servo motor is connected with the driving wheel 844a, and the driving wheel 844 is connected with the lead screw 841. In these examples, by connecting the flexible member 843 and the transmission wheel 844 between the driving mechanism 83 and the lead screw 841, the arrangement of the driving mechanism 83 and the lead screw 841 is compact, the projection of the driving mechanism 83 in the vertical plane is located in the projection of the mounting plate 81 in the vertical plane, the arrangement space in the vertical direction increased by the arrangement of the driving mechanism 83 is saved, the floor lifting mechanism 8 is integrally arranged compactly, the mechanical arm 30 is ensured not to be blocked when the floor 200 is taken, and the movement space of the mechanical arm 30 is increased. By the connection of the intermediate flexure 843 and the drive wheel 844, the driving force generated by the driving mechanism 83 can be stably transmitted to the lead screw 841, and the distance between the driving mechanism 83 and the lead screw 841 can be easily adjusted.

Alternatively, the flexible member 843 is a belt, and the drive pulley 844 is a pulley, the belt being tensioned around the drive pulley 844a and the driven pulley 844 b.

Optionally, the flexible element 843 is a chain, and the driving wheel 844 is a sprocket, and the chain is engaged with the driving wheel 844a and the driven wheel 844b respectively.

In other examples of the present invention, a simplified structure can be adopted, for example, a lifting electric cylinder is adopted as the driving mechanism 83, the lifting electric cylinder is disposed at the bottom of the material box 2, the output end of the lifting electric cylinder is connected to a lifting insertion board capable of being inserted between the floor boards 200, in these examples, it is suitable to separately dispose a plurality of lifting electric cylinders on the bottom wall of the material box 2 to lift the floor boards 200 at intervals, thereby omitting the mounting board 81, the transmission mechanism 84 and other mechanisms, and saving the investment cost of the equipment for disposing space.

In some embodiments of the present invention, as shown in fig. 1 and 3, the magazine 2 comprises: a bottom plate 22 and a plurality of baffles 24. Wherein, the bottom plate 22 is arranged on the machine body 1; the plurality of baffle plates 24 are arranged at intervals on the periphery of the bottom plate 22, a loading space 201 is formed between the bottom plate 22 and the plurality of baffle plates 24 to load the floor 200, and the discharge port 21 is formed at the upper part of the loading space 201. In these examples, the side walls of magazine 2 formed by bottom plate 22 and baffle 24 form gaps, which on the one hand facilitate avoiding pallets 82, making it easier for pallets 82 to extend into magazine 2 and lift floor 200; on the other hand, compare in setting up the monoblock curb plate, set up a plurality of baffles 24 and will greatly alleviate workbin 2 quality to conveniently observe the lifting situation and the surplus floor 200's of floor 200 volume in workbin 2, conveniently in time increase floor 200.

Optionally, as shown in fig. 1, two bottom plate short sides of the bottom plate 22 are respectively and vertically provided with a baffle 24, a long side of each bottom plate of the bottom plate 22 is respectively and vertically provided with a baffle 24 close to a short side of the bottom plate, after the floor 200 is loaded into the box 2, the long side 210 of the floor 200 contacts the baffle 24 on the long side of the bottom plate, and the short side 220 of the floor 200 contacts the baffle 24 on the short side of the bottom plate. In these examples, by providing the baffle 24, guidance can also be provided for lifting the floor 200, so that the floor 200 can be quickly lifted to the outfeed 21.

In some embodiments of the present invention, as shown in fig. 1, the output end of the mechanical arm 30 is connected to the material taking mechanism 32 to install the long edge 210 of the floor 200, and the material taking mechanism 32 includes: a material taking connecting plate 322, a suction cup 321 and a positioning piece 323.

Wherein, get material connecting plate 322 and rotationally connect the output at arm 30, sucking disc 321 is established in the bottom of getting material connecting plate 322, and sucking disc 321 is suitable for adsorbing on the surface on floor 200. When the floor panel 200 is taken from the upper surface of the floor panel 200, the long side 210 of the floor panel 200 to be installed does not need to be occupied, and installation of the long side 210 is not disturbed. Compare in clamping jaw structure, the sucking disc 321 of this application not only takes the floor 200 convenient, also convenient butt joint floor 200's long limit 210.

As shown in fig. 6, the positioning member 323 is disposed on the material-taking connecting plate 322, and the positioning member 323 is adapted to abut against the side edge of the floor 200. When the positioning piece 323 abuts against the side edge of the floor 200, on one hand, the positioning is quick, and on the other hand, the mechanical arm 30 can apply pushing force to the floor 200 conveniently, so that the floor 200 is prevented from falling in the installation process, and the installation angle of the floor 200 can be controlled when the floor 200 is finally installed.

