CN217840759U - Go up brick device and fragment of brick shop pastes robot - Google Patents

Abstract

The utility model relates to a construction equipment technical field, in particular to go up brick device and fragment of brick shop pastes robot. The utility model discloses a brick feeding device, which comprises a lifting mechanism, a brick taking mechanism and a turnover mechanism, wherein the lifting mechanism comprises a track and a slide block matched with the track, and the slide block can ascend or descend relative to the track; the brick taking mechanism is used for picking up bricks from the brick frame; the turnover mechanism is connected with the brick taking mechanism and can drive the brick taking mechanism to turn over bricks, and the turnover mechanism is fixedly connected with the sliding block, so that the sliding block drives the turnover mechanism and the brick taking mechanism to ascend or descend. According to the utility model discloses a go up brick device connects in elevating system and gets between the brick mechanism through tilting mechanism for go up the occupation of brick mechanism in direction of height minimize space, the last brick device of this application embodiment can pick up the fragment of brick and upset fragment of brick, simple structure, and occupation space is little, and stability is high.

Description

Go up brick device and fragment of brick shop pastes robot

Technical Field

The utility model relates to a construction equipment technical field, in particular to go up brick device and fragment of brick shop and paste robot.

Background

The brick feeding device of the existing brick paving and pasting robot is completed by adopting a four-shaft mechanical arm, the mechanical arm structure is complex, the number of motors is large, the cost is high, instability often occurs in the actual application process, and the condition that the interference points of the rest structures of the robot are more is paved and pasted with bricks. Therefore, the brick feeding device which is simpler in structure and less in motor quantity is expected to replace the original structure, the space occupation in the height direction is reduced as much as possible, and the structure is simplified to be used for reserving space for other mechanisms.

SUMMERY OF THE UTILITY MODEL

The utility model provides a go up brick device and fragment of brick shop and paste robot aims at solving the problem that the last brick device structure of current fragment of brick shop paste robot is complicated, and occupation space is big.

In a first aspect, an embodiment of the present invention provides a brick loading device, which includes a lifting mechanism, a brick taking mechanism and a turnover mechanism, wherein the lifting mechanism includes a track and a slider matched with the track, and the slider can ascend or descend relative to the track; the brick taking mechanism is used for picking bricks from the brick frame; the turnover mechanism is connected with the brick taking mechanism and can drive the brick taking mechanism to turn over bricks, and the turnover mechanism is fixedly connected with the sliding block, so that the sliding block drives the turnover mechanism and the brick taking mechanism to ascend or descend.

According to the utility model discloses go up brick device connects in elevating system and gets between the brick mechanism through tilting mechanism for go up the occupation of brick mechanism in direction of height minimize space, the simple structure of brick dress in this application, occupation space is little, and stability is high.

According to the utility model discloses the aforementioned embodiment of first aspect, go up the brick device and be used for the fragment of brick to spread and paste the robot, the fragment of brick is spread and is pasted the robot and include rubber coating device and the brick frame that top-down set gradually, elevating system drives get the brick mechanism in the rubber coating device with reciprocating motion between the brick frame.

Among the above-mentioned embodiment, go up the brick device and be used for the fragment of brick to spread and paste the robot, the fragment of brick is spread and is pasted the robot and include rubber coating device and the brick frame that top-down set gradually, and elevating system drives and gets brick mechanism reciprocating motion between rubber coating device and brick frame. According to the brick paving and pasting robot, the structure is compact, the occupied space is small, the stability is high, the manufacturing cost is low, and the protection performance is good.

According to the utility model discloses any preceding embodiment of first aspect get brick mechanism includes fixed plate, gas accuse subassembly and adsorption component, adsorption component install in the fixed plate and with the gas accuse subassembly is connected, the gas accuse subassembly is used for control the adsorption component adsorbs the fragment of brick.

In the above embodiment, adsorb the fragment of brick through setting up gas accuse subassembly control adsorption component, can stably pick up the fragment of brick when not destroying the fragment of brick surface.

According to any of the preceding embodiments of the first aspect of the present invention, the adsorption assembly comprises: the first sucker component comprises a plurality of first suckers distributed on the fixing plate, and the first suckers are communicated with the pneumatic control component through air pipes; and the second sucker component comprises a second sucker and an electromagnetic valve, and the second sucker is communicated with the pneumatic control component through the electromagnetic valve.

