WO2022028271A1 - 墙砖铺贴设备 - Google Patents

墙砖铺贴设备 Download PDF

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Publication number
WO2022028271A1
WO2022028271A1 PCT/CN2021/108546 CN2021108546W WO2022028271A1 WO 2022028271 A1 WO2022028271 A1 WO 2022028271A1 CN 2021108546 W CN2021108546 W CN 2021108546W WO 2022028271 A1 WO2022028271 A1 WO 2022028271A1
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WO
WIPO (PCT)
Prior art keywords
applicator
paving
wall
wall tile
lifting device
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Application number
PCT/CN2021/108546
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English (en)
French (fr)
Inventor
吴奇
何涛
Original Assignee
广东博智林机器人有限公司
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Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2022028271A1 publication Critical patent/WO2022028271A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
    • E04F21/1894—Lever-type lifters gripping the bottom edge of wall panels

Definitions

  • the present application relates to the technical field of construction robots, for example, to a wall tile paving device.
  • Building decoration generally requires wall tiles to be laid on the walls of kitchens, bathrooms and public areas. Due to the requirements of process accuracy and wall tile acceptance standards, the work of laying wall tiles on the walls of large buildings in China is still mainly done manually. A group of two wall brick laying workers can complete about 30 square meters of wall brick laying work in one day, and the overall work efficiency is not high. In addition, at present, the average age of construction and decoration workers is gradually increasing at home and abroad, and the number of workers is decreasing, resulting in an increase in labor costs year by year. It is a better solution to replace human beings to complete wall and wall tile paving. plan.
  • the application provides a wall tile paving device, which can improve the overall operation coverage of the device on the premise that the mobile chassis is fixed.
  • An embodiment provides a wall tile paving device, comprising:
  • a feeding device mounted on the first end of the mobile chassis, and configured to provide wall tiles and adhesive
  • a lifting device mounted on the second end of the mobile chassis
  • the paving manipulator is installed on the lifting device.
  • the left and right sides of the paving manipulator and the side away from the feeding device cooperate to form a vacant activity area.
  • the paving manipulator can be driven by the lifting device. It moves up and down to obtain the wall tiles coated with adhesive from the feeding device, and moves in the vacant activity area to lay the wall tiles on different target work surfaces.
  • the feeding device and the lifting device at opposite ends of the moving chassis, and setting the paving manipulator on the top of the lifting device, on the one hand, in the process of laying the wall tiles, the moving chassis makes one end with the lifting device Facing the target working surface, the above-mentioned structural layout can make the front and left and right sides of the paving manipulator unobstructed, providing sufficient movement space for the paving manipulator, which is beneficial to improve the degree of freedom of the paving manipulator, thereby expanding the paving manipulator.
  • the coverage of the operation so that the paving manipulator can realize the paving of two rows of wall tiles on the premise that the mobile chassis is fixed, effectively reducing the transfer frequency of the mobile chassis, thereby improving the overall operation efficiency, and at the same time enabling the paving manipulator to cover the mobile
  • the area directly in front of the chassis enables the equipment to meet the paving operation in the corner area and improve the versatility of the equipment;
  • the projection part of the device on the horizontal plane overlaps, which effectively reduces the occupied space in the horizontal direction, thereby facilitating the improvement of the operation capability of the wall tile paving equipment in a narrow space.
  • the paving manipulator can rotate 360 degrees in the horizontal direction. During the process of laying the wall tiles, the paving manipulator obtains the wall tiles that have been coated with the adhesive from the rear feeding device, and then transfers the wall tiles to the front and lays them on the wall. target work surface.
  • the paving robot is installed on the top of the lifting device.
  • the lifting device is arranged at the front end of the moving chassis in the forward direction
  • the feeding device is arranged at the rear end of the moving chassis in the forward direction.
  • the binder is wall tile glue or cement mortar.
  • the upper surface of the mobile chassis is rectangular, and the lifting device is installed in the middle of one end of the mobile chassis.
  • the wall tile laying equipment further includes an electric control cabinet, the electric control cabinet is installed on the mobile chassis, and the electric control cabinet is located at the height of the part of the mobile chassis with one end of the lifting device. lower than the height at which the lifting device has completed its retraction.
  • This design can ensure that the electric control cabinet will not affect the movement space of the paving manipulator, which is beneficial to ensure the freedom of the paving manipulator.
  • the wall tile laying and pasting equipment further includes a laser radar
  • the laser radar is installed on the top of the feeding device
  • the laser radar can use the laser real-time positioning and map construction SLAM technology to detect the wall tile laying and pasting equipment.
  • the motion area is mapped, and the overall path planning and obstacle avoidance can be completed under the control of the path planning motion system.
  • the feeding device includes:
  • the brick supplying mechanism installed on the mobile chassis, the brick supplying mechanism comprises an inclined bearing plate forming a certain angle with the horizontal plane, and the inclined bearing plate is arranged to place the wall bricks to be coated with adhesive;
  • an applicator mechanism installed on the mobile chassis, the applicator mechanism comprising an applicator at a certain angle with the horizontal plane, and the applicator manipulator grabs the wall tiles from the inclined bearing plate and transfers the wall tiles to the applicator , the applicator is configured to apply adhesive to the wall tiles.
  • the inclined bearing plate and the applicator By arranging the inclined bearing plate and the applicator at a certain angle with the horizontal plane, the horizontal occupied area of the brick supply mechanism and the applicator mechanism can be reduced, thereby improving the workability of the wall tile laying equipment in a narrow space.
  • the paving robot grabs the wall tiles from above the inclined carrier plate and transfers the wall tiles to the lower side of the applicator, and the applicator applies adhesive to the lower wall tiles.
  • the feeding device further includes a feeding support, and both the coating mechanism and the brick feeding mechanism are installed on the feeding support.
  • the smearing mechanism can be inclined as a whole on the feeding support, or only the applicator can be inclined relative to the horizontal plane; the brick feeding mechanism can be inclined on the feeding support as a whole, or only the inclined bearing plate Inclined with respect to the horizontal plane.
  • the brick supply mechanism further includes a brick supply base and a brick supply limit plate
  • the brick supply base is installed on the material supply bracket
  • the inclined bearing plate is installed obliquely on the top of the brick supply base.
  • the brick supply limiting plate is arranged at the end of the inclined bearing plate, and is arranged to limit the position of the wall tile along the horizontal direction, so as to prevent the wall tile from sliding horizontally along the inclined bearing plate.
  • the number of wall tiles placed on the inclined bearing plate is an integer multiple of a column of wall tiles attached to the wall, which is generally 9 or 18 according to the load and space layout of the whole machine.
  • the inclined carrying plate is oscillatingly connected to the mobile chassis, and is set to adjust the angle between the inclined carrying plate and the horizontal plane;
  • the applicator is connected to the The moving chassis is oscillatingly connected, and is arranged to adjust the included angle of the applicator and the horizontal plane.
  • the size of the included angle is adjusted according to the size and specification of different wall tiles, so that the brick supply mechanism and the coating mechanism can meet the usage requirements of more different specifications of wall tiles.
  • the angle between the inclined bearing plate and the horizontal plane can be reduced to make the inclined bearing plate more gentle, so that the wall tiles can be placed more smoothly, and the angle between the applicator and the horizontal plane can also be adjusted.
  • the angle between the inclined bearing plate and the horizontal plane can be increased to make the inclined bearing
  • the board is steeper, thereby reducing the horizontal occupied area of the larger wall tiles, so that the larger wall tiles can be placed in a space with a smaller horizontal area, and the angle between the applicator and the horizontal plane can also be increased to make the applicator larger.
  • Steeper which in turn allows the tiles to be applied at a more sloping angle, allowing larger tiles to be applied in smaller spaces on the horizontal plane.
  • the smearing mechanism further includes an smearing support and an smearing drive member, the smearing support is mounted on the supplying support, the applicator is slidably installed on the smearing support in the horizontal direction, and the smearing drive member is installed. Installed on one end of the applicator bracket, the applicator driving member drives the applicator to slide. When the paving robot transfers the wall tile to be coated with adhesive to below the applicator, the applicator drives the applicator to slide from the first end to the second end of the applicator bracket, Realize the application of adhesive to wall tiles.
  • the applicator bracket is oscillatingly connected to the feeding bracket, so as to realize the oscillating connection between the applicator and the moving chassis.
  • the inclined bearing plate is inclined upward in a direction away from the lifting device to approaching the lifting device, or the inclined bearing plate is in a direction away from the lifting device to approaching the lifting device tilt down;
  • the applicator is inclined upward in a direction away from the lifting device to approaching the lifting device, the applicator is located above the inclined bearing plate, and a prefabricated space is formed between the applicator and the inclined bearing plate, The application robot can reach into the prefabricated space to grab the wall tiles and transfer the wall tiles under the applicator.
