WO2022184017A1 - 刮胶机构、墙砖铺贴设备及墙砖铺贴方法 - Google Patents

刮胶机构、墙砖铺贴设备及墙砖铺贴方法 Download PDF

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Publication number
WO2022184017A1
WO2022184017A1 PCT/CN2022/078268 CN2022078268W WO2022184017A1 WO 2022184017 A1 WO2022184017 A1 WO 2022184017A1 CN 2022078268 W CN2022078268 W CN 2022078268W WO 2022184017 A1 WO2022184017 A1 WO 2022184017A1
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WO
WIPO (PCT)
Prior art keywords
squeegee
glue
thickness
assembly
wall
Prior art date
Application number
PCT/CN2022/078268
Other languages
English (en)
French (fr)
Inventor
何涛
Original Assignee
广东博智林机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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 WO2022184017A1 publication Critical patent/WO2022184017A1/zh
Priority to US18/325,058 priority Critical patent/US20230302485A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/02—Apparatus for spreading or distributing liquids or other fluent materials already applied to a surface ; Controlling means therefor; Control of the thickness of a coating by spreading or distributing liquids or other fluent materials already applied to the coated surface
    • B05C11/04—Apparatus for spreading or distributing liquids or other fluent materials already applied to a surface ; Controlling means therefor; Control of the thickness of a coating by spreading or distributing liquids or other fluent materials already applied to the coated surface with blades
    • B05C11/048—Scrapers, i.e. metering blades having their edge oriented in the upstream direction in order to provide a reverse angle of attack
    • 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
    • E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F13/00—Coverings or linings, e.g. for walls or ceilings
    • E04F13/07—Coverings or linings, e.g. for walls or ceilings composed of covering or lining elements; Sub-structures therefor; Fastening means therefor
    • E04F13/08—Coverings or linings, e.g. for walls or ceilings composed of covering or lining elements; Sub-structures therefor; Fastening means therefor composed of a plurality of similar covering or lining elements
    • E04F13/14—Coverings or linings, e.g. for walls or ceilings composed of covering or lining elements; Sub-structures therefor; Fastening means therefor composed of a plurality of similar covering or lining elements stone or stone-like materials, e.g. ceramics concrete; of glass or with an outer layer of stone or stone-like materials or glass
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B05C11/1039—Recovery of excess liquid or other fluent material; Controlling means therefor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the present application relates to the technical field of building decoration, for example, to a glue scraping mechanism, wall tile laying equipment and wall tile laying method.
  • the main function of the wall tile paving robot gluing device is to evenly apply the wall tile adhesive to the wall tiles, which can meet the paving requirements when the wall is flat, but in actual work, the flatness of the wall is poor. The thickness is still the same, which will cause some wall tiles to sag or protrude. In order to ensure the overall smoothness of the wall tiles after paving, a single wall tile will have defects such as hollowing or not firmly pasting.
  • the embodiment of the present application provides a squeegee mechanism for controlling the thickness of the applied adhesive material
  • the squeegee mechanism includes a first detection unit and a squeegee assembly, and the first detection unit is electrically connected to the squeegee assembly.
  • the first detection unit is configured to acquire concave-convex information of the wall surface
  • the squeegee assembly is configured to be able to adjust the thickness of the squeegee according to the concave-convex information.
  • the embodiments of the present application also provide a wall tile laying device, the wall tile laying device includes a robotic arm, a chassis, a tile placing assembly, and any one of the above glue scraping mechanisms.
  • the glue scraping mechanism, the brick placing assembly and the mechanical arm are respectively arranged on the chassis, and the first detection unit is connected with the mechanical arm.
  • the embodiments of the present application also provide a method for laying wall tiles, the method for laying wall tiles includes extracting a point cloud of wall information, obtaining bump information on the wall, converting the bump information on the wall into glue material thickness information, and Glue and squeegee according to the glue thickness information.