Advantageously, as shown in fig. 6, one end of the positioning mechanism 323 extends out and is clamped on the opposite side of the long edge 210 to be installed of the floor 200, so as to facilitate the application of force when the robot arm 30 pushes the floor 200 for installation.

Optionally, as shown in fig. 1, an air compressor 9 is disposed on the machine body 1, and the air compressor 9 operates to make the suction cup 321 generate vacuum to suck the floor 200.

Optionally, as shown in fig. 1, a robot controller 7 and an electric control cabinet 6 for controlling the movement of the robot 30 are provided on the machine body 1, so as to control the robot 30 to rotate, turn, swing, and translate to accurately take the long sides 210 of the floor 200, the transfer floor 200, the butt floor 200, and the installation floor 200.

Optionally, as shown in fig. 6, the material taking mechanism 32 further includes: a ranging sensor 324 and a camera 325. Wherein, the distance measuring sensor 324 is used for sensing the distance between the floor 200 to be installed and the installed floor 200, and the distance measuring sensor 324 is connected on the material taking connecting plate 322. A camera 325 is attached to the take-out connecting plate 322 to photograph the floor 200 to be installed. The distance between the floor 200 to be installed and the installed floor 200 can be measured in real time by arranging the distance measuring sensor 324, the specific installation position and installation state of the floor 200 can be further judged by matching with the shooting device 325, after data measured by the distance measuring sensor 324 and the shooting device 325 are analyzed and processed by the control system and then transmitted to the mechanical arm 30, the mechanical arm 30 can adjust the posture of the mechanical arm 30 to install the long edge 210 of the floor 200, so that the long edge 210 of the floor 200 to be installed is buckled in the long edge 210 of the installed floor 200, or the buckled floor 200 is pressed down to enable the floor 200 to be located on the same horizontal installation surface, and the installation quality is ensured.

Advantageously, a set of distance measuring sensor 324 and a camera 325 are respectively arranged on two sides of the material taking connecting plate 322, the material taking connecting plate 322 has a certain length, and when a set of distance measuring sensor 324 and a camera 325 are respectively arranged on two sides, real-time monitoring of installation of the whole floor 200 can be guaranteed, and installation state of the floor 200 can be adjusted.

Optionally, as shown in fig. 6, the material taking mechanism 32 further includes: and the connecting flange 326 is arranged in the middle of the material taking connecting plate 322, and the connecting flange 326 is connected with the output end of the mechanical arm 30. Through setting up flange 326, can make arm 30 drive get material connecting plate 322 and realize the motion of different angles to increased arm 30 and got the connection cooperation degree between the material connecting plate 322, prevented the in-process of arm 30 motion and got material connecting plate 322 phase separation.

In some embodiments of the present invention, as shown in fig. 1, an AGV chassis 11 is disposed on the machine body 1 to drive the machine body 1 to run, navigate and cross obstacles. Through setting up the AGV chassis, make organism 1 can accurate location at the removal in-process, remove the in-process and be difficult for touching the barrier around, can also make complete machine fast movement to the position of waiting to install floor 200 to make the floor installation robot 100 of this application intelligent, automatic.

Optionally, the AGV chassis 11 includes mecanum wheels, which can increase the steering flexibility of the whole machine, so that the whole machine can be steered quickly, and can be steered in situ, thereby facilitating the quick transfer of the installation position of the floor 200 carried by the whole machine. Of course, the present invention may be provided with only a common directional wheel or universal wheel without a mecanum wheel.

By providing the AGV chassis 11, when the floor installation robot 100 installs the short side 220 or the long side 210 of the floor 200, the AGV chassis 11 can drive the machine body 1 to travel toward a direction favorable for installing the floor 200 (for example, when installing the short side 220, the machine body 1 travels along the length direction of the floor 200 to facilitate the installation of the short side 220 by the short side installation mechanism 24) so as to further improve the installation efficiency of the floor 200.

In some embodiments of the present invention, as shown in fig. 1 and 2, the floor mounting robot 100 further comprises a short edge mounting mechanism 4, the short edge mounting mechanism 4 is disposed on the machine body 1 near the short edge of the work bin 2, and the short edge mounting mechanism 4 is adapted to mount the short edge 220 of the floor 200. Short edge installation mechanism 4 arranged close to the short edge of the material box 2, when the mechanical arm 30 and the material taking mechanism 32 drive the floor 200 to complete the installation of the long edge 210, the position of the short edge installation mechanism 4 is just close to the position of the short edge 220 of the floor, and at the moment, the machine body 1 only needs to move a small distance so that the short edge installation mechanism 4 can act on the short edge 220 of the floor 200, thereby saving the installation time of the short edge 220.