In the above embodiment, only control the solenoid valve and can realize the switching of absorption subassembly mode, when the solenoid valve is closed, only first sucking disc subassembly work, with the fragment of brick that is used for adsorbing less specification and dimension, when the fragment of brick that needs adsorbed great specification and dimension, control the solenoid valve with second sucking disc subassembly and gas accuse subassembly intercommunication, with make first sucking disc subassembly and second sucking disc subassembly simultaneous working, the operating condition of two kinds of sucking disc subassemblies can be adjusted according to the fragment of brick size is nimble, and control is simple, satisfies the stable demand of picking up to great size fragment of brick.

According to any one of the preceding embodiments of the first aspect of the present invention, the adsorption component includes a first brick matching state for adsorbing a first brick and a second brick matching state for adsorbing a second brick, an orthographic projection of the first brick to be picked up on the plane of the fixing plate covers the second suction cup, and the solenoid valve communicates the second suction cup with the pneumatic control component, so that the adsorption component is in the first brick matching state; the orthographic projection of the second brick to be picked on the plane where the fixing plate is located does not cover the second sucker, and the electromagnetic valve is closed, so that the adsorption assembly is in the second brick matching state.

In the above embodiment, in the first brick matching state, the brick paving device can pave and paste the first brick of the first size, and in the second brick matching state, the brick paving device can pave and paste the second brick of the second size. The first dimension is greater than the second dimension. The stable adsorption requirement on the bricks with larger sizes is met.

According to the utility model discloses any preceding embodiment of first aspect, elevating system still includes elevator motor and lead screw, at least part of lead screw set up in the track, the slider cover is located the lead screw is outside, elevator motor's output shaft with the lead screw is connected, with the drive the lead screw is around self axial rotation and then drive slider reciprocating motion.

In the above embodiment, the transmission of the rail sliding block is realized by arranging the lifting motor and the screw rod, the transmission mode realizes the complete sealing of the transmission mechanism of the lifting mechanism, and the protection performance is good.

According to the utility model discloses any preceding embodiment of first aspect, tilting mechanism includes the upset motor, the upset motor install in the slider top, upset motor output shaft with get the side fixed connection of brick mechanism.

In the embodiment, the turnover mechanism is fixed on the sliding top, so that the turnover mechanism is the same as the sliding block of the lifting mechanism in the vertical space position, and the overall space occupancy rate of the brick feeding device is reduced.

In a second aspect, an embodiment of the present invention provides a brick paving and pasting robot, including: the brick frame is arranged on the robot body and used for bearing bricks to be picked up; the gluing device is arranged above the brick frame and used for coating glue on the bricks; and the utility model discloses the aforesaid of the first aspect of the embodiment any embodiment go up brick device, wherein, elevating system set up in one side of brick frame, it is in to get brick mechanism elevating system's drive down in the rubber coating device with reciprocating motion between the brick frame.

According to the utility model discloses fragment of brick shop pastes robot, elevating system can drive and get brick mechanism reciprocating motion between rubber coating device and brick frame, and when elevating system moved to setting for the position, tilting mechanism can drive and get the upset of brick mechanism to make the rubber coating device can be to the fragment of brick coating colloid after the upset. The brick paving and pasting robot is arranged on one side of the brick frame through the lifting mechanism, and the brick frame and the gluing device are arranged in the vertical direction, so that the movement path of the brick taking mechanism can be shortest, and the efficiency is improved; the width of the whole machine of the brick paving robot mainly depends on the size of the bricks and the thickness of the lifting mechanism, and the whole size of the machine can be reduced. According to the fragment of brick shop pastes robot compact structure of this embodiment, occupation space is little, and stability is high, low in manufacturing cost, and the protectiveness is good.

According to the utility model discloses the aforesaid embodiment of second aspect still includes the glue pumping device, the glue pumping device is located the week side of brick frame and with elevating system sets up relatively, the glue pumping device be used for with the colloid pump sending to the rubber coating device.

According to any one of the embodiments of the second aspect of the present invention, the glue recycling device further comprises a glue recycling device, wherein the glue recycling device comprises a glue barrel mechanism, a glue recycling channel and a glue scraping mechanism; return gluey passageway one end with gluey bucket mechanism intercommunication, the other end with the pump mucilage binding is put the intercommunication, the frictioning mechanism includes the scraper blade, the scraper blade set up in return in the gluey passageway and with return gluey passageway at least partial inner wall butt, the scraper blade with elevating system connects, elevating system can drive scraper blade reciprocating motion.

