CN211923423U - Floor installation robot - Google Patents

Abstract

The utility model discloses a floor installation robot, include: the vehicle body and the material box can be driven in a reverse mode. The bin is provided on the vehicle body for loading the floor, and is scalable in size in at least one of a length direction and a width direction of the vehicle body. The utility model discloses floor installation robot, the workbin is extendible or shorten in order to adjust self size, and the workbin is at the in-process that extends or shorten, and adaptable not unidimensional floor that loads. When the automobile body needs the shift position, the workbin can shorten in order to practice thrift the space, prevents the automobile body in turning to or shifting the colliding with of workbin, increases floor installation robot's effective turning radius, and the protection construction environment does not receive the destruction.

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. Since the partition walls and the corridors are generally arranged between the houses where the floor is to be laid indoors, when the robot switches the installation position between different houses, the robot is difficult to turn, and easily hits against the wall, thereby reducing the installation efficiency. In addition, current floor uses the hasp formula to connect more, and during its installation, the long limit of floor need incline certain angle and pack into, then flattens, carries out the minor face again and strikes, just can finally realize the installation of timber apron. At present, no device for completely installing the floor by adopting a robot exists in the market.

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's workbin is extensible or shorten, can load not unidimensional floor and conveniently turn to and shift the mounted position, has filled the technical blank of the full automatic installation of internal floor.

According to the utility model discloses floor installation robot, include: a vehicle body capable of driving in a reverse direction; the bin is arranged on the vehicle body and used for loading the floor, and the size of the bin is telescopic in at least one direction of the length direction and the width direction of the vehicle body.

According to the utility model discloses floor installation robot, the workbin is extendible or shorten in order to adjust self size, and the workbin is at the extension or the in-process that shortens, and adaptable not unidimensional floor that loads, after the workbin loaded the floor of required size, floor installation robot can be as required on the not unidimensional floor of position installation of difference. The workbin is at the in-process of extension or shortening, and its size grow or reduce for the automobile body, and when the automobile body needs the shift position, the workbin can shorten in order to practice thrift the space, prevents that the automobile body from turning to or shifting the colliding with of workbin, increases floor installation robot's effective turning radius, and the protection construction environment does not receive destruction with the part of self.

According to the utility model discloses a floor installation robot, the horizontal projection of workbin when size shrink to minimum is located in the horizontal projection of automobile body.

According to the utility model discloses a floor installation robot, the workbin includes: first bottom plate, second bottom plate and baffle, first bottom plate is connected on the automobile body, the second bottom plate is established relatively movablely on the first bottom plate so that the length of workbin changes between first length and second length, first bottom plate with be equipped with a plurality of baffles that upwards extend on the second bottom plate, first bottom plate, second bottom plate and form the loading space who is used for loading the floor between the baffle.

According to the utility model discloses a further embodiment, the workbin still includes: the guide mechanism comprises a sliding rail and a sliding groove, the sliding rail is arranged on one of the first bottom plate and the second bottom plate, the sliding groove is arranged on the other one of the first bottom plate and the second bottom plate, and the sliding rail is matched with the sliding groove to move.

Advantageously, the bin further comprises: the third bottom plate is arranged on the first bottom plate, the third bottom plate and the second bottom plate are arranged along two opposite edges of the first bottom plate in the length direction, and the upper surfaces of the second bottom plate and the third bottom plate are flush; the first insertion plate is arranged at one end, facing the second bottom plate, of the third bottom plate, the second insertion plate is arranged at one end, facing the third bottom plate, of the second bottom plate, and the first insertion plate and the second insertion plate are spliced when the bin is at the first length.

Optionally, the first bottom plate is rectangular, the baffles are vertically arranged, at least one baffle is arranged on each bottom plate short side of the first bottom plate, and at least two baffles are arranged on each bottom plate long side of the first bottom plate.

According to the utility model discloses a floor installation robot, the automobile body forms the AGV automobile body, the bottom of automobile body is equipped with at least one mecanum wheel in order to realize the pivot and turn to.

According to the utility model discloses a floor installation robot of embodiment still includes the arm, arm movably establishes on the automobile body, the output of arm is equipped with positioning mechanism and gets the material subassembly, it includes the sucking disc to get the material subassembly, the arm can drive the sucking disc absorbs the floor is with the installation the long limit on floor, positioning mechanism is used for the sucking disc absorbs location during the floor.

