CN216076171U

CN216076171U - Intelligent tile paving and pasting robot

Info

Publication number: CN216076171U
Application number: CN202122093295.XU
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: 2022-03-18
Anticipated expiration: 2031-09-01

Abstract

The utility model relates to an intelligent tile paving and pasting robot. At present, the traditional tile paving operation is mainly completed by manual operation and some auxiliary instruments, and is time-consuming and labor-consuming, and the labor cost is extremely high. The utility model provides a ceramic tile intelligence is spread and is pasted robot, its constitution includes: arm mechanism (1), vacuum mechanism (2) and automatic walking dolly (3), base (4) fixed connection through a set of bolt assembly and arm mechanism is passed through to the top of automatic walking dolly, the base passes through stand (5) and is connected with the arm, the tip and the vacuum mechanism of arm mechanism rotate to be connected, on the casing of automatic walking dolly with get brick support (6) fixed connection, get one side of brick support and install AGV control box (7) and arm mechanism control box (8), and arm mechanism control box places in the top of automatic walking dolly, electrical power generating system is installed to the rear end of automatic walking dolly. The utility model is applied to the field of building electricity.

Description

Intelligent tile paving and pasting robot

Technical Field

The utility model relates to an intelligent tile paving and pasting robot.

Background

Under the large background of high-speed development of the current building industry, the labor cost in the technical field of building decoration is greatly increased, the decoration requirement and the installation requirement are increased day by day, and the realization of less-humanized and unmanned decoration by utilizing the robot technology is a development trend. The comprehensive development of intelligent robots has been deeply carried out in the building field, which is also a key field of related development and research work. In various building spaces, there are often many floors and walls, etc. such as large malls, swimming pools and workshops, where large tiles need to be laid. The automatic tile pasting robot can relieve corresponding labor pressure and save economic cost.

At present, the traditional tile paving operation is mainly completed by manual operation and some auxiliary instruments, and is time-consuming and labor-consuming, and the labor cost is extremely high.

Disclosure of Invention

The utility model aims to provide an intelligent tile paving robot.

The above purpose is realized by the following technical scheme:

the utility model provides a ceramic tile intelligence is spread and is pasted robot, its constitution includes: mechanical arm mechanism, vacuum mechanism and automatic walking dolly, the top of automatic walking dolly through a set of bolt assembly with mechanical arm mechanism's base fixed connection, the base pass through the stand and be connected with the arm, mechanical arm mechanism's tip with vacuum mechanism rotate and be connected, automatic walking dolly on the casing with get brick support fixed connection, get one side of brick support and install AGV control box and mechanical arm mechanism control box, just mechanical arm mechanism control box place in automatic walking dolly's top, automatic walking dolly's rear end install electrical power generating system, automatic walking dolly, mechanical arm mechanism and vacuum mechanism constitute ceramic tile intelligence and spread the robot as an organic whole, walking dolly in install control platform and communication system, as a control and data acquisition system.

Ceramic tile intelligence spread pastes robot, arm mechanism constitute by waist joint, big arm, forearm, wrist joint and hand, waist joint be connected with big arm one end, the other end of big arm is connected with the one end of forearm, the other end and the hand of forearm are connected.

Ceramic tile intelligence spread pastes robot, vacuum mechanism constitute by aluminium dish, a set of vacuum chuck and cylindricality mounting bracket, a set of vacuum chuck with aluminium dish fixed connection, the cylindricality mounting bracket with the intermediate position of aluminium dish connect.

The intelligent tile paving and pasting robot is characterized in that the automatic walking trolley consists of a steering wheel and an omnidirectional wheel, and a double-steering-wheel moving driving structure is formed by the steering wheel and the omnidirectional wheel.

The utility model has the following beneficial effects:

1. the automatic tile paving and pasting robot is provided with the laser radar and the obstacle avoidance system, autonomous navigation can be realized, the robot is controlled to reach a specified place through the control platform, then, a groove scraping and slurry spraying are realized through a scraper on a mechanical arm, a vacuum chuck is controlled to grab a tile, and the 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. It includes the automatic overall dimension who spreads the robot of ceramic tile: 1200 x 700 x 1700 (length x width x height), capable of forward, reverse, left, right, turning and turning in place, loaded 500 kg.