  • the applicator is inclined upward in the direction away from the lifting device to the direction close to the lifting device, so that the lower part of the applicator faces the paving robot, and the applicator is located above the inclined bearing plate, which is conducive to shortening
  • the paving manipulator transfers the wall tiles from the brick supply mechanism to the painting mechanism, and simplifies the motion of the paving manipulator during the transfer process, thereby improving work efficiency.
  • the inclined bearing plate is inclined upward in a direction away from the lifting device to approaching the lifting device, after the paving manipulator extends into the prefabricated space, grabs the wall tiles from the brick supply mechanism, and then pushes the wall into the prefabricated space.
  • the tile is turned over about 180 degrees and abuts below the applicator, and then the applicator applies adhesive to the back of the wall tile, and finally the paving robot removes the adhesive-coated wall tile from the prefabricated tile. Take it out of the space, and then lay it on the target work surface.
  • the inclined carrier plate is inclined downward in a direction away from the lifting device to approaching the lifting device, after the paving manipulator extends into the prefabricated space, grabs the wall tiles from the brick supply mechanism, and then puts The wall tile is turned over about 90 degrees and abuts below the applicator, and then the applicator applies adhesive to the back of the wall tile, and finally the paving robot removes the adhesive-coated wall tile from the wall tile. Take it out of the prefabricated space, and then lay it on the target work surface.
  • the included angle between the inclined bearing plate and the horizontal plane is -60 degrees to +60 degrees; or, the included angle between the applicator and the horizontal plane is 45 degrees to 60 degrees; or, the inclined The angle between the carrier plate and the horizontal plane is -60 degrees to +60 degrees, and the angle between the applicator and the horizontal plane is 45 degrees to 60 degrees.
  • the inclined bearing plate can ensure the reliability of the placement of the wall tiles to be plastered on the premise of effectively reducing the horizontal occupied area, and the applicator can effectively reduce the horizontal occupied area on the premise of It can prevent the adhesive from falling off during the process of smearing on the back of the wall tile, thereby ensuring the smearing reliability of the adhesive.
  • the projection of the brick feeding mechanism on the upper surface of the moving chassis at least partially overlaps the projection of the smearing mechanism on the upper surface of the moving chassis.
  • the projection part of the brick feeding mechanism and the smearing mechanism on the horizontal plane is overlapped, which can reduce the overall horizontal occupation area of the two, thereby improving the working ability of the wall tile paving equipment in a narrow space.
  • the feeding device further includes a pulp feeding mechanism, the pulp feeding mechanism is mounted on the moving chassis, and the pulp feeding mechanism is configured to provide adhesive for the applicator of the coating mechanism.
  • the slurry supply mechanism is mounted on the supply bracket, and the slurry supply mechanism communicates with the applicator through a hose.
  • the slurry feeding mechanism includes an adhesive material barrel located below the applicator, and the feeding device further includes a material guide frame, and the material guide frame is located between the applicator and the adhesive material. between the binding buckets, and is set to collect the excess binding material after the applicator completes the wall tile application, and guide the binding material to the binding material bucket.
  • the material guide frame is arranged below the end of the applicator in the direction of movement of the applicator.
  • the material guide frame can be a guide hole structure with upper and lower ends open, or a guide groove composed of a bottom plate and two side plates.
  • the slurry supply mechanism further includes a slurry supply screw and a slurry supply drive motor, the slurry supply screw penetrates the adhesive material barrel in the height direction, and the slurry supply drive motor is installed on the adhesive material barrel. On the top of the kneading barrel, the slurry feeding drive motor is connected with the slurry feeding screw in a driving manner.
  • the applicator By arranging a slurry feeding screw penetrating the binder barrel, on the one hand, the applicator can be reliably supplied with the binder, and on the other hand, the binder in the binder barrel can be stirred to prevent the binder from solidifying.
  • the lifting device includes:
  • a lift seat mounted on the mobile chassis
  • the first-level lifting frame is slidably installed in the lifting seat along the vertical direction;
  • the secondary lifting frame is slidably installed in the primary lifting frame along the vertical direction, and the paving manipulator is installed on the top of the secondary lifting frame.
  • the height of the lifting device in the non-operating state can be reduced, so as to improve the passing performance of the wall tile paving equipment.
  • the lifting device further includes a lifting mounting plate, the lifting mounting plate is mounted on the top of the secondary lifting frame, and is configured to install the paving robot.
  • the top surface of the secondary lifting frame, the top surface of the primary lifting frame and the top surface of the lifting seat are at the same height.
  • This design enables the paving robot to complete the wall surface.
  • the wall tiles at the lowest position are paved to achieve full coverage of the height direction of the wall.
  • the lifting seat is provided with a space-avoiding opening, and the driving structure on the first-level lifting frame is embedded in the space-giving port in a retracted state, so as to realize that the top surface of the first-level lifting frame and the lifting seat are flat. together.
  • the lifting base, the primary lifting frame and the secondary lifting frame are all rectangular tubular structures.
  • the relative movement in the vertical direction is realized between the lifting base and the first-level lifting frame, and between the first-level lifting frame and the second-level lifting frame through the guide rail slider structure and the gear rack structure.
  • the paving manipulator includes:
  • Pave the execution head set to grab the wall tiles and lay the wall tiles on the target work surface
  • a multi-axis robotic arm the first end is connected to the top of the lifting device, the second end is connected to the paving execution head, and the multi-axis robotic arm is configured to drive the paving execution head to and from the feeding device and target work surface.
  • the wall tiles can be grasped reliably, and the paving execution head can be driven to move by the multi-axis mechanical arm, so that the paving execution head can quickly and flexibly travel back and forth to the feeding material device and target work surface.
  • the multi-axis robotic arm is a six-axis robotic arm.
  • the paving execution head includes an execution installation plate, a suction cup, a vision component, and an inclination sensor
  • the execution installation plate is fixed to the multi-axis robotic arm through a flange
  • the suction cup is installed on the execution installation plate
  • the side away from the flange is set to absorb wall tiles
  • the vision component and the inclination sensor are respectively installed on the side of the execution mounting plate close to the flange
  • the visual component is set to identify the wall tiles position and identify the target paving position
  • the inclination sensor is arranged to monitor the inclination of the execution mounting plate.
  • Fig. 1 is the structural representation of the wall tile paving equipment described in the embodiment (the state of smearing wall tiles);
  • Fig. 2 is the structural schematic diagram of the wall tile laying equipment described in the embodiment (grabbing the wall tile state);
  • FIG. 3 is a schematic diagram of the assembly structure of the components such as the feeding device according to the embodiment.
  • FIG. 4 is a schematic structural diagram of the lifting device according to the embodiment in an extended state
  • FIG. 5 is a schematic structural diagram of the lifting device according to the embodiment in a retracted state
  • FIG. 6 is a schematic structural diagram of the execution head of the laying according to the embodiment.
  • Feeding device 21. Brick supply mechanism; 211, Inclined bearing plate; 212, Brick supply base; 213, Brick supply limit plate; 22, Coating mechanism; 221, Applicator; 222, Coating bracket; 223, Coating 23.
  • Lifting device 31. Lifting seat; 32. Primary lifting frame; 33. Secondary lifting frame; 34. Lifting mounting plate;
  • Paving manipulator 41. Paving execution head; 411, Execution mounting plate; 412, suction cup; 413, vision component; 414, inclination sensor; 415, flange;
  • connection should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements.
  • connection may be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements.
  • a first feature "on” or “under” a second feature may include direct contact between the first and second features, or may include the first and second features Not directly but through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature is level less than the second feature.
  • a wall tile paving equipment as shown in Figure 1 and Figure 2, includes a mobile chassis 1, a feeding device 2, a lifting device 3 and a paving robot 4, and the feeding device 2 is installed on the first end of the mobile chassis 1, And it is set to provide wall tiles 7 and adhesive; the lifting device 3 is installed on the second end of the mobile chassis 1; One side of 2 cooperates to form a vacant activity area, and the paving manipulator 4 can move up and down under the drive of the lifting device 3 to obtain the wall tiles 7 that have been coated with adhesive from the feeding device 2, and can move in the vacant activity area. And lay the wall tiles 7 on different target work surfaces.
  • the feeding device 2 and the lifting device 3 By arranging the feeding device 2 and the lifting device 3 at opposite ends of the moving chassis 1, and setting the paving robot 4 on the top of the lifting device 3, on the one hand, in the process of laying the wall tiles 7, the moving chassis 1.