According to the utility model discloses further embodiment, floor installation robot has the position of hindering more, is hindering the position more the horizontal projection of arm is located in the horizontal projection of automobile body.

According to the utility model discloses a floor installation robot of embodiment still includes minor face installation mechanism, minor face installation mechanism telescopically is established bottom of the car body, can promote when minor face installation mechanism stretches out the minor face installation 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 perspective view of a floor-mounted robot according to an embodiment of the present invention.

Fig. 2 is a plan view of the floor-mounted robot according to an embodiment of the present invention.

Fig. 3 is a schematic view of the mechanical arm moving floor after the bin of the floor-mounted robot of the present invention is loaded on the floor.

Fig. 4 is a schematic perspective view of a material box according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of the bin according to an embodiment of the present invention after being loaded on the floor.

Fig. 6 is a schematic view of the floor-mounted robot according to an embodiment of the present invention passing through a gallery.

Fig. 7 is a schematic view of the floor installation robot according to an embodiment of the present invention.

Reference numerals:

a floor installation robot 100,

A vehicle body 1, Mecanum wheels 13,

A material box 2, a loading space 201,

A first bottom plate 21,

A second bottom plate 22, a second plug board 221,

A third bottom plate 23, a first inserting plate 231,

A baffle plate 24,

A guide mechanism 25, a slide rail 251, a slide groove 252,

A mechanical arm 30, a positioning mechanism 31, a material taking component 32, a suction cup 321, a material taking connecting plate 322,

Short side mounting mechanism 4, push plate 41, mounting plate 42, elastic member 43,

A power supply box 5, an electric control box 6, a mechanical arm controller 7, a collecting box 8, an air compressor 9,

A floor board 200, a long side 210, a short side 220, a support plate 230,

Corridor 300, doorway 310, room 400.

Detailed Description

Reference will now be made in detail to 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 function 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 "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely 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 thus, 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 floor installation robot 100, as shown in fig. 1 and fig. 2, include: the running vehicle body 1 and the material box 2 can be reversed. Wherein the bin 2 is provided on the vehicle body 1 for loading the floor 200, and the bin 2 is scalable in size in at least one of a length direction and a width direction of the vehicle body 1.

With the above structure, in the floor mounting robot 100 according to the embodiment of the present invention, the material box 2 can be extended or shortened to adjust its size, and the material box 2 can be adapted to load floors 200 with different sizes (for example, different lengths) in the extending or shortening process, and after the material box 2 loads the floor 200 with a desired size, the floor mounting robot 100 can install the floor 200 with a desired size at different positions as required. Therefore, the floor installation robot 100 of the present invention can load and carry the floor boards 200 of different sizes, thereby providing convenience for installing the floor boards 200 and facilitating the taking of the floor boards 200. The floor 200 does not have to be scattered on the ground, saving time required to move the floor 200 during installation and space required to place the floor 200.

In addition, the size of the bin 2 is increased or decreased relative to the car body 1 during the extension or contraction, and when the car body 1 needs to be shifted, the bin 2 can be shortened to save its occupied space, and the bin 2 can be loaded with the floor 200 having a length smaller than that of the bin 2 or empty. When the length and the size of the whole machine of the floor mounting robot 100 are reduced after the material box 2 is shortened, or the width and the size of the whole machine are reduced, the vehicle body 1 drives the material box 2 to shift positions or turn, the situation that the material box 2 on the vehicle body 1 is too long and collides with surrounding objects can be effectively prevented, the effective turning radius of the floor mounting robot 100 is increased, the construction environment and parts on the vehicle body 1 are protected from being damaged, and the reversing driving is facilitated. It will be appreciated that in the shortened condition of the bin 2, the overall dimensions of the body 1 and bin 2 are compact, facilitating obstacle surmounting of the floor mounted robot 100 and facilitating passage through the elongate corridor 300 and doors.

