WO2022116932A1 - 铺贴机器人、铺贴系统和铺贴方法 - Google Patents

铺贴机器人、铺贴系统和铺贴方法 Download PDF

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Publication number
WO2022116932A1
WO2022116932A1 PCT/CN2021/133919 CN2021133919W WO2022116932A1 WO 2022116932 A1 WO2022116932 A1 WO 2022116932A1 CN 2021133919 W CN2021133919 W CN 2021133919W WO 2022116932 A1 WO2022116932 A1 WO 2022116932A1
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WIPO (PCT)
Prior art keywords
paving
plate
spraying
slurry
robot
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Application number
PCT/CN2021/133919
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English (en)
French (fr)
Inventor
张人才
贺长林
Original Assignee
广东博智林机器人有限公司
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Publication of WO2022116932A1 publication Critical patent/WO2022116932A1/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
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
    • E04F21/06—Implements for applying plaster, insulating material, or the like
    • E04F21/08—Mechanical implements
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/20—Implements for finishing work on buildings for laying flooring
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/20—Implements for finishing work on buildings for laying flooring
    • E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs

Definitions

  • the present application relates to the technical field of construction robots, for example, to a paving robot, a paving system and a paving method.
  • the tile paving robot is a single car that grabs the tile through the robotic arm, moves the tile to the gluing station, applies tile glue on the back of the tile, and moves the tile to the paving position after the gluing is completed.
  • the tiles are laid on the wall in the compensated pose by means of laser ranging.
  • the arm can only perform the two processes of applying tile adhesive and laying tiles, which affects the laying efficiency.
  • the tile adhesive is only applied to the back of the tile, it is difficult to ensure the flatness and verticality of the entire paving surface without hollowing out during the process of paving the tile, which affects the paving quality.
  • the present application provides a paving robot, which can improve the paving efficiency and paving effect of a plate-like object.
  • the present application further provides a paving system including the paving robot.
  • the present application also provides a paving method applied to the paving system.
  • a paving robot comprising: a first mobile chassis, a detection module, a spraying robotic arm, and a paving robotic arm, the detection module is configured to obtain information on a base to be paved, wherein the base to be paved
  • the surface information includes: the first paving position and the second paving position of the base surface to be paved;
  • the spraying robot arm is arranged on the first mobile chassis, and is set to spray slurry on the first paving position
  • the paving robotic arm is arranged on the first mobile chassis, and in the process of spraying the slurry on the first paving position by the spraying robotic arm, the paving robotic arm is arranged to pick up the coated slurry After the spraying robot arm sprays the slurry on the first paving position, the paving robot arm is set to spread the plate-shaped object coated with the slurry on the first paving position.
  • the spraying robot arm is further configured to spray slurry on the
  • a paving system comprising: a transporting robot and a paving robot, wherein the transporting robot is configured to transport plate-like objects; and the paving and paving robot is configured to pick up the plate-like objects on the transporting robot.
  • a paving method comprising: acquiring information on the base surface to be paved, wherein the information on the base surface to be paved includes a first paving position and a second paving position of the base surface to be paved; Spray the slurry at the first laying position; spray the slurry on the plate to be laid; pick up the plate after spraying the slurry, and spread the plate after spraying the slurry on the first paving
  • spray slurry on the second laying position in the process of laying the plate-like object on the first laying position, spray slurry on the second laying position, and take the plate-like object at the first laying position as the Positioning to lay the slab for the second laying position.
  • FIG. 1 is a schematic structural diagram of a paving system according to an embodiment of the present application.
  • FIG. 2 is a perspective view of a paving robot according to an embodiment of the present application.
  • FIG. 3 is a perspective view of another angle of the paving robot according to an embodiment of the present application.
  • FIG. 4 is a left side view of a paving robot according to an embodiment of the present application.
  • FIG. 5 is a front view of a paving robot according to an embodiment of the present application.
  • FIG. 6 is a right side view of a paving robot according to an embodiment of the present application.
  • FIG. 7 is a right side view of a transport robot according to an embodiment of the present application.
  • FIG. 8 is a front view of a transport robot according to an embodiment of the present application.
  • FIG. 9 is a top view of a transport robot according to an embodiment of the present application.
  • Fig. 10 is the enlarged view of A area in Fig. 9;
  • FIG. 11 is a flowchart of a method for paving according to an embodiment of the present application.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; 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 an internal connection between two components.
  • installed should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; 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 an internal connection between two components.
  • the paving robot 100 according to the embodiment of the present application will be described below with reference to FIGS. 1 to 11 .
  • a paving robot 100 includes: a first mobile chassis 1 , a detection module 2 , a spraying robotic arm 3 , and a paving robotic arm 4 .
  • the detection module 2 is configured to obtain the information of the base surface to be laid and pasted, and the information of the base surface to be laid and pasted includes: the first laying position and the second laying position of the base surface to be laid; the spraying robot arm 3 is arranged on the first mobile chassis 1 On the above, the spraying robot arm 3 is set to spray the slurry on the first paving position; the paving robot arm 4 is arranged on the first moving chassis 1, and the spraying robot arm 3 sprays the slurry on the first paving position.
  • the paving robot arm 4 is set to pick up the plate-shaped object coated with the slurry, and after the spraying robot arm 3 sprays the slurry on the first paving position, the paving robot arm 4 is set to pick up the plate-shaped object coated with the slurry.
  • the object is paved at the first paving position; wherein, in the process of paving the plate-like object by the paving robot arm 4 to the first paving position, the spraying robot arm 3 is set to spray slurry on the second paving position.
  • the detection module 2 detects the base surface to be paved to obtain the information of the base surface to be paved.
  • the detection module 2 can obtain the position of the base surface to be paved.
  • Information and area information for example, the detection module 2 can acquire the paving position of the first plate-like object 300 to be paved.
  • the detection module 2 can send the detection information to the control module 8 on the paving robot 100 after acquiring the information on the base surface to be paved. Send to spraying arm 3 and laying arm 4.
  • the base surface to be laid may be the ground, a vertical wall, or a ceiling, which is not limited here.
  • the first paving position and the second paving position of the base surface to be paved the first paving position is the position where the first plate-shaped object needs to be paved, and the second paving position is the second plate-shaped object The location where the object is theoretically to be laid.
  • the first paving position can also be understood as the position where the former plate-shaped object is to be paved in the two adjacent to-be-paved plate-shaped objects, and the second paving position is the position where the next plate-shaped object is theoretically to be paved.
  • the first paving position can also be understood as the position where the previous plate-shaped object is to be paved in the two adjacent to-be-paved plate-shaped objects, and the second paving position is the position where the next plate-shaped object is theoretically to be paved.
  • front and back and up and down refer to the order of laying the plate-like objects.
  • the spraying robotic arm 3 When the spraying robotic arm 3 receives the information on the base surface to be paved sent by the control module 8, the spraying robotic arm 3 can move to the first paving position of the base surface to be laid, and spray the slurry on the base surface, and the spraying machine The sprayed area of the arm 3 can be sprayed according to the sprayed area sent by the control module 8 .
  • the slurry may be cement, tile adhesive, or other materials, which are not limited here.
  • the paving robot arm 4 When the paving robot arm 4 receives the information on the base surface to be paved sent by the control module 8, the paving robot arm 4 can move to the first paving position where the slurry is sprayed, and pave the plate 300 on the first paving position.
  • the laying position In the laying position, in the process of laying the plate-like object 300 on the first laying position by the laying robot arm 4, the laying posture of the laying robot arm 4 can be determined according to the position information transmitted by the control module 8. Paving.
  • the laying position of the plate-like object 300 is the position of the reference point for laying the plate-like object 300 relative to the X-axis and the Y-axis, and the horizontal angle of the plate-like object 300 , and the like.
  • the spraying robotic arm 3 and the paving robotic arm 4 are two independent robotic arms.
  • the working process can be understood as: the spraying robotic arm 3 sprays the slurry on the first paving position, and the spraying robotic arm 3 sprays the slurry at During the process, the paving robot arm 4 can pick up the plate-like object 300 coated with the slurry, the paving robot arm 4 picks up the plate-like object 300 and moves toward the first paving position, and the spraying robot arm 3 can move after spraying the slurry.
  • the spraying mechanical arm 3 has moved to the first laying position.
  • the second laying position so that the laying robot arm 4 can better lay the plate-like object 300 on the base surface sprayed with the slurry, and at the same time, the spraying robot arm 3 and the laying robot arm 4 may not affect each other.
  • the placement robotic arm 4 can place the plate toward the first placement position.
  • the area of 300 is active to pick up the plate-like object 300.
  • the spraying robot arm 3 can return from the second laying position to the first laying position, and detect that the plate-like object 300 is laid on the surface.
