CN215907321U

CN215907321U - Mechanical arm for brick paving robot

Info

Publication number: CN215907321U
Application number: CN202122090786.9U
Authority: CN
Inventors: 韩锋; 姜中飞; 孙颖; 孙洋; 张世强
Original assignee: Heilongjiang Chongqing Intelligent Building Technology Co ltd
Current assignee: Heilongjiang Chongqing Intelligent Building Technology Co ltd
Priority date: 2021-09-01
Filing date: 2021-09-01
Publication date: 2022-02-25
Anticipated expiration: 2031-09-01

Abstract

The utility model relates to a mechanical arm for a brick paving robot. At present, current mechanical arm structure singleness of snatching generally snatchs the ceramic tile through the manipulator of arm tip, causes the ceramic tile landing very easily, causes the ceramic tile breakage even, and simultaneously, the arm volume and the consumption that use at present are big, appear a great deal of problems such as inflexible in the in-service use journey, have brought certain limitation when using. A robotic arm for a tile paving robot, comprising: mechanical arm subassembly and sucking disc subassembly, mechanical arm subassembly comprises hand (1), wrist joint (2), arm (3), stand (4), and the sucking disc subassembly is by aluminium dish (8), cylindricality mounting bracket (9), a set of vacuum chuck (10) and a set of Z type clamp plate (11), and the cylindricality mounting bracket is connected with the aluminium dish intermediate position is perpendicular. The utility model is applied to the field of brick paving robots.

Description

Mechanical arm for brick paving robot

Technical Field

The utility model relates to a mechanical arm for a brick paving robot.

Background

The tiling operation of building trade generally relies on the manual work completely, and its degree of automation is low, and work efficiency is low, consequently, can replace the manual work to carry out the ceramic tile and lay, realizes that automatic, intelligent tiling equipment very accords with market demand. At present, current tile paving snatchs robotic arm single structure, generally snatchs the ceramic tile through the manipulator of arm tip, causes the ceramic tile landing very easily, causes the ceramic tile breakage even, and simultaneously, the arm volume and the consumption that use at present are big, and a great deal of problems such as inflexible appear in the in-service use journey have brought certain limitation when using.

Disclosure of Invention

The utility model aims to provide a mechanical arm for a tile paving robot.

The above purpose is realized by the following technical scheme:

a robotic arm for a tile paving robot, comprising: the mechanical arm assembly comprises a hand, a wrist joint, an arm and a stand column, wherein one end of the hand is fixedly connected with the sucker assembly, the other end of the hand is rotatably connected with one end of the wrist joint, the other end of the wrist joint is longitudinally and rotatably connected with the arm, the bottom of the arm is connected with the stand column, the stand column is fixedly connected with a base, the base is fixedly connected with a walking vehicle through a group of bolt assemblies, the upper end of the arm is connected with a vacuum pump, the arm is a six-shaft mechanical arm, and the arm is connected with a cable, a threading air pipe and a protective sleeve, wherein the threading of the air pipe is connected with the vacuum pump, and the cable, the threading of the air pipe and the protective sleeve are connected with an arm control box;

the arm consists of a waist joint, a big arm and a small arm, the waist joint is rotatably connected with one end of the big arm, and the other end of the big arm is rotatably connected with the small arm;

the sucking disc subassembly by aluminum tray, cylindricality mounting bracket, a set of vacuum chuck and a set of Z type clamp plate, the cylindricality mounting bracket with the aluminum tray intermediate position connect perpendicularly, the aluminum tray through a set of bolt assembly with hand fixed connection, a set of vacuum chuck through a set of Z type clamp plate fixed connection four right angle positions near the aluminum tray.

The mechanical arm for the brick paving robot is characterized in that the aluminum disc is respectively connected with a vacuum pressure relief electromagnetic valve, a vacuum switch, a level sensor, a vision sensor and a high-precision laser ranging sensor, wherein the vision sensor is fixedly connected with the aluminum disc through a double-lug mounting frame.

The mechanical arm for the brick paving robot is characterized in that a scraper and a spray head are connected below the aluminum disc, and a high-frequency vibration motor is installed on the outer side of the aluminum disc.

The mechanical arm for the brick paving robot is characterized in that the aluminum plate is of a rectangular structure, four round holes are formed in the aluminum plate, and the round holes are penetrated through the suction cup of the vacuum suction cup.