In the embodiment, the scraper blade is connected with elevating system, make and go up the brick device and go up the brick in-process each time, the homoenergetic enough drives the scraper blade and removes along returning gluey passageway inner wall, strike off with returning gluey passageway inner wall adnexed colloid, make and return gluey passageway inner wall adnexed colloid and fall back to gluey bucket mechanism, realize the reuse to the colloid, when can effectively save colloidal material, reduce the driving system who returns the mucilage binding and put, reduce the fragment of brick and spread and paste machine people manufacturing cost and fragment of brick laying cost.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a brick feeding device according to an embodiment of the present invention;

fig. 2 is a schematic front view of a brick feeding device according to an embodiment of the present invention;

fig. 3 is a schematic side view, partly in section, of a brick setting device according to an embodiment of the present invention;

FIG. 4 is a schematic top view, partially in section, of an exemplary adsorbent assembly of the present invention;

fig. 5 is a schematic perspective view of a brick paving robot according to an embodiment of the present invention;

fig. 6 is an exploded schematic view of an embodiment of the glue returning device of the present invention.

The reference numbers illustrate:

100-a brick feeding device; 110-a lifting mechanism; 111-track; 112-a slider; 1121-slider body, 1122-sliding column; 113-a lifting motor; 114-a screw mandrel; 115-fixed columns; 116-a mount; 117-a transmission assembly; 1171-a driving synchronizing wheel; 1172-a passive synchronizing wheel; 1173-synchronous belt; 118-a feed screw nut; 119-screw rod fixing seat; 120-a brick taking mechanism; 121-fixing plate; 122-a pneumatic control assembly; 123-an adsorption component; 123 a-a first suction cup assembly; 1231-a first suction cup; 123 b-a second chuck assembly; 1232-a second suction cup; 1233-solenoid valve; 124-a protective cover; 130-a turnover mechanism; 131-a turnover motor; 132-a roll-over reducer; 133-reducer fixing seat; 134-organ cover; 200-a gluing device; 210-loading a brick loading frame; 300-a brick frame; 400-pumping the glue device; 500-glue returning device; 510-a glue scraping mechanism; 511-a scraper; 512-blade connection; 513-reciprocating drive member; 520-glue return channel; 530-glue barrel mechanism; 600-a robotic arm; 700-robot body.

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, back, 8230; \8230;) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, the combination of the technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

The utility model provides a go up brick device, go up the brick device and be used for the fragment of brick to spread pastes the robot. The brick paving robot is used for paving bricks, and the brick is a ceramic tile as an example. The brick loading device comprises a lifting mechanism, a brick taking mechanism and a turnover mechanism, wherein the lifting mechanism comprises a track and a sliding block matched with the track, and the sliding block can ascend or descend relative to the track; the brick taking mechanism is used for picking bricks from the brick frame; the turnover mechanism is connected with the brick taking mechanism and can drive the brick taking mechanism to turn over bricks, and the turnover mechanism is fixedly connected with the sliding block, so that the sliding block drives the turnover mechanism and the brick taking mechanism to ascend or descend.

Fig. 1, fig. 2, fig. 3 are respectively a front schematic view, a side schematic view of a perspective schematic view, of a brick feeding device according to an embodiment of the present invention. The utility model discloses go up brick device 100 includes elevating system 110, gets brick mechanism 120 and tilting mechanism 130, wherein, gets brick mechanism 120 and is used for picking up the fragment of brick, and elevating system 110 is used for driving and gets brick mechanism 120 and rise or descend, and tilting mechanism 130 connects between getting brick mechanism 120 and elevating system 110, and when elevating system 110 removed the settlement position, tilting mechanism 130 can drive and get brick mechanism 120 upset fragment of brick.

Specifically, the brick taking mechanism 120 includes a fixing plate 121, an air control assembly 122, and an adsorption assembly 123, the adsorption assembly 123 is installed on the fixing plate 121 and connected to the air control assembly 122, and the air control assembly 122 is used for controlling the adsorption assembly 123 to adsorb bricks. Wherein, the adsorption component 123 includes: a first chuck assembly 123a and a second chuck assembly 123b. Referring to fig. 4, fig. 4 is a top view, partially in section, of an exemplary embodiment of the present invention, showing a suction assembly 123.

The first suction cup assembly 123a comprises a plurality of first suction cups 1231 distributed on the fixing plate 121, and the first suction cups 1231 are communicated with the air control assembly 122 through air pipes; i.e., the first suction plate 1231 is normally open to the air control assembly 122.

The second suction cup assembly 123b includes a second suction cup 1232 and a solenoid valve 1233, and the second suction cup 1232 is communicated with the pneumatic control assembly 122 through the solenoid valve 1233, that is, the solenoid valve 1233 can control the communication or disconnection between the second suction cup 1232 and the pneumatic control assembly 122.