3. The utility model belongs to a mechanical device for building installation, which mainly comprises a walking trolley, a six-axis mechanical arm, a vision positioning system, a high-precision laser ranging system, a vehicle body stable supporting system, a data communication server system, a high-frequency vibration and shock absorption system, a vacuum chuck system, a control platform and the like. The intelligent large-scale ceramic tile paving and pasting robot integrates a plurality of existing mature designs and technologies, overcomes the defect of manual large-scale ceramic tile paving, reduces the working intensity and labor pressure of construction and installation personnel, greatly accelerates the construction progress and saves the economic cost. The intelligent large-scale ceramic tile paving robot can be used for installing and pasting a ceramic tile on a floor according to the standards, the specifications and the processes, so that the construction quality is ensured, and the environmental protection requirement in the construction process is met.

4. The utility model is applied to the field of building decoration, in particular to a technology for paving and pasting large-sized ceramic tiles such as 800X 800, 600X 600 and the like, and relates to an automatic paving and pasting robot method for the large-sized ceramic tiles and a corresponding robot technology. Meanwhile, the small-sized ceramic tiles can be paved by changing the size of the vacuum sucker.

5. The robot can quickly grab and lay the ceramic 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.

6. The utility model has the following advantages: the tile paving efficiency is higher, and the phenomenon of efficiency reduction caused by the increase of time can be avoided; the vision, the sensor and the high-precision algorithm are used for replacing human eyes and measuring tools, and the space position of the ceramic tile is adjusted in real time, so that higher ceramic tile paving precision is achieved; the method has the advantages that the method replaces manual work in a severe construction environment, reduces the labor intensity of the manual work, ensures the safety and health of constructors and improves the working quality; the tile paving effect is optimized through reasonable motion planning and refined operation, the paving success rate is enhanced, the waste of building materials is reduced, and the building cost is reduced.

7. According to the automatic tile paving and pasting robot, the AGV trolley is combined with the mechanical arm, and the automatic tile paving and pasting robot can automatically lay tiles in a large space by cooperating with the automatic plastering robot and the raw material conveying robot for automatically paving and pasting the tiles, so that the number of operators is greatly reduced, and the automatic tile paving and pasting robot has the advantages of high efficiency and low cost. The method is suitable for the requirements of building markets which lack labor service personnel or have short construction period, can finish the quick and accurate decoration of the whole building by only 2-3 persons in the whole process, and has the advantages of short construction period, good quality and no material waste.

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 front view of FIG. 1;

FIG. 3 is a top view of FIG. 1;

FIG. 4 is a left side view of FIG. 1;

in the figure: 1. the automatic brick taking device comprises a mechanical arm mechanism, 2, a vacuum mechanism, 3, an automatic walking trolley, 4, a base, 5, a stand column, 6, a brick taking support, 7, an AGV control box, 8, a mechanical arm mechanism control box, 9, an obstacle avoiding system, 10, a cable, a gas pipe threading and protecting sleeve, 11, a vacuum pump, 1-1, a waist joint, 1-2, a large arm, 1-3, a small arm, 1-4, a wrist joint, 1-5, a hand, 2-1, an aluminum disc, 2-2, a vacuum sucker, 2-3, a cylindrical mounting rack, 3-1, a steering wheel, 3-2 and an omnidirectional wheel.

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:

the utility model provides a ceramic tile intelligence is spread and is pasted robot, its constitution includes: mechanical arm mechanism 1, vacuum mechanism 2 and automatic walking dolly 3, the top of automatic walking dolly through a set of bolt assembly with mechanical arm mechanism's base 4 fixed connection, the base pass through stand 5 and be connected with the arm, mechanical arm mechanism's tip with vacuum mechanism rotate and be connected, automatic walking dolly on the casing with get brick support 6 fixed connection, get one side of brick support and install AGV control box 7 and mechanical arm mechanism control box 8, just mechanical arm mechanism control box place the top of automatic walking dolly, automatic walking dolly's rear end install electrical power generating system, automatic walking dolly, mechanical arm mechanism with vacuum mechanism constitute ceramic tile intelligence and spread the robot as an organic whole, walking dolly in install control platform and communication system, as a control and data acquisition system.

Example 2:

the intelligent tile paving and pasting robot comprises a mechanical arm mechanism and a vacuum pump mechanical arm assembly, wherein the mechanical arm mechanism comprises a waist joint 1-1, a large arm 1-2, a small arm 1-3, a wrist joint 1-4 and a hand 1-5, the waist joint is connected with one end of the large arm, the other end of the large arm is connected with one end of the small arm, the other end of the small arm is connected with the hand, the mechanical arm assembly is further connected with the vacuum pump mechanical arm assembly which is a six-shaft mechanical arm, the mechanical arm assembly is connected with a cable, a trachea threading and a protective sleeve, the trachea threading is connected with the vacuum pump, and the cable, the trachea threading and the protective sleeve are connected with an arm control box.