The utility model has the following beneficial effects:

1. the mechanical arm of the tile paving robot can enable the robot to quickly grab and lay tiles through the vacuum chuck by utilizing visual positioning, high-precision laser ranging, a horizontal sensor and computer programming; the paving robot adopts six industrial mechanical arms to grab and pave the floor tiles, has a response time period, is rapid in action, high in speed and accuracy, is less influenced in quality, does not stop in the operation process of the robot, does not have a rest, improves the automatic production efficiency, and replaces manpower by the large-scale intelligent ceramic tile paving robot at high risk, and is released from heavy physical labor. The operation precision and the efficiency that the ceramic tile was spread to paste can be improved to cooperation high-frequency vibration and lasting pressing force when laying, reach the effect that the ceramic tile was laid to the manual work, reduce site operation personnel's quantity, avoided the emergence probability of incident, reduce construction overall cost.

2. The working principle of the utility model is as follows:

(1) adjusting the operation state from the initial position; the arm stretches out and seeks preceding ceramic tile position, confirms next brick through vision camera, high accuracy laser range finder and level sensor and lays the position, and the arm can be controlled the scraper simultaneously and carry out the ditch scraping and the whitewashing operation on ground.

(2) And after the scraping and guniting operations are finished, the mechanical arm is adjusted to the rear end of the mobile platform to perform brick taking action.

(3) And the mechanical arm rotates to the rear end of the mobile platform, and is corrected through the vision camera, the high-precision laser range finder and the horizontal sensor to determine the brick taking position.

(4) After the mechanical arm is corrected, the mechanical arm vertically descends to the position of the ceramic tile to control the vacuum chuck to grab the ceramic tile through the air cylinder (air compression device).

(5) Transfer position moving platform front end after the robot snatchs the ceramic tile, the arm passes through vision camera, high accuracy laser range finder and level sensor, provides accurate location at the ceramic tile laying process.

(6) The arm is pressing the in-process down, opens four high frequency vibration motors, and the arm lasts down according to the power, and the cooperation high frequency vibration power guarantees that the bed course descends about 5 mm.

(7) After the ceramic tile is continuously pressed and vibrated, the vacuum pump is closed and the exhaust valve is opened after the ceramic tile reaches a preset position, and when the vacuum sucker is completely released, the mechanical arm is slowly lifted and moves to an initial position.

3. According to the utility model, the ceramic tile is paved at a specified position through a vision and high-precision distance measuring sensor, a horizontal sensor and the like; then through the accurate location of finding of visual identification function, can be accurate find the position that the ceramic tile laid, make the operation precision reach the construction demand. The high-frequency vibration and damping system can meet the requirements of ceramic tile paving on the settleability and compactness of the cushion layer and can reduce the damage of the high-frequency vibration to the mechanical arm and the sensor. The ceramic tile automatic plastering robot and the material conveying robot are accurately matched to realize full-automatic paving and pasting of the ceramic tile.

Drawings

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

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of a robot arm assembly;

FIG. 3 is a front view of FIG. 2;

FIG. 4 is a right side view of FIG. 3;

FIG. 5 is a top view of FIG. 3;

FIG. 6 is a schematic structural view of the chuck assembly;

FIG. 7 is a front view of FIG. 6;

FIG. 8 is a top view of FIG. 6;

FIG. 9 is a schematic view of the sensor-mounted structure of FIG. 6;

in the figure: 1. the device comprises a hand, 2, a wrist joint, 3, an arm, 4, a stand column, 5, a base, 6, a vacuum pump, 7, a trachea threading and protecting sleeve, 8, an aluminum disc, 9, a cylindrical mounting rack, 10, a vacuum sucker, 11, a Z-shaped pressing plate, 12, a vacuum pressure relief electromagnetic valve, 13, a vacuum switch, 14, a level sensor, 15, a vision sensor, 16, a high-precision laser ranging sensor, 17, a double-lug mounting rack, 18, a high-frequency vibration motor, 19, a floor tile, 20, a scraper, 3-1, a waist joint, 3-2, a big arm, 3-3 and a small arm.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