  • the second end with the lifting device 3 is directed to the target working surface.
  • the above-mentioned structural layout can make the front and left and right sides of the paving manipulator 4 unobstructed, which provides sufficient movement space for the paving manipulator 4, which is beneficial to improve the paving.
  • the degree of freedom of the sticking manipulator 4, thereby expanding the coverage of the work of the sticking manipulator 4, so that the sticking manipulator 4 can realize the laying of two rows of wall tiles 7 on the premise that the mobile chassis 1 is fixed, effectively reducing the mobile chassis 1.
  • the transfer frequency can be increased, thereby improving the overall operation efficiency, and at the same time, the paving robot 4 can cover the area directly in front of the mobile chassis 1, so that the equipment can meet the paving operation in the corner area and improve the versatility of the equipment; on the other hand, the paving robot 4 It is arranged on the top of the lifting device 3 to make full use of the space in the height direction, and the projection part of the paving robot 4 and the lifting device 3 on the horizontal plane overlap, effectively reducing the occupied space in the horizontal direction, thereby helping to improve the wall tile paving.
  • the lifting device 3 is arranged at the front end of the moving chassis 1 in the forward direction
  • the feeding device 2 is arranged at the rear end of the moving chassis 1 in the forward direction.
  • the paving robot 4 can rotate 360 degrees in the horizontal direction. During the process of paving the wall tiles 7, the paving robot 4 obtains the wall tiles 7 that have been coated with adhesive from the rear feeding device 2, and then transfers the wall tiles 7. to the front and paved on the target work surface.
  • the binder is wall tile glue or cement mortar, and the present embodiment adopts wall tile glue.
  • the upper surface of the movable chassis 1 is rectangular, and the lifting device 3 is installed in the middle of the second end of the movable chassis 1 .
  • the wall tile laying equipment also includes an electric control cabinet 5, which is installed on the mobile chassis 1, and the height of the part of the electric control cabinet 5 located at the second end of the mobile chassis 1 is lower than the height of the lifting device 3 after the retraction is completed. high. This design can ensure that the electric control cabinet 5 will not affect the movement space of the paving manipulator 4 , which is beneficial to ensure the degree of freedom of the paving manipulator 4 .
  • the wall tile laying equipment also includes a laser radar 6, the laser radar 6 is installed on the top of the feeding device 2, and the laser radar 6 can use the laser real-time localization and map construction (Simultaneous Localization and Mapping, SLAM) technology to lay the wall tiles. Paste the motion area of the equipment for mapping, and complete the overall path planning and obstacle avoidance under the control of the path planning motion system.
  • SLAM Simultaneous Localization and Mapping
  • the feeding device 2 includes a brick feeding mechanism 21 and a smearing mechanism 22.
  • the brick feeding mechanism 21 is installed on the mobile chassis 1, and the brick feeding mechanism 21 includes a certain angle with the horizontal plane.
  • the inclined carrying plate 211 is set to place the wall tile 7 to be coated with the adhesive;
  • the smearing mechanism 22 is installed on the mobile chassis 1, and the smearing mechanism 22 includes an applicator 221 at a certain angle with the horizontal plane. 4. Grab the wall tile 7 from the inclined carrier plate 211 and transfer the wall tile 7 to the applicator 221, which is arranged to apply the adhesive to the wall tile 7.
  • the horizontal occupation area of the brick supply mechanism 21 and the application mechanism 22 can be reduced, thereby improving the workability of the wall tile paving equipment in a narrow space.
  • the paving robot 4 grabs the wall tile 7 from above the inclined bearing plate 211 and transfers the wall tile 7 to the lower side of the applicator 221 , and the applicator 221 applies adhesive to the lower wall tile 7 .
  • the feeding device 2 further includes a feeding bracket 23 , and the coating mechanism 22 and the brick feeding mechanism 21 are both mounted on the feeding bracket 23 .
  • the applicator mechanism 22 may be tilted to the feeder 23 as a whole, or only the applicator 221 may be tilted relative to the horizontal plane; the brick feed mechanism 21 may be tilted to the feeder bracket 23 as a whole, or only the carrier plate 211 may be tilted relative to the horizontal plane. tilt.
  • only the applicator 221 is inclined relative to the horizontal plane, and only the inclined carrier plate 211 is inclined relative to the horizontal plane.
  • the brick supply mechanism 21 further includes a brick supply base 212 and a brick supply limit plate 213 .
  • a brick supply limiting plate 213 is disposed at the end of the inclined bearing plate 211 and is arranged to limit the position of the wall tile 7 along the horizontal direction to prevent the wall tile 7 from sliding horizontally along the inclined bearing plate 211 .
  • the number of wall tiles 7 placed on the inclined bearing plate 211 is an integer multiple of a column of wall tiles 7 attached to the wall, which is generally 9 or 18 according to the load and space layout of the whole machine.
  • the inclined carrier plate 211 is inclined upward in a direction away from the lifting device 3 to approaching the lifting device 3
  • the applicator 221 is inclined upward in a direction away from the lifting device 3 to approaching the lifting device 3
  • the applicator 221 is located on the inclined bearing plate.
  • a prefabricated space is formed between the applicator 221 and the inclined bearing plate 211 , and the paving robot 4 can reach into the prefabricated space to grab the wall tile 7 and transfer the wall tile 7 to the lower part of the applicator 221 .
  • the applicator 221 is inclined upward in the direction away from the lifting device 3 to the direction close to the lifting device 3, so that the lower part of the applicator 221 faces the paving robot 4, and the applicator 221 is located above the inclined bearing plate 211, which is beneficial to shorten the time of the paving robot 4.
  • the stroke of transferring the wall tiles 7 from the tile supplying mechanism 21 to the coating mechanism 22 simplifies the movement of the paving robot 4 during the transferring process, thereby improving the work efficiency.
  • the prefabricated space is a parallelogram-like cylindrical space. After the paving robot 4 extends into the prefabricated space, it grabs the wall tile 7 from the brick supply mechanism 21 , and then turns the wall tile 7 over about 180 degrees and abuts it under the applicator 221 . , the applicator 221 applies adhesive to the back of the wall tile 7, and finally the paving robot 4 takes the adhesive-coated wall tile 7 out of the prefabricated space, and then lays it on the target work surface.
  • the inclined carrier plate 211 may also be inclined downward in a direction away from the lifting device 3 to approaching the lifting device 3 .
  • the prefabricated space is an inverted V-shaped column space. After the paving manipulator 4 extends into the prefabricated space, it grabs the wall tile 7 from the brick supply mechanism 21 , and turns the wall tile 7 over about 90 degrees and abuts it under the applicator 221 . , the applicator 221 applies adhesive to the back of the wall tile 7, and finally the paving robot 4 takes the adhesive-coated wall tile 7 out of the prefabricated space, and then lays it on the target work surface.
  • the included angle between the inclined bearing plate 211 and the horizontal plane is -60 degrees to +60 degrees; the included angle between the applicator 221 and the horizontal plane is 45 degrees to 60 degrees.
  • the inclined bearing plate 211 can ensure the reliability of the placement of the wall tiles 7 to be coated with adhesive under the premise of effectively reducing the horizontal occupation area, and the applicator 221 can effectively reduce the horizontal occupation area under the premise of , which can prevent the adhesive from falling off during the process of smearing on the back of the wall tile 7 , thereby ensuring the application reliability of the adhesive.
  • the projection of the brick feeding mechanism 21 on the upper surface of the moving chassis 1 at least partially overlaps the projection of the coating mechanism 22 on the upper surface of the moving chassis 1 .
  • the projection part of the brick supply mechanism 21 and the application mechanism 22 on the horizontal plane overlaps, which can reduce the overall horizontal occupation area of the two, thereby improving the workability of the wall brick paving equipment in a narrow space.
  • the feeding device 2 further includes a slurry supplying mechanism 24 .
  • the slurrying mechanism 24 is mounted on the mobile chassis 1 , and the slurrying mechanism 24 is configured to provide adhesion to the applicator 221 of the coating mechanism 22 . material.
  • the slurry supply mechanism 24 is mounted on the supply bracket 23, and the slurry supply mechanism 24 communicates with the applicator 221 through a hose.
  • the slurry feeding mechanism 24 includes an adhesive material barrel 241 located below the applicator 221 , and the feeding device 2 further includes a material guide frame 25 , and the material guide frame 25 is located between the applicator 221 and the adhesive material barrel 241 . , and the guide frame 25 is arranged below the end of the applicator 221 in the smearing motion direction, and is arranged to collect the excess adhesive after the applicator 221 completes the application of the wall tiles 7 and guide the adhesive to the adhesive bucket 241.
