CN219080030U - Lifting mechanism of mobile robot - Google Patents

Abstract

The utility model provides a lifting mechanism of a mobile robot, which is provided with a longitudinal lifting bracket, wherein a first transmission mechanism is arranged at the bottom of the longitudinal lifting bracket, lifting plates are arranged on the longitudinal lifting bracket, lifting devices positioned at two sides of the lifting plates are symmetrically arranged on the lifting bracket, the lifting devices drive the lifting plates to lift, the lifting plates are provided with open slots corresponding to the positions of the first transmission mechanism so as to enable the lifting plates to descend below the upper surface of the first transmission mechanism, and a protective cover is arranged at the top end of the lifting bracket; a storage bracket is arranged at the bottom of the rear side of the lifting bracket, the front end of the storage bracket is rotationally connected to the bottom of the rear side of the lifting bracket, the storage bracket is turned up and down and folded for storage by taking the front end as a rotation point, and a second transmission mechanism is arranged on the storage bracket. The utility model can store a certain number of bricks, and can transfer and lift the bricks forwards for paving by the brick paving robot, and the storage bracket can be folded and stored, so that the occupied space can be reduced when the storage bracket is not used.

Description

Lifting mechanism of mobile robot

Technical Field

The utility model relates to a brick paving machine, in particular to a lifting mechanism of a mobile robot.

Background

With the development of the current urban construction level, the requirements on municipal road surfaces are higher and higher, and places such as sidewalks, squares and the like usually need to be paved with flat floor tiles and curbs in a large area. At present, the paving of the floor tiles and the curbs generally adopts a purely manual operation or a mode of combining machinery and manpower, and the construction method of combining machinery and manpower is as follows: and (3) lifting the brick by using a rope through a crane, then manually controlling the position of a drop point, then removing the brick, and finally carrying out compaction operation. The laying mode is time-consuming and labor-consuming, the laying effect depends on the technical level of constructors, meanwhile, the labor intensity of workers is high, more constructors are needed, and the laying cost is increased.

In order to improve the laying efficiency, the brick paving machine is generally designed to store a certain number of bricks, and the utility model aims to provide the brick paving machine with the functions of storing and lifting the bricks.

Disclosure of Invention

The utility model aims to provide a lifting mechanism of a mobile robot, the mobile robot can be used for paving floor tiles, the lifting mechanism is provided with a longitudinal lifting bracket arranged at the tail part of the mobile robot, a first transmission mechanism is arranged at the bottom of the longitudinal lifting bracket, lifting plates are arranged on the longitudinal lifting bracket, lifting devices positioned at two sides of the lifting plates are symmetrically arranged on the lifting bracket, the lifting plates are driven to lift by the lifting devices, the lifting plates are provided with open slots corresponding to the positions of the first transmission mechanism so as to enable the lifting plates to descend below the upper surface of the first transmission mechanism, and a protective cover is arranged at the top end of the lifting bracket;

the storage rack is characterized in that a storage rack is arranged at the bottom of the rear side of the lifting rack, the front end of the storage rack is rotationally connected to the bottom of the rear side of the lifting rack, the storage rack is turned up and down and folded and stored by taking the front end as a rotation point, a second transmission mechanism is arranged on the storage rack, and the transverse width of the storage rack is smaller than that of the lifting rack.

Further, the lifting device comprises:

the lifting cylinder is vertically fixed on the lifting bracket;

and the two ends of the lifting chain are respectively positioned at two sides of the lifting cylinder and transversely span the ejector rods of the lifting cylinder, one end of the lifting chain is fixedly connected with the lifting plate, and the other end of the lifting chain is fixed on the longitudinal lifting support at one side of the lifting cylinder.

Further, vertical guide channel steel tracks are arranged on two sides of the lifting support, lifting webs are vertically and slidably mounted on the vertical guide channel steel tracks, and one end of the lifting chain and the lifting plate are fixedly connected with the lifting webs.

Further, the storage bracket is arranged at the bottom of the lifting bracket through a reset overturning bracket, and a spring support is arranged at the bottom of the lifting bracket;

the bottom of the reset turnover support is provided with a limiting steel pipe and a reset spring, the limiting steel pipe sequentially penetrates through two baffles on the back of the reset turnover support and is rotationally connected with the spring support, and the reset spring is sleeved on the limiting steel pipe between the two baffles.

Further, the storage bracket is rotatably connected to the bottom center of the lifting bracket.

Further, the storage support comprises a left storage support and a right storage support which are rotatably connected to the two sides of the lifting support, a space is reserved between the left storage support and the right storage support, and a second transmission mechanism is arranged on the left storage support and the right storage support.

Further, the storage bracket drives the storage bracket to turn up and down by taking the front end as a rotating point through a hydraulic mechanism and fold and store;

the hydraulic mechanism is composed of a hydraulic cylinder and two connecting rods, one ends of the two connecting rods are hinged to push rods of the hydraulic cylinder, the first connecting rods are hinged to the storage support, the second connecting rods are hinged to a frame of the mobile robot, and cylinder seats of the hydraulic cylinder are hinged to the frame of the mobile robot.

The second transmission mechanism consists of rollers, chain wheels and chains, and a driving motor, wherein the rollers are connected through chain wheel and chain transmission, and the driving motor is connected with one of the rollers.