Optionally, as shown in fig. 1, the short-side installation mechanism 4 includes a support frame 41, a lifting table 43, a lifting mechanism 42, and a short-side clamping member 44, the support frame 41 is connected to the machine body 1, and the support frame 41 extends out towards one end far away from the machine body 1, the support frame 41 is provided with the lifting table 43 capable of lifting and the lifting mechanism 42 driving the lifting table 43 to move, the lifting table 43 is connected with the short-side clamping member 44, the lifting table 43 drives the short-side clamping member 44 to move up and down to be approximately level with the floor 200 in the up-and-down moving process, and the short-side clamping member 44 is suitable for being. In these examples, by moving the machine body 1 along the length direction of the floor board 200, the short-side clips 44 can push the short sides 220 of the floor board 200 to be installed and the short sides 220 of the installed floor board 200 to be engaged with each other, and the installation of the short sides 220 is completed.

Optionally, as shown in fig. 2, an auxiliary wheel 411 is disposed at the bottom of the supporting frame 41, and the auxiliary wheel 411 contacts the ground, so as to reduce the load generated when the supporting frame 41 is connected to the machine body 1 and increase the connection stability between the supporting frame 41 and the machine body 1.

Optionally, as shown in fig. 2, a buffer space is formed inside the lifting platform 43, an elastic member 45 is arranged in the lifting platform 43, one end of the elastic member 45 is connected to the inner wall of the lifting platform 43, the other end of the elastic member 45 is connected to the short-edge clamping member 44, the extending direction of the elastic member 45 is consistent with the installation direction, and the elastic member 45 drives the short-edge clamping member 44 to stop against the short edge 220 in the process of installing the short edge 220. Here, the degree of matching between short-side joint 44 and floor 200 is greatly increased by providing elastic member 45, so that short-side joint 44 is not easy to separate from floor 200 when short side 220 is installed, and always applies thrust to floor 200.

The following describes a specific structure of the floor mounting robot 100 according to an embodiment of the present invention with reference to the drawings.

Examples

A floor mounted robot 100, as shown in fig. 1, comprising: the machine body 1, the material box 2, the mechanical arm 30, the material taking mechanism 32, the short edge mounting mechanism 4, the electric control cabinet 6, the mechanical arm controller 7, the floor lifting mechanism 8 and the air compressor 9.

As shown in fig. 1, an AGV chassis 11 is provided on the machine body 1 to drive the machine body 1 to run, navigate and cross obstacles. The AGV chassis 11 includes four Mecanum wheels disposed at the bottom. One side of organism 1 forms the installing zone and is suitable for erection floor 200, and the upper portion of organism 1 forms the bearing area, and workbin 2, floor hoist mechanism 8 and minor face installation mechanism 4 all connect on organism 1 and all are located the installing area, and arm 30, automatically controlled cabinet 6, arm controller 7 and air compressor 9 all connect on organism 1 and all are located the bearing area, and arm 30 is close to workbin 2 and arranges on organism 1, and arm 30 can rotate, extend for organism 1. The arm controller 7 controls the movement of the arm 30. The air compressor 9 provides vacuum suction to the suction cup 321 of the take off mechanism 32.

As shown in fig. 1 and 3, the magazine 2 comprises: a bottom plate 22 and a plurality of baffle plates 24, wherein the bottom plate 22 is arranged on the machine body 1, the baffle plates 24 are arranged at the periphery of the bottom plate 22 at intervals, a loading space 201 is formed between the bottom plate 22 and the baffle plates 24 for loading the floor 200, and a discharge hole 21 is formed at the upper part of the loading space 201. After the floor 200 is loaded into bin 2, the long side 210 of the floor 200 contacts the baffles 24 on the long side of the floor, and the short side 220 of the floor 200 contacts the baffles 24 on the short side of the floor.