  • the material guide frame 25 may be a guide hole structure with upper and lower ends open, or may be a guide groove composed of a bottom plate and two side plates.
  • the feeding mechanism 24 further includes a feeding screw 242 and a feeding driving motor 243 .
  • the feeding screw 242 penetrates the adhesive barrel 241 in the height direction, and the feeding driving motor 243 is installed on the side of the adhesive barrel 241 .
  • the feeding drive motor 243 is drivingly connected with the feeding screw 242 .
  • the applicator mechanism 22 further includes an applicator bracket 222 and an applicator drive member 223.
  • the applicator bracket 222 is installed on the feed bracket 23, and the applicator 221 is slidably installed on the applicator bracket 222 along the horizontal direction.
  • the application driving member 223 is installed on one end of the application support 222 , and the application driving member 223 drives the applicator 221 to slide.
  • the coating driving member 223 drives the applicator 221 to slide from the first end to the second end of the coating bracket 222, so as to achieve Apply the adhesive of wall tile 7.
  • the lifting device 3 includes a lifting base 31 , a primary lifting frame 32 and a secondary lifting frame 33 .
  • the lifting base 31 is installed on the mobile chassis 1 , and the primary lifting frame 32 is along The vertical direction is slidably installed on the lifting base 31 , the secondary lifting frame 33 is slidably installed in the primary lifting frame 32 along the vertical direction, and the paving robot 4 is installed on the top of the secondary lifting frame 33 .
  • the height of the lifting device 3 in the non-working state can be reduced on the premise of ensuring that the paving robot 4 has a large working coverage height, so as to improve the passing performance of the wall tile paving equipment.
  • the lifting device 3 further includes a lifting mounting plate 34 .
  • the lifting mounting plate 34 is mounted on the top of the secondary lifting frame 33 and is configured to install the paving robot 4 .
  • the top surface of the secondary lifting frame 33, the top surface of the primary lifting frame 32 and the top surface of the lifting seat 31 are at the same height. This design enables the paving robot 4 to complete the wall surface.
  • the wall tiles 7 at the lowest position are paved to achieve full coverage of the height direction of the wall.
  • the lift seat 31 is provided with a space-away opening 35, and the drive structure 36 on the first-level lift frame 32 is embedded in the space-apart port 35 in a retracted state, so as to realize the top of the first-stage lift frame 32 and the lift base 31. face flush.
  • the lifting base 31 , the primary lifting frame 32 and the secondary lifting frame 33 are all rectangular tubular structures.
  • the relative movement in the vertical direction is realized between the lifting base 31 and the primary lifting frame 32 and between the primary lifting frame 32 and the secondary lifting frame 33 through the guide rail slider structure and the gear rack structure.
  • the paving manipulator 4 includes a paving execution head 41 and a multi-axis robotic arm 42.
  • the paving execution head 41 is configured to grab the wall tile 7 and lay the wall tile 7 on the target work surface.
  • the first end of the robotic arm 42 is connected to the top of the lifting device 3 , and the second end is connected to the paving execution head 41 .
  • the wall tile 7 can be grasped reliably, and the paving execution head 41 can be driven to move by the multi-axis mechanical arm 42, so that the paving execution head 41 can be quickly and flexibly traveled back and forth between the feeding device 2 and the target operation noodle.
  • the multi-axis robotic arm 42 is a six-axis robotic arm.
  • the paving execution head 41 includes an execution mounting plate 411, a suction cup 412, a vision component 413, and an inclination sensor 414.
  • the execution mounting plate 411 is fixed to the multi-axis robotic arm 42 through a flange 415, and the suction cup 412 is mounted on the execution installation.
  • the side of the plate 411 away from the flange 415 is set to absorb the wall tile 7
  • the vision component 413 and the inclination sensor 414 are respectively installed on the side of the execution mounting plate 411 close to the flange 415
  • the vision component 413 is set to identify the wall tile 7 position and identify the target placement position
  • the inclination sensor 414 is set to monitor the inclination of the execution mounting plate 411 .
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the inclined bearing plate 211 is oscillatingly connected to the mobile chassis 1, and is set to adjust the angle between the inclined bearing plate 211 and the horizontal plane; or, the applicator 221 is oscillatingly connected to the mobile chassis 1, and is set to adjust the angle between the applicator 221 and the horizontal plane; Alternatively, the inclined bearing plate 211 is oscillatingly connected to the mobile chassis 1 and is set to adjust the angle between the inclined bearing plate 211 and the horizontal plane, while the applicator 221 is oscillatingly connected to the mobile chassis 1 and is set to adjust the angle between the applicator 221 and the horizontal plane.
  • the tile supply mechanism 21 and the coating mechanism 22 can meet the usage requirements of more different specifications of wall tiles 7 .
  • the angle between the inclined bearing plate 211 and the horizontal plane can be reduced to make the inclined bearing plate 211 smoother, thereby making the wall tile 7 more stable.
  • the angle is adjusted to be small, so that the adhesive can be applied to the wall tiles 7 more reliably, and the adhesive can be prevented from falling; when the size of the wall tiles 7 is large, the angle between the inclined bearing plate 211 and the horizontal
  • the inclined bearing plate 211 is steeper, thereby reducing the horizontal occupied area of the larger wall tile 7, so that the larger wall tile 7 can be placed in a space with a smaller horizontal area, and the angle between the applicator 221 and the horizontal plane can also be increased. , making the applicator 221 steeper, so that the wall tile 7 can be applied at a more inclined angle, so that the larger wall tile 7 can be applied in a smaller space on the horizontal plane.
  • the applicator bracket 222 is oscillatingly connected to the feeding bracket 23 , and is configured to realize the oscillating connection between the applicator 221 and the moving chassis 1 .
  • the present application provides a wall tile paving device.
  • the feeding device 2 and the lifting device 3 are arranged at opposite ends of the mobile chassis 1, and disposing the paving robot 4 on the top of the lifting device 3, the paving robot
  • the left and right sides of the 4 and the side away from the feeding device 2 cooperate to form a vacant activity area.
  • the chassis 1 is moved so that the end with the lifting device 3 faces the target working surface.