According to the lifting device, the lifting mechanism lifts the curb transported from the rear of the frame, and the lifting devices are arranged on two sides of the lifting plate, so that the lifting plate fully loaded with the curb is more stable in the lifting process; the storage support of elevating system rear side is as the mechanism of temporary storage curb, and fork truck is transported the curb on the storage support to on the lift plate is passed the curb by the storage support, storage support can upwards fold when not using accomodate, reduces occupation of land space.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is an overall profile view of a mobile robot for laying flat plate bricks according to the present utility model;

fig. 2 is a top view of the mobile robot as a whole laying the slab blocks;

FIG. 3a is a perspective view of a lifting mechanism on the rear side of a mobile robot in one embodiment;

FIG. 3b is a perspective view of the lift plate raised to half-empty;

FIG. 3c is a side view of the storage rack of the lift mechanism after deployment;

FIG. 3d is a side view of the storage rack after being folded;

FIG. 3e is a partial perspective view of a lifting mechanism in another embodiment;

FIG. 3f is a schematic view of a warehouse rack equipped with a hydraulic drive mechanism;

FIG. 4a is a side view of the clamp pushing mechanism in the X direction;

FIG. 4b is a perspective view of the grip pushing mechanism;

FIG. 4c is a bottom view of the grip pushing mechanism;

FIG. 4d is a schematic view of FIG. 4a after hiding the side plate of the front rail, showing a schematic view of the front rail having two upper and lower rails (i.e., an upper rail and a lower lifting rail), wherein the clamping device is the stroke start section of the front rail;

FIG. 4e is an end-of-travel side view of the clamp pushing mechanism slid to the advancing rail;

FIG. 4f is a side view of the clamp pushing mechanism in the Y direction;

FIG. 5a is a perspective view of a mechanical arm;

FIG. 5b is a side view of the mechanical arm;

FIG. 6a is a top view of the paving mechanism;

FIG. 6b is a side view of the paving mechanism;

FIG. 6c is a perspective view of the main body frame of the paving mechanism;

FIG. 6d is a view of the positioning mechanism mounting location of the paving mechanism front end;

fig. 6e is a perspective view of the paving mechanism in which the placement device of the flipping mechanism is used to receive bricks from the conveying mechanism;

FIG. 6f is a perspective view of the flipping mechanism;

FIG. 6g is a schematic diagram of a screeding mechanism of the tilting mechanism in performing a screeding operation;

fig. 6h is a schematic view of the placement device of the turnover mechanism holding the brick from the transport mechanism (same state as fig. 6 e);

fig. 6i is a schematic view of the placement device of the turnover mechanism after being turned forward to lay the brick on the ground;

fig. 6j is a schematic diagram of the rolling mechanism of the turnover mechanism in performing the rolling operation.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present utility model. It will be apparent, however, to one skilled in the art that the utility model may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the utility model.

In order to provide a thorough understanding of the present utility model, detailed steps and detailed structures will be presented in the following description in order to explain the technical solution of the present utility model. Preferred embodiments of the present utility model are described in detail below, however, the present utility model may have other embodiments in addition to these detailed descriptions.

Referring to fig. 1, the utility model provides a brick laying mobile robot 10, as shown in fig. 1, a traveling device 12 is mounted on a chassis of a frame 11 of the brick laying mobile robot 10, the traveling device 12 is provided with 4 steerable traveling wheels 13, and the traveling device 12 can drive the brick laying mobile robot 10 to travel. For convenience of the following description, let us say that the longitudinal direction of the frame 11 is the X direction and the width direction is the Y direction.

A lifting mechanism 100 and a clamping pushing mechanism 200 are arranged at the tail part of a frame 11, a multi-shaft mechanical arm 500 is arranged at the front part of the frame 11, a laying mechanism 400 is arranged on the mechanical arm 500, and a conveying mechanism 300 positioned between the laying mechanism 400 and the clamping pushing mechanism 200 is arranged on the frame 11;

the lifting mechanism 100 is provided with a first conveying mechanism 104, a lifting plate 103 and a lifting device 120, wherein the first conveying mechanism 104 transfers the floor tiles stacked up and down to the lifting plate 103 and the lifting plate 103 is driven by the lifting device 120 to lift upwards;

the clamping and pushing mechanism 200 comprises an advancing guide rail 210 and a clamping device 220 which is slidably arranged on the advancing guide rail 210, wherein the clamping device 220 clamps the two ends of the length of the floor tile lifted to the top, forwards conveys the floor tile in the X direction, then loosens the floor tile and horizontally places the floor tile on the conveying mechanism 300, and the conveying mechanism 300 forwards conveys the floor tile to the paving mechanism 400 in the X direction;

the paving mechanism 400 is provided with a paving frame, a turnover mechanism 430 sliding back and forth in the X direction is arranged on the paving frame, the turnover mechanism 430 is provided with a Y-direction turnover shaft, the turnover mechanism 430 is provided with a placing device 431 rotating around the turnover shaft as an axis, the placing device 431 clamps one floor tile conveyed by the conveying mechanism 300, and after the placing device 431 clamps the floor tile, the placing device 431 forwards turns to lay the clamped floor tile on the ground;

positioning mechanisms are mounted on the paving frame and the turnover mechanism 430 respectively, and the two positioning mechanisms cooperate to provide positioning for paving the floor tiles.