As shown in fig. 2, the floor lifting mechanism 8 includes: mounting plate 81, support plate 82, drive mechanism 83, transmission mechanism 84 and guide mechanism 85. The mounting plate 81 is arranged at the side part of the machine body 1 and is positioned in the mounting area, the supporting plate 82 is arranged on the mounting plate 81 in a lifting way, the supporting plate 82 is suitable for holding the floor 200, and the driving mechanism 83 is arranged on the mounting plate 81 to drive the supporting plate 82 to move up and down. The mounting plate 81 is arranged opposite to the middle area of the magazine 2, and the pallet 82 extends into the middle area of the magazine 2 to hold the floor 200. The transmission mechanism 84 comprises a lead screw 841, a nut, a transmission belt and two belt wheels, the transmission belt is sleeved and tensioned on the two belt wheels, the driving mechanism 83 comprises a servo motor, a motor shaft of the servo motor is connected with one of the belt wheels, the other belt wheel is connected with the lead screw 841, the lead screw 841 and the nut form a kinematic connection pair, and the nut is connected on the supporting plate 82. The axis of the driving mechanism 83 is parallel to the extension line of the lead screw 841, and the output end of the driving mechanism 83 is positioned above the mounting plate 81. As shown in fig. 4, the guiding mechanism 85 includes a sliding block 851 and a sliding rail 852, two sliding blocks 851 are disposed on the supporting plate 82, two parallel sliding rails 852 are disposed on the mounting plate 81, and the guiding direction of the guiding mechanism 85 is the same as the transmission direction of the lead screw 841. The driving mechanism 83 operates to drive the driving mechanism 84 to drive and lift the supporting plate 82 upwards, and the supporting plate 82 lifts the floor 200 and moves the floor 200 to the discharge port 21 of the bin 2.

As shown in fig. 1, the output end of the robotic arm 30 is connected to the material taking mechanism 32 for mounting the long edge 210 of the floor 200, and the material taking mechanism 32 includes: the material taking connecting plate 322, the suction cup 321, the positioning piece 323, the distance measuring sensor 324, the shooting device 325 and the connecting flange 326. A connecting flange 326 is provided at the middle of the take-out web 322, and the connecting flange 326 is connected to the output end of the robot 30. Suction cups 321 are provided at the bottom of the material taking connection plate 322, the suction cups 321 are adapted to be sucked on the surface of the floor 200, and each suction cup 321 is connected to the air compressor 8 to generate vacuum suction force. As shown in fig. 6, the positioning members 323 are disposed on two sides of the material-taking connecting plate 322, and one end of the positioning member 323 extends out and is clamped on the opposite side of the long side 210 to be installed of the floor 200. The two sides of the material taking connecting plate 324 are respectively connected with a distance measuring sensor 324 and a shooting device 325 through a connecting frame. The distance measuring sensor 324 is used for sensing the distance between the floor 200 to be installed and the installed floor 200, and the camera 325 is connected to the material taking connection plate 322 to photograph the floor 200 to be installed.

As shown in fig. 1 and 2, short side mounting mechanism 4 is provided on body 1 near the short side of magazine 2, and short side mounting mechanism 4 is adapted to mount short side 220 of floor 200. As shown in fig. 1, the short side mounting mechanism 4 includes a support frame 41, a lifting platform 43, a lifting mechanism 42, a short side clamping member 44 and an elastic member 45, the support frame 41 is connected to the machine body 1, and the support frame 41 extends out towards one end far away from the machine body 1, and the lifting platform 43 capable of lifting and the lifting mechanism 42 driving the lifting platform 43 to move are arranged on the support frame 41. The inside of elevating platform 43 is formed with buffer space, is equipped with elastic component 45 in the elevating platform 43, and the inner wall of elevating platform 43 is connected to the one end of elastic component 45, and short edge joint piece 44 is connected to the other end of elastic component 45, and elastic component 45 drives short edge joint piece 44 often and ends to support on short edge 220. The lifting table 43 drives the short-side clamping pieces 44 to lift up and down to be approximately flush with the floor 200 in the process of moving up and down, and the short-side clamping pieces 44 are suitable for being clamped into the short sides 220 of the floor 200. When the machine body 1 runs along the long side direction of the floor 200, it is suitable for driving the short side clamping piece 44 to push the short side 220 of the floor 200 to install.