In some embodiments of the invention, as shown in fig. 2 and 6, the horizontal projection of the bin 2 when the size is reduced to a minimum is located within the horizontal projection of the car body 1. In these embodiments, when the bin 2 is shortened to the limit, the edge of the bin does not exceed the vehicle body 1, and the length or width of the vehicle body 1 becomes the limit size for limiting the floor mounted robot 100 to pass through the corridor 300 and the doorway 310, while the bin 2 does not interfere with the floor mounted robot 100 passing through the corridor 300 and the doorway 310, and the bin 2 does not collide with the wall surface or the door frame as long as the vehicle body 200 can pass through the corridor 300 or the doorway 310, which is advantageous for the floor mounted robot 100 to smoothly replace the room 400 in which the floor 200 is to be mounted indoors.

Advantageously, the body 1 is formed as an AGV body, as shown in fig. 3, the bottom of the body 1 being provided with at least one mecanum wheel 13 for pivot steering. The AGV body can be used for increasing the positioning recognition capability and obstacle crossing capability of the floor mounting robot 100, so that the vehicle body 1 can be accurately and quickly displaced, the position of the vehicle body 1 can be accurately adjusted according to the mounting position of the floor 200, and the floor 200 is convenient to mount. Mecanum wheels 13 are arranged to realize pivot steering and multi-angle reversing. For example, as shown in fig. 6, when the extension plane of the corridor 300 and the extension plane passing through the doorway 310 are formed at 90 degrees, the floor mounting robot 100 may first shorten the bin 2 to the shortest, then pass through the corridor 300 with the line connecting the two long sides of the vehicle body 1 as the advancing direction of the vehicle body 1 (the width of the corridor 300 is greater than the length direction of the vehicle body 1), and then turn the mecanum wheels 13 at the 90 degrees in situ so that the advancing direction of the vehicle body 1 is formed as the line extending the two short sides of the vehicle body 1 and passes through the doorway 310 (the width of the doorway 310 is greater than the width direction of the vehicle body 1), whereby the floor mounting robot 100 can smoothly pass through the corridor 300 and the doorway 310 to replace the room 400 where the floor 200 is mounted.

For another example, after the floor installation robot 100 enters the room 400 where the floor 200 is to be installed, the bin 2 is extended and the floor 200 is loaded, and the mecanum wheels 13 may be steered to the position where the floor 200 is to be installed as needed, thereby facilitating quick access to the floor 200 and the loading floor 200.

In some embodiments of the present invention, as shown in fig. 4 and 5, the magazine 2 comprises: the loading device comprises a first bottom plate 21, a second bottom plate 22 and baffle plates 24, wherein the first bottom plate 21 is connected to the vehicle body 1, the second bottom plate 22 is arranged on the first bottom plate 21 in a relatively movable mode so that the length of the bin 2 can be changed between a first length and a second length, a plurality of baffle plates 24 extending upwards are arranged on the first bottom plate 21 and the second bottom plate 22, and a loading space 201 for loading the floor 200 is formed among the first bottom plate 21, the second bottom plate 22 and the baffle plates 24. The first bottom plate 21 enables the material box 2 to be stably connected to the vehicle body 1, the second bottom plate 22 can move relative to the first bottom plate 21 to enable the total length of the material box 2 to be increased or reduced, the baffle plates 24 arranged on the first bottom plate 21 and the second bottom plate 22 limit the floor 200 placed in the loading space 201, the floor 200 in the loading space 201 is guaranteed to be stably stored and not prone to slipping, and the floor 200 is also guaranteed to be stacked flatly and easy to take. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In other embodiments, the second bottom plate 22 is moved relative to the first bottom plate 21, so that the size of the bin 2 in the width direction is increased or decreased, and the floor 200 with different widths can be stored in the loading space 201.

In another example, when the second bottom plate 22 is moved relative to the first bottom plate 21, the dimensions of the bin 2 in the width direction and the length direction may be increased or decreased at the same time, thereby increasing the loading amount of the floor 200 in the loading space 201.