According to the tile moving robot 10 provided by the utility model, the stacked tiles are integrally lifted through the lifting mechanism 100, then the clamping pushing mechanism 200 clamps the tiles one by one and transfers the tiles to the conveying mechanism 300 to be laid horizontally, the conveying mechanism 300 transfers the laid tiles to the laying mechanism 400, and the laying mechanism 400 lays the tiles horizontally on the ground. The whole process is completely mechanically operated, so that the laying efficiency is greatly improved, and meanwhile, the required labor cost is reduced; meanwhile, when the floor tile paving device is used for paving floor tiles, manual assistance is not needed, operators do not need to participate in reviving, and labor intensity of people is reduced.

The structure of the lifting mechanism 100 is further described below:

the lifting mechanism 100 is provided with a longitudinal lifting bracket 102 arranged at the tail part of the frame 11, the first transmission mechanism 104 is fixedly arranged at the bottom of the longitudinal lifting bracket 102, the lifting plate 103 is driven by the lifting device 120 on the longitudinal lifting bracket 102 to do lifting motion in the vertical direction of the first transmission mechanism 104, and the lifting plate 103 is provided with an open slot corresponding to the position of the first transmission mechanism 104 so that the lifting plate 103 can descend below the upper surface of the first transmission mechanism 104. A storage bracket 130 is installed at the bottom of the rear side of the lifting bracket, the front end of the storage bracket 130 is rotatably connected to the bottom of the rear side of the longitudinal lifting bracket 102, the storage bracket 130 can be turned up and down and folded and stored by taking the front end as a rotation point, and as shown in fig. 3b and 3c, a second transmission mechanism 132 is arranged on the storage bracket 130; the stocker rack 130 conveys the floor tiles stacked one above the other forward in the X direction to the first conveying mechanism 104, and the first conveying mechanism 104 continues to convey the floor tiles forward onto the lift plate 103. A guard plate 101 is provided at an upper portion of the vertical lift bracket 102.

In an alternative embodiment, on the longitudinal lifting brackets 102 are mounted lifting devices 120 located on both sides of the lifting plate 103 in the Y-direction, respectively, each lifting device 120 comprising a lifting cylinder 121 and a lifting chain 122. The lifting cylinders 121 are vertically fixed to the longitudinal lifting brackets 102; two ends of the lifting chain 122 are respectively and fixedly connected with the lifting plate 103 and the ejector rod of the lifting cylinder 121, or two ends of the lifting chain 122 are respectively positioned at two sides of the lifting cylinder 121 and transversely span the ejector rod of the lifting cylinder 121, one end of the lifting chain 122 is fixedly connected with the lifting plate 103, and the other end of the lifting chain 122 is fixed on the longitudinal lifting support 102 at one side of the lifting cylinder 121. The top rod of the lifting cylinder 121 slides upwards to drive the tail end of the lifting chain 122 to move upwards, and the two groups of lifting chains 122 drive the middle lifting plate 103 to lift steadily.

In an alternative embodiment, vertical guide channel steel tracks 105 are arranged on the two sides of the lifting plate 103 on the longitudinal lifting support 102, lifting webs 106 are vertically and slidably arranged on each vertical guide channel steel track 105, and one end of a lifting chain 122 and the lifting plate 103 are fixedly connected with the lifting webs 106.

In an alternative embodiment, the warehouse rack 130 is mounted at the bottom of the longitudinal lifting rack 102 through a reset flip rack 131, and a spring support 135 is mounted at the bottom of the longitudinal lifting rack 102; the bottom of the reset turnover bracket 131 is provided with a limit steel pipe 138 and a reset spring 137, the limit steel pipe 138 sequentially passes through two baffle plates 136 on the back of the reset turnover bracket 131 and is rotationally connected with the spring support 135, and the reset spring 137 is sleeved on the limit steel pipe 138 between the two baffle plates 136.

In another embodiment, the storage rack 130 may be hydraulically driven to rotate, as shown in fig. 3f, and the storage rack 130 is driven by a hydraulic mechanism to turn over and fold up and down with the front end of the storage rack 130 as a rotation point, so that the storage rack is folded and stored: the hydraulic mechanism is composed of a hydraulic cylinder 140 and two connecting rods, one ends of the two connecting rods are hinged to push rods of the hydraulic cylinder, the first connecting rod 141 is hinged to the storage bracket 130, the second connecting rod 142 is hinged to a frame of the brick laying mobile robot 10, and a cylinder seat of the hydraulic cylinder 140 is also hinged to the frame of the brick laying mobile robot 10.

The lifting mechanism 100 adopts a differential forklift lifting principle, a lifting cylinder 121 and lifting chains 122 are combined to be placed on the left side and the right side, one end of each chain is connected with a frame, the other end of each chain is connected with a brick lifting plate 103, bearings are arranged on the left side and the right side of each lifting plate 103, and the lifting plates can roll up and down on a vertical guide channel steel track 105. The second transmission mechanism 132 is arranged on the storage bracket 130, the second transmission mechanism 132 consists of rollers, a sprocket chain 133, a driving motor 134 and the like, the rollers are connected through the transmission of the sprocket chain 133, and the driving motor 134 is connected with one of the rollers to receive and transmit the brick. The first transmission mechanism 104 is an unpowered driven roller mechanism.