Further, the adsorption assembly 123 includes a first brick matching state for adsorbing a first brick and a second brick matching state for adsorbing a second brick. The orthographic projection of the first brick to be picked on the plane where the fixing plate 121 is located covers the second suction cup 1232, and the electromagnetic valve 1233 communicates the second suction cup 1232 with the pneumatic control assembly 122, so that the adsorption assembly 123 is in a first brick matching state.

The orthographic projection of the second brick to be picked up on the plane where the fixing plate 121 is located does not cover the second suction cup 1232, and the electromagnetic valve 1233 is closed, so that the adsorption assembly 123 is in a second brick matching state. According to the embodiment, the first brick matching state and the second brick matching state of the adsorption component 123 are set, bricks of different specifications and sizes can be adsorbed only through one control method, the control is simple, the stability of the brick adsorption is improved, the upper space and the lower space are saved, and enough positions are reserved for the mechanical arm 600 to take the bricks.

In the embodiment illustrated in the drawings of the application, the number of the first suckers 1231 is three, the three first suckers 1231 are distributed on the fixing plate 121 in a preset mode, the first suckers 1231 are normally communicated with the pneumatic control assembly 122, the second suckers 1232 are arranged at intervals with the three first suckers 1231, the electromagnetic valves 1233 act when the lengths of the bricks to be picked exceed the positions of the second suckers 1232, the second suckers 1232 are communicated with the pneumatic control assembly 122, and then the four suckers work simultaneously when the first bricks in large specifications are picked up, so that the stability of the bricks is improved.

In some optional embodiments, the brick-removing mechanism 120 further comprises a protective cover 124, and the protective cover 124 covers a side of the fixing plate 121 opposite to the adsorption component 123, so as to protect the air control component 122 and the adsorption component 123 from water dust.

Referring to fig. 3, the lifting mechanism 110 of the embodiment of the present application includes a rail 111 and a slider 112 matching with the rail 111, and the slider 112 can be lifted or lowered relative to the rail 111. Specifically, the rail 111 is disposed on one side of the brick holder 300 along the vertical direction, the slider 112 is connected to the brick-taking mechanism 120, and the slider 112 moves up or down along the extending direction of the rail 111 to drive the brick-taking mechanism 120, so as to move up or down to drive bricks.

More closely, the lifting mechanism 110 further includes a lifting motor 113 and a screw rod 114, at least a portion of the screw rod 114 is disposed in the track 111, the slider 112 is sleeved outside the screw rod 114, and an output shaft of the lifting motor 113 is connected with the screw rod 114 to drive the screw rod 114 to rotate around its own axis to further drive the slider 112 to reciprocate.

In some alternative embodiments, the lifting motor 113 is disposed at one side of the rail 111, an output shaft of the lifting motor 113 is disposed parallel to the rail 111, and the output shaft of the lifting motor 113 is connected to the lead screw 114 through the transmission assembly 117. In particular, the transmission assembly 117 is a belt or chain transmission. With continued reference to fig. 3, the transmission assembly 117 includes a driving synchronizing wheel connected to the output shaft of the lifting motor 113, a driven synchronizing wheel connected to the lead screw 114, and a timing belt connected between the driving synchronizing wheel and the driven synchronizing wheel.

Specifically, the lifting motor 113 is fixed on the mounting base 116 and drives the driving synchronizing wheel to rotate, the driving synchronizing wheel drives the driven synchronizing wheel to rotate through a synchronous belt, the driven synchronizing wheel is fixed on the mounting base 116 and drives the screw rod 114 to rotate, the screw rod 114 is fixed on the mounting base 116 through a screw rod fixing seat 119, and the fixing column 115 is fixedly connected with the mounting base 116; the slider body 112 is fixed on the inner side of the fixed column 115, the rail 111 is fixed on the sliding column 1122, the screw nut 118 is fixed on the sliding column 1122, the sliding column 1122 is sleeved outside the screw 114 through the screw nut 118 and can extend along the length direction of the screw, and when the lifting motor 113 rotates, the sliding column 1122 is driven to move up and down under the action of the rail 111 and the slider body 112. Furthermore, the embodiment of the present application further includes an organ cover 134, and two ends of the organ cover 134 are respectively fixed at the upper end of the sliding column 1122 and the lower end of the fixed column 115, so as to protect the rail 111 from being polluted and corroded by water or dust.

