CN212773330U

CN212773330U - Double-suction-disc tile-pasting mechanical arm

Info

Publication number: CN212773330U
Application number: CN202021191539.7U
Authority: CN
Inventors: 郭强; 张仲华; 齐贺; 全春楼; 郭慧敏; 王欣博; 王玺; 张一�
Original assignee: China Construction Science and Technology Group Co Ltd; China Construction Science and Technology Group Co Ltd Shenzhen Branch
Current assignee: China Construction Science and Technology Group Co Ltd; China Construction Science and Technology Group Co Ltd Shenzhen Branch
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2021-03-23
Anticipated expiration: 2030-06-23

Abstract

The utility model provides a double suction cup tile-sticking manipulator, including extension arm, two sucking disc tongs and controller, the one end of extension arm is used for with this body coupling of robot, and a sucking disc tongs is installed respectively to the both sides of the extension arm other end. The suction cup gripper includes a reach bar, a vacuum suction cup, and a vacuum generator system. The working state of the vacuum generator system is controlled to form negative air pressure in the vacuum chuck to suck the ceramic tile or form zero air pressure/positive air pressure to separate from the ceramic tile. The utility model provides a tiling manipulator can effectively replace artifical tiling, realizes that the construction changes to the industrialization, can make the ceramic tile effect of laying unified, satisfies construction quality requirement, practices thrift the cost of labor, reduces the pollution of work progress to workman's harm. And simultaneously, the utility model discloses have two sucking disc tongs, in a reciprocating motion's displacement, can snatch two ceramic tiles, compare in single sucking disc tongs, can further improve work efficiency, reduction of erection time.

Description

Double-suction-disc tile-pasting mechanical arm

Technical Field

The utility model belongs to the construction field especially relates to a double suction disc tiling manipulator.

Background

The existing building construction process mainly adopts manual work to paste ceramic tiles. The manual tile pasting process mainly has the following defects:

the working environment is poor in the building construction process, and harmful substances generated in the construction process damage the health of workers. Meanwhile, the experience level of the construction of workers is uneven, the product quality varies from person to person, and the quality and the appearance of the ceramic tiles pasted by different workers are greatly different. The speed of worker's construction is relatively slow, and work efficiency is relatively low. Finally, labor costs are becoming higher and higher with the development of society. In order to reduce labor cost for enterprises, the development of a mechanical automatic tile-sticking device is urgently needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a double suction disc tiling manipulator is provided, aim at adopting the product quality that artifical mode tiling exists among the prior art uneven, work efficiency is lower and the problem that the cost of labor is high.

The utility model discloses a double suction cup tile sticking manipulator, which comprises a lengthened arm, two suction cup grippers and a controller, wherein one end of the lengthened arm is used for being connected with a robot body, and two sides of the other end of the lengthened arm are respectively provided with one suction cup gripper;

the sucker gripper comprises an extension rod, a vacuum sucker and a vacuum generator system; the length directions of the extension rods of the sucker grippers on the two sides are perpendicular to the length direction of the lengthening arm, one end of each extension rod is fixedly connected with the lengthening arm, and the other end of each extension rod is fixedly connected with the vacuum sucker;

the vacuum generator system is electrically connected with the controller, and the controller controls the working state of the vacuum generator system to enable negative air pressure to be formed in the vacuum sucker to suck the ceramic tile or enable zero air pressure/positive air pressure to be separated from the ceramic tile.

Further, the double-sucker tile sticking manipulator further comprises a detector used for judging whether a tile exists or not, the detector is electrically connected with the controller, and when the detector detects the tile, the controller controls the vacuum generator system to suck, so that negative air pressure is formed inside the vacuum sucker to suck the tile.

Further, the detector is a photoelectric sensor, the photoelectric sensor is provided with an optical transmitter and an optical receiver, the optical transmitter is installed on the sucker hand grip, the optical transmitter emits an optical beam to the target material frame, if a ceramic tile exists in the target material frame, the optical beam is blocked by the ceramic tile and cannot enter the optical receiver, the controller judges whether the ceramic tile exists in the target material frame or not according to the detected signal, and if the ceramic tile exists in the target material frame, the controller controls the sucker hand grip to suck.

Further, the double-sucker tile sticking manipulator further comprises a vision capturing system used for assisting in positioning the position of a to-be-stuck tile, the vision capturing system is electrically connected with the controller, and the vision capturing system comprises a telescopic cylinder, a guide rail and a camera assembly; when the telescopic cylinder works, the camera assembly can be driven to slide along the guide rail so as to adjust the position of the camera assembly.

Further, the sucker gripper also comprises a guide shaft support, a plurality of springs, a plurality of guide shafts, a guide shaft mounting rack, a connecting flange and a sucker mounting plate; the guide shaft support is sleeved on the periphery of the extension rod and used for connecting the extension rod with the connecting flange, the top end of the guide shaft penetrates through the connecting flange to be installed on the guide shaft mounting frame, the bottom end of the guide shaft penetrates through the sucker mounting plate and is in bolted connection with the sucker mounting plate, the spring is sleeved on the periphery of the guide shaft, and the vacuum sucker is fixed to the bottom of the sucker mounting plate.