Optionally, as shown in fig. 5, the bin 2 further comprises: the guide mechanism 25, the guide mechanism 25 includes a slide rail 251 and a slide groove 252, one of the first bottom plate 21 and the second bottom plate 22 is provided with the slide rail 251, the other of the first bottom plate 21 and the second bottom plate 22 is provided with the slide groove 252, and the slide rail 251 moves in the slide groove 252 in a matching manner. The guide mechanism 25 stabilizes the trajectory of the second base plate 22 when moving relative to the first base plate 21, for example, when the second base plate 22 moves only in the longitudinal direction of the first base plate 21, the length of the bin 2 can be rapidly increased or decreased, and the width of the bin 2 can be maintained, in this example, the length of the bin 2 can be switched to load floors 200 of different lengths. This is particularly applicable during installation of the indoor floor 200, and when installing the wall-adjacent floor 200, the floor 200 often needs to be cut back to fit the installation space of the final remaining floor 200 to ensure that the floor 200 is laid flat on the whole installation surface of the room 400, so that when installing the middle position of the room 200, the entire floor 200 of the specification can be used, and the length of the bin 2 can be increased to load the entire floor 200; when installing the corner positions of the room 200, the floor 200 is cut short, and the length of the bin 2 can be shortened to load the cut floor 200, thereby satisfying various requirements of the installation of the floor 200.

In other examples, the guide mechanism 25 includes a track groove and a slider, the slider is fitted in the track groove, and the extending direction of the track groove coincides with the moving direction of the second base plate 22, which is not particularly limited herein.

Optionally, as shown in fig. 4 and 5, the bin 2 further comprises: and the third bottom plate 23, the third bottom plate 23 is arranged on the first bottom plate 21, the third bottom plate 23 and the second bottom plate 22 are arranged along two opposite edges of the first bottom plate 21 in the length direction, and the upper surfaces of the second bottom plate 22 and the third bottom plate 23 are flush. Through setting up second bottom plate 22 and third bottom plate 23 on first bottom plate 21, can make second bottom plate 22 keep the parallel and level all the time with the upper surface of third bottom plate 23 before and after the removal, when placing floor 200 in loading space 201, bottommost floor 200 can place on the plane that third bottom plate 23 and second bottom plate 22 formed, consequently, floor 200 is big with the loading face area of installing space 201, floor 200 can steadily place and be difficult for askew, be favorable to steady transportation, stably load, conveniently get and put.

Optionally, as shown in fig. 4, a first insertion plate 231 is disposed on an end of the third bottom plate 23 facing the second bottom plate 22, a second insertion plate 221 is disposed on an end of the second bottom plate 22 facing the third bottom plate 23, and the first insertion plate 231 and the second insertion plate 221 are spliced together when the bin 2 has the first length. When the first inserting plate 231 and the second inserting plate 221 are in inserted fit with each other, on one hand, the second bottom plate 22 can be further guided to move telescopically relative to the first bottom plate 21, and on the other hand, the engagement between the first inserting plate 231 and the second inserting plate 221 limits the size of the second bottom plate 22 which can be retracted to the shortest relative to the third bottom plate 23.

Advantageously, the first insertion plate 231 is a single-strip plate, the second insertion plate 221 includes two long plates arranged at intervals, the two long plates are arranged oppositely and form slots, the single plate is inserted between the slots, and the first insertion plate 231 and the second insertion plate 221 are spliced to form the whole loading plane with the edges abutting against each other.

Optionally, as shown in fig. 4, the first bottom plate 21 is rectangular, the baffles 24 are vertically arranged, at least one baffle 24 is arranged on each short side of the first bottom plate 21, and at least two baffles 24 are arranged on each long side of the first bottom plate 21. The baffle plate 24 arranged on the short side of the bottom plate is convenient for limiting the short side 220 of the floor 200 and preventing the floor 200 from falling off from one side of the short side of the bottom plate; the baffle plate 24 arranged on the long edge of the corresponding bottom plate is convenient for limiting the long edge 210 of the floor 200, and the floor 200 is prevented from being separated from one side of the long edge of the bottom plate. Here, by providing the baffle plate 24 instead of providing a whole plate as a wall of the tank on the upper portion of the first bottom plate 21, the weight of the tank 2 can be greatly reduced, and the structure of the tank 2 is made lighter and the floor 200 can be easily loaded and unloaded. The vertically arranged baffle plates 24 allow the floor 200 loaded into the loading space 201 to be vertically leveled.