  • the structural layout can make the front and left and right sides of the paving manipulator 4 unobstructed, providing sufficient movement space for the paving manipulator 4, which is beneficial to improve the degree of freedom of the paving manipulator 4, thereby expanding the operation coverage of the paving manipulator 4
  • the paving robot 4 can realize the paving of two rows of wall tiles 7 on the premise that the mobile chassis 1 is fixed, effectively reducing the transfer frequency of the mobile chassis 1, thereby improving the overall operation efficiency, and at the same time enabling the paving robot 4 covers the area directly in front of the mobile chassis 1, so that the equipment can meet the paving operation in the corner area and improve the versatility of the equipment;
  • the projection part of the paving manipulator 4 and the lifting device 3 on the horizontal plane is overlapped, which effectively reduces the occupied space in the horizontal direction, thereby improving the operation ability of the wall tile paving equipment in a narrow space.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Road Paving Machines (AREA)

Abstract

一种墙砖铺贴设备，包括移动底盘(1)、供料装置(2)、升降装置(3)和铺贴机械手(4)，供料装置安装于移动底盘的第一端，且设置为提供墙砖(7)和粘结料；升降装置安装于移动底盘的第二端；铺贴机械手安装于升降装置，铺贴机械手的左右两侧和远离供料装置的一侧配合形成空置活动区，铺贴机械手在升降装置的驱动下能够上下移动以从供料装置获取已涂粘结料的墙砖，并在所述空置活动区内运动以将墙砖铺贴在不同的目标作业面上。

Description

墙砖铺贴设备
本申请要求申请日为2020年8月5日、申请号为202010779158.9的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及建筑机器人技术领域，例如涉及一种墙砖铺贴设备。
背景技术
建筑装修一般需对厨房、卫生间和公共区域的墙壁铺贴墙砖，由于工艺精度和墙砖验收标准的要求，目前国内大型建筑物的墙壁铺贴墙砖工作还是由人工铺贴完成为主。铺贴墙砖工人两人一组，一天能够完成大约30平米的墙砖铺贴工作，整体工作效率不高。另外，目前国内乃至国际上，建筑装修工人的平均年龄逐渐增加，工人数量越来越少，导致用工成本的逐年增加，由机器人替代人来完成墙面墙砖铺贴是一种较好的解决方案。
目前已研发了一些半自动或全自动的墙面墙砖铺贴设备，但这些设备由于结构设计的因素，导致整体体积较大，以及底盘在一个固定工位的铺贴覆盖范围较小等问题，无法满足在厨房和卫生间等小空间内作业需求，而且底盘定位频率大，影响整体铺贴效率。
发明内容
本申请提供一种墙砖铺贴设备，能够在移动底盘固定不动的前提下提高设备的整体作业覆盖范围。
一实施例提供一种墙砖铺贴设备，包括：
移动底盘；
供料装置，安装于所述移动底盘的第一端，且设置为提供墙砖和粘结料；
升降装置，安装于所述移动底盘的第二端；
铺贴机械手，安装于所述升降装置，所述铺贴机械手的左右两侧和远离所述供料装置的一侧配合形成空置活动区，所述铺贴机械手在所述升降装置的驱动下能够上下移动，以从所述供料装置获取已涂粘结料的墙砖，并在所述空置活动区内运动以将墙砖铺贴在不同的目标作业面上。
通过将供料装置和升降装置设置于移动底盘的相对的两端，且将铺贴机械手设置于升降装置的顶部，一方面，在铺贴墙砖的过程中，移动底盘使具有升降装置的一端朝向目标作业面，上述结构布局能够使铺贴机械手的前方与左右两侧均无阻挡，给铺贴机械手提供了充足的运动空间，有利于提高铺贴机械手的自由度，从而扩大铺贴机械手的作业覆盖范围，进而使铺贴机械手在移动底盘固定不动的前提下能够实现两列墙砖的铺贴，有效降低移动底盘的转移频率，进而提高整体作业效率，同时能够使铺贴机械手覆盖移动底盘正前方区域，使设备能够满足墙角区域的铺贴作业，提高设备的通用性；另一方面，铺贴机械手设置于升降装置的顶部能够充分利用高度方向的空间，且使铺贴机械手和升降装置在水平面上的投影部分重叠，有效减小水平方向的占用空间，进而利于提高该墙砖铺贴设备在狭小空间内的作业能力。
铺贴机械手能够在水平方向360度转动，在铺贴墙砖的过程中，铺贴机械手从后方的供料装置获取已涂粘结料的墙砖，进而将墙砖转移至前方并铺贴于目标作业面。
可选的，所述铺贴机械手安装于所述升降装置的顶部。
可选的，所述升降装置设置于所述移动底盘的前进方向的前端，所述供料装置设置于所述移动底盘的前进方向的后端。
可选的，所述粘结料是墙砖胶或水泥沙浆。
可选的，所述移动底盘的上表面为矩形，所述升降装置安装于所述移动底盘的一端的中部。
可选的，该墙砖铺贴设备还包括电控柜，所述电控柜安装于所述移动底盘上，所述电控柜的位于所述移动底盘具有所述升降装置一端的部分的高度低于所述升降装置完成回缩后的高度。这种设计能够保证电控柜不会影响所述铺贴机械手的运动空间，有利于保证铺贴机械手的自由度。
可选的，该墙砖铺贴设备还包括激光雷达，所述激光雷达安装于所述供料装置的顶部，所述激光雷达能够通过激光即时定位与地图构建SLAM技术对墙砖铺贴设备的运动区域进行建图，在路径规划运动系统的控制下能够完成整体路径规划和避障。
作为一种可选方案，所述供料装置包括：
供砖机构，安装于所述移动底盘，所述供砖机构包括与水平面呈一定夹角的倾斜承载板，所述倾斜承载板设置为放置待涂粘结料的墙砖；
涂抹机构，安装于所述移动底盘，所述涂抹机构包括与水平面呈一定夹角的涂抹器，所述铺贴机械手从所述倾斜承载板抓取墙砖并将墙砖转移至所述涂抹器，所述涂抹器设置为对墙砖涂抹粘结料。
通过设置与水平面呈一定夹角的倾斜承载板和涂抹器，能够减小供砖机构和涂抹机构的水平占用面积，进而提高该墙砖铺贴设备在狭小空间内的作业能力。
可选的，所述铺贴机械手从所述倾斜承载板的上方抓取墙砖并将墙砖转移至所述涂抹器的下方，所述涂抹器对下方的墙砖涂抹粘结料。
可选的，所述供料装置还包括供料支架，所述涂抹机构和供砖机构均安装在所述供料支架上。所述涂抹机构可整体倾斜设置于所述供料支架，也可仅仅所述涂抹器相对水平面倾斜；所述供砖机构可整体倾斜设置于所述供料支架，也可仅仅所述倾斜承载板相对水平面倾斜。
可选的，所述供砖机构还包括供砖座和供砖限位板，所述供砖座安装于所述供料支架上，所述倾斜承载板倾斜安装于所述供砖座的顶部，所述供砖限位板设置于所述倾斜承载板的端部，且设置为限定墙砖沿水平方向的位置，以防止墙砖沿所述倾斜承载板水平滑动。
可选的，所述倾斜承载板上放置墙砖的块数为墙面贴一列墙砖的整数倍，根据整机载重及空间布局情况，一般为9块或18块。
作为一种可选方案，还包括以下特征中的至少之一：所述倾斜承载板与所述移动底盘摆动连接，且设置为调节所述倾斜承载板与水平面的夹角；所述涂抹器与所述移动底盘摆动连接，且设置为调节所述涂抹器与水平面的夹角。