With reference to fig. 2, the brick loading device 100 of the embodiment of the present application further includes a turning mechanism 130, the turning mechanism 130 is connected between the brick taking mechanism 120 and the lifting mechanism 110, and the turning mechanism 130 can drive the brick taking mechanism 120 to turn the brick. Specifically, one end of the turnover mechanism 130 is fixedly connected to the sliding block 112, and the other end of the turnover mechanism 130 is fixedly connected to the brick taking mechanism 120, so that the sliding block 112 can drive the turnover mechanism 130 and the brick taking mechanism 120 to ascend or descend.

Specifically, the turning mechanism 130 includes a turning motor 131, wherein the turning motor 131 is installed on the top of the sliding block 112, and an output shaft of the turning motor 131 is fixedly connected to a side of the brick taking mechanism 120. More closely, tilting mechanism 130 still includes upset reduction gear 132 and reduction gear fixing base 133, and upset motor 131 passes through reduction gear fixing base 133 to be fixed in the upper end of sliding column 1122, and the output shaft of upset motor 131 is connected with upset reduction gear 132, and the output of upset reduction gear 132 is connected with fixed plate 121 of getting brick mechanism 120 and, and upset motor 131 is used for driving fixed plate 121 to rotate. Make fixed plate 121 can overturn 180 around its junction with upset reduction gear 132, because fixed plate 121 passes through the absorption subassembly 123 and adsorbs the fragment of brick, and then makes the upset of fragment of brick. According to the turnover mechanism 130 of the present embodiment, by fixing the turnover mechanism 130 to the sliding top, the turnover mechanism 130 is made to be identical to the slider 112 of the elevating mechanism 110 in the vertical spatial position, and the overall space occupancy rate of the brick feeding apparatus 100 is reduced.

The last brick device 100 of this application embodiment is when the in-service use, brick frame 300 is fixed to be put in the picture position, 113 drive sliders 112 of elevator motor move down and get the brick to brick frame 300 department, when adsorbing the fragment of brick on the brick frame 300, 113 drive elevator motor drives and gets brick mechanism 120 and drive the fragment of brick up-motion, upset motor 131 drives the fixed plate 121 and drives the fragment of brick rotation when moving to the intermediate position, make the fragment of brick turn over to the top position, after the upset is accomplished, 113 continues the motion, the drive fragment of brick moves and bears 210 positions to last brick, then loosen adsorption component 123, each mechanism returns home position, wait for the last signal of loading next time.

In some optional embodiments, the brick feeding device 100 of the embodiment of the present application is used for a brick paving robot, the brick paving robot includes a gluing device and a brick frame, which are sequentially arranged from top to bottom, and the lifting mechanism 110 drives the brick taking mechanism 120 to reciprocate between the gluing device and the brick frame. Specifically, get brick mechanism 120 and set up in the brick frame top, elevating system 110 sets up in one side of brick frame, tilting mechanism 130 sets up in elevating system 110's slider 112 top, so that elevating system 110 passes through tilting mechanism 130 and gets brick mechanism 120 and be connected, elevating system 110 can drive and get brick mechanism 120 reciprocating motion between rubber coating device and brick frame, when elevating system 110 moved to the settlement position, tilting mechanism 130 can drive and get the upset of brick mechanism 120, so that the rubber coating device can be to the brick piece coating colloid after the upset. The brick paving robot of the embodiment is arranged on one side of the brick frame 300 through the lifting mechanism 110, and the brick frame 300 and the gluing device are arranged in the vertical direction, so that the movement path of the brick taking mechanism 120 can be shortest, and the efficiency is improved; the width of the whole machine of the brick paving robot mainly depends on the size of the bricks and the thickness of the lifting mechanism 110, so that the whole size of the machine can be reduced. According to the brick paving and pasting robot disclosed by the embodiment, the structure is compact, the occupied space is small, the stability is high, the manufacturing cost is low, and the protection performance is good.

In other alternative embodiments, the brick paving robot further includes a glue returning device 500, where the glue returning device 500 includes: glue bucket mechanism, return gluey passageway and scrape gluey mechanism, wherein, return gluey passageway and glue bucket mechanism intercommunication, the mechanism of strickling includes the scraper blade, the scraper blade set up in returning gluey passageway and with return gluey at least partial inner wall butt of passageway, the scraper blade is connected with elevating system 110, elevating system 110 can drive scraper blade reciprocating motion. It is understood that the squeegee can be directly connected to the lift mechanism 110 or indirectly connected to the lift mechanism 110. The last brick device 100 of this application is at the in-process of going up the brick each time, and the homoenergetic drives the scraper blade and follows back to glue the passageway inner wall and remove to will return to glue the adnexed colloid of passageway inner wall and strike off, make back to glue the adnexed colloid of passageway inner wall and fall back to gluing the bucket mechanism, realize the reuse to the colloid, when can effectively save colloidal material, reduce the driving system who returns mucilage binding 500, reduce the fragment of brick and spread and paste machine people manufacturing cost and fragment of brick laying cost.