In some specific examples, the baffle plate 24 is not directly disposed on the first bottom plate 21, the third bottom plate 23 is fixedly disposed on the first bottom plate 21, and the required baffle plates 24 are respectively disposed on the bottom plate short sides and the bottom plate long sides of the third bottom plate 23, meanwhile, the required baffle plates 24 are also respectively disposed on the bottom plate short sides and the bottom plate long sides of the second bottom plate 22, and when the second bottom plate 22 moves relative to the first bottom plate 21 and the third bottom plate 23, the baffle plates 24 on the second bottom plate 22 also move.

Optionally, as shown in fig. 4, a baffle plate 24 is arranged in the middle of the short side of the third bottom plate 23, and one side of the third bottom plate 23 close to the short side of the bottom plate on each of the two long sides of the bottom plate is provided with one baffle plate 24, so that the baffle plates 24 on the short sides of the bottom plates and the two bottom plates 24 on the long sides of the bottom plates are intensively arranged to form a corner, and the end of the floor 200 to be loaded is conveniently limited. Correspondingly, as shown in fig. 4, the second bottom plate 22 is similar to the baffle plate 24 of the third bottom plate 23 in arrangement position, and forms a corner to limit the other end of the floor 200, except that the baffle plate 24 is additionally arranged on one side of the long side of the bottom plate of the second bottom plate 22 close to the third bottom plate 23 to limit the middle part of the floor 200. In the description of the present invention, features defined as "first", "second" and "third" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.

In some embodiments of the present invention, as shown in fig. 1, fig. 2 and fig. 3, the floor-mounted robot 100 further includes a mechanical arm 30, the mechanical arm 30 is movably disposed on the vehicle body 1, an output end of the mechanical arm 30 is provided with a positioning mechanism 31 and a material-taking assembly 32, the material-taking assembly 32 includes a suction cup 321 (as shown in fig. 3), the mechanical arm 30 can drive the suction cup 321 to suck the long edge 210 of the floor 200 for installing the floor 200, and the positioning mechanism 31 is used for positioning the floor 200 when the suction cup 321 sucks the floor 200. In the process of taking the floor 200, the mechanical arm 30 can flexibly rotate, swing or swing to replace manpower required by manual taking, placing, moving and installing of the floor 200, so that the labor intensity of workers is greatly reduced. By arranging the positioning mechanism 31 and the suction cup 321, the floor 200 can be moved by sucking the surface of the floor 200, and the floor 200 can be positioned by the positioning mechanism 31 to prevent the floor 200 from falling or skewing during the moving process, so that the installation angle of the floor 200 can be controlled when the floor 200 is finally installed.

Advantageously, the above-mentioned mechanical arm 30 is formed by a plurality of segments of rotating arms, and the rotating arms are rotatably connected to each other, so as to increase the freedom of movement of the mechanical arm 30, and the design of the multi-freedom rotating structure of the mechanical arm 30 belongs to the prior art, and is not described herein.

Optionally, get material subassembly 32 and still include and get material connecting plate 322, get material connecting plate 322 and rotationally connect the output at arm 30, get material connecting plate 322 and have certain length (this length is less than the length on floor 200), be equipped with a plurality of sucking discs 321 and a plurality of positioning mechanism 31 at the length direction interval of getting material connecting plate 322, positioning mechanism 31's one end is stretched out and is blocked on the relative limit on the limit of waiting to install on floor 200, the application of force when the arm 30 promotes the limit of waiting to install on floor 200.

Optionally, as shown in fig. 1, an air compressor 9 is disposed on the vehicle 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 cabinet 6 for controlling the movement of the robot 30 are provided on the vehicle body 1, so as to control the robot 30 to rotate, turn, swing, and translate to accurately take the floor 200, transfer the floor 200, butt-joint the floor 200, and install the long edge 210 of the floor 200. Optionally, a power box 5 is further provided on the vehicle body 1 to provide electric power and motive power.

The utility model discloses a floor 200 that floor installation robot 100 installed can be bamboo timber apron, solid wood floor, laminate flooring, multilayer solid wood floor, cork floor etc, the utility model discloses a long limit 210 of floor installation robot 100 mainly used installation and minor face 220 have the floor 200 of buckle draw-in groove cooperation structure.