Compared with the prior art, the utility model, beneficial effect lies in:

the utility model provides a double suction disc tile-sticking mechanical hand can effectively replace artifical tile-sticking, realizes that the construction changes to the industrialization, can make the ceramic tile effect of laying unified, satisfies construction quality requirement, practices thrift the cost of labor, reduces the pollution of work progress to workman's harm. And simultaneously, the utility model discloses have two sucking disc tongs, in a reciprocating motion's displacement, can snatch two ceramic tiles, compare in single sucking disc tongs, can further improve work efficiency, reduction of erection time.

Drawings

Fig. 1 is a schematic perspective view of a double-suction-tray tile-pasting manipulator provided by an embodiment of the present invention;

FIG. 2 is an exploded view of the dual suction cup tile robot of FIG. 1;

FIG. 3 is a schematic view of a suction cup gripper of the dual suction cup tiling robot of FIG. 1;

FIG. 4 is a schematic view of the double suction cup tile sticking robot of FIG. 1 sucking a tile;

fig. 5 is a schematic view of the first suction cup gripper of the double suction cup tile sticking robot shown in fig. 1 after the tile is stuck.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Please refer to fig. 1 and 2, which illustrate a preferred embodiment of the present invention, a double-chuck tile-pasting manipulator, which comprises an elongated arm 1, two chuck grippers 2, a controller, a detector for determining whether there is a tile and a vision capturing system for assisting in positioning the position of the tile to be pasted. One end of the lengthened arm 1 is used for being connected with the robot body, and two sides of the other end of the lengthened arm 1 are respectively provided with a sucker gripper 2.

Referring to fig. 3, the suction cup gripper 2 includes a protruding rod 21, a vacuum suction cup 22, a vacuum generator system 23, a guide shaft support 24, a plurality of springs 25, a plurality of guide shafts 26, a connecting flange 27, a suction cup mounting plate 28, and a guide shaft mounting bracket 29.

The length direction of the extension rod 21 of the sucker grippers 2 on the two sides is perpendicular to the length direction of the lengthened arm 1, one end of the extension rod 21 is fixedly connected with the lengthened arm 1, and the other end of the extension rod 21 is fixedly connected with the connecting flange 27.

The vacuum generator system 23 is electrically connected to the controller, and the controller controls the operating state of the vacuum generator system 23 to form a negative pressure in the vacuum chuck 22 to suck the tile 200 or to form a zero/positive pressure to separate from the tile 200.

The detector is electrically connected with the controller, and when the detector detects the ceramic tile, the controller controls the vacuum generator system 23 to suck, so that negative air pressure is formed inside the vacuum suction cup 22, and the ceramic tile 200 is sucked. Optionally, the detector of this embodiment is a photoelectric sensor, the photoelectric sensor has an optical transmitter and an optical receiver, the optical transmitter is installed on the chuck gripper 2, the optical transmitter transmits an optical beam to the target frame, if there is a tile 200 in the target frame, the optical beam is blocked by the tile 200 and cannot enter the optical receiver, the controller determines whether there is a tile 200 in the target frame according to the detected signal, and if there is a tile 200 in the target frame, the controller controls the chuck gripper 2 to suck.

The guide shaft support 24 is fitted over the periphery of the extension bar 21 and is used to connect the extension bar 21 to the connecting flange 27. The top end of the guide shaft 26 passes through the connecting flange 27 and is fixedly installed on the guide shaft installation frame 29, the bottom end of the guide shaft 26 passes through the suction cup installation plate 28 and is in bolt connection with the suction cup installation plate 28, the spring 25 is sleeved on the periphery of the guide shaft 26, and the vacuum suction cup 22 is fixed at the bottom of the suction cup installation plate 28.

The vision capturing system is electrically connected with the controller, and comprises a telescopic cylinder 31, a guide rail 32, a camera assembly 33 and a camera fixing plate 34; when the telescopic cylinder 31 is operated, the camera assembly 33 can be driven to slide along the guide rail 32, so as to adjust the position of the camera assembly 33. In the tile 200 pasting process, the camera module 33 starts to be in an extended state, the camera module 33 collects image information of the tile 200 at that time and transmits the image information to the controller, the controller compares the received image information with image information of a target orientation stored inside, and then controls the manipulator to move so that the orientation of the tile 200 matches the set target orientation. After the detection positioning is completed, the camera assembly 33 is retracted and the controller controls the manipulator to move to the next step of tiling 200.

The two suction cup grippers of this embodiment are separate operations in gripping and tiling the tile 200.