  • the actual situation at the first paving position the detection result is sent to the control module 8, after the control module 8 receives the actual paving situation of the first paving position, after calculation, the calculation result is sent to the paving robot arm 4 , the paving robot arm 4 can combine the information sent by the control module 8 when paving the next plate-like object 300, so that the paving of the next plate-like object 300 can be based on the actual paving position of the previous plate-like object 300 , and then the next plate-like object 300 is pasted, so as to improve the effect of the laying and pasting robot arm 4 on the plate-like article 300 .
  • the plate-like object 300 can be spread on the substrate coated with the slurry, the plate-like object 300 can be stably pasted on the substrate.
  • the levelness and verticality of the first paving position cannot meet the requirements, that is, there are concavities and convexities on the base surface, or the base surface to be paved is inclined, apply the slurry on the base surface to be paved. , which can make up for the above shortcomings of the base surface.
  • the back of the plate 300 in the present application needs to be sprayed with slurry, and the base surface to be laid also needs to be sprayed with slurry. Therefore, the plate 300 coated with the slurry is spread on the When paving the surface, the flatness and verticality of the entire paving surface can be ensured, so that the paving quality can be improved.
  • the first mobile chassis 1 can drive the spraying robotic arm 3 and the paving robotic arm 4 to move to the designated work place when the first mobile chassis 1 walks. Thereby, work efficiency can be improved.
  • the spraying robotic arm 3 and the paving robotic arm 4 are both arranged on the first mobile chassis 1, so that the positions of the spraying robotic arm 3 and the paving robotic arm 4 have been determined, so that the control module 8 determines the base to be paved after calculation.
  • the spraying robotic arm 3 by disposing both the spraying robotic arm 3 and the paving robotic arm 4 on the first mobile chassis 1, after the spraying robotic arm 3 obtains the information of the base surface to be paved, the spraying robotic arm 3.
  • the to-be-paved surface can be sprayed with slurry, so that the paving robot arm 4 can apply the plate-like object 300 on the slurry-coated base surface after obtaining the information of the to-be-paved base surface.
  • the paving robotic arm 4 and the spraying robotic arm 3 work independently of each other, that is, when the paving robotic arm 4 lays the plate-like object 300 at the first paving position, the spraying robotic arm 3 can spray the second paving position Slurry, in this way, the laying efficiency of the plate-like object 300 can be improved.
  • the plate-like object 300 can not only be stably pasted on the base surface after being laid on the base surface, but also can After the plate-like object 300 is laid on the base surface, the requirements of flatness and verticality are satisfied, thereby improving the laying effect of the plate-like object 300 .
  • the detection module 2 is further configured to obtain the information of the plate-like object 300
  • the spraying robot arm 3 is configured to spray the slurry on the to-be-paved base surface according to the plate-like object 300 information and the to-be-paved base surface information
  • the plate-like object 300 information acquired by the detection module 2 may include the position information of the plate-like object 300 and the area information of the plate-like object 300, that is, the placement position of the plate-like object 300 and the area of each plate-like object 300.
  • the spraying robotic arm 3 receives the information of the plate 300 and the information of the base to be laid, the spraying robotic arm 3 can move to the base to be laid, and perform the spraying operation on the base to be laid.
  • the sprayed area needs to be determined according to the acquired information of the plate-like object 300 , that is, the sprayed area of the spraying robot arm 3 on the base surface to be laid is equivalent to the area of each plate-like object 300 .
  • the spraying robot arm 3 sprays a lot of slurry, the plate 300 only occupies part of the slurry, and the other part of the slurry will dry when the next plate 300 is laid, so that the plate 300 After being spread on the slurry, it cannot be firmly attached to the base surface, and the plate-like object 300 may be detached from the base surface. Therefore, by detecting the information of the plate 300, the spraying area of the spraying robot arm 3 is equal to the area of the plate 300 to be laid, so as to prevent the excess slurry from drying when the next plate 300 is laid. .
  • the paving robot arm 4 is set to pave the plate-like object 300 according to the information of the plate-like object 300 and the information of the base surface to be paved. , the paving robot 4 can move to the plate 300 according to the position information of the plate 300, so that the paving robot 4 can pick up the plate 300 quickly and accurately, and the paving robot 4 picks up the plate After the plate-like object 300, the paving robot arm 4 moves in the direction of the to-be-paved base surface according to the information of the to-be-paved base surface, so that the paving robot arm 4 can accurately place the plate-like object 300 on the surface coated with the slurry. on the base.
  • the detection module 2 further includes an inclination sensor, the inclination sensor is configured to detect the inclination information of the first mobile chassis 1, the spraying robot arm 3 is configured to adjust the spraying angle according to the inclination information, and the paving machine The arm 4 is set to adjust the laying angle according to the inclination angle information.
  • the inclination sensor can detect the inclination information of the first mobile chassis 1, the inclination sensor can detect the included angle between the first mobile chassis 1 and the X axis, and The angle between the first mobile chassis 1 and the Y axis is detected, and the angle between the first mobile chassis 1 and the Z axis is detected, that is, the inclination sensor can detect the position of the first mobile chassis 1 in the three-dimensional space. posture.
  • the orientation or positional relationship indicated by "X", "Y", and “Z” is for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation or a specific orientation Construction and operation.
  • the spraying robotic arm 3 can determine the relative positional relationship between the spraying robotic arm 3 and the base surface to be laid when spraying the slurry, so that the spraying robotic arm 3 can accurately
  • the pre-set base surface to be laid is sprayed with the slurry to prevent the deviation between the position where the spraying robot arm 3 sprays the slurry and the preset position.
  • the paving robot arm 4 can determine the relative positional relationship between the paving robot arm 4 and the base surface to be paved when paving the plate-like object 300 , thereby The paving robot arm 4 can accurately pave the plate-like object 300 at the set position to be paved with slurry, thereby improving the effect of the paving robot arm 4 in paving the plate-like object 300 .
  • the paving robot 100 further includes: a first lifting module 5 and a second lifting module 6.
  • the first lifting module 5 is arranged between the first mobile chassis 1 and the spraying robot arm 3, and is arranged as To lift the spraying robot arm 3
  • the second lifting module 6 is arranged between the first moving chassis 1 and the paving robot arm 4 , and is configured to lift the paving robot arm 4 .
  • the first lifting module 5 can drive the spraying robot arm 3 to move upward, so that when spraying When the robotic arm 3 needs to spray the base surface at a higher position, the first lifting module 5 can drive the spraying robotic arm 3 to move upward, so that the spraying robotic arm 3 can more easily spray the slurry on the base surface at a high position. .
  • the second lifting module 6 By arranging the second lifting module 6 between the paving robot arm 4 and the first moving chassis 1, the second lifting module 6 can drive the paving robot arm 4 to move upward, so that when the paving robot arm 4 needs to When the object 300 is laid on the base surface at a high position, the second lifting module 6 can drive the laying robot arm 4 to move upward, so that the laying robot arm 4 can more easily lay the plate-like object 300 at a high position. on the base surface.
  • the first lifting module 5 can drive the spraying robot arm 3 to move downward, thereby reducing the distance between the spraying robot arm 3 and the spraying robot arm 3.
  • a distance between the chassis 1 is moved, so that the spraying robot arm 3 can spray the lower base surface.
  • the second lifting module 6 can drive the paving robot arm 4 to move downward, thereby reducing the difference between the paving robot arm 4 and the paving robot arm 4.
  • the distance between the first moving chassis 1 enables the paving robot arm 4 to perform paving operations on the lower base surface.
  • the occupied space of the paving robot 100 can be reduced, so that the paving robot 100 can move and pave in a narrow space, thereby improving the paving The practicality of the sticker robot 100.
  • the applicator robot 100 further includes: a slurry replenishing module 7, which is arranged on the first mobile chassis 1, and the spraying robot arm 3 includes: a sprayer 31, and the sprayer 31 is installed in the sprayer One end of the robotic arm 3 is away from the first moving chassis 1, and the slurry replenishing module 7 is configured to deliver the slurry to the sprayer 31, so that the slurry is sprayed from the sprayer 31 on the base surface to be laid.
  • the slurry replenishing module 7 can move together with the first mobile chassis 1, so that the slurry replenishing module 7 can be more convenient for the spraying robot arm. 3. Provide the slurry, so that the spraying robot arm 3 can spray the slurry on the base surface more conveniently.
  • the sprayer 31 at the end of the spraying robot arm 3, not only the slurry can be uniformly sprayed on the base surface through the sprayer 31, but also the cross-sectional area of the sprayer 31 can be set so that the width of the sprayer 31 is the same as the width of the sprayer 31.
  • the width of the plate 300 is approximately the same, so that after the sprayer 31 sprays the slurry on the base surface in the horizontal or vertical direction, the spraying area of the sprayer 31 is substantially the same as the area of the plate 300, so that the sprayer 31 There is no need to return and re-spray so that the width of the spray can meet the width of the plate 300 , so that the spray efficiency of the spray robot 3 can be improved.
  • a suction cup 41 is provided at the end of the laying robot arm 4.