The floor mounting robot 100 of the present invention, when mounting the floor 200, firstly, travels to the position of the floor 200 to be mounted, then the floor lifting mechanism 8 drives the floor 200 in the material box 2 to lift toward the material outlet 21, then the arm controller 7 controls the arm 30 to drive the material taking mechanism 32 to move and suck the floor 200, and moves the floor 200 to the position to be mounted, and simultaneously the long edge 210 of the floor 200 is aligned with the long edge 210 of the mounted floor 200, in this process, the distance measuring sensor 324 continuously transmits the measured distance data and the position data shot by the camera 325 to the electric control system and processes them, and simultaneously controls the arm 30 to adjust its posture, and the long edge 210 of the floor 200 to be mounted is buckled with the long edge 210 of the mounted floor 200, and simultaneously the arm 30 drives the whole floor 200 to press down to form a flat floor mounting surface, and then the lifting mechanism 42 of the short edge mounting mechanism 4 drives the lifting platform 43 to fall to be level with the floor 200, the whole machine moves along the long side direction of the floor board 200, so that the short side clamping piece 44 is contacted and clamped with the short side 220 of the floor board 200 and pushes the short side 220 of the floor board 200, and the installation of one floor board 200 is completed. Thereafter, the aforementioned operations are repeated, and other floor boards 200 are laid in sequence.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Six baffles 24 are shown in fig. 1 for illustrative purposes, but it will be apparent to those skilled in the art after reading the above disclosure that the present disclosure may be applied to other number of baffles 24 and still fall within the scope of the present disclosure.

Other configurations of the floor mounted robot 100 according to the embodiment of the present invention, such as the principle that the air compressor 9 provides vacuum pressure to the suction cup 321, the principle that the robot arm controller 7 controls the movement of the robot arm 30, the connection between the distance measuring sensor 324 and the camera 325 and the electric control system, and the operation principle, are known to those skilled in the art, and will not be described in detail herein.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A floor mounted robot adapted to mount a floor, the floor mounted robot comprising:

a body;

the bin is arranged on the machine body and is suitable for loading the floor, and a discharge hole is formed in the upper part of the bin;

the floor lifting mechanism is arranged on the machine body close to the material box and is suitable for extending into the material box so as to lift the floor towards the material outlet;

the mechanical arm is movably arranged on the machine body so as to take out the floor from the discharge port.

2. The floor mounted robot of claim 1, wherein the floor lifting mechanism comprises:

the mounting plate is arranged on the machine body;

the supporting plate is arranged on the mounting plate in a lifting manner and is suitable for holding the floor;

and the driving mechanism is arranged on the mounting plate to drive the supporting plate to move up and down.

3. The floor mounted robot of claim 2, wherein the floor lifting mechanism further comprises:

the transmission mechanism comprises a lead screw and a nut, the output end of the driving mechanism is connected with the lead screw, and the nut is connected with the supporting plate;

the guide mechanism comprises a sliding block and a sliding rail, the sliding block is arranged on one of the mounting plate and the supporting plate, and the sliding rail is arranged on the other one of the mounting plate and the supporting plate; the guide direction of the guide mechanism is consistent with the transmission direction of the lead screw.

4. The floor mounted robot of claim 3, wherein the drive mechanism includes a servo motor arranged in parallel with the lead screw, the transmission mechanism further comprising: the flexible part is connected between the driving wheel and the driven wheel, the output end of the servo motor is connected with the driving wheel, and the driving wheel is connected with the lead screw.

5. The floor mounted robot of claim 1, wherein the bin comprises:

the bottom plate is arranged on the machine body;

the plurality of baffles are arranged at the periphery of the bottom plate at intervals, a loading space is formed between the bottom plate and the plurality of baffles so as to load the floor, and the discharge hole is formed in the upper part of the loading space.

6. A floor mounting robot as defined in claim 1, wherein the output end of the robotic arm is connected to a take off mechanism for mounting the long side of the floor, the take off mechanism comprising:

the material taking connecting plate is rotatably connected to the output end of the mechanical arm;

the sucking disc is arranged at the bottom of the material taking connecting plate and is suitable for being adsorbed on the surface of the floor;

the positioning piece is arranged on the material taking connecting plate and is suitable for abutting against the side edge of the floor.

7. The floor mounted robot of claim 6, wherein the material extraction mechanism further comprises:

the distance measuring sensor is used for sensing the distance between the floor to be installed and the installed floor, and is connected to the material taking connecting plate;

the shooting device is connected to the material taking connecting plate to shoot the floor to be installed.

8. The floor mounted robot of claim 6, wherein the material extraction mechanism further comprises: and the connecting flange is arranged in the middle of the material taking connecting plate and is connected with the output end of the mechanical arm.

9. A floor mounted robot as claimed in claim 1, wherein an AGV chassis is provided on the body to drive the body to travel, navigate and clear.

10. The floor mounting robot of claim 1, further comprising a short side mounting mechanism disposed on the body proximate the short side of the bin, the short side mounting mechanism adapted to mount the short side of the floor.