The working process of the sucker gripper in the grabbing process is as follows:

when the first sucker gripper needs to grab the ceramic tile 200, after the first sucker gripper is positioned at the position of the ceramic tile 200 according to the path, the light transmitter on the sucker gripper transmits a light beam to a target material frame, whether the ceramic tile 200 exists in the material frame is judged according to the detected signal, if so, the first sucker gripper carries out grabbing, and if not, the first sucker gripper moves to the next ceramic tile positioning position (the next material frame) to carry out detection until the position of the ceramic tile 200 is detected. The suction cup gripper can perform the work of gripping the tile 200. The controller controls the vacuum generator system 23 to be started to generate vacuum, the vacuum sucker 22 generates vacuum, the ceramic tile 200 is adsorbed on the sucker gripper, and the vacuum sucker 22 can grab the ceramic tile 200.

After the first sucker gripper finishes gripping the ceramic tile 200, the manipulator rotates by 180 degrees, the second sucker gripper starts working, and the working process is the same as that of the first sucker gripper.

After the two sucker grippers complete the gripping work (as shown in fig. 4), the work of tiling 200 is started, and the working process of the tiling 200 is as follows:

after the sucker gripper is positioned to the position where the tile needs to be pasted according to the path, the controller controls the vision capturing system to start working, and the telescopic cylinder 31 can drive the camera fixing plate 34 to move along the guide rail 32, so that the camera assembly 33 is driven to move, and the position of the camera assembly 33 is adjusted. In the tile tiling process 200, the camera module 33 starts to be in the extended state, and after the detection positioning function is completed, the camera module 33 is retracted. The system control proceeds to the next tiling 200. A spring 25 is arranged above the vacuum sucker 22, and can press the ceramic tile 200 when the ceramic tile 200 is pasted, so that the ceramic tile 200 is completely pasted with the ground. After the operation of tiling 200 is completed, the vacuum generator system 23 controls the first sucker gripper to smoothly inflate into the vacuum sucker 22, so that the air pressure in the vacuum sucker 22 is changed from negative air pressure to zero air pressure or slightly positive air pressure, the vacuum sucker 22 is separated from the tiling 200, and the tiling 200 falls off on the ground, thereby completing the work of tiling 200.

After the first suction cup gripper completes the work of tiling 200 (as shown in fig. 5), the manipulator rotates 180 degrees, and the second suction cup gripper starts to work, which is the same as the first suction cup gripper in the work process.

Therefore, the double-suction-disc tile-sticking mechanical arm can effectively replace manual tile sticking 200, the conversion from building construction to industrialization is realized, the effect of the laid tiles 200 can be unified, the construction quality requirement is met, the labor cost is saved, and the harm of pollution in the construction process to workers is reduced.

Simultaneously, compare in the manipulator that only has a sucking disc tongs, the manipulator of this embodiment has two sucking disc tongs, in a reciprocating motion's displacement, can snatch two ceramic tiles 200, can further improve work efficiency, reduction of erection time.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. The double-sucker tile-sticking manipulator is characterized by comprising a lengthened arm, two sucker grippers and a controller, wherein one end of the lengthened arm is used for being connected with a robot body, and the two sides of the other end of the lengthened arm are respectively provided with one sucker gripper;

2. The double suction cup tile attaching robot of claim 1, further comprising a detector for determining whether there is a tile, wherein the detector is electrically connected to the controller, and when the detector detects a tile, the controller controls the vacuum generator system to pump, so that a negative pressure is formed inside the vacuum suction cup to suck the tile.

3. The double suction cup tile attaching robot as claimed in claim 2, wherein the detector is a photo sensor having a light transmitter and a light receiver, the light transmitter is installed on the suction cup gripper, the light transmitter emits a light beam to a target frame, the light beam is blocked by a tile and cannot enter the light receiver if the target frame has a tile, the controller determines whether the target frame has a tile according to the detected signal, and controls the suction cup gripper to perform suction if the target frame has a tile.

4. The dual-chuck tile-setting robot of claim 1, further comprising a vision capture system for assisting in positioning a location to be set, the vision capture system being electrically connected to the controller, the vision capture system comprising a telescopic cylinder, a guide rail, and a camera assembly; when the telescopic cylinder works, the camera assembly can be driven to slide along the guide rail so as to adjust the position of the camera assembly.

5. The double suction cup tile sticking robot of any one of claims 1 to 4, wherein the suction cup hand further comprises a guide shaft support, a plurality of springs, a plurality of guide shafts, a guide shaft mounting bracket, a connecting flange, and a suction cup mounting plate; the guide shaft support is sleeved on the periphery of the extension rod and used for connecting the extension rod with the connecting flange, the top end of the guide shaft penetrates through the connecting flange to be installed on the guide shaft mounting frame, the bottom end of the guide shaft penetrates through the sucker mounting plate and is in bolted connection with the sucker mounting plate, the spring is sleeved on the periphery of the guide shaft, and the vacuum sucker is fixed to the bottom of the sucker mounting plate.