  • the suction cup 41 can suck the back side of the plate 300 coated with the slurry, so that the laying After the robotic arm 4 picks up the plate-like object 300 , the plate-like object 300 can be moved relatively stably.
  • the first mobile chassis 1 is provided with a pumping module, which is connected to the suction cup 41 , so that the pumping module can inhale the suction cup 41 to generate negative pressure, so that the plate 300 can be stably adsorbed on the suction cup 41 .
  • the present application further provides a paving system 1000 including the paving robot 100 of the above embodiment.
  • the paving system 1000 includes: a transport robot 200 and a paving robot 100 , wherein the transport robot 200 is configured to transport the plate 300 , and the paving robot 100 is configured to pick up the plate on the transport robot 200 Shape 300.
  • the transportation robot 200 and the paving robot 100 are independent of each other. When the transportation robot 200 moves to the designated work position, it stops, and the paving robot 100 stops after it moves to the designated work position.
  • the relative position between the transportation robot 200 and the paving robot 100 There is no limit.
  • the transport robot 200 and the paving robot 100 move to the designated position and then stop, the paving robot 100 moves to the designated position and then stop, and the transport robot 200 carries the plate 300 to move, so that the paving robot 100 moves to the designated position.
  • the paving robot arm 4 provided on the paving robot 100 can easily pick up the plate-like object 300 on the transport robot 200, and lay the picked-up plate-like object 300 on the base surface to be paved.
  • both the transport robot 200 and the paving robot 100 may be provided with a navigation detection element 10 for transmitting and receiving navigation signals.
  • the detection part 10 moves to a designated position, and the paving robot 100 moves to a designated position according to the navigation detection part 10 set on it, so that the transport robot 200 and the paving robot 100 can move to the working position quickly and accurately, To improve the laying efficiency.
  • the transport robot 200 includes: a second mobile chassis 201, a spraying module 202 and a grabbing module 203, the second mobile chassis 201 is configured to load the plate 300, the spraying module 202 is disposed on the second mobile chassis 201, The grabbing module 203 is movably arranged on the second mobile chassis 201, and the grabbing module 203 has a grabbing position and a spraying position.
  • the grabbing module 203 is set to grab the plate-like object 300.
  • the spraying module 202 is configured to spray slurry on the plate-like object 300 grabbed by the grabbing module 203 .
  • the area on the second mobile chassis 201 where the plate-like object 300 is loaded can be recorded as the position of the plate-like object 300 .
  • the grabbing module 203 moves to the grasping position
  • the grasping module 203 can grasp one of the plate-like objects 300, The grabbing position moves toward the spraying position.
  • the grabbing module 203 can be fixed, so that the spraying module 202 can spray the slurry toward the plate 300 more conveniently.
  • the spraying module 202 sprays the slurry on the plate-like object 300
  • the laying robot arm 4 can pick up the plate-like object 300 and move in the direction of the base surface to be pasted.
  • the grabbing module 203 can return from the spraying position to the grabbing position, and grab another plate-like object 300, After the grabbing module 203 grabs the plate 300, it moves toward the spraying position.
  • the spraying module 202 sprays the plate 300 with slurry.
  • the transport robot 200 further includes: a bracket 204 , and the bracket 204 is arranged on the second mobile chassis 201 .
  • the bracket 204 is fixedly arranged on the second mobile chassis 201
  • the spraying module 202 and the grabbing module 203 are both arranged on the bracket 204
  • the spraying module 202 is located above the grabbing module 203 .
  • the grasping position of the module 203 is located below the spraying position.
  • the grasping module 203 can pick up the plate-like object 300 at the bottom of the bracket 204 and move upward to the spraying position after picking up.
  • the grasping module 203 moves to the spraying position, the grasping module 203
  • the grabbed plate 300 can be opposite to the nozzle of the spraying module 202 , so that the spraying module 202 can spray the slurry on the plate 300 more conveniently.
  • the grabbing module 203 moves in the up-down direction to grab and spray the plate-like object 300, so that the orthographic projection area of the transport robot 200 can be reduced, and the transportation The area occupied by the robot 200 is small, so that the transport robot 200 can move to a narrow space, and the plate-like object 300 is provided for the base surface of the narrow space.
  • the grabbing module 203 includes: a movable seat 2031 and a clamping claw 2032, the movable seat 2031 is movably arranged on the bracket 204, a clamping position is formed on the movable seat 2031, the clamping claw 2032 is arranged on the clamping position, and the movable seat 2031 is movable After the plate-shaped object 300 is positioned at the clamping position, the clamping jaws 2032 are arranged to clamp the outer peripheral wall of the plate-shaped object 300 .
  • the movable seat 2031 can move up and down along the bracket 204 to carry the plate-like object 300.
  • the clamping jaws 2032 can clamp the circumferential direction of the plate-like object 300, so that the plate-like object 300 does not move in the clamping position, so that when the grasping module 203 faces the During the movement in the direction of the spraying position, the plate-like object 300 will not fall off from the clamping position.
  • the spraying module 202 sprays the plate-like object 300
  • the plate-like object 300 will not move, so that the spraying module 202 can be more uniform.
  • the slurry is sprayed on the plate 300 .
  • the gripping claw 2032 includes a telescopic claw, which is provided on the movable seat 2031.
  • the telescopic claw When the grasping module 203 moves toward the grasping position, the telescopic claw is in a retracted state, so that the clamping space of the clamping position is reduced.
  • the grasping module 203 moves to the grasping position, the plate-like object 300 is located at the clamping position, and the telescopic claw protrudes toward the plate-like object 300, so that the telescopic claw can abut against the plate-like object 300.
  • the telescopic claw is arranged around the circumference of the clamping position, so that after the telescopic claw is extended, the outer peripheral wall of the plate-like object 300 can be clamped, so that the plate-shaped object 300 is firmly in the clamping position.
  • the present application also provides a paving method applied to the paving system 1000 of the above embodiment.
  • the paving method includes: acquiring information on the base surface to be paved, wherein the information on the base surface to be paved includes a first paving position and a second paving position of the base surface to be paved ; spray the slurry to the first paving position; spray the slurry to the plate-like object 300 to be paved; the plate-like object 300 after spraying the slurry is paved on the first paving position; wherein, in the first paving In the process of laying the plate-like object 300 in place, the slurry is sprayed on the second laying position, and the plate-like object 300 is laid on the second laying position with the plate-like object 300 at the first laying position as the positioning.
  • the above-mentioned first paving position can be understood as a preset position where the first plate-shaped object 300 needs to be paved, and the second paving position is a preset position where the second plate-shaped object 300 needs to be paved.
  • the detection module 2 on the paving robot 100 needs to obtain the first paving position and the second paving position first, and send the position information to The control module 8, after receiving the position information, the control module 8 sends the calculated position information to the spraying robot arm 3 after calculation.
  • the spraying robotic arm 3 After the spraying robotic arm 3 receives the position information sent by the control module 8, the spraying robotic arm 3 first sprays the slurry on the first paving position.
  • the robotic arm 4 can pick up the plate-like object 300 coated with the slurry, and the laying robot arm 4 can move toward the first laying position after picking up the plate-like object 300 .
  • the spraying robot arm 3 When the paving robot arm 4 is adjacent to the first paving position, the spraying robot arm 3 has finished spraying the first paving position, and moves toward the second paving position, so that the paving robot arm 4 moves to the first paving position It will not interfere with the spraying robot arm 3. After the paving robot arm 4 grabs the plate-like object 300 and moves to the first paving position, the paving robot arm 4 is set to pave the plate-like object 300 at the first paving position.
  • the spraying robot arm 3 can spray the slurry on the base surface at the second laying position, and when the laying robot arm 4 lays the plate-like object 300 on the first laying position After the paving position, the paving robot arm 4 can move toward the area containing the plate-like objects 300 to pick up the plate-like objects 300.
  • the spraying robot arm 3 can apply the second paving The position returns to the first paving position, and detects the actual situation that the plate 300 is paved at the first paving position, and sends the detection result to the control module 8, and the control module 8 receives the actual situation of the previous plate 300.
  • the calculation result is sent to the paving robot arm 4, and the paving robot arm 4 can combine the information sent by the control module 8 when paving the next plate-shaped object 300, so that the next plate-shaped object
  • the paving of 300 can be based on the actual paving position of the previous plate-like object 300 , and then the next plate-like object 300 is paved, thereby improving the effect of paving the plate-like object 300 by the paving robot arm 4 .
  • next plate-shaped object 300 is paved based on the actual paving position of the previous plate-shaped object 300, instead of paving each plate-shaped object 300 through theoretical calculation, so that the cumulative error can be reduced. Therefore, the paving effect of the paving robot arm 4 of the present application is good.
  • the transport robot 200 When the transport robot 200 moves to the designated working position, it can spray the slurry on the board 300 to be laid.