The embodiment of this application still provides a brick paving robot, refers to fig. 5, and fig. 5 is the utility model relates to a brick paving robot's of embodiment stereogram. The brick paving and pasting robot of the embodiment of the application comprises a robot body 700, a brick frame 300, a gluing device 200 and a brick loading device 100.

The brick frame 300 is mounted on the robot body 700 and used for bearing bricks to be picked up; the glue coating device 200 is arranged above the brick frame 300 and used for coating glue on bricks.

The tile installation 100 comprises: a lifting mechanism 110, a brick taking mechanism 120 and a turnover mechanism 130,

the lifting mechanism 110 is disposed at one side of the brick holder 300, the lifting mechanism 110 includes a rail 111 and a slider 112 matched with the rail 111, and the slider 112 can be lifted or lowered with respect to the rail 111. The brick taking mechanism 120 is arranged between the brick frame 300 and the gluing device 200, and the lifting mechanism 110 drives the brick taking mechanism 120 to reciprocate between the gluing device 200 and the brick frame 300, so as to pick up bricks from the brick frame 300. Tilting mechanism 130 is connected with brick taking mechanism 120, and tilting mechanism 130 can drive brick taking mechanism 120 upset fragment of brick, and tilting mechanism 130 and slider 112 fixed connection for slider 112 drives tilting mechanism 130 and gets that brick taking mechanism 120 rises or descends. Specifically, the turning mechanism 130 is disposed on the top of the slider 112 of the lifting mechanism 110, so that the lifting mechanism 110 is connected to the brick taking mechanism 120 through the turning mechanism 130, the lifting mechanism 110 can drive the brick taking mechanism 120 to reciprocate between the glue spreading device 200 and the brick frame 300, and when the lifting mechanism 110 moves to a set position, the turning mechanism 130 can drive the brick taking mechanism 120 to turn over, so that the glue spreading device 200 can coat glue on the turned bricks.

The specific structures of the lifting mechanism 110, the brick taking mechanism 120 and the turnover mechanism 130 are described with reference to any of the above embodiments, and are not described in detail herein.

The lifting mechanism 110 is disposed at one side of the brick frame 300, and the brick taking mechanism 120 is driven by the lifting mechanism 110 to reciprocate between the gluing device 200 and the brick frame 300.

According to the brick paving robot of the embodiment, the lifting mechanism 110 is disposed at one side of the brick frame 300, and the lifting mechanism 110 drives the brick taking mechanism 120 to reciprocate between the gluing device 200 and the brick frame 100. When the lifting mechanism 110 moves to a set position between the glue spreading device 200 and the brick frame 100, the turnover mechanism 130 can drive the brick taking mechanism 120 to turn over, so that the glue spreading device 200 can coat glue on the turned bricks. According to the brick paving and pasting robot of the embodiment, the structure is compact through reasonable layout among the structures, the size of the whole machine is effectively reduced, the space occupancy rate is reduced, the stability is high, and the manufacturing cost is low.

In some optional embodiments, the brick paving robot further includes a glue pumping device 400, the glue pumping device 400 is located on the periphery of the brick frame 300 and is opposite to the lifting mechanism 110, and the glue pumping device 400 is used for pumping glue to the glue spreading device 200.

Further, the brick paving robot further comprises a mechanical arm 600, a brick grasping flange is further mounted at the tail end of the mechanical arm 600, and preferably, the mechanical arm 600 is a six-axis mechanical arm 600 and is used for picking up bricks and driving the bricks to move in six spatial degrees of freedom to complete brick paving work. Specifically, when the lifting mechanism 110 of the brick loading device 100 drives the brick taking mechanism 120 to lift, and picks up bricks through the adsorption component 123, after the turnover mechanism 130 turns over the bricks, the lifting mechanism 110 continues to drive the brick taking mechanism 120 to move to the brick loading bearing frame 210 of the glue coating device 200, the adsorption component 123 of the brick taking mechanism 120 releases the bricks, the glue pumping device 400 pumps glue to the glue outlet of the glue coating device 200, the glue coating device 200 coats the bricks placed on the brick loading bearing frame 210 with glue, and then the mechanical arm 600 picks up the glued bricks and lays the bricks by grabbing a brick flange.