Example 3:

the intelligent tile paving and pasting robot comprises a vacuum mechanism and a control system, wherein the vacuum mechanism consists of an aluminum plate 2-1, a group of vacuum suction cups 2-2 and a cylindrical mounting rack 2-3, the group of vacuum suction cups is fixedly connected with the aluminum plate, and the cylindrical mounting rack is connected with the middle position of the aluminum plate; wherein the aluminum disc of the vacuum mechanism 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, the lower part of the aluminum disc is connected with a scraper and a spray head, and the outer side of the aluminum disc is provided with a high-frequency vibration motor.

Example 4:

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

embodiment

1, 2 or 3, the automatic walking trolley is composed of a steering wheel 3-1 and an omnidirectional wheel 3-2, and a double-steering-wheel moving driving structure is formed by the steering wheel and the omnidirectional wheel. The bottom of the automatic walking trolley is connected with a trolley body stable supporting system, a control platform placing area of the automatic walking trolley is provided with a laser navigation device, the laser navigation device comprises a group of point laser measuring heads, an obstacle avoiding system 9 is arranged in an obstacle avoiding system mounting hole of the automatic walking trolley, and the head and the tail of the automatic walking trolley are respectively connected with a collision switch with a bar structure.

Example 5:

the robot drives the point laser measuring head to move across a fixed track in space by adopting the point laser, and the geometric dimension of a room and the position information of the trolley can be obtained according to the change of a signal value of the point laser sensor, so that the position of the tile to be paved is calculated. Meanwhile, in cooperation with the obstacle avoidance system, when the robot senses that static or dynamic obstacles exist on a planned route through a sensor in the walking process, the route is updated in real time according to a certain algorithm to bypass the obstacles, and finally the purpose is achieved. The technology has the advantages of high precision, almost no influence of illumination conditions, low cost, high efficiency, simple algorithm and the like, can be well used in a dark environment, and simultaneously ensures the walking safety of personnel and robots.

The AGV trolley can drive the robot to realize all-directional movement, adopts a double-steering-wheel movement driving mode, and two steering wheels are arranged on the diagonal position of the trolley. The tile paving machine can easily realize transverse movement, pivot steering movement with zero turning radius and the like, and can be well suitable for paving tiles in narrow rooms. Meanwhile, the AGV automatic tracking trolley is matched with the human-computer interaction unit, the signal receiving and data transmitting unit and the navigation and obstacle avoiding system can avoid obstacles, so that collision accidents are prevented.

Example 6:

the data transmission method comprises the steps that data communication and analysis are conducted on various mixed sensors, various sensors such as a high-precision laser ranging sensor, a horizontal sensor, an AGV automatic tracking trolley, a mechanical arm and vision are conducted, data transmission is conducted in a communication mode for guaranteeing transmission precision and speed of data, and different communication modes and communication interfaces such as RS485, RS232, TTL and Ethernet communication protocols are adopted by equipment of each manufacturer. The abundant serial communication mode of PLC is utilized to support various communication protocols, such as a point-to-point interface protocol (PPI protocol), a multipoint interface protocol (MPI protocol), a PROFINET protocol, a free port communication protocol and the like, so that the device can realize the acquisition and processing of various data, and has the advantages of high communication efficiency, short development period, stable communication and the like.

The line laser and machine vision fusion technology improves the brick paving precision of the robot. The line laser emitter is added on the basis of the robot vision, and the line laser is used as a tile orientation reference object instead of the tile surface, so that the machine vision false detection possibly caused by the reflection of the tile surface and the patterns is avoided. The specific implementation method comprises the following steps: the method comprises the steps of irradiating line laser into gaps of adjacent tiles at a fixed incident angle, and identifying the length, direction and position of the line laser in each segment of gap through machine vision, so that the real-time position and the final paving position of the tiles to be paved are determined. The technology can achieve linear precision of 0.2mm and angle precision of 0.1 degree when the ceramic tiles are paved.