  • the paving robot arm 4 can easily pick up the plate-like object 300 coated with the slurry, thereby improving the work efficiency.
  • the grabbing module 203 on the transport robot 200 can move from the spraying position to the grabbing position, grab the plate-like object 300, and grab the plate-like object 300.
  • the module 203 grabs the plate-like object 300 and moves toward the spraying position.
  • the spraying module 202 sprays slurry on the plate-like object 300 grasped by the grabbing module 203 .
  • the spraying module 202 has finished spraying the plate 300, so that the paving robot 4 can pick up the plate 300 coated with slurry.
  • the operation of laying the plate-like object 300 is refined, that is, the spraying operation of the base surface to be laid, the operation of laying the plate-like object 300 and the spraying of the plate-like object 300 are respectively performed by spraying
  • the robotic arm 3 , the paving robotic arm 4 and the transporting robot 200 are implemented, and the three are independent of each other, which can improve the efficiency and effect of paving the plate-like object 300 .
  • the paving method further includes: acquiring information on the plate-like object 300 ; spraying slurry on the base surface to be paved according to the information on the plate-like object 300 and the information on the base surface to be paved, that is, the plate-shaped object acquired by the detection module 2 .
  • the object 300 information may include the position information of the plate 300 and the area information of the plate 300, that is, the placement position of the plate 300 and the area of each plate 300.
  • the spraying robotic arm 3 can move to the base surface to be laid, and perform spraying on the base surface to be laid. That is, the spraying area of the spraying robot arm 3 on the base surface to be laid is equivalent to the area of each plate-like object 300 each time.
  • the spraying robot arm 3 sprays a lot of slurry, the plate 300 only occupies part of the slurry, and the other part of the slurry will dry when the next plate 300 is laid, so that the plate 300 After being spread on the slurry, it cannot be firmly attached to the base surface, and the plate-like object 300 may be detached from the base surface. Therefore, by detecting the information of the plate 300, the spraying area of the spraying robot arm 3 is equal to the area of the plate 300 to be laid, so as to prevent the excess slurry from drying when the next plate 300 is laid. .
  • the paving robot arm 4 is set to pave the plate-like object 300 according to the information of the plate-like object 300 and the information of the base surface to be paved. , the paving robot 4 can move to the plate 300 according to the position information of the plate 300, so that the paving robot 4 can pick up the plate 300 quickly and accurately, and the paving robot 4 picks up the plate After the object 300, the paving robot arm 4 moves in the direction of the to-be-paved base surface according to the information of the to-be-paved base surface, so that the paving robot arm 4 can accurately place the plate-like object 300 on the surface coated with the slurry. on the base.
  • the transport robot 200 and the paving robot 100 move to the working positions respectively, and the transport robot 200 and the paving robot 100 operate independently of each other.
  • the navigation detector 10 on the transport robot 200 needs to detect whether the transport robot 200 moves to the designated position. If not, the transport robot 200 continues to move until the transport robot 200 moves to the designated position.
  • the navigation detector 10 provided on the paving robot 100 needs to detect whether the paving robot 100 moves to the designated position. If not, the paving robot 100 continues to move until the paving robot 100 moves to the designated position.
  • the grabbing module 203 provided on it can grab the plate-like object 300 at the grabbing position and move toward the spraying position.
  • the spraying module 202 can be set at the spraying position, and when grabbing After the module 203 moves to the spraying position, the spraying module 202 can spray the slurry on the plate 300 .
  • the transport robot 200 and the paving robot 100 move to designated positions respectively and then stop, the transport robot 200 and the paving robot 100 are independent of each other.