After brick device 100 accomplishes and goes up the brick in the brick paving robot of this application embodiment, the rubber coating of rubber coating device 200, arm 600 drives and grabs the brick flange and go to rubber coating device 200 lower part and pick up the brick, and this action requires to go up brick device 100 short as far as possible in the height to in order to reserve space for arm 600 and grab the brick flange. The turnover mechanism 130 of the embodiment of the present application is equivalent to the height of a suction cup in height, and reserves a sufficient space for the robot arm 600, and the structure of the embodiment of the present application is superior to the brick loading device 100 of the four-axis robot arm 600 in the prior art.

Optionally, the brick paving robot further comprises a glue returning device 500, and the glue returning device 500 can recover the redundant glue at the glue spreading device 200. Referring to fig. 6, the glue returning device 500 includes a glue barrel mechanism 530, a glue returning channel 520, and a glue scraping mechanism 510; return gluey passageway 520 one end and glue bucket mechanism 530 intercommunication, the other end and pump mucilage binding and put 400 intercommunication, the mechanism 510 of spreading glue includes scraper blade 511, scraper blade 511 set up in returning gluey passageway 520 and with return gluey passageway 520 at least partial inner wall butt, scraper blade 511 is connected with elevating system 110, elevating system 110 can drive scraper blade 511 reciprocating motion. It is understood that the squeegee 511 can be directly connected to the lift mechanism 110 or indirectly connected to the lift mechanism 110. In some alternative embodiments, the blade 511 is coupled to the lifting mechanism 110 via a reciprocating drive 513, and the lifting mechanism 110 is capable of reciprocating the blade 511 via the reciprocating drive puck 513. Or the slider 112 of the elevating mechanism 110 is reused as the reciprocating drive 513 so that the slider 112 of the elevating mechanism 110 can bring the squeegee 511 into reciprocating motion by the reciprocating drive 513. The brick feeding device 100 of the application can drive the scraper 511 to move along the inner wall of the glue return channel 520 in each brick feeding process, so that the adhered glue on the inner wall of the glue return channel 520 is scraped, the adhered glue on the inner wall of the glue return channel 520 falls back to the glue barrel mechanism 530, the glue is recycled, and the glue can be effectively saved. Meanwhile, according to the embodiment, a set of power system can be reduced through linkage of the glue returning device 500 and the brick loading device 100, and energy consumption of the brick paving and pasting robot is reduced.

Specifically, the direction of the lifting mechanism 110 driving the scraper 511 to reciprocate is parallel to the extending direction of the glue returning channel 520, and the extending direction of the scraper 511 intersects with the extending direction of the glue returning channel 520, so that the scraper 511 can scrape off the glue adhered to the inner wall of the glue returning channel 520. In some alternative embodiments, the glue returning channel 520 has a rectangular cross section perpendicular to its length, and the lifting mechanism 110 is located on one side of the rectangular cross section. The tile feeding device 100 can drive the scraping plate 511 to reciprocate through the lifting driving member. In some optional embodiments, the lift driving piece of returning gluey passageway 520 and last brick device 100 is vertical setting, and then makes scraper blade 511 follow brick device 100 and carry out the reciprocating motion of vertical direction along returning gluey passageway 520 inner wall to in scraping and attaching to back gluey passageway 520 inner wall accumulational colloid, make the colloid fall back to in gluey bucket mechanism 530 under the effect of gravity, it is unobstructed to be convenient for the colloid to retrieve.

In other alternative embodiments, the squeegee mechanism 510 further includes a squeegee 511 connection rod that mounts the squeegee 511 to the lifting mechanism 110. One end of the scraper 511 connecting rod is at least partially arranged inside the glue returning channel 520 to be used for installing the scraper 511, the other end of the scraper 511 connecting rod is positioned outside the glue returning channel 520 to be used for being connected with the slider 112 of the lifting mechanism 110, the scraper 511 is installed on the slider 112 through the scraper 511 connecting rod, and the slider 112 can drive the scraper 511 to move by driving the scraper 511 connecting rod to reciprocate. More preferably, the installation position of the scraper 511 relative to the connecting rod of the scraper 511 is adjustable, so that the scraper 511 can flexibly scrape off the glue accumulated on each circumferential surface of the inner wall of the glue channel 520. Alternatively, a plurality of scrapers 511 may be provided, and the plurality of scrapers 511 are used to scrape off the inner wall surfaces of the glue return passage 520. For example, two symmetrical scraping plates 511 are mounted on the slider 112 through the scraping plate connecting member 512, the two symmetrical scraping plates 511 are respectively abutted against two inner wall surfaces opposite to the glue returning channel 520, and when the slider 112 drives the scraping plates 511 to reciprocate, the two symmetrical scraping plates 511 simultaneously scrape the two inner wall surfaces opposite to the glue returning channel 520, so that the working efficiency of the glue scraping mechanism 510 can be effectively improved according to the embodiment.