The lateral width of the warehouse rack 130 needs to be smaller than the lateral width of the vertical lifting rack 102, in one embodiment, and the warehouse rack 130 is rotatably connected to the bottom center of the vertical lifting rack 102, i.e. as shown in fig. 3b, in another embodiment, the warehouse rack 130 is composed of a left warehouse rack 130-1 and a right warehouse rack 130-2 rotatably connected to two sides of the lifting rack 102, a space is provided between the left warehouse rack 130-1 and the right warehouse rack 130-2, and the left warehouse rack 130-1 and the right warehouse rack 130-2 are both provided with a second transmission mechanism 132. The warehouse rack 130 of these two designs can accommodate different types of forklifts: when the fork of the forklift is fork bodies distributed on the left side and the right side of the front end, the structure shown in fig. 3b is needed to be adopted in the utility model, and the spaces on two sides of the storage support 130 are used for the fork to advance and retreat; when the fork of the forklift is a fork body in the middle of the front end, the utility model needs to adopt the structure shown in fig. 3e, and the opening between the left storage bracket and the right storage bracket is used for feeding the fork to advance and retreat.

The design of the lifting mechanism 100 provided by the utility model is as follows: 1) The continuous supply of the brick bodies can be ensured through the design of the storage and lifting parts, the brick body requirement of the front-end brick laying mobile robot 10 is met, the efficiency is improved, and the structure is compact. 2) The lifting part design can accurately lift the corresponding height according to the thickness of the brick body. 3) When fork truck places the material in the design, the clamp mouth that forms fork truck both ends board corresponds the storage riser, and the width of storage riser is less than clamp mouth width far away, applicable various fork truck, and the big or small brick body of being convenient for is placed and is transported, and the operation is very convenient. 4) When the operation is accomplished to the storage material, accessible manual promotion storage riser, upwards rotates 90, packs up the storage part to vertical state, reduces whole car length, is convenient for transition and transportation. And when the storage mechanism is horizontally placed, the storage outer frame and the frame can be automatically limited to support the storage mechanism in a horizontally placed state, and the storage mechanism is easily placed and retracted by the spring assembly.

The structure of the clamp push mechanism 200 is further described below with reference to fig. 4a-4 f:

the front moving guide rail 210 is provided with two first sliding rails 211 with the length of X direction, the opposite inner side surfaces of the first sliding rails 211 are provided with upper rails 212, the first sliding rails 211 are provided with lower lifting rails 213 positioned below the upper rails 212, the lower side edges of the lower lifting rails 213 are provided with front and rear inlet openings 213-1 with downward openings, a front and rear pair of first rollers 202 are arranged in each upper rail 212, the front and rear ends of two sides of the clamping device 220 are respectively fixed with a second roller 221, the corresponding first rollers 202 and the second rollers 221 are movably connected through driven rods 230, the first sliding pushing cylinders 240 drive the first rollers 202 to slide forwards in the upper rails 212 to drive the clamping device 220 to move forwards, and the first rollers 202 drive the second rollers 221 to enter the lower lifting rails 213 through the driven rods 230 in the forward sliding process, so that the heights of the clamping device 220 are lifted.

In an alternative embodiment, the front and rear pair of first rollers 202 in the upper rail 212 are mounted on a side push plate 214, the side push plate 214 is fixedly connected with the ejector rod of the first traversing propulsion cylinder 240, and the side push plate 214 is pushed by the first traversing propulsion cylinder 240 to drive the front and rear pair of first rollers 202 to roll back and forth in the upper rail 212.

The upper and lower ends of the driven rod 230 are respectively hinged with the first roller 202 in the upper first sliding rail 211 and the second roller 221 of the clamping device, and four hinge points are formed, so that a parallel four-bar mechanism (such as a rectangular dotted line frame in fig. 4 d) is formed, namely, four corners of the clamping device are respectively and movably connected below the first sliding rail 211 through the connecting rod 230; the second roller 221 is rotatably mounted on the frame of the clamping device 220. In particular, during operation, the first lateral movement pushing cylinder 240 drives the side push plate 214 to drive the first roller 202 to roll forward in the upper rail 212, the lower end of the driven rod 230 drives the clamping device 220 to form a parallel four-bar mechanism to realize forward pushing of the whole clamping mechanism, and before the clamping device 220 slides forward, the second roller 221 arranged on the clamping device 220 advances into the lower lifting rail 213 to lift the height of the clamping device 220, so that the height of the clamped brick is lifted, friction between the clamped brick and the brick below the clamped brick is avoided, and the surface of the brick is scratched, as shown in fig. 4 e. The gripping device 220 is moved forward by first lifting a bit of height. Preferably, when the clamping device 220 is at the position of the rearmost end of the travel, both second rollers 221 are located just at the entrance of the lower lifting rail 213, so that the clamping device 220 is lifted and then slid forward.