  • the paving process can be refined to improve the paving efficiency.
  • the N-th plate-shaped object will be sprayed with slurry, the N-th plate-shaped object will be sprayed with slurry on the base surface to be laid, and the N-1th plate-shaped object will be laid on the corresponding N-1th plate-shaped object.
  • the base surface to be laid on the N-1th plate, the three steps work independently.
  • the process of spraying slurry on the Nth plate includes: the grabbing module 203 drives the grabbed Nth plate from the grabbing position to the spraying position, the grabbing module 203 is fixed, and the spraying module 202 is opposite to The plate-like object grasped by the grasping module 203 is sprayed with slurry.
  • the grasping module 203 keeps the state of grasping the plate-like object; Brick signal, the grabbing module 203 can release the plate, so that the paving robot arm 4 picks up the back side of the plate coated with slurry; after the grabbing module 203 releases the Nth plate, the grabbing module 203 removes the The position returns to the grab position to grab the N+1th plate.
  • the detection module 2 detects and determines the position of the base surface to be laid of the Nth plate-shaped object.
  • the result is sent to the control module 8;
  • the inclination sensor detects the linear error and yaw angle error of the paving robot 100, and sends the detection information to the control module 8, and the control module 8 performs calculation according to the information sent by the detection module 2 and the inclination sensor, and the solution is After the calculation, the result is sent to the spraying robot arm 3; Spray the slurry on the base surface to be laid, and make the base surface flat to prevent the flatness and verticality from not meeting the requirements after the plate-like object is laid on the base surface.
  • the process includes: spraying the robotic arm 3 to the N-th plate-like object. After spraying the slurry at the position of the base surface to be laid on one plate, the position information needs to be sent to the paving robot 4, and the paving robot 4 picks up the N-1th plate to the N-1th plate.
  • the laying robot arm 4 lays the N-1th plate-like object according to the line error and the yaw angle error, so that the flatness and verticality of the plate-like object after laying are consistent.
  • Requirement After the laying robot arm 4 lays the N-1 th plate-like object, it will return to the picking position to pick up the N-th plate-like object coated with the slurry.
  • the paving system 1000 affixes all the board-like objects to be paved on the base surface to be paved, the paving work is completed.

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  • Road Paving Machines (AREA)
  • Road Paving Structures (AREA)

Abstract

一种铺贴机器人(100)、铺贴系统(1000)和铺贴方法，铺贴机器人(100)包括：第一移动底盘(1)、检测模块(2)、喷涂机械臂(3)、铺贴机械臂(4)，检测模块(2)设置为获取待铺贴基面信息，其中，待铺贴基面信息包括：待铺贴基面的第一铺贴位置和第二铺贴位置；喷涂机械臂(3)设置为对第一铺贴位置喷涂浆料，铺贴机械臂(4)设于第一移动底盘(1)上，在喷涂机械臂(3)对第一铺贴位置喷涂浆料的过程中，铺贴机械臂(4)设置为拾取涂有浆料的板状物，在喷涂机械臂(3)对第一铺贴位置喷涂浆料后，铺贴机械臂(4)设置为将涂有浆料的板状物铺贴在第一铺贴位置处，其中，在铺贴机械臂(4)对第一铺贴位置铺贴板状物的过程中，喷涂机械臂(3)还设置为对第二铺贴位置喷涂浆料。

Description

铺贴机器人、铺贴系统和铺贴方法
本申请要求在2020年12月02日提交中国专利局、申请号为202011392489.3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，例如涉及一种铺贴机器人、铺贴系统和铺贴方法。
背景技术
瓷砖铺贴机器人是单台车通过机械臂抓取瓷砖，将瓷砖移动至涂胶工位，在瓷砖背面涂抹瓷砖胶，完成涂胶后将瓷砖移动至铺贴位置，并通过视觉、倾角传感器和激光测距等方式将瓷砖以补偿后的位姿铺贴在墙上。上述工作过程，整个过程中手臂只能先后执行涂刷瓷砖胶和铺贴瓷砖这两道工序，影响铺贴效率。同时，由于仅在瓷砖背面涂刷瓷砖胶，导致铺贴瓷砖的过程中很难保证在不空鼓的情况下确保整个铺贴表面的平整度和垂直度，影响铺贴质量。
发明内容
本申请提供一种铺贴机器人，所述铺贴机器人可以提高板状物的铺贴效率和铺贴效果。
本申请又提供一种包括所述铺贴机器人的铺贴系统。
本申请还提供一种应用于所述铺贴系统的铺贴方法。
提供了一种铺贴机器人，包括：第一移动底盘、检测模块、喷涂机械臂、以及铺贴机械臂，所述检测模块设置为获取待铺贴基面信息，其中，所述待铺贴基面信息包括：待铺贴基面的第一铺贴位置和第二铺贴位置；所述喷涂机械臂设于所述第一移动底盘上，设置为对所述第一铺贴位置喷涂浆料；所述铺贴机械臂设于所述第一移动底盘上，在所述喷涂机械臂对所述第一铺贴位置喷涂浆料的过程中，所述铺贴机械臂设置为拾取涂有浆料的板状物，在所述喷涂机械臂对所述第一铺贴位置喷涂浆料后，所述铺贴机械臂设置为将涂有浆料的板状物铺贴在所述第一铺贴位置；其中，在所述铺贴机械臂对所述第一铺贴位置铺贴板状物的过程中，所述喷涂机械臂还设置为对所述第二铺贴位置喷涂浆料。
还提供了一种铺贴系统，包括：运输机器人和铺贴机器人，所述运输机器 人设置为运输板状物；所述铺贴机器人设置为拾取所述运输机器人上的板状物。
还提供了一种铺贴方法，包括：获取待铺贴基面信息，其中，所述待铺贴基面信息包括待铺贴基面的第一铺贴位置和第二铺贴位置；对所述第一铺贴位置喷涂浆料；对待铺贴的板状物喷涂浆料；拾取喷涂浆料后的板状物，并将喷涂浆料后的板状物铺贴在所述第一铺贴位置；其中，在对所述第一铺贴位置铺贴所述板状物的过程中，对所述第二铺贴位置喷涂浆料，并以所述第一铺贴位置的板状物为定位对第二铺贴位置铺设板状物。
附图说明
图1是根据本申请实施例的铺贴系统的结构示意图；
图2是根据本申请实施例的铺贴机器人的一种角度的立体图；
图3是根据本申请实施例的铺贴机器人的另一种角度的立体图；
图4是根据本申请实施例的铺贴机器人的左视图；