More closely, the fragment of brick shop pastes robot of this application embodiment still includes electric cabinet system, lift system and laser radar system. The laser radar system is used for assisting the robot body 700 to move to a target position, and helping the robot body 700 to realize navigation and obstacle avoidance in the moving process. The electric cabinet system is used for providing power and control signals for all structures in the brick paving and pasting robot. The lifting system is installed in the bottom of the mechanical arm 600 and used for achieving two-stage lifting of the mechanical arm 600 and enhancing the paving height and stability of the mechanical arm 600.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims (10)

1. A brick setting device, comprising:

the lifting mechanism comprises a track and a sliding block matched with the track, and the sliding block can ascend or descend relative to the track;

the brick taking mechanism is used for picking up bricks from the brick frame;

the turnover mechanism is connected with the brick taking mechanism and can drive the brick taking mechanism to turn over bricks, and the turnover mechanism is fixedly connected with the sliding block, so that the sliding block drives the turnover mechanism and the brick taking mechanism to ascend or descend.

2. The brick feeding device according to claim 1, wherein the brick feeding device is used for a brick paving robot, the brick paving robot comprises a gluing device and a brick frame which are sequentially arranged from top to bottom, and the lifting mechanism drives the brick taking mechanism to reciprocate between the gluing device and the brick frame.

3. The brick feeding device according to claim 1, wherein the brick taking mechanism comprises a fixing plate, an air control assembly and an adsorption assembly, the adsorption assembly is mounted on the fixing plate and connected with the air control assembly, and the air control assembly is used for controlling the adsorption assembly to adsorb bricks.

4. The tile installation of claim 3, wherein the adsorbent assembly comprises:

the first sucker component comprises a plurality of first suckers distributed on the fixing plate, and the first suckers are communicated with the pneumatic control component through air pipes;

and the second sucker component comprises a second sucker and an electromagnetic valve, and the second sucker is communicated with the pneumatic control component through the electromagnetic valve.

5. The brick feeding apparatus of claim 4 wherein the absorption assembly comprises a first brick matching state for absorbing a first brick and a second brick matching state for absorbing a second brick;

the orthographic projection of the first brick to be picked on the plane where the fixing plate is located covers the second sucker, and the second sucker is communicated with the pneumatic control assembly through the electromagnetic valve, so that the adsorption assembly is in a first brick matching state;

and the orthographic projection of the second brick to be picked on the plane where the fixing plate is located does not cover the second sucker, and the electromagnetic valve is closed, so that the adsorption assembly is in a second brick matching state.

6. The brick feeding device of claim 1 wherein the lifting mechanism further comprises a lifting motor and a lead screw, at least a portion of the lead screw is disposed in the track, the sliding block is sleeved outside the lead screw, and an output shaft of the lifting motor is connected to the lead screw to drive the lead screw to rotate axially around itself to drive the sliding block to reciprocate.

7. The tile feeding device of claim 1, wherein the turnover mechanism comprises a turnover motor, the turnover motor is mounted on the top of the sliding block, and an output shaft of the turnover motor is fixedly connected with a side edge of the tile taking mechanism.

8. A brick paving and pasting robot is characterized by comprising:

the brick frame is arranged on the robot body and used for bearing bricks to be picked up;

the gluing device is arranged above the brick frame and used for coating glue on the bricks;

the brick feeding device according to any one of claims 1 to 7, wherein the lifting mechanism is arranged on one side of the brick frame, and the brick taking mechanism is driven by the lifting mechanism to reciprocate between the gluing device and the brick frame.

9. The brick paving robot according to claim 8, further comprising a glue pumping device located on a peripheral side of the brick shelf opposite the lifting mechanism, the glue pumping device being configured to pump glue to the glue spreading device.

10. The brick paving robot as claimed in claim 9, further comprising a glue returning device, wherein the glue returning device comprises a glue barrel mechanism, a glue returning channel and a glue scraping mechanism; return gluey passageway one end with gluey bucket mechanism intercommunication, the other end with the pump mucilage binding is put the intercommunication, the frictioning mechanism includes the scraper blade, the scraper blade set up in return in the gluey passageway and with return gluey passageway at least partial inner wall butt, the scraper blade with elevating system connects, elevating system can drive scraper blade reciprocating motion.

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