In some embodiments of the present invention, as shown in fig. 2, the floor-mounted robot 100 has an obstacle crossing position where the horizontal projection of the robot arm 30 is located within the horizontal projection of the vehicle body 1. When the robot arm 30 is located at the obstacle crossing position, the robot arm moves to the upper portion of the vehicle body 1, so that the overall horizontal occupied area of the floor mounted robot 100 can be reduced, the floor mounted robot 100 can avoid obstacles (such as walls and door frames), and the floor mounted robot 100 can pass through the corridor 300 and the doorway 310. In these examples, the bin 2 is adapted to be shortened to the minimum position at the same time as the robot arm 30 is moved over the car body 1.

In some embodiments of the present invention, as shown in fig. 7, the floor mounting robot 100 further includes a short edge mounting mechanism 4, the short edge mounting mechanism 4 is telescopically disposed at the bottom of the vehicle body 1, and the short edge mounting mechanism 4 can push the short edge 220 of the floor 200 to be mounted when extending out. In these examples, when long side 210 of floor 200 is installed, short side mounting mechanism 4 is adapted to extend and contact the short side of floor 200, and short side mounting mechanism 4 is adapted to push short side 220 of floor 200 to complete installation of floor 200 under the urging of vehicle body 1.

Alternatively, the short side mounting mechanism 4 includes a mounting plate 42, a push plate 41 and an elastic member 43, the mounting plate 42 is telescopically connected to the vehicle body 1, the elastic member 43 is connected between the mounting plate 42 and the push plate 41, and the elastic member 43 always drives the push plate 41 to stop against the short side 220 of the floor 200. By providing the above structure, it is possible to always keep short side mounting mechanism 4 in contact with short side 220 when short side 220 of floor 200 is mounted, so that short side mounting mechanism 4 applies a pushing force to floor 200, which is advantageous for quick mounting of short side 220.

Optionally, the short-side mounting mechanism 4 can move telescopically in a manner that a driving motor drives a gear rack to move, the gear is connected to the short-side mounting mechanism 4, and the gear rack is arranged on the vehicle body 1; an electric cylinder can also be arranged on the vehicle body 1, and the output end of the electric cylinder is connected to the short edge mounting mechanism 4; other driving mechanisms and transmission mechanisms capable of realizing telescopic movement can be adopted, and the mechanism is not limited in particular.

In some embodiments of the present invention, as shown in fig. 1, the collection box 8 with an open upper end is disposed on the vehicle body 1, as shown in fig. 3, a support plate 230 is disposed between the floors 200 loaded in the bin 2, and the support plate 230 is adapted to be laid on a single floor 200 together with the shorter floor 200 when the bin 2 is loaded with the shorter floor 200 and the single floor 200 at the same time, so that the floors 200 of each layer are kept horizontal and not inclined. Before the robot 30 sucks the shorter floor 200 from the magazine 2, the support plate 230 can be removed and placed in the collection magazine 8.

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 device comprises a vehicle body 1, a work bin 2, a mechanical arm 30, a positioning mechanism 31, a material taking assembly 32, a short edge mounting mechanism 4, a power box 5, an electric cabinet 6, a mechanical arm controller 7 and an air compressor 9.

As shown in fig. 1, the vehicle body 1 is an AGV vehicle body, and one mecanum wheel 13 is provided at each of four corners of the bottom of the vehicle body 1. The bottom of the vehicle body 1 is telescopically provided with a short-edge mounting mechanism 4 along the direction vertical to the advancing direction of the vehicle body 1, the upper part of the vehicle body 1 is provided with a power box 5 for providing electric power, an electric control box 6 for electric control processing, a mechanical arm controller 7 for controlling the movement of a mechanical arm 30, an air compressor 9 for providing vacuum suction for a suction cup 321 of a material taking assembly 32, a telescopic size-variable bin 2 and a rotatable mechanical arm 30.