图5是根据本申请实施例的铺贴机器人的主视图；
图6是根据本申请实施例的铺贴机器人的右视图；
图7是根据本申请实施例的运输机器人的右视图；
图8是根据本申请实施例的运输机器人的主视图；
图9是根据本申请实施例的运输机器人的俯视图；
图10是图9中A区域的放大图；
图11是根据本申请实施例的铺贴方法的流程图。
附图标记：
铺贴机器人100；
第一移动底盘1；检测模块2；喷涂机械臂3；喷涂器31；铺贴机械臂4；吸盘41；第一提升模块5；第二提升模块6；补浆模块7；控制模块8；
铺贴系统1000；
运输机器人200；
第二移动底盘201；喷涂模块202；抓取模块203；活动座2031；夹爪2032；支架204；
导航检测件10；
板状物300。
具体实施方式
下面描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，术语“长度”、“宽度”、“厚度”、“上”、“下”、“竖直”、“水平”、“顶”、“底”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，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，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在本申请的描述中，除非另有规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；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。可以根据实际情况理解上述术语在本申请中的含义。
下面参考图1-图11描述根据本申请实施例的铺贴机器人100。
如图1-图11所示，根据本申请实施例的铺贴机器人100包括：第一移动底盘1、检测模块2、喷涂机械臂3、铺贴机械臂4。
检测模块2设置为获取待铺贴基面信息，待铺贴基面信息包括：待铺贴基面的第一铺贴位置和第二铺贴位置；喷涂机械臂3设于第一移动底盘1上，喷涂机械臂3设置为对第一铺贴位置喷涂浆料；铺贴机械臂4设于第一移动底盘1上，在喷涂机械臂3对所述第一铺贴位置喷涂浆料的过程中，铺贴机械臂4设置为拾取涂有浆料的板状物，在喷涂机械臂3对第一铺贴位置喷涂浆料后，铺贴机械臂4设置为将涂有浆料的板状物铺贴在第一铺贴位置；其中，在铺贴机械臂4对第一铺贴位置铺贴板状物的过程中，喷涂机械臂3设置为对第二铺贴位置喷涂浆料。
也就是说，当铺贴机械臂4活动至工作地点后，检测模块2对待铺贴基面进行检测，以获取待铺贴基面的信息，例如，检测模块2可以获取待铺贴基面的位置信息和面积信息，例如，检测模块2可以获取待铺贴的第一块板状物300的铺贴位置。检测模块2获取待铺贴基面信息后可以将检测信息发送给铺贴机器人100上的控制模块8，控制模块8接收到待铺贴基面信息后，经过相关算法等的计算，将计算结果发送给喷涂机械臂3和铺贴机械臂4。
其中，待铺贴基面可以为地面，也可以为竖直的墙面，还可以为天花板，这里不作限制。另外，获取待铺贴基面的第一铺贴位置和第二铺贴位置，第一铺贴位置为第一块板状物需要铺贴的位置，第二铺贴位置为第二块板状物理论上待铺贴的位置。第一铺贴位置还可以理解为相邻两个待铺贴板状物中前一块板状物待铺贴的位置，第二铺贴位置为后一块板状物理论上待铺贴的位置。第一铺贴位置还可以理解为相邻两个待铺贴板状物中上一块板状物待铺贴的位置，第二铺贴位置为下一块板状物理论上待铺贴的位置。这里的前后、上下为是指板状物的铺贴顺序。
当喷涂机械臂3接收到控制模块8发送的待铺贴基面信息后，喷涂机械臂3可以活动至待铺贴基面的第一铺贴位置处，对该基面喷涂浆料，喷涂机械臂3喷涂的面积可以根据控制模块8发送的喷涂面积进行喷涂。其中，浆料可以为水泥，也可以为瓷砖胶，还可以为其他材料，这里不作限制。
当铺贴机械臂4接收到控制模块8发送的待铺贴基面信息后，铺贴机械臂4可以活动至喷涂有浆料的第一铺贴位置处，将板状物300铺贴在第一铺贴位置上，其中，铺贴机械臂4将板状物300铺贴在第一铺贴位置上的过程中，铺贴机械臂4的铺贴位姿可以根据控制模块8传输的位置信息进行铺贴。板状物300的铺贴位置，即为板状物300铺贴的基准点相对于X轴、Y轴的位置，以及板状物300的水平角度等。
此外，喷涂机械臂3和铺贴机械臂4为两个相互独立的机械臂，工作过程可以理解为：喷涂机械臂3对第一铺贴位置喷涂浆料，在喷涂机械臂3喷涂浆料的过程中，铺贴机械臂4可以拾取涂有浆料的板状物300，铺贴机械臂4拾取板状物300后朝第一铺贴位置活动，而喷涂机械臂3喷涂浆料后可以移动至下一块板状物300的待铺贴面位置处，即第二铺贴位置，当铺贴机械臂4活动至喷涂有浆料的第一铺贴位置处时，喷涂机械臂3已经活动至第二铺贴位置，从而使得铺贴机械臂4可以较好地将板状物300铺贴在喷涂有浆料的基面上，同时喷涂机械臂3和铺贴机械臂4可以不相互影响。
当喷涂机械臂3对第二铺贴位置喷涂浆料后，以及铺贴机械臂4将板状物300铺贴在第一铺贴位置处后，铺贴机械臂4可以朝盛放板状物300的区域活动以拾取板状物300，在铺贴机械臂4拾取的过程中，喷涂机械臂3可以从第二铺贴位置返回至第一铺贴位置，并检测板状物300铺贴在第一铺贴位置处的实际情况，将检测结果发送给控制模块8，控制模块8接收到第一铺贴位置的实际铺贴情况后，经计算，并将计算结果发给铺贴机械臂4，铺贴机械臂4在铺贴下一块板状物300时可以结合控制模块8发送的信息，以使下一块板状物300的铺贴可以以上一块板状物300实际铺贴的位置为基准，再铺贴下一块板状物300，从而提高铺贴机械臂4对板状物300铺贴的效果。
其中，通过喷涂机械臂3将浆料喷涂在第一铺贴位置上，可以使板状物300铺贴在涂有浆料的基面上时，板状物300可以较稳定地张贴在该基面上，同时，若第一铺贴位置的水平度和垂直度不能达到要求，即基面上有凹凸情况，或者待铺贴基面出现倾斜，将浆料涂抹在待铺贴基面上后，可以弥补基面的上述不足。
也就是说，本申请中的板状物300背面需要喷涂浆料，待铺贴基面也需要喷涂浆料，由此，将涂有浆料的板状物300铺贴在涂有浆料的铺贴面上时，可以确保整个铺贴表面的平整度和垂直度，从而可以提高铺贴质量。
此外，通过将喷涂机械臂3和铺贴机械臂4均设于第一移动底盘1上，使得第一移动底盘1行走时可以带动喷涂机械臂3和铺贴机械臂4活动至指定工作地点，从而可以提高工作效率。喷涂机械臂3和铺贴机械臂4均设于第一移动底盘1上，使得喷涂机械臂3和铺贴机械臂4的位置已经确定，从而使得控制模块8经过计算后，确定待铺贴基面信息与喷涂机械臂3的相对位置关系，以及待铺贴基面信息与铺贴机械臂4的相对位置关系，进而使得喷涂机械臂3可以较准确地活动至待铺贴基面处，也使得铺贴机械臂4可以较准确地将板状物300铺贴在待铺贴基面上。
根据本申请实施例的铺贴机器人100，通过将喷涂机械臂3和铺贴机械臂4均设于第一移动底盘1上，使得喷涂机械臂3获得待铺贴基面信息后，喷涂机械臂3可以对待铺贴面喷涂浆料，也使得铺贴机械臂4获得待铺贴基面信息后铺贴机械臂4可以将板状物300铺贴在涂有浆料的基面上。通过铺贴机械臂4和喷涂机械臂3相互独立工作，即铺贴机械臂4将板状物300铺贴在第一铺贴位置处时，喷涂机械臂3可以对第二铺贴位置处喷涂浆料，如此可以提高板状物300的铺贴效率，通过对待铺贴基面喷涂浆料，可以使板状物300铺贴在基面上后不仅可以稳定地张贴在基面上，还可以使得板状物300铺贴在基面上后满足平整度和垂直的要求，从而提高板状物300的铺贴效果。
在本申请的一些实施例中，检测模块2还设置为获取板状物300信息，喷涂机械臂3设置为根据板状物300信息以及待铺贴基面信息对待铺贴基面喷涂浆料，也就是说，检测模块2获取的板状物300信息可以包括板状物300的位置信息和板状物300的面积信息，即板状物300的放置位置和每块板状物300的面积，当喷涂机械臂3接收到板状物300信息和待铺贴基面信息后，喷涂机械臂3可以活动至待铺贴基面处，并对待铺贴基面进行喷涂作业，喷涂机械臂3的喷涂的面积需要根据获取的板状物300信息确定，即喷涂机械臂3每次在待铺贴基面上的喷涂面积与每块板状物300的面积相当。
若喷涂机械臂3喷涂较多浆料时，而板状物300只占用部分浆料，另外部分浆料在等下一块板状物300铺贴时，浆料会干燥，从而使得板状物300铺贴在浆料上后，不能较牢固地张贴在基面，会出现板状物300从基面上脱离。由此，通过检测板状物300信息，使得喷涂机械臂3每次喷涂的面积与待铺贴的板状物300的面积相当，以防止多余的浆料在下一块板状物300铺贴时干燥。
铺贴机械臂4设置为根据板状物300信息以及待铺贴基面信息铺贴板状物300，由此，当铺贴机械臂4接收到板状物300信息和待铺贴基面信息后，铺贴机械臂4可以根据板状物300的位置信息活动至板状物300处，以使铺贴机械臂4可以较快捷、准确地拾取到板状物300，铺贴机械臂4拾取板状物300后，铺贴机械臂4根据待铺贴基面信息朝待铺贴基面的方向活动，从而使得铺贴机械臂4可以准确地将板状物300铺贴在涂有浆料的基面上。
在本申请的一些实施例中，检测模块2还包括倾角传感器，倾角传感器设置为检测第一移动底盘1的倾角信息，喷涂机械臂3设置为根据所述倾角信息调整喷涂角度，和铺贴机械臂4设置为根据倾角信息调整铺贴角度。
由此，通过将倾角传感器设于第一移动底盘1上后，倾角传感器可以检测第一移动底盘1的倾角信息，倾角传感器可以检测出第一移动底盘1与X轴之间的夹角，以及检测出第一移动底盘1与Y轴之间的夹角，以及检测出第一移动底盘1与Z轴之间的夹角，即倾角传感器可以检测出第一移动底盘1在三维空间内的位姿。其中，“X”、“Y”、“Z”指示的方位或位置关系是为了便于描述本申请和简化描述，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。
通过倾角传感器检测出第一移动底盘1的位姿后，使得喷涂机械臂3在喷涂浆料时可以确定喷涂机械臂3与待铺贴基面的相对位置关系，从而使得喷涂机械臂3可以准确地对预设的待铺贴基面进行喷涂浆料，防止喷涂机械臂3喷涂浆料的位置与预设位置之间存在偏差。