As shown in fig. 4c, the clamping device 220 includes a clamping frame 223, the clamping frame 223 is provided with a second slide rail 224 in the Y direction and a multi-link linkage mechanism, two clamping plates 225 capable of sliding relatively are arranged on the second slide rail 224, the multi-link linkage mechanism is composed of a middle swing rod 226 and two clamping connecting rods 227 hinged at two ends of the swing rod 226, the center of the swing rod 226 is rotatably connected to the clamping frame 223 through a swing rod center pin, and the other ends of the two clamping connecting rods 227 are respectively hinged with opposite surfaces of the two clamping plates 225; one end of the swing rod 226 is hinged with a clamping driving cylinder 228, and the clamping driving cylinder 228 drives a multi-link linkage mechanism to drive the two clamping plates 225 to slide relatively or oppositely on the second sliding rail 224 so as to clamp or loosen the floor tile.

By adopting the multi-link linkage mechanism, the two clamping plates 225 can slide relatively or oppositely on the second sliding rail 224 to clamp or loosen the floor tile only through one clamping driving cylinder 228, so that the driving structure is simplified, and on the other hand, the movement of the two clamping plates 225 is synchronous, so that the clamping and loosening actions are more linear. Preferably, the opposite sides of the two clamping plates 225 are detachably provided with rubber plates, which play a role in protecting the floor tile when clamping the floor tile.

In an alternative embodiment, the transfer mechanism 300 is a roller or belt based transfer mechanism.

The construction of paving mechanism 400 is further described below with reference to fig. 6a-6 f:

the main body frame structure of the paving mechanism 400 is as follows: rear slide rail supporting plates 401 are arranged on two sides of the rear portion of the paving mechanism 400, front slide rail supporting plates 402 are arranged on two sides of the front portion, and supporting feet 404 and second supporting universal wheels 405 are arranged at the bottoms of the front slide rail supporting plates 402. Support feet 404 enable maintenance of the parking of laying mechanism 400 and its stability, together with second support casters 405, after laying mechanism 400 has been detached from robotic arm 500. When the placing bracket 431-5 is pulled out after placing the road floor tile, the mechanical arm supporting leg can prop against the laid brick body, so that the brick body with good exterior is prevented from moving. The rear slide rail supporting plate 401 is fixedly connected with the front slide rail supporting plate 402 through a quick-release connecting plate 403, and the laying mechanism 400 is detachably arranged between quick-release mounting brackets 531 on two sides through the quick-release connecting plate 403.

Side frames 436 in sliding fit with the front rail support plates 402 are installed at both sides of the turnover mechanism 430, that is, the side frames 436 can drive the turnover mechanism 430 to slide back and forth, and the turnover mechanism 430 can rotate on the side frames 436. The rear slide rail support plate 401 is connected with the turnover mechanism 430 through a horizontal telescopic cylinder 406, and the side frame 436 and the turnover mechanism 430 thereof are driven to move back and forth in the X direction by the horizontal telescopic cylinder 406.

As shown in fig. 6e to 6f, the tilting mechanism 430 is further provided with a scraping mechanism 432 and a rolling mechanism 433 which rotate around a tilting shaft as an axis, and the scraping mechanism 432, the rolling mechanism 433 and the placing device 431 synchronously rotate around the tilting shaft as an axis, and the tilting shaft is a tilting cylinder 434. The following further describes the structural and operational principles of the screeding mechanism 432 and the rolling mechanism 433:

the scraping mechanism 432 is provided with a saw-tooth scraping plate, the scraping plate is in inclined contact with the ground through the overturning of the scraping mechanism 432, and the overturning mechanism 430 is driven by the horizontal telescopic cylinder 406 to integrally move back and forth so as to scrape the ground. Wherein, through adjusting or changing the scraper blade of different width, in order to be suitable for the brick body of different width and lay. The leveling mechanism 432 is positioned by the positioning mechanism, so that the paving mechanism 400 reaches a preset position, the leveling mechanism 432 is turned over by the turning oil cylinder 434 to achieve the leveling starting position, and then the turning mechanism 430 is driven by the horizontal telescopic cylinder 406 to horizontally move back and forth in the X direction to achieve the purpose of ground leveling.

The rolling mechanism 433 is provided with a rolling wheel with convex ribs on the outer diameter, the rolling wheel is contacted with the upper surface of the laid floor tile by the overturning of the rolling mechanism 433, and the horizontal telescopic cylinder 406 drives the overturning mechanism 430 to move back and forth so as to roll the laid floor tile. The outer diameter of the roller is provided with convex ribs, and the brick body is compacted by rolling and beating.

As shown in fig. 6d, a first laser transmitter 421 is mounted at the front ends of the front rail supporting plates 402 at both sides, and a second laser transmitter 422 is mounted at the front ends of the side frames 436 at both sides; each first laser transmitter 421 is configured to transmit a first positioning laser 421-1 intersecting the cross to the ground directly below the first laser transmitter 421 on the other side, and the second laser transmitter 422 is configured to transmit a second positioning laser 422-1 intersecting the cross perpendicular to the ground, where the positioning of the floor tile is determined by overlapping the second positioning laser 422-1 and the first positioning laser 421-1. Wherein, the colors of the first positioning laser 421-1 and the second positioning laser 422-1 are different, so that we can conveniently judge whether the first positioning laser 421-1 and the second positioning laser 422-1 on the same side of the ground are overlapped.