Example 1:

a robotic arm for a tile paving robot, comprising: the mechanical arm assembly comprises a hand 1, a wrist joint 2, an arm 3 and a stand column 4, wherein one end of the hand is fixedly connected with the sucker assembly, the other end of the hand is rotatably connected with one end of the wrist joint, the other end of the wrist joint is longitudinally and rotatably connected with the arm, the bottom of the arm is connected with the stand column, the stand column is fixedly connected with a base 5, the base is fixedly connected with a walking vehicle through a group of bolt assemblies, the upper end of the arm is connected with a vacuum pump 6, the arm is a six-axis mechanical arm, the arm is connected with a cable, an air pipe threading and protecting sleeve 7, the air pipe threading and the vacuum pump are connected, and the cable, the air pipe threading and the protecting sleeve are connected with an arm control box;

the arm consists of a waist joint 3-1, a big arm 3-2 and a small arm 3-3, wherein the waist joint is rotatably connected with one end of the big arm, and the other end of the big arm is rotatably connected with the small arm;

the sucking disc subassembly by aluminum tray 8, cylindricality mounting bracket 9, a set of vacuum chuck 10 and a set of Z type clamp plate 11, the cylindricality mounting bracket with the aluminum tray intermediate position connect perpendicularly, the aluminum tray through a set of bolt assembly with hand fixed connection, a set of vacuum chuck through a set of Z type clamp plate fixed connection four right angle positions near the aluminum tray.

Example 2:

according to the mechanical arm for the tile paving robot in the embodiment 1, the aluminum plate is respectively connected with a vacuum pressure relief electromagnetic valve 12, a vacuum switch 13, a level sensor 14, a vision sensor 15 and a high-precision laser distance sensor 16, wherein the vision sensor is fixedly connected with the aluminum plate through a double-lug mounting frame 17.

Example 3:

according to the mechanical arm for the tile paving robot in the

embodiment

1 or 2, the scraper 20 is connected to the lower portion of the aluminum disc, and the high-frequency vibration motor 18 is installed on the outer side of the aluminum disc.

Example 4:

according to the mechanical arm for the tile paving robot in the

embodiment

1, 2 or 3, the aluminum plate is of a rectangular structure, four round holes are formed in the aluminum plate, and the suction cup of the vacuum suction cup penetrates through the round holes.

Example 5:

(1) horizontal precision of the sucker: 0.5 degrees;

(2) the repeated positioning accuracy of +/-0.4 mm;

(3) a working radius of 1442 mm;

(4) the range of the hand turning motion is-180 degrees to 180 degrees, and the maximum speed is 240 deg/s;

(5) the range of waist joint rotation is-165 degrees to 230 degrees, and the maximum speed is 150 deg/s;

(6) the range of motion of the forearm is-130 DEG to 260 DEG, and the maximum speed is 150 deg/s;

(7) the range of motion of the large arm is-75 degrees to 150 degrees, and the maximum speed is 150 deg/s;

(8) the movement range of the wrist pendulum is-105 degrees to 210 degrees, and the maximum speed of the wrist pendulum is 240 deg/s;

(9) the wrist rotation is in the range of-180 to 180 deg. and has a maximum speed of 150 deg/s.

Claims

1. A robotic arm for a tile paving robot, comprising: the mechanical arm assembly is characterized by comprising a hand, a wrist joint, an arm and a stand column, wherein one end of the hand is fixedly connected with the sucker assembly, the other end of the hand is rotatably connected with one end of the wrist joint, the other end of the wrist joint is longitudinally and rotatably connected with the arm, the bottom of the arm is connected with the stand column, the stand column is fixedly connected with a base, the base is fixedly connected with a walking vehicle through a group of bolt assemblies, the upper end of the arm is connected with a vacuum pump, the arm is a six-axis mechanical arm, and the arm is connected with a cable, an air pipe threading and protecting sleeve, wherein the air pipe threading is connected with the vacuum pump, and the cable, the air pipe threading and protecting sleeve are connected with an arm control box;

2. A robotic arm for a tile laying robot as claimed in claim 1, wherein: the aluminum plate is respectively connected with a vacuum pressure relief solenoid valve, a vacuum switch, a level sensor, a vision sensor and a high-precision laser ranging sensor, wherein the vision sensor is fixedly connected with the aluminum plate through a double-lug mounting frame.

3. A robotic arm for a tile laying robot as claimed in claim 2, wherein: the lower part of the aluminum plate is connected with a scraper and a spray head, and the outer side of the aluminum plate is provided with a high-frequency vibration motor.

4. A robotic arm for a tile laying robot as claimed in claim 3, wherein: the aluminum plate is of a rectangular structure, four round holes are formed in the aluminum plate, and the round holes are penetrated through the positions of the suckers of the vacuum suckers.