同时，通过倾角传感器检测出第一移动底盘1的位姿后，使得铺贴机械臂4在铺贴板状物300时可以确定铺贴机械臂4与待铺贴基面的相对位置关系，从而使得铺贴机械臂4可以准确地将板状物300铺贴在涂有浆料的设定待铺贴位置处，进而提高铺贴机械臂4铺贴板状物300的效果。
在本申请的一些实施例中，铺贴机器人100还包括：第一提升模块5和第二提升模块6，第一提升模块5设于第一移动底盘1和喷涂机械臂3之间，设置为提升喷涂机械臂3，第二提升模块6设于第一移动底盘1和铺贴机械臂4之间，设置为提升铺贴机械臂4。
由此，例如图3所示，通过将第一提升模块5设于喷涂机械臂3和第一移动底盘1之间，可以使第一提升模块5驱动喷涂机械臂3向上活动，从而使得当喷涂机械臂3需要对较高位置处的基面喷涂时，第一提升模块5可以驱动喷涂机械臂3向上活动，以使喷涂机械臂3可以较方便地将浆料喷涂在高位置的基面上。通过将第二提升模块6设于铺贴机械臂4和第一移动底盘1之间，可以使第二提升模块6驱动铺贴机械臂4向上活动，从而使得当铺贴机械臂4需要将板状物300铺贴在较高位置处的基面时，第二提升模块6可以驱动铺贴机械臂4向上活动，以使铺贴机械臂4可以较方便地将板状物300铺贴在高位置的基面上。
此外，通过将第一提升模块5设于第一移动底盘1和喷涂机械臂3之间，可以使第一提升模块5可以驱动喷涂机械臂3向下活动，从而减小喷涂机械臂3与第一移动底盘1之间的间距，进而使得喷涂机械臂3可以对低处的基面进行喷涂作业。通过将第二提升模块6设于第一移动底盘1和铺贴机械臂4之间，可以使第二提升模块6可以驱动铺贴机械臂4向下活动，从而减小铺贴机械臂4与第一移动底盘1之间的间距，进而使得铺贴机械臂4可以对低处的基面进行铺贴作业。
其中，喷涂机械臂3和铺贴机械臂4向下活动后，可以使得铺贴机器人100的占用空间较小，从而使得铺贴机器人100可以在狭小空间内进行移动和铺贴，进而提高了铺贴机器人100的实用性。
在本申请的一些实施例中，铺贴机器人100还包括：补浆模块7，补浆模块7设于第一移动底盘1上，喷涂机械臂3包括：喷涂器31，喷涂器31设于喷涂机械臂3远离第一移动底盘1的一端，补浆模块7设置为将浆料输送至喷涂器31，以使浆料从喷涂器31喷涂在待铺贴基面上。
例如图2所示，通过将补浆模块7设于第一移动底盘1上，使得补浆模块7可以随第一移动底盘1一起活动，从而使得补浆模块7可以较方便地对喷涂机械臂3提供浆料，以使喷涂机械臂3可以较方便地对基面喷涂浆料。
另外，通过在喷涂机械臂3的末端设置喷涂器31，不仅使得浆料经过喷涂器31可以均匀地喷涂在基面上，还可以设置喷涂器31的横截面积，使得喷涂器31的宽度与板状物300的宽度大致相同，从而使得喷涂器31沿水平方向或竖直方向将浆料喷涂在基面上后，喷涂器31的喷涂面积与板状物300面积大体相同，使得喷涂器31不需要返回再喷涂以使喷涂的宽度可以满足板状物300的宽度，从而可以提高喷涂机械臂3的喷涂效率。
在一个实施例中，在铺贴机械臂4的末端设有吸盘41，当铺贴机械臂4活动至拾取位置后，吸盘41可以吸住板状物300涂有浆料的背面，从而使得铺贴机械臂4在拾取板状物300后，可以较稳定地带动板状物300活动。在第一移动底盘1上设有泵送模块，泵送模块与吸盘41相连，使得泵送模块可以使吸盘41吸气产生负压，从而使得板状物300可以稳定地吸附在吸盘41上。
本申请又提出一种包括上述实施例的铺贴机器人100的铺贴系统1000。
根据本申请第二方面实施例的铺贴系统1000包括：运输机器人200和铺贴机器人100，其中，运输机器人200设置为运输板状物300，铺贴机器人100设置为拾取运输机器人200上的板状物300。
运输机器人200和铺贴机器人100相互独立，当运输机器人200活动至指定工作位后停止，铺贴机器人100活动至指定工作位后停止，而针对运输机器人200和铺贴机器人100之间的相对位置没有限定。
由此，运输机器人200和铺贴机器人100活动至指定位置后停止，铺贴机器人100活动至指定位置后停止，通过运输机器人200承载板状物300活动，使得铺贴机器人100活动至指定位置后，设于铺贴机器人100上的铺贴机械臂4可以较方便地拾取运输机器人200上的板状物300，并将拾取的板状物300铺贴在待铺贴基面上。
在上述实施例中，可以在运输机器人200和铺贴机器人100上均设有发射和接收导航信号的导航检测件10，导航检测件10设置为导航定位，运输机器人200根据设于其上的导航检测件10活动至指定位置处，铺贴机器人100根据设于其上的导航检测件10活动至指定位置处，从而使得运输机器人200和铺贴机器人100可以较快、准确地活动至工作位置，以提高铺贴效率。
可选地，运输机器人200包括：第二移动底盘201、喷涂模块202和抓取模块203，第二移动底盘201设置为装载板状物300，喷涂模块202设于第二移动底盘201上，抓取模块203可活动地设于第二移动底盘201上，抓取模块203具有抓取位置和喷涂位置，在抓取模块203位于抓取位置时，抓取模块203设置 为抓取板状物300，在抓取模块203活动至喷涂位置时，喷涂模块202设置为对抓取模块203抓取的板状物300喷涂浆料。
例如图1所示，第二移动底盘201上装载有板状物300的区域可以记为板状物300的位置，抓取模块203活动至所述板状物300的位置时，即抓取模块203活动至抓取位置，抓取模块203活动至所述板状物300的位置后，抓取模块203可以抓取其中一个板状物300，抓取模块203抓取板状物300后从抓取位置朝喷涂位置处活动，当抓取模块203活动至喷涂位置后，抓取模块203可以固定，以使喷涂模块202可以较方便地朝板状物300喷涂浆料。喷涂模块202对板状物300喷涂浆料后，铺贴机械臂4可以拾取板状物300并朝待铺贴基面的方向活动。
当铺贴机械臂4朝待铺贴基面的方向活动以及铺贴板状物300的过程中，抓取模块203可以从喷涂位置返回至抓取位置，并抓取另外一个板状物300，抓取模块203抓取板状物300后，朝喷涂位置活动，抓取模块203活动至喷涂位置时，喷涂模块202对板状物300进行喷涂浆料。
可选地，运输机器人200还包括：支架204，支架204设于第二移动底盘201上。例如图7所示，支架204固定设置在第二移动底盘201上，喷涂模块202和抓取模块203均设于支架204上，且喷涂模块202位于抓取模块203的上方，由此，抓取模块203的抓取位置位于喷涂位置的下方，抓取模块203可以在支架204的底部拾取板状物300，拾取后向上活动至喷涂位置，抓取模块203活动至喷涂位置后，抓取模块203抓取的板状物300可以与喷涂模块202的喷嘴相对，从而使得所述喷涂模块202可以较方便地将浆料喷涂在板状物300上。
其中，通过将抓取模块203设于喷涂模块202的下方，使得抓取模块203沿上下方向活动以抓取、喷涂板状物300，从而可以减小运输机器人200的正投影面积，并使运输机器人200占用的面积较小，进而使得运输机器人200可以活动至狭小空间，并对狭小空间的基面提供板状物300。
抓取模块203包括：活动座2031和夹爪2032，活动座2031可活动地设于支架204上，在活动座2031上形成夹持位，夹爪2032设于夹持位上，活动座2031活动并使板状物300位于夹持位后，夹爪2032设置为夹持板状物300的外周壁。
也就是说，活动座2031可以沿支架204进行上下活动，以搬运板状物300，通过在活动座2031上形成夹持位，以及在夹持位上设置夹爪2032，当活动座2031向下活动，以使板状物300位于夹持位后，夹爪2032可以夹持板状物300的周向，以使板状物300在夹持位不会活动，从而使得当抓取模块203朝喷涂位置方向活动的过程中，板状物300不会从夹持位脱落，另外，喷涂模块202 对板状物300喷涂时，板状物300不会活动，以使喷涂模块202可以较均匀地将浆料喷涂在板状物300上。
在一个示例中，夹爪2032包括伸缩爪，所述伸缩爪设于活动座2031上，当抓取模块203朝抓取位置活动时，伸缩爪处于收缩状态，从而使得夹持位的夹持空间较大，当抓取模块203活动至抓取位置后，板状物300位于夹持位，通过伸缩爪朝板状物300的方向伸出，以使得伸缩爪可以抵接在板状物300的外壁上，通过将伸缩爪围绕在夹持位的周向设置，使得伸缩爪伸出后，可以夹持板状物300的外周壁，从而使得板状物300牢固地处于夹持位。
本申请还提供一种应用于上述实施例的铺贴系统1000的铺贴方法。
根据本申请第三方面实施例的铺贴方法包括：获取待铺贴基面信息，其中，所述待铺贴基面信息包括待铺贴基面的第一铺贴位置和第二铺贴位置；对第一铺贴位置喷涂浆料；对待铺贴的板状物300喷涂浆料；将喷涂浆料后的板状物300铺贴在第一铺贴位置；其中，在对第一铺贴位置铺贴板状物300的过程中，对第二铺贴位置喷涂浆料，并以第一铺贴位置的板状物300为定位对第二铺贴位置铺设板状物300。
上述第一铺贴位置可以理解为预设第一块板状物300需要铺贴的位置，第二铺贴位置为预设第二块板状物300需要铺贴的位置。
其中，获取待铺贴基面的第一铺贴位置和第二铺贴位置，铺贴机器人100上的检测模块2需要先获取第一铺贴位置和第二铺贴位置，将位置信息发送至控制模块8，控制模块8接收到位置信息后经过计算再将计算的位置信息发送至喷涂机械臂3。喷涂机械臂3接收到控制模块8发送的位置信息后，喷涂机械臂3先对第一铺贴位置喷涂浆料，在喷涂机械臂3喷涂浆料的过程中，铺贴机器人100上的铺贴机械臂4可以拾取涂有浆料的板状物300，铺贴机械臂4拾取板状物300后可以朝第一铺贴位置活动。当铺贴机械臂4邻近第一铺贴位置时，喷涂机械臂3已经对第一铺贴位置喷涂完毕，并朝第二铺贴位置活动，以使铺贴机械臂4活动至第一铺贴位置时不会与喷涂机械臂3发生干涉。当铺贴机械臂4抓取板状物300活动至第一铺贴位置后，铺贴机械臂4设置为将板状物300铺贴在第一铺贴位置处。
当铺贴机械臂4在铺贴板状物300的过程中，喷涂机械臂3可对第二铺贴位置处的基面喷涂浆料，当铺贴机械臂4将板状物300铺贴在第一铺贴位置处后，铺贴机械臂4可以朝盛放板状物300的区域活动以拾取板状物300，在铺贴机械臂4拾取的过程中，喷涂机械臂3可以从第二铺贴位置返回至第一铺贴位置，并检测板状物300铺贴在第一铺贴位置处的实际情况，将检测结果发 送给控制模块8，控制模块8接收到上一块板状物300的实际铺贴情况后，经计算并将计算结果发送给铺贴机械臂4，铺贴机械臂4在铺贴下一块板状物300时可以结合控制模块8发送的信息，以使下一块板状物300的铺贴可以以上一块板状物300实际铺贴的位置为基准，再铺贴下一块板状物300，从而提高铺贴机械臂4对板状物300铺贴的效果。