As shown in fig. 2 and 6, the horizontal projection of the bin 2 when it is reduced to the minimum is located within the horizontal projection of the car body 1. As shown in fig. 4 and 5, the magazine 2 comprises: the automatic feeding device comprises a first bottom plate 21, a second bottom plate 22, a third bottom plate 23, a baffle plate 24 and a guide mechanism 25, wherein the first bottom plate 21 is connected to the vehicle body 1, the second bottom plate 22 is arranged on the first bottom plate 21 in a relatively movable mode so that the length of the bin 2 can be changed between a first length and a second length, the third bottom plate 23 is fixedly arranged on the first bottom plate 21, the third bottom plate 23 and the second bottom plate 22 are arranged along two opposite sides of the first bottom plate 21 in the length direction, and the upper surfaces of the second bottom plate 22 and the third bottom plate 23 are flush. As shown in fig. 4, a first insertion plate 231 is disposed on the end of the third bottom plate 23 facing the second bottom plate 22, a second insertion plate 221 is disposed on the end of the second bottom plate 22 facing the third bottom plate 23, and the first insertion plate 231 and the second insertion plate 221 are spliced together when the work bin 2 is at the first length. The short sides of the third bottom plate 23 and the second bottom plate 22 are respectively provided with a baffle plate 24 which is vertically arranged, the long sides of the third bottom plate 23 and the second bottom plate 22 are respectively provided with at least one baffle plate 24, and a loading space 201 for loading the floor 200 is formed among the first bottom plate 21, the third bottom plate 23, the second bottom plate 22 and the baffle plates 24. As shown in fig. 5, the magazine 2 further comprises: the guide mechanism 25, the guide mechanism 25 includes a slide rail 251 and a slide groove 252, one of the first bottom plate 21 and the second bottom plate 22 is provided with the slide rail 251, the other of the first bottom plate 21 and the second bottom plate 22 is provided with the slide groove 252, the slide rail 251 moves in the slide groove 252 in a matching manner, and the extending direction of the slide rail 251 is consistent with the length direction of the work bin 2.

As shown in fig. 1 and 3, the output end of the robot arm 30 is connected with a material taking assembly 32 and a positioning mechanism 31, wherein the material taking assembly 32 comprises a material taking connecting plate 322 and a plurality of suction cups 321, the material taking connecting plate 322 is connected to the output end of the robot arm 30, the plurality of suction cups 321 are arranged at the bottom of the material taking connecting plate 322 at intervals, and each suction cup 321 is connected to the air compressor 9 to form vacuum suction. The upper surface of the material taking connecting plate 322 is provided with a plurality of positioning mechanisms 31, and one end of each positioning mechanism 31 extends out and is clamped on the long edge 210 opposite to the long edge 210 to be installed of the floor 200.

As shown in FIG. 7, the short side mounting mechanism 4 is extended to push the short side 220 of the floor 200 to mount. Short side mounting mechanism 4 includes push plate 41, mounting plate 42 and elastic member 43, mounting plate 42 is telescopically coupled to vehicle body 1, elastic member 43 is coupled between mounting plate 42 and push plate 41, and elastic member 43 always drives push plate 41 to stop against short side 220 of floor 200.

In the process of changing the room 400 by laying the floor 200, as shown in fig. 6, when the floor installation robot 100 performs the installation work of the floor 200 indoors, it needs to pass through the long and narrow gallery 300 and the doorway 310 to enter the room 400 where the floor is to be installed. Firstly, the mechanical arm controller 7 controls the mechanical arm 30 to be accommodated above the vehicle body 1, and the horizontal projection of the mechanical arm 30 on the vehicle body 1 does not exceed the boundary of the vehicle body 1; meanwhile, the work bin 2 is unloaded, the second bottom plate 22 of the work bin 2 is contracted relative to the third bottom plate 23, the second insertion plate 221 and the first insertion plate 231 are in splicing fit, the work bin 2 is shortened to be shortest, and the horizontal projection of the work bin 2 on the car body 1 is positioned in the car body 1. At this time, the long side of the vehicle body 1 faces the corridor 300, the mecanum wheels 13 drive the vehicle body 1 to pass through the corridor 300, the mecanum wheels 13 turn 90 degrees in situ, the short side of the vehicle body 1 faces the doorway 310, and the mecanum wheels 13 drive the vehicle body 1 to enter the room 400 through the doorway 310.