Preferably, the angles of the two first laser transmitters 421 on the front slide rail supporting plate 402 are adjustable, so that the included angle between the first positioning lasers 421-1 and the ground can be changed, and the distance between the two first positioning lasers 421-1 can be adjusted to adapt to the positioning of the floor tiles with different widths.

The positioning mechanism of the laser controls the paving mechanism 400 to be kept horizontal at all times through the mechanical arm, and positions the paving mechanism 400 longitudinally and transversely based on the principle of laser positioning, wherein the positioning principle is as follows:

because the two groups of laser positioning devices are arranged on the left side and the right side of the frame, the laser positioning devices are symmetrically arranged on the left side and the right side. The first laser transmitters 421 are fixed on the front slide rail support plates 402 at the two sides of the front end of the paving frame and fixedly connected with the mechanical movable arm, and are used for positioning the whole vehicle, when the next brick body is paved, the two first laser transmitters 421 of the whole vehicle emit cross-shaped first positioning lasers 421-1 to the opposite side ground, the paved brick body or the marking line is used as marks to roughly position the whole vehicle, the position deviation is ensured to be in a specified range, and preparation is made for the adjusting position of the front paving mechanism 400; the other group is a second laser emitter 422 fixed on a side frame 436 of the turnover mechanism 430, and moves synchronously with the side frame 436, after the whole machine is stopped, before the links of scraping, paving bricks and compacting, the second laser emitter 422 emits left and right two beams of cross-shaped second positioning lasers 422-1 perpendicular to the ground for preliminary positioning, when the turnover mechanism 430 slides forwards, the second laser emitter 422 is driven to move forwards, when the second positioning lasers 422-1 on the same side are basically coincident with the first positioning lasers 421-1, the placement position can be prejudged, and the positioning of the paving position can be completed only by carrying out small-amplitude position adjustment, so that the paved bricks are more neat.

As shown in fig. 6f, the placing device 431 is provided with a clamping fixing frame 431-1, one side of the clamping fixing frame 431-1 is provided with a supporting plate 431-4, the clamping fixing frame 431-1 is provided with a Y-direction adjusting guide rail 431-2, a bracket 431-5 on the same side of the supporting plate is arranged on the adjusting guide rail 431-2, the bracket 431-5 is connected with the clamping fixing frame 431-1 through a fine adjusting cylinder 431-3 to adjust the position of the bracket 431-5 in the Y direction, and the transverse fine adjusting and positioning when the paving mechanism 400 places road tiles can be realized.

A plurality of support plates 407 in the X direction are mounted on the rear slide support plate 401, and rollers are provided on the support plates 407. The support plate 407 serves as a brick transfer mechanism, and the conveyor 300 transfers the tile forward in the X-direction through the support plate 407 and between the pallet 431-4 and the bracket 431-5.

The paving mechanism 400 of the present utility model is an infrared laser positioning paving system that integrates screeding, placement, and compaction. When paving the pavement bricks, the paving mechanism 400 is guided by the positioning mechanism to firstly scrape the ground, then place the floor tiles and then compact the floor tiles. The scraping mechanism 432, the placing device 431 and the rolling mechanism 433 are connected with the overturning oil cylinder 434, the overturning oil cylinder 434 is fixedly arranged on the front sliding rail supporting plate 402 through the overturning oil cylinder supporting plate 435, and the scraping mechanism 432, the placing device 431 and the rolling mechanism 433 overturned by more than 180 degrees along with the overturning oil cylinder 434 are realized by the overturning oil cylinder 434.

The structure of the mechanical arm 500 is further described below with reference to fig. 5a-5 b:

a mechanical arm 500 is symmetrically arranged on the left and right sides of the front part of the frame 11, the two mechanical arms 500 are fixedly connected through an connecting rod 540, a vertical guide rail 501 and a horizontal guide rail 503 are fixed on the left and right sides of the front part of the frame 11, a vertical sliding block support 502 which slides up and down is arranged on the vertical guide rail 501, and a horizontal sliding block 504 which slides horizontally is arranged on the horizontal guide rail 503; the vertical slider support 502 is connected to a vertical jack mechanism 505 fixed to the front of the carriage 11, and the horizontal slider 504 is connected to a horizontal pushing mechanism 506 fixed to the front of the carriage 11. The vertical lifting mechanism 505 and the horizontal pushing mechanism 506 are any one of a cylinder, a hydraulic cylinder, an electric push rod and a screw pair.

The mechanical arm 500 includes a longitudinal leg 530, a horizontal upper arm 510 and a horizontal lower arm 520, wherein the front ends of the upper arm 510 and the lower arm 520 are hinged with the leg 530, the rear end of the upper arm 510 is hinged on the vertical slider support 502, the lower arm 520 is fixedly connected with the horizontal slider 504, and the rear end of the lower arm 520 is movably connected with the upper arm 510 through a connecting rod support arm 521. As shown in fig. 5b, the upper arm 510, the lower arm 520, the leg 530, and the link support arm 521 form a parallelogram structure (shown in phantom) having an advantage in that the front leg can be better controlled by the rear vertical lift mechanism 505 and the horizontal pushing mechanism 506. The quick-release mounting bracket 531 is installed to landing leg 530 bottom, is connected with a swinging cylinder 532 between quick-release mounting bracket 531 and the landing leg 530, installs quick-release's first support universal wheel 533 in quick-release mounting bracket 531 bottom.