在本申请中，下一块板状物300是以上一块板状物300实际铺贴的位置为基准进行铺贴，而不是通过理论计算铺贴每一块板状物300，从而可以降低累计误差，由此，本申请的铺贴机械臂4的铺贴效果好。
当运输机器人200活动至指定工作位时可以对待铺贴的板状物300喷涂浆料，运输机器人200活动至工作位时，抓取模块203可以夹持涂有浆料的板状物300，以使铺贴机械臂4可以较方便地拾取涂有浆料的板状物300，从而提高工作效率。
当铺贴机械臂4拾取板状物300朝待铺贴基面的方向活动时，运输机器人200上的抓取模块203可以从喷涂位置朝抓取位置活动，并抓取板状物300，抓取模块203抓取板状物300后朝喷涂位置活动，抓取模块203活动至喷涂位置后，喷涂模块202对抓取模块203抓取的板状物300喷涂浆料。当铺贴机械臂4从待铺贴基面返回时，喷涂模块202已经对板状物300喷涂完毕，以使铺贴机械臂4可以拾取涂有浆料的板状物300。
根据本申请实施例的铺贴方法，通过将铺贴板状物300的作业细化，即对待铺贴基面的喷涂作业、铺贴板状物300作业和喷涂板状物300作业分别由喷涂机械臂3、铺贴机械臂4和运输机器人200进行实施，且三者之间相互独立，可以提高板状物300铺贴的效率和铺贴效果。
可选地，铺贴方法还包括：获取板状物300信息；根据板状物300信息以及待铺贴基面信息对待铺贴基面喷涂浆料，也就是说，检测模块2获取的板状物300信息可以包括板状物300位置信息和板状物300面积信息，即板状物300的放置位置和每块板状物300的面积，当喷涂机械臂3接收到板状物300信息和待铺贴基面信息后，喷涂机械臂3可以活动至待铺贴基面处，并对待铺贴基面进行喷涂作业，喷涂机械臂3喷涂的面积需要根据获取的板状物300信息确定，即喷涂机械臂3每次在待铺贴基面上的喷涂面积与每块板状物300的面积相当。
若喷涂机械臂3喷涂较多浆料时，而板状物300只占用部分浆料，另外部分浆料在等下一块板状物300铺贴时，浆料会干燥，从而使得板状物300铺贴在浆料上后，不能较牢固地张贴在基面，会出现板状物300从基面上脱离的情况。由此，通过检测板状物300信息，使得喷涂机械臂3每次喷涂的面积与待铺 贴的板状物300的面积相当，以防止多余的浆料在下一块板状物300铺贴时干燥。
铺贴机械臂4设置为根据板状物300信息以及待铺贴基面信息铺贴板状物300，由此，当铺贴机械臂4接收到板状物300信息和待铺贴基面信息后，铺贴机械臂4可以根据板状物300的位置信息活动至板状物300处，以使铺贴机械臂4可以较快捷、准确地拾取到板状物300，铺贴机械臂4拾取板状物300后，铺贴机械臂4根据待铺贴基面信息朝待铺贴基面的方向活动，从而使得铺贴机械臂4可以准确地将板状物300铺贴在涂有浆料的基面上。
例如图11所示，开始进行铺贴工作时，运输机器人200和铺贴机器人100分别活动至工作位，且运输机器人200和铺贴机器人100相互独立运行，当运输机器人200和铺贴机器人100分别活动至工作位后，设于运输机器人200上的导航检测件10需要检测运输机器人200是否活动至指定位置处，若否，则运输机器人200继续活动直至运输机器人200活动至指定位置处。设于铺贴机器人100上的导航检测件10需要检测铺贴机器人100是否活动至指定位置处，若否，则铺贴机器人100继续活动直至铺贴机器人100活动至指定位置处。
其中，运输机器人200在活动的过程中，设于其上的抓取模块203可以在抓取位置抓取板状物300，朝喷涂位置活动，喷涂模块202可以设于喷涂位置处，当抓取模块203活动至喷涂位置后，喷涂模块202可以对板状物300喷涂浆料。
当运输机器人200和铺贴机器人100分别活动至指定位置处后停车，运输机器人200和铺贴机器人100相互独立。
在铺贴板状物的过程中，可以将铺贴过程细化，以提高铺贴效率。将对第N块板状物喷涂浆料、对第N块板状物的待铺贴基面喷涂浆料以及将第N-1块板状物铺贴在第N-1块板状物对应的第N-1块板状物的待铺贴基面，三个步骤分开独立工作。
在对第N块板状物喷涂浆料的过程中，包括：抓取模块203将抓取的第N块板状物从抓取位置带动至喷涂位置，抓取模块203固定，喷涂模块202对抓取模块203抓取的板状物喷涂浆料，在喷涂过程中，抓取模块203一直保持抓取板状物的状态；喷涂后，当抓取模块203接收到铺贴机械臂4的取砖信号，抓取模块203可以释放板状物，使得铺贴机械臂4拾取板状物涂有浆料的背面；抓取模块203将第N块板状物释放后，抓取模块203从喷涂位置返回至抓取位置，以抓取第N+1块板状物。
在对第N块板状物的待铺贴基面喷涂浆料过程中，包括：检测模块2检测并确定第N块板状物的待铺贴基面的位置，检测模块2检测后将检测结果发送 至控制模块8；倾角传感器检测铺贴机器人100的线性误差和偏航角误差，将检测信息发送给控制模块8，控制模块8根据检测模块2和倾角传感器发送的信息进行解算，解算后将结果发送至喷涂机械臂3；喷涂机械臂3根据解算结果活动至第N块板状物对应的待铺贴基面位置处，喷涂机械臂3对第N块板状物对应的待铺贴基面喷涂浆料，并使基准面平整，以防止板状物铺贴在基面上后平整度和垂直度不符合要求。
在将第N-1块板状物铺贴在第N-1块板状物对应的第N-1块板状物的待铺贴基面过程中，包括：喷涂机械臂3对第N-1块板状物的待铺贴基面位置处喷涂浆料后需要将位置信息发送给铺贴机械臂4，铺贴机械臂4将第N-1块板状物拾取至第N-1块板状物的待铺贴基面位置处；铺贴机械臂4根据线误差和偏航角误差铺贴第N-1块板状物，以使板状物铺贴后平整度和垂直度符合要求；铺贴机械臂4将第N-1块板状物铺贴后，将返回至拾取位置，以拾取涂有浆料的第N块板状物。
当铺贴系统1000将所有需要铺贴的板状物铺贴在待铺贴基面上后，完成铺贴工作。
在本说明书的描述中，参考术语“一些实施例”、“可选地”、“进一步地”或“一些示例”等的描述意指结合该实施例或示例描述的特征、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。而且，描述的特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。

Claims (10)

  1. 一种铺贴机器人，包括：
    第一移动底盘；
    检测模块，设置为获取待铺贴基面信息，其中，所述待铺贴基面信息包括待铺贴基面的第一铺贴位置和第二铺贴位置；
    喷涂机械臂，设于所述第一移动底盘上，设置为对所述第一铺贴位置喷涂浆料；
    铺贴机械臂，设于所述第一移动底盘上，在所述喷涂机械臂对所述第一铺贴位置喷涂浆料的过程中，所述铺贴机械臂设置为拾取涂有浆料的板状物，在所述喷涂机械臂对所述第一铺贴位置喷涂浆料后，所述铺贴机械臂设置为将所述涂有浆料的板状物铺贴在所述第一铺贴位置处；
    其中，在所述铺贴机械臂对所述第一铺贴位置铺贴所述板状物的过程中，所述喷涂机械臂还设置为对所述第二铺贴位置喷涂浆料。
  2. 根据权利要求1所述的铺贴机器人，其中，所述检测模块还设置为获取板状物信息；
    所述喷涂机械臂是设置为根据所述板状物信息以及所述待铺贴基面信息对所述待铺贴基面喷涂浆料；
    所述铺贴机械臂是设置为根据所述板状物信息以及所述待铺贴基面信息铺贴所述板状物。
  3. 根据权利要求1所述的铺贴机器人，其中，所述检测模块还包括倾角传感器，所述倾角传感器设置为检测所述第一移动底盘的倾角信息，所述喷涂机械臂设置为根据所述倾角信息调整喷涂角度，和所述铺贴机械臂设置为根据所述倾角信息调整铺贴角度。
  4. 根据权利要求1所述的铺贴机器人，还包括：
    第一提升模块，设于所述第一移动底盘和所述喷涂机械臂之间，设置为提升所述喷涂机械臂；
    第二提升模块，设于所述第一移动底盘和所述铺贴机械臂之间，设置为提升所述铺贴机械臂。
  5. 根据权利要求1所述的铺贴机器人，还包括：补浆模块，所述补浆模块设于所述第一移动底盘上；
    所述喷涂机械臂包括：喷涂器，所述喷涂器设于所述喷涂机械臂远离 所述第一移动底盘的一端；所述补浆模块设置为将浆料输送至所述喷涂器，以使浆料从所述喷涂器喷涂在所述待铺贴基面上。
  6. 一种铺贴系统，包括：
    运输机器人，设置为运输板状物；
    铺贴机器人，包括根据权利要求1-5中任一项所述的铺贴机器人，设置为拾取所述运输机器人上的板状物。
  7. 根据权利要求6所述的铺贴系统，其中，所述运输机器人包括：
    第二移动底盘，设置为装载所述板状物；
    喷涂模块，设于所述第二移动底盘上；
    抓取模块，可活动地设于所述第二移动底盘上，所述抓取模块具有抓取位置和喷涂位置，在所述抓取模块位于所述抓取位置的情况下，所述抓取模块设置为抓取所述板状物，在所述抓取模块活动至所述喷涂位置的情况下，所述喷涂模块设置为对所述抓取模块抓取的板状物喷涂浆料。
  8. 根据权利要求7所述的铺贴系统，其中，所述运输机器人还包括：支架，设于所述第二移动底盘上；
    所述抓取模块包括：活动座和夹爪，所述活动座可活动地设于所述支架上，在所述活动座上形成夹持位，所述夹爪设于所述夹持位上，在所述活动座活动并使所述板状物位于所述夹持位后，所述夹爪设置为夹持所述板状物的外周壁。
  9. 一种铺贴方法，包括：
    获取待铺贴基面信息，其中，所述待铺贴基面信息包括待铺贴基面的第一铺贴位置和第二铺贴位置；
    对所述第一铺贴位置喷涂浆料；
    对待铺贴的板状物喷涂浆料；
    拾取喷涂浆料后的板状物，并将喷涂浆料后的板状物铺贴在所述第一铺贴位置；
    其中，在对所述第一铺贴位置铺贴所述板状物的过程中，对所述第二铺贴位置喷涂浆料，并以所述第一铺贴位置的板状物为定位对所述第二铺贴位置铺贴板状物。
  10. 根据权利要求9所述的铺贴方法，还包括：
    获取板状物信息；
    根据所述板状物信息以及所述待铺贴基面信息对所述待铺贴基面喷涂浆料；
    根据所述板状物信息以及所述待铺贴基面信息铺贴板状物。
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