根据不同的墙砖大小规格进行夹角大小调节，能够使所述供砖机构和涂抹机构满足更多不同规格墙砖的使用要求。当墙砖规格尺寸较小时，可将所述倾斜承载板与水平面的夹角调小，使倾斜承载板更加平缓，进而使墙砖放置更加平稳，也可将所述涂抹器与水平面的夹角调小，使粘结料更加可靠地涂抹在墙砖上，避免粘结料掉落；当墙砖规格尺寸较大时，可将所述倾斜承载板与水平面的夹角调大，使倾斜承载板更加陡峭，进而缩小较大墙砖的水平占用面积，使较大的墙砖能够放置于水平面积较小的空间内，也可将所述涂抹器与水平面的夹角调大，使涂抹器更加陡峭，进而使墙砖在更加倾斜的角度下进行涂抹，使较大的墙砖能够在水平面较小的空间内完成涂抹。
可选的，所述涂抹机构还包括涂抹支架和涂抹驱动件，所述涂抹支架安装 于所述供料支架上，所述涂抹器沿水平方向滑动安装于所述涂抹支架，所述涂抹驱动件安装于所述涂抹支架的一端，所述涂抹驱动件驱动所述涂抹器滑动。当所述铺贴机械手将待涂粘结料的墙砖转移至所述涂抹器的下方时，所述涂抹驱动件驱动所述涂抹器从所述涂抹支架的第一端滑动至第二端，实现对墙砖的粘结料涂抹。
可选的，所述涂抹支架与所述供料支架摆动连接，以实现所述涂抹器与移动底盘的摆动连接。
作为一种可选方案，所述倾斜承载板沿远离所述升降装置至靠近所述升降装置的方向倾斜向上，或者，所述倾斜承载板沿远离所述升降装置至靠近所述升降装置的方向倾斜向下；
所述涂抹器沿远离所述升降装置至靠近所述升降装置的方向倾斜向上，所述涂抹器位于所述倾斜承载板的上方，所述涂抹器与所述倾斜承载板之间形成预制空间，所述铺贴机械手能够伸入所述预制空间内抓取墙砖并将墙砖转移至所述涂抹器的下方。
所述涂抹器沿远离所述升降装置至靠近所述升降装置的方向倾斜向上，使所述涂抹器的下方朝向所述铺贴机械手，且所述涂抹器位于倾斜承载板的上方，有利于缩短所述铺贴机械手将墙砖从所述供砖机构转移至所述涂抹机构的行程，以及简化所述铺贴机械手在转移过程中的动作，进而提高作业效率。当所述倾斜承载板沿远离所述升降装置至靠近所述升降装置的方向倾斜向上，所述铺贴机械手伸入所述预制空间后，从所述供砖机构抓取墙砖，接着将墙砖翻转约180度并抵接于所述涂抹器的下方，然后所述涂抹器对墙砖背面进行粘结料涂抹，最后所述铺贴机械手将已涂粘结料的墙砖从所述预制空间内取出，进而铺贴在目标作业面上。当所述倾斜承载板沿远离所述升降装置至靠近所述升降装置的方向倾斜向下，所述铺贴机械手伸入所述预制空间后，从所述供砖机构抓取墙砖，接着将墙砖翻转约90度并抵接于所述涂抹器的下方，然后所述涂抹器对墙砖背面进行粘结料涂抹，最后所述铺贴机械手将已涂粘结料的墙砖从所述预制空间内取出，进而铺贴在目标作业面上。
可选的，所述倾斜承载板与水平面之间的夹角为-60度至+60度；或，所述涂抹器与水平面之间的夹角为45度至60度；或者，所述倾斜承载板与水平面之间的夹角为-60度至+60度，且所述涂抹器与水平面之间的夹角为45度至60度。通过上述倾斜角度设计，所述倾斜承载板在有效减小水平占用面积的前提 下，能够保证待抹粘结料的墙砖放置的可靠性，所述涂抹器在有效减小水平占用面积的前提下，能够避免粘结料在涂抹于墙砖背面的过程中脱落，进而保证粘结料的涂抹可靠性。
作为一种可选方案，所述供砖机构在所述移动底盘的上表面的投影与所述涂抹机构在所述移动底盘的上表面的投影至少部分重叠。
所述供砖机构与所述涂抹机构在水平面上的投影部分重叠，能够减小两者的整体水平占用面积，进而提高该墙砖铺贴设备在狭小空间内的作业能力。
作为一种可选方案，所述供料装置还包括供浆机构，所述供浆机构安装于所述移动底盘，所述供浆机构设置为给所述涂抹机构的涂抹器提供粘结料。
可选的，所述供浆机构安装于所述供料支架上，所述供浆机构通过软管与所述涂抹器连通。
作为一种可选方案，所述供浆机构包括位于所述涂抹器下方的粘结料桶，所述供料装置还包括导料架，所述导料架位于所述涂抹器与所述粘结料桶之间，且设置为收集所述涂抹器完成墙砖涂抹后的多余粘结料并将粘结料导流至所述粘结料桶。
通过设置导料架将多余的粘结料进行收集并导流至所述粘结料桶，能够实现粘结料的回收利用，有利于提高粘结料的利用率。
可选的，所述导料架设置于所述涂抹器的涂抹运动方向的末端的下方。所述导料架可以是上下端开口的导流孔结构，也可以是由一个底板和两个侧板组成的导流槽。
作为一种可选方案，所述供浆机构还包括供浆螺杆和供浆驱动电机，所述供浆螺杆沿高度方向贯穿所述粘结料桶，所述供浆驱动电机安装于所述粘结料桶的顶部，所述供浆驱动电机与所述供浆螺杆传动连接。
通过设置贯穿粘结料桶的供浆螺杆，一方面通过可靠地给所述涂抹器提供粘结料，另一方面能够对粘结料桶内的粘结料进行搅拌，避免粘结料固化。
作为一种可选方案，所述升降装置包括：
升降座，安装于所述移动底盘；
一级升降架，沿竖直方向滑动安装于所述升降座内；
二级升降架，沿竖直方向滑动安装于所述一级升降架内，所述铺贴机械手安装于所述二级升降架的顶部。
通过设置两级的升降装置，能够在保证铺贴机械手具备较大作业覆盖高度 的前提下，降低升降装置在非作业状态下的高度，以便提高墙砖铺贴设备的通过性能。
可选的，所述升降装置还包括升降安装板，所述升降安装板安装于所述二级升降架的顶部，且设置为安装所述铺贴机械手。
可选的，在回缩状态下，所述二级升降架的顶面、一级升降架的顶面与升降座的顶面在同一高度，这种设计使所述铺贴机械手能够完成墙面最低位置的墙砖铺贴，实现对墙面高度方向的全面覆盖。可选地，所述升降座上设置有让位口，所述一级升降架上的驱动结构在回缩状态下嵌入所述让位口内，以便实现一级升降架与升降座的顶面平齐。
可选的，所述升降座、一级升降架和二级升降架均为矩形管状结构。
可选的，所述升降座与一级升降架之间，以及所述一级升降架与二级升降架之间均通过导轨滑块结构和齿轮齿条结构实现竖直方向的相对运动。
作为一种可选方案，所述铺贴机械手包括：
铺贴执行头，设置为抓取墙砖并将墙砖铺贴于目标作业面上；
多轴机械臂，第一端与所述升降装置的顶部连接，第二端与所述铺贴执行头连接，所述多轴机械臂设置为带动所述铺贴执行头往返于所述供料装置与目标作业面。
通过设置所述铺贴执行头，能够可靠地抓取墙砖，通过所述多轴机械臂带动所述铺贴执行头运动，能够使所述铺贴执行头快速灵活地往返于所述供料装置与目标作业面。
可选的，所述多轴机械臂是六轴机械臂。
可选的，所述铺贴执行头包括执行安装板、吸盘、视觉组件、倾角传感器，所述执行安装板通过法兰固定于所述多轴机械臂，所述吸盘安装于所述执行安装板远离所述法兰的一侧，且设置为吸取墙砖，所述视觉组件和倾角传感器分别安装于所述执行安装板的靠近所述法兰的一侧，所述视觉组件设置为识别墙砖的位置和识别目标铺贴位置，所述倾角传感器设置为监控所述执行安装板的倾角。
附图说明
图1为实施例所述的墙砖铺贴设备的结构示意图(涂抹墙砖状态)；
图2为实施例所述的墙砖铺贴设备的结构示意图(抓取墙砖状态)；
图3为实施例所述的供料装置等部件的组装结构示意图；
图4为实施例所述的升降装置伸展状态下的结构示意图；
图5为实施例所述的升降装置回缩状态下的结构示意图；
图6为实施例所述的铺贴执行头的结构示意图。
图1至图6中：
1、移动底盘；
2、供料装置；21、供砖机构；211、倾斜承载板；212、供砖座；213、供砖限位板；22、涂抹机构；221、涂抹器；222、涂抹支架；223、涂抹驱动件；23、供料支架；24、供浆机构；241、粘结料桶；242、供浆螺杆；243、供浆驱动电机；25、导料架；
3、升降装置；31、升降座；32、一级升降架；33、二级升降架；34、升降安装板；35、让位口；36、驱动结构；
4、铺贴机械手；41、铺贴执行头；411、执行安装板；412、吸盘；413、视觉组件；414、倾角传感器；415、法兰；42、多轴机械臂；
5、电控柜；
6、激光雷达；
7、墙砖。
具体实施方式
在本申请的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于 第二特征。
实施例一：
一种墙砖铺贴设备，如图1和图2所示，包括移动底盘1、供料装置2、升降装置3和铺贴机械手4，供料装置2安装于移动底盘1的第一端，且设置为提供墙砖7和粘结料；升降装置3安装于移动底盘1的第二端；铺贴机械手4安装于升降装置3的顶部，铺贴机械手4的左右两侧和远离供料装置2的一侧配合形成空置活动区，铺贴机械手4在升降装置3的驱动下能够上下移动，以从供料装置2获取已涂粘结料的墙砖7，且能够在空置活动区内运动并将墙砖7铺贴在不同的目标作业面上。