The mechanical arm 500 may enable longitudinal and vertical positioning of the front mounted paving mechanism 400 and provide support thereto. By the cooperation of the vertical jacking mechanism 505, the horizontal pushing mechanism 506 and the swinging cylinder 532 of the mechanical arm 500, the front end laying mechanism 400 can be ensured to be always kept in a horizontal state, so that the ground surface is convenient to scrape, place and roll.

The quick-release mounting bracket 531 is installed to landing leg 530 bottom, is convenient for with lay the quick-release connection board 403 quick detach connection on the mechanism 400 main body frame, through the flexible of swinging cylinder 532, the angle of adjustable quick-release mounting bracket 531, the convenience is located fast with the connection structure of laying mechanism 400 and is combined, realizes quick installation and dismantlement.

In other embodiments, the paving mechanism 400 can be detached from the mechanical arm 500 and replaced by other mechanisms, for example, the paving mechanism 400 for paving the floor tiles is replaced by a mechanism for paving the kerbstone, so that different brick paving requirements can be met, and meanwhile, the structures of the lifting mechanism 100, the clamping pushing mechanism 200 and the conveying mechanism 300 on the frame are not changed, so that the expansibility of the utility model is stronger.

The working process of the utility model is described in detail below:

firstly, the floor tiles 01 are stacked on the fork of a forklift, and the front side and the back side of the stacked floor tiles 01 are contacted. Then we put down the warehouse rack 130 to be in a horizontal state and drive the forklift to transfer the stacked floor tiles onto the warehouse rack 130, because the warehouse rack 130 is rotatably connected to the bottom center of the longitudinal lifting rack 102, a space for the feeding fork to travel is formed at both sides of the warehouse rack 130, and the warehouse rack 130 can extend into the center of the opening of the fork when the forklift runs near the flat brick laying device 10. And the floor tile is removed and separated after the forklift is driven into place.

A second conveyor 132 of rollers or belts is provided on the stocker rack 130, and the stacked floor tiles 01 are conveyed forward by the second conveyor 132 onto the lift plate 103. The ejector pins of the lifting devices 120 on both sides of the lifting plate 103 slide upwards, and the ejector pins drive the lifting webs 106 on both sides to move upwards steadily by moving upwards through the lifting chains 122, so that the height of the lifting plate 103 is lifted as shown in fig. 3 b.

The clamping device 220 of the clamping and pushing mechanism 200 slides backwards to the tail direction, the clamping plate 225 clamps and fixes the left end and the right end of the uppermost floor tile 01, and then the clamping device 220 moves towards the head direction. In the process of sliding forward, the second roller 221 slides into the lower lifting rail 213 to lift the height of the floor tile 01, so that the clamping device 220 slightly lifts the height of the floor tile 01 while driving the floor tile 01 to move forward, thereby avoiding scraping the floor tile 01 clamped by the clamping device and the floor tile 01 on the lifting plate 103, and affecting the beauty of the floor tile 01.

When the gripping device 220 slides on the advancement rail 210 over the conveyor 300, the two cleats 225 are released and the tile 01 falls onto the conveyor 300 and continues to be conveyed forward by the conveyor 300 with the tile 01 lying flat.

After the carriage moves to the designated position of the laying area, the positioning mechanism 320 is used for positioning the position of the laying mechanism 400, the turning cylinder 434 drives the turning mechanism 430 to integrally turn over, so that the saw-tooth scraping plate of the scraping mechanism 432 is in inclined contact with the ground, and then the horizontal telescopic cylinder 406 drives the turning mechanism 430 to integrally move back and forth on the setting frame to scrape the ground, as shown in fig. 6 g.

After the ground is scraped, the tile transferred by the transfer mechanism 300 is transferred between the pallet 431-4 and the bracket 431-5 through the support plate 407 so that the tile is held by the placement mechanism 431. Then the turnover cylinder 434 drives the turnover mechanism 430 to integrally turn over, so that the placement mechanism 431 with the bricks clamped at the rear side is turned over to the front side and is in a horizontal state, as shown in fig. 6h-6i, and then the horizontal telescopic cylinder 406 drives the turnover mechanism 430 to retract, so that the bracket 431-5 is pulled out from the gap between the floor tile 01 and the ground, and the floor tile 01 is paved on the ground.

The turning cylinder 434 then drives the turning mechanism 430 to turn over integrally, so that the rolling mechanism 433 turns over to make the rolling wheel contact with the upper surface of the laid tile, and then the horizontal telescopic cylinder 406 drives the turning mechanism 430 to move back and forth, so that the rolling wheel rolls the upper surface of the laid tile back and forth, as shown in fig. 6 j.

After the rolling is completed, the horizontal telescopic cylinder 406 drives the tilting mechanism 430 to retract to the initial position, and the tilting mechanism 430 is driven by the tilting cylinder 434 to tilt to a state in which the placing mechanism 431 is connected with the conveying mechanism 300 (i.e., to return to the state of fig. 6 e). The body is then moved to the next brick laying position, with the positioning provided by two sets of positioning mechanisms to ensure that the laid bricks fall into the designated positions.