The utility model discloses at the in-process of installation floor 200, as shown in fig. 7, the loading treats the floor 200 of installation in the workbin 2, and by the upper portion of getting workbin 2 of mechanical arm controller 7 control arm 30 rotation, air compressor 9 moves and makes sucking disc 321 produce vacuum suction and absorb floor 200, and positioning mechanism 31 fixes a position on the limit on floor 200 simultaneously. The robot arm 30 further drives the floor 200 to move to the to-be-installed position, the to-be-installed long edge 210 of the floor 200 is aligned with the notch of the long edge 210 of the installed floor 200, and then the electric cabinet 6 and the robot arm controller 7 drive the robot arm 30 to push the sucked floor 200 forward and obliquely so that the long edge 210 is installed in the installed floor 200. While the robot arm 30 presses down the floor 200 so that the floor 200 is at the same level. The electric cabinet 6 then controls the short side installation mechanism 4 to extend, and the vehicle body 1 moves in the long side direction of the floor 200 and drives the push plate 41 to push the short side 220 of the floor 200, so that the short side 220 of the floor 200 to be installed is embedded into the short side 220 of the floor 200 which is installed. The utility model discloses a floor installation robot 100 hinders the installation that the performance is strong, can realize the long limit 210 and the minor face 220 on floor 200 more, and the installation effectiveness is high, the installation is of high quality, greatly reduced hand labor power.

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.

Eight baffles 24 are shown in fig. 4 for illustrative purposes, but it will be apparent to those skilled in the art after reading the above disclosure that other number of baffles 24 may be used with the present disclosure, and still fall within the scope of the present disclosure.

The electrical control principle of other components of the floor mounted robot 100 according to the embodiment of the present invention, such as the mechanical arm 30 and the short edge mounting mechanism 4, is well 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 (10)

1. A floor mounted robot, comprising:

a vehicle body capable of driving in a reverse direction;

the bin is arranged on the vehicle body and used for loading the floor, and the size of the bin is telescopic in at least one direction of the length direction and the width direction of the vehicle body.

2. A floor mounted robot as claimed in claim 1, wherein the bin has a horizontal projection when it is at its smallest size, which lies within the horizontal projection of the vehicle body.

3. The floor mounted robot of claim 1, wherein the bin comprises: first bottom plate, second bottom plate and baffle, first bottom plate is connected on the automobile body, the second bottom plate is established relatively movablely on the first bottom plate so that the length of workbin changes between first length and second length, first bottom plate with be equipped with a plurality of baffles that upwards extend on the second bottom plate, first bottom plate, second bottom plate and form the loading space who is used for loading the floor between the baffle.

4. The floor mounted robot of claim 3, wherein the bin further comprises: the guide mechanism comprises a sliding rail and a sliding groove, the sliding rail is arranged on one of the first bottom plate and the second bottom plate, the sliding groove is arranged on the other one of the first bottom plate and the second bottom plate, and the sliding rail is matched with the sliding groove to move.

5. The floor mounted robot of claim 3, wherein the bin further comprises: the third bottom plate is arranged on the first bottom plate, the third bottom plate and the second bottom plate are arranged along two opposite edges of the first bottom plate in the length direction, and the upper surfaces of the second bottom plate and the third bottom plate are flush; wherein the content of the first and second substances,

and a first inserting plate is arranged at one end of the third bottom plate facing the second bottom plate, a second inserting plate is arranged at one end of the second bottom plate facing the third bottom plate, and the first inserting plate and the second inserting plate are spliced when the bin is at the first length.

6. The floor mounted robot of claim 3, wherein the first base plate is rectangular, the baffles are vertically disposed, at least one baffle is disposed on each base plate short side of the first base plate, and at least two baffles are disposed on each base plate long side of the first base plate.

7. The floor mounted robot of claim 1, wherein the vehicle body is formed as an AGV vehicle body, the bottom of which is provided with at least one mecanum wheel to effect pivot steering.

8. The floor mounting robot as claimed in claim 1, further comprising a mechanical arm movably disposed on the vehicle body, wherein the mechanical arm has an output end provided with a positioning mechanism and a material taking assembly, the material taking assembly includes a suction cup, the mechanical arm can drive the suction cup to suck the floor to mount the long edge of the floor, and the positioning mechanism is used for positioning the floor when the suction cup sucks the floor.

9. The floor mounted robot of claim 8, wherein the floor mounted robot has an obstacle crossing position in which a horizontal projection of the robotic arm is within a horizontal projection of the vehicle body.

10. A floor mounting robot according to any of claims 1-9, further comprising a short side mounting mechanism telescopically arranged at the bottom of the vehicle body, the short side mounting mechanism being adapted to push the short side of the floor to be mounted when extended.

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