通过将供料装置2和升降装置3设置于移动底盘1的相对的两端，且将铺贴机械手4设置于升降装置3的顶部，一方面，在铺贴墙砖7的过程中，移动底盘1使具有升降装置3的第二端朝向目标作业面，上述结构布局能够使铺贴机械手4的前方与左右两侧均无阻挡，给铺贴机械手4提供了充足的运动空间，有利于提高铺贴机械手4的自由度，从而扩大铺贴机械手4的作业覆盖范围，进而使铺贴机械手4在移动底盘1固定不动的前提下能够实现两列墙砖7的铺贴，有效降低移动底盘1的转移频率，进而提高整体作业效率，同时能够使铺贴机械手4覆盖移动底盘1正前方区域，使设备能够满足墙角区域的铺贴作业，提高设备的通用性；另一方面，铺贴机械手4设置于升降装置3的顶部能够充分利用高度方向的空间，且使铺贴机械手4和升降装置3在水平面上的投影部分重叠，有效减小水平方向的占用空间，进而利于提高该墙砖铺贴设备在狭小空间内的作业能力。
于本实施例中，升降装置3设置于移动底盘1的前进方向的前端，供料装置2设置于移动底盘1的前进方向的后端。铺贴机械手4能够在水平方向360度转动，在铺贴墙砖7的过程中，铺贴机械手4从后方的供料装置2获取已涂粘结料的墙砖7，进而将墙砖7转移至前方并铺贴于目标作业面。
示例性地，粘结料是墙砖胶或水泥沙浆，本实施例采用墙砖胶。
于本实施例中，移动底盘1的上表面为矩形，升降装置3安装于移动底盘1的第二端的中部。该墙砖铺贴设备还包括电控柜5，电控柜5安装于移动底盘1上，且电控柜5的位于移动底盘1第二端的部分的高度低于升降装置3完成回缩后的高度。这种设计能够保证电控柜5不会影响铺贴机械手4的运动空间， 有利于保证铺贴机械手4的自由度。另外，该墙砖铺贴设备还包括激光雷达6，激光雷达6安装于供料装置2的顶部，激光雷达6能够通过激光即时定位与地图构建(Simultaneous Localization and Mapping，SLAM)技术对墙砖铺贴设备的运动区域进行建图，在路径规划运动系统的控制下能够完成整体路径规划和避障。
于本实施例中，如图1和图3所示，供料装置2包括供砖机构21和涂抹机构22，供砖机构21安装于移动底盘1，供砖机构21包括与水平面呈一定夹角的倾斜承载板211，倾斜承载板211设置为放置待涂粘结料的墙砖7；涂抹机构22安装于移动底盘1，涂抹机构22包括与水平面呈一定夹角的涂抹器221，铺贴机械手4从倾斜承载板211抓取墙砖7并将墙砖7转移至涂抹器221，涂抹器221设置为对墙砖7涂抹粘结料。通过设置与水平面呈一定夹角的倾斜承载板211和涂抹器221，能够减小供砖机构21和涂抹机构22的水平占用面积，进而提高该墙砖铺贴设备在狭小空间内的作业能力。
可选的，铺贴机械手4从倾斜承载板211的上方抓取墙砖7并将墙砖7转移至涂抹器221的下方，涂抹器221对下方的墙砖7涂抹粘结料。
于本实施例中，供料装置2还包括供料支架23，涂抹机构22和供砖机构21均安装在供料支架23上。可选的，涂抹机构22可整体倾斜设置于供料支架23，也可仅仅涂抹器221相对水平面倾斜；供砖机构21可整体倾斜设置于供料支架23，也可仅仅倾斜承载板211相对水平面倾斜。本实施例采用仅仅涂抹器221相对水平面倾斜，以及仅仅倾斜承载板211相对水平面倾斜的方案。
于本实施例中，如图1所示，供砖机构21还包括供砖座212和供砖限位板213，供砖座212安装于供料支架23上，倾斜承载板211倾斜安装于供砖座212的顶部，供砖限位板213设置于倾斜承载板211的端部，且设置为限定墙砖7沿水平方向的位置，以防止墙砖7沿倾斜承载板211水平滑动。
可选的，倾斜承载板211上放置墙砖7的块数为墙面贴一列墙砖7的整数倍，根据整机载重及空间布局情况，一般为9块或18块。
于本实施例中，倾斜承载板211沿远离升降装置3至靠近升降装置3的方向倾斜向上，涂抹器221沿远离升降装置3至靠近升降装置3的方向倾斜向上，涂抹器221位于倾斜承载板211的上方，涂抹器221与倾斜承载板211之间形成预制空间，铺贴机械手4能够伸入预制空间内抓取墙砖7并将墙砖7转移至涂抹器221的下方。
涂抹器221沿远离升降装置3至靠近升降装置3的方向倾斜向上，使涂抹器221的下方朝向铺贴机械手4，且涂抹器221位于倾斜承载板211的上方，有利于缩短铺贴机械手4将墙砖7从供砖机构21转移至涂抹机构22的行程，以及简化铺贴机械手4在转移过程中的动作，进而提高作业效率。预制空间是一个类平行四边形柱体空间，铺贴机械手4伸入预制空间后，从供砖机构21抓取墙砖7，接着将墙砖7翻转约180度并抵接于涂抹器221的下方，涂抹器221对墙砖7背面进行粘结料涂抹，最后铺贴机械手4将已涂粘结料的墙砖7从预制空间内取出，进而铺贴在目标作业面上。
于其它实施例中，也可以是倾斜承载板211沿远离升降装置3至靠近升降装置3的方向倾斜向下。预制空间是一个倾倒的V形柱体空间，铺贴机械手4伸入预制空间后，从供砖机构21抓取墙砖7，将墙砖7翻转约90度并抵接于涂抹器221的下方，涂抹器221对墙砖7背面进行粘结料涂抹，最后铺贴机械手4将已涂粘结料的墙砖7从预制空间内取出，进而铺贴在目标作业面上。
可选的，倾斜承载板211与水平面之间的夹角为-60度至+60度；涂抹器221与水平面之间的夹角为45度至60度。通过上述倾斜角度设计，倾斜承载板211在有效减小水平占用面积的前提下，能够保证待抹粘结料的墙砖7放置的可靠性，涂抹器221在有效减小水平占用面积的前提下，能够避免粘结料在涂抹于墙砖7背面的过程中脱落，进而保证粘结料的涂抹可靠性。
可选的，供砖机构21在移动底盘1的上表面的投影与涂抹机构22在移动底盘1的上表面的投影至少部分重叠。供砖机构21与涂抹机构22在水平面上的投影部分重叠，能够减小两者的整体水平占用面积，进而提高该墙砖铺贴设备在狭小空间内的作业能力。
于本实施例中，如图3所示，供料装置2还包括供浆机构24，供浆机构24安装于移动底盘1，供浆机构24设置为给涂抹机构22的涂抹器221提供粘结料。供浆机构24安装于供料支架23上，供浆机构24通过软管与涂抹器221连通。
于本实施例中，供浆机构24包括位于涂抹器221下方的粘结料桶241，供料装置2还包括导料架25，导料架25位于涂抹器221与粘结料桶241之间，且导料架25设置于涂抹器221的涂抹运动方向的末端的下方，且设置为收集涂抹器221完成墙砖7涂抹后的多余粘结料并将粘结料导流至粘结料桶241。通过设置导料架25将多余的粘结料进行收集并导流至粘结料桶241，能够实现粘结料 的回收利用，有利于提高粘结料的利用率。可选的，导料架25可以是上下端开口的导流孔结构，也可以是由一个底板和两个侧板组成的导流槽。
于本实施例中，供浆机构24还包括供浆螺杆242和供浆驱动电机243，供浆螺杆242沿高度方向贯穿粘结料桶241，供浆驱动电机243安装于粘结料桶241的顶部，供浆驱动电机243与供浆螺杆242传动连接。通过设置贯穿粘结料桶241的供浆螺杆242，一方面通过可靠地给涂抹器221提供粘结料，另一方面能够对粘结料桶241内的粘结料进行搅拌，避免粘结料固化。
于本实施例中，如图3所示，涂抹机构22还包括涂抹支架222和涂抹驱动件223，涂抹支架222安装于供料支架23上，涂抹器221沿水平方向滑动安装于涂抹支架222，涂抹驱动件223安装于涂抹支架222的一端，涂抹驱动件223驱动涂抹器221滑动。示例性地，当铺贴机械手4将待涂粘结料的墙砖7转移至涂抹器221的下方时，涂抹驱动件223驱动涂抹器221从涂抹支架222的第一端滑动至第二端，实现对墙砖7的粘结料涂抹。
于本实施例中，如图4和图5所示，升降装置3包括升降座31、一级升降架32和二级升降架33，升降座31安装于移动底盘1，一级升降架32沿竖直方向滑动安装于升降座31，二级升降架33沿竖直方向滑动安装于一级升降架32内，铺贴机械手4安装于二级升降架33的顶部。通过设置两级的升降装置3，能够在保证铺贴机械手4具备较大作业覆盖高度的前提下，降低升降装置3在非作业状态下的高度，以便提高墙砖铺贴设备的通过性能。可选地，升降装置3还包括升降安装板34，升降安装板34安装于二级升降架33的顶部，且设置为安装铺贴机械手4。可选的，在回缩状态下，二级升降架33的顶面、一级升降架32的顶面与升降座31的顶面在同一高度，这种设计使铺贴机械手4能够完成墙面最低位置的墙砖7铺贴，实现对墙面高度方向的全面覆盖。可选地，升降座31上设置有让位口35，一级升降架32上的驱动结构36在回缩状态下嵌入让位口35内，以便实现一级升降架32与升降座31的顶面平齐。
可选的，升降座31、一级升降架32和二级升降架33均为矩形管状结构。升降座31与一级升降架32之间，以及一级升降架32与二级升降架33之间均通过导轨滑块结构和齿轮齿条结构实现竖直方向的相对运动。