The high-frequency vibration and the continuous downward force matching are used to improve the tile paving effect, simulate the manual tile paving mode of using a rubber hammer to strike, and perform leveling and tamping functions on the tiles. Because the robot adopts the mode of beating can not guarantee the ceramic tile level, the arm is maximum simultaneously and is pressed the power and can not surpass the arm maximum moment of force. Therefore, the combination mode of continuously pressing down by adopting the high-frequency vibration motor and the mechanical arm ensures the tile laying levelness of the tile and the tamping effect of the cushion layer pair.

Example 7:

the working principle is as follows:

(1) the large-scale intelligent tile paving robot can exert the maximum efficiency only by cooperating with the automatic bedding layer robot, a row of bedding layers are paved in advance by the automatic bedding layer robot, the intelligent tile paving robot can simultaneously perform cross operation when the next row of bedding layers are paved, and the brick paving efficiency is improved to the maximum extent.

(2) The robot is pasted to large-scale ceramic tile intelligence shop arrives appointed coordinate through the automatic tracking dolly of AGV, and dolly four corners outside electric jar stretches out ground and supports, keeps the equipment body stable not rocking.

(3) The mechanical arm is adjusted to be in an operation state from an 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.

(4) 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.

(5) 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.

(6) 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).

(7) 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.

(8) 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.

(9) 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.

(10) After the mechanical arm moves to the initial position, the electric cylinders on the outer sides of the four corners of the trolley are retracted, the electric cylinders are retracted, and the ceramic tile laying is completed.

(11) And the AGV automatic trolley stops after moving to the designated position, and the robot repeats the steps of 2-10 to finish the automatic laying of the ceramic tiles.

(12) And repeating the step until the intelligent tile paving and pasting robot lays the tiles completely, and adjusting the posture of the mechanical arm to the front end of the mobile platform to be adjusted to the initial position. The steering wheel of the AGV automatic tracking trolley rotates 90 degrees in situ and moves to the position of the next row to be laid, and the steering wheel of the AGV automatic tracking trolley rotates 90 degrees in situ and horizontally moves to the position of the first brick laid in the current row through the laser ranging system.

(13) After the ceramic tiles are paved, the automatic ceramic tile paving robot adjusts the posture, and the mechanical arm adjusts the position to the original state, so that all ceramic tile paving tasks are completed.

Example 8:

the main performance indexes of the automatic tile pasting robot are as follows:

(1) a nominal load of 15 kg;

(2) self weight: less than 600 kg;

(3) the power supply mode comprises the following steps: a self-retracting cable reel;

(4) the walking mode is as follows: the walking speed is as follows: 0.5m/s, positioning precision of 5mm and rotation precision of 2 degrees;

(5) the positioning mode is as follows: a laser radar and obstacle avoidance system;

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

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

(8) a working radius of 1442 mm;

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

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

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

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

(13) 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;

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

Claims

1. The utility model provides a ceramic tile intelligence is spread and is pasted robot, its constitution includes: arm mechanism, vacuum mechanism and automatic walking dolly, characterized by: the top of automatic walking dolly through a set of bolt assembly with mechanical arm mechanism's base fixed connection, the base pass through the stand and be connected with the arm, mechanical arm mechanism's tip with vacuum mechanism rotate and connect, the casing of automatic walking dolly on with get brick support fixed connection, the one side of getting brick support install AGV control box and mechanical arm mechanism control box, just mechanical arm mechanism control box place the top of automatic walking dolly, the rear end of automatic walking dolly install electrical power generating system, the automatic walking dolly mechanical arm mechanism with vacuum mechanism constitute ceramic tile intelligence for an organic whole structure and spread and paste the robot, the walking dolly in install control platform and communication system, as control and data acquisition system.

2. The intelligent tile paving robot of claim 1, wherein: the mechanical arm mechanism consists of a waist joint, a big arm, a small arm, a wrist joint and a hand, wherein the waist joint is connected with one end of the big arm, the other end of the big arm is connected with one end of the small arm, and the other end of the small arm is connected with the hand.

3. The intelligent tile paving robot of claim 1, wherein: the vacuum mechanism comprises aluminum plate, a set of vacuum chuck and cylindricality mounting bracket, a set of vacuum chuck with aluminum plate fixed connection, the cylindricality mounting bracket with the intermediate position of aluminum plate connect.

4. The intelligent tile paving robot of claim 1, wherein: the automatic walking trolley consists of a steering wheel and an omnidirectional wheel, and a double-steering-wheel moving driving structure is formed by the steering wheel and the omnidirectional wheel.