Mechanical arm 500 is used to provide support for paving mechanism 400. In a non-paving working state of the paving equipment of the plate brick, the mechanical arm 500 slides upwards on the vertical guide rail 501 to drive the paving mechanism 400 to leave the ground so as to suspend the paving mechanism 400, so that the paving mechanism 400 is protected; when the slab-brick laying apparatus is moved to a designated position, the robotic arm 500 is lowered and the leg 530 is moved horizontally back and forth by the horizontal pushing mechanism 506 to adjust the position of the laying mechanism 400 at the bottom of the robotic arm 500.

The preferred embodiments of the present utility model have been described above. It is to be understood that the utility model is not limited to the specific embodiments described above, wherein devices and structures not described in detail are to be understood as being implemented in a manner common in the art; any person skilled in the art can make many possible variations and modifications to the technical solution of the present utility model or modifications to equivalent embodiments without departing from the scope of the technical solution of the present utility model, using the methods and technical contents disclosed above, without affecting the essential content of the present utility model. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present utility model still fall within the scope of the technical solution of the present utility model.

Claims (8)

1. The lifting mechanism of the mobile robot is characterized in that the lifting mechanism (100) is provided with a longitudinal lifting support (102) arranged at the tail part of the mobile robot, a first transmission mechanism (104) is arranged at the bottom of the longitudinal lifting support (102), lifting plates (103) are arranged on the longitudinal lifting support (102), lifting devices (120) positioned at two sides of the lifting plates (103) are symmetrically arranged on the lifting support (102), the lifting devices (120) drive the lifting plates (103) to lift, the lifting plates (103) are provided with open grooves corresponding to the positions of the first transmission mechanism (104) so that the lifting plates (103) can descend below the upper surface of the first transmission mechanism (104), and a protective cover (101) is arranged at the top end of the lifting support (102);

install a storehouse support (130) in promotion support (102) rear side bottom, the front end of storehouse support (130) rotates and connects the rear side bottom of promotion support (102), upset about the front end is rotation point and folding accomodate in storehouse support (130), be provided with second transport mechanism (132) on storehouse support (130), the transverse width of storehouse support (130) is less than the transverse width of promotion support (102).

2. The lifting mechanism of a mobile robot according to claim 1, wherein the lifting device (120) comprises:

a lifting cylinder (121), the lifting cylinder (121) being vertically fixed on the lifting bracket (102);

and the lifting chain (122) is arranged at two ends of the lifting chain (122) respectively at two sides of the lifting cylinder (121) and spans the ejector rod of the lifting cylinder (121), one end of the lifting chain (122) is fixedly connected with the lifting plate (103), and the other end of the lifting chain is fixed on the longitudinal lifting support (102) at one side of the lifting cylinder (121).

3. The lifting mechanism of the mobile robot according to claim 2, wherein vertical guide channel steel tracks (105) are arranged on two sides of the lifting support (102), lifting webs (106) are vertically and slidably arranged on the vertical guide channel steel tracks (105), and one end of the lifting chain (122) and the lifting plate (103) are fixedly connected with the lifting webs (106).

4. The lifting mechanism of the mobile robot according to claim 1, wherein the storage bracket (130) is installed at the bottom of the lifting bracket (102) through a reset overturning bracket (131), and a spring support (135) is installed at the bottom of the lifting bracket (102);

limiting steel pipes (138) and reset springs (137) are installed at the bottoms of the reset overturning brackets (131), the limiting steel pipes (138) sequentially penetrate through two baffles (136) on the back of the reset overturning brackets (131) and are connected with the spring supports (135) in a rotating mode, and the reset springs (137) are sleeved on the limiting steel pipes (138) between the two baffles (136).

5. The mobile robot lifting mechanism of claim 1, wherein the storage rack (130) is rotatably connected to a bottom center of the lifting rack (102).

6. The lifting mechanism of a mobile robot according to claim 1, wherein the storage rack (130) is composed of a left storage rack (130-1) and a right storage rack (130-2) rotatably connected to two sides of the lifting rack (102), a space is reserved between the left storage rack (130-1) and the right storage rack (130-2), and a second transmission mechanism (132) is arranged on each of the left storage rack (130-1) and the right storage rack (130-2).

7. The lifting mechanism of the mobile robot according to claim 4, wherein the storage bracket (130) drives the storage bracket (130) to turn up and down and fold and store by taking the front end as a rotation point through a hydraulic mechanism;

the hydraulic mechanism is composed of a hydraulic cylinder (140) and two connecting rods, one ends of the two connecting rods are hinged to push rods of the hydraulic cylinder, the first connecting rods (141) are hinged to the storage support (130), the second connecting rods (142) are hinged to a frame of the mobile robot, and cylinder bases of the hydraulic cylinder (140) are hinged to the frame of the mobile robot.

8. The lifting mechanism of the mobile robot according to claim 1, wherein the second transmission mechanism (132) is composed of rollers, a sprocket chain (133) and a driving motor (134), the rollers are in transmission connection through the sprocket chain (133), and the driving motor (134) is connected with one of the rollers.

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