于本实施例中，铺贴机械手4包括铺贴执行头41和多轴机械臂42，铺贴执行头41设置为抓取墙砖7并将墙砖7铺贴于目标作业面上，多轴机械臂42的第一端与升降装置3的顶部连接，第二端与铺贴执行头41连接，多轴机械臂42 设置为带动铺贴执行头41往返于供料装置2与目标作业面。通过设置铺贴执行头41，能够可靠地抓取墙砖7，通过多轴机械臂42带动铺贴执行头41运动，能够使铺贴执行头41快速灵活地往返于供料装置2与目标作业面。
可选的，多轴机械臂42是六轴机械臂。如图6所示，铺贴执行头41包括执行安装板411、吸盘412、视觉组件413、倾角传感器414，执行安装板411通过法兰415固定于多轴机械臂42，吸盘412安装于执行安装板411远离法兰415的一侧，且设置为吸取墙砖7，视觉组件413和倾角传感器414分别安装于执行安装板411的靠近法兰415的一侧，视觉组件413设置为识别墙砖7的位置和识别目标铺贴位置，倾角传感器414设置为监控执行安装板411的倾角。
实施例二：
本实施例与实施例一的区别在于：
倾斜承载板211与移动底盘1摆动连接，且设置为调节倾斜承载板211与水平面的夹角；或，涂抹器221与移动底盘1摆动连接，且设置为调节涂抹器221与水平面的夹角；或者斜承载板211与移动底盘1摆动连接，且设置为调节倾斜承载板211与水平面的夹角，同时涂抹器221与移动底盘1摆动连接，且设置为调节涂抹器221与水平面的夹角。示例性地，根据不同的墙砖7大小规格进行夹角大小调节，能够使供砖机构21和涂抹机构22满足更多不同规格墙砖7的使用要求。当墙砖7规格尺寸较小时，可将倾斜承载板211与水平面的夹角调小，使倾斜承载板211更加平缓，进而使墙砖7放置更加平稳，也可将涂抹器221与水平面的夹角调小，使粘结料更加可靠地涂抹在墙砖7上，避免粘结料掉落；当墙砖7规格尺寸较大时，可将倾斜承载板211与水平面的夹角调大，使倾斜承载板211更加陡峭，进而缩小较大墙砖7的水平占用面积，使较大的墙砖7能够放置于水平面积较小的空间内，也可将涂抹器221与水平面的夹角调大，使涂抹器221更加陡峭，进而使墙砖7在更加倾斜的角度下进行涂抹，使较大的墙砖7能够在水平面较小的空间内完成涂抹。可选的，涂抹支架222与供料支架23摆动连接，且设置为实现涂抹器221与移动底盘1的摆动连接。
本申请提供一种墙砖铺贴设备，通过将供料装置2和升降装置3设置于移动底盘1的相对的两端，以及将铺贴机械手4设置于升降装置3的顶部，且铺贴机械手4的左右两侧和远离供料装置2的一侧配合形成空置活动区，一方面，在铺贴 墙砖7的过程中，移动底盘1使具有升降装置3的一端朝向目标作业面，这种结构布局能够使铺贴机械手4的前方与左右两侧均无阻挡，给铺贴机械手4提供了充足的运动空间，有利于提高铺贴机械手4的自由度，从而扩大铺贴机械手4的作业覆盖范围，进而使铺贴机械手4在移动底盘1固定不动的前提下能够实现两列墙砖7的铺贴，有效降低移动底盘1的转移频率，进而提高整体作业效率，同时能够使铺贴机械手4覆盖移动底盘1正前方区域，使设备能够满足墙角区域的铺贴作业，提高设备的通用性；另一方面，铺贴机械手4设置于升降装置3的顶部能够充分利用高度方向的空间，且使铺贴机械手4和升降装置3在水平面上的投影部分重叠，有效减小水平方向的占用空间，进而利于提高该墙砖铺贴设备在狭小空间内的作业能力。
于本文的描述中，需要理解的是，术语“上”、“下”、“左”“右”、等方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述和简化操作，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”，仅仅用于在描述上加以区分，并没有特殊的含义。
在本说明书的描述中，参考术语“一实施例”、“示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。

Claims (10)

  1. 一种墙砖铺贴设备，包括：
    移动底盘(1)；
    供料装置(2)，安装于所述移动底盘(1)的第一端，且设置为提供墙砖(7)和粘结料；
    升降装置(3)，安装于所述移动底盘(1)的第二端；
    铺贴机械手(4)，安装于所述升降装置(3)上，所述铺贴机械手(4)的左右两侧和远离所述供料装置(2)的一侧配合形成空置活动区，所述铺贴机械手(4)在所述升降装置(3)的驱动下能够上下移动，以从所述供料装置(2)获取已涂粘结料的墙砖(7)，并在所述空置活动区内运动以将墙砖(7)铺贴在不同的目标作业面上。
  2. 根据权利要求1所述的墙砖铺贴设备，其中，所述供料装置(2)包括：
    供砖机构(21)，安装于所述移动底盘(1)，所述供砖机构(21)包括与水平面呈预设夹角的倾斜承载板(211)，所述倾斜承载板(211)设置为放置待涂粘结料的墙砖(7)；
    涂抹机构(22)，安装于所述移动底盘(1)，所述涂抹机构(22)包括与水平面呈预设夹角的涂抹器(221)，所述铺贴机械手(4)设置为从所述倾斜承载板(211)抓取墙砖(7)并将墙砖(7)转移至所述涂抹器(221)，所述涂抹器(221)设置为对墙砖(7)涂抹粘结料。
  3. 根据权利要求2所述的墙砖铺贴设备，其中，还包括以下特征中的至少之一：
    所述倾斜承载板(211)与所述移动底盘(1)摆动连接，且设置为调节所述倾斜承载板(211)与水平面之间的夹角；
    所述涂抹器(221)与所述移动底盘(1)摆动连接，且设置为调节所述涂抹器(221)与水平面之间的夹角。
  4. 根据权利要求2所述的墙砖铺贴设备，其中，所述倾斜承载板(211)沿远离所述升降装置(3)至靠近所述升降装置(3)的方向倾斜向上，或者，所述倾斜承载板(211)沿远离所述升降装置(3)至靠近所述升降装置(3)的方向倾斜向下；
    所述涂抹器(221)沿远离所述升降装置(3)至靠近所述升降装置(3)的方向倾斜向上，所述涂抹器(221)位于所述倾斜承载板(211)的上方，所述涂抹器(221)与所述倾斜承载板(211)之间形成预制空间，所述铺贴机械手 (4)能够伸入所述预制空间内抓取墙砖(7)并将墙砖(7)转移至所述涂抹器(221)的下方。
  5. 根据权利要求2所述的墙砖铺贴设备，其中，所述供砖机构(21)在所述移动底盘(1)的上表面的投影与所述涂抹机构(22)在所述移动底盘(1)的上表面的投影至少部分重叠。
  6. 根据权利要求2所述的墙砖铺贴设备，其中，所述供料装置(2)还包括供浆机构(24)，所述供浆机构(24)安装于所述移动底盘(1)，所述供浆机构(24)设置为给所述涂抹机构(22)的涂抹器(221)提供粘结料。
  7. 根据权利要求6所述的墙砖铺贴设备，其中，所述供浆机构(24)包括位于所述涂抹器(221)下方的粘结料桶(241)，所述供料装置(2)还包括导料架(25)，所述导料架(25)位于所述涂抹器(221)与所述粘结料桶(241)之间，且设置为收集所述涂抹器(221)完成墙砖涂抹后的多余粘结料并将粘结料导流至所述粘结料桶(241)。
  8. 根据权利要求7所述的墙砖铺贴设备，其中，所述供浆机构(24)还包括供浆螺杆(242)和供浆驱动电机(243)，所述供浆螺杆(242)沿高度方向贯穿所述粘结料桶(241)，所述供浆驱动电机(243)安装于所述粘结料桶(241)的顶部，所述供浆驱动电机(243)与所述供浆螺杆(242)传动连接。
  9. 根据权利要求1至8任一项所述的墙砖铺贴设备，其中，所述升降装置(3)包括：
    升降座(31)，安装于所述移动底盘(1)；
    一级升降架(32)，沿竖直方向滑动安装于所述升降座(31)内；
    二级升降架(33)，沿竖直方向滑动安装于所述一级升降架(32)内，所述铺贴机械手(4)安装于所述二级升降架(33)的顶部。
  10. 根据权利要求1至8任一项所述的墙砖铺贴设备，其中，所述铺贴机械手(4)包括：
    铺贴执行头(41)，设置为抓取墙砖(7)并将墙砖(7)铺贴于目标作业面上；
    多轴机械臂(42)，多轴机械臂(42)的第一端与所述升降装置(3)的顶部连接，多轴机械臂(42)的第二端与所述铺贴执行头(41)连接，所述多轴机械臂(42)设置为带动所述铺贴执行头(41)往返于所述供料装置(2)与目标作业面。
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