  • FIG. 1 is a schematic diagram of the overall structure of a squeegee mechanism (hidden first bracket) provided by an embodiment of the application;
  • FIG. 2 is a schematic structural diagram of a squeegee mechanism (hiding the first bracket) provided by an embodiment of the present application from a first viewing angle;
  • Fig. 3 is the sectional view of III-III position in Fig. 2;
  • FIG. 4 is a schematic structural diagram of the squeegee mechanism (hiding the first bracket) provided by an embodiment of the present application from a second viewing angle;
  • Fig. 5 is the sectional view of the position V-V in Fig. 4;
  • FIG. 6 is a schematic diagram of the overall structure of a squeegee mechanism (showing a first bracket) provided by an embodiment of the present application;
  • FIG. 7 is an exploded view of the squeegee mechanism (showing the first bracket) provided by the embodiment of the present application;
  • FIG. 8 is a schematic structural diagram of a wall tile paving apparatus provided in an embodiment of the present application.
  • Icon 10-squeegee mechanism; 20-wall tile paving equipment; 200-squeegee assembly; 210-drive part; 220-squeegee; 230-chamfering plate; 240-side scraping plate; 260-baffle plate; 270-connecting plate; 280-second detection unit; 300-gluing assembly; 400-second bracket; 500-drive assembly; 600-wall tile clamp; 610-second motor; 620-rotating shaft; 630-clamp; 700-First bracket; 810-Robot arm; 820-Chassis; 830-Brick placement assembly.
  • connection can also be 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 internal communication between two components.
  • connection can also be 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 internal communication between two components.
  • the present embodiment provides a squeegee mechanism 10 to control the thickness of the applied adhesive material.
  • the squeegee mechanism 10 includes a first detection unit (not shown in the figure) and a squeegee assembly 200 .
  • a detection unit is electrically connected to the squeegee assembly 200 .
  • the first detection unit is configured to acquire the unevenness information of the wall surface, and the squeegee assembly 200 is configured to be able to adjust the thickness of the squeegee according to the unevenness information.
  • the first detection unit of the glue scraping mechanism 10 can obtain the wall surface unevenness information, and extract the point cloud of the wall surface information. Through the glue scraping component 200, the scraping glue thickness of the wall tiles can be adjusted according to the wall surface unevenness information, so that the paving After the sticking is completed, the adhesive material is completely attached to the wall to ensure the sticking effect and achieve a lower hollow rate.
  • the squeegee assembly 200 can adjust the squeegee thickness according to the concave-convex information. For example, if a certain position on the wall is concave by 1 mm, the squeegee thickness of the corresponding position on the corresponding wall tile is increased by 1 mm. If a certain position on the wall protrudes by 1mm, the thickness of the squeegee at the position corresponding to the position on the corresponding wall tile is reduced by 1mm.
  • the squeegee assembly 200 includes a depth camera and a first controller, the depth camera is electrically connected to the first controller, and the first controller is electrically connected to the squeegee assembly 200 .
  • the depth camera can photograph the wall surface, and sends the photographed data to the first controller, and the first controller processes the data photographed by the depth camera to obtain concave-convex information.
  • the first controller can control the squeegee assembly 200 to squeegee the wall tiles according to the concavity and convexity information, so that the squeegee thickness of the adhesive material can match the concavity and convexity of the wall surface.
  • the thickness of the squeegee at the position on the wall tile that fits the position increases to form a protrusion to fill the depression.
  • a certain position on the wall surface is raised, correspondingly, the thickness of the squeegee at the position on the wall tile that fits the position is reduced, forming a depression, so that the glue material is completely attached to the wall surface after the paving is completed.
  • the glue material corresponding to the position on the wall tile is concave.
  • the glue material corresponding to the position on the wall tile is raised.
  • the concavity and convexity information in addition to the first controller processing the data captured by the depth camera to obtain the concavity and convexity information, can also be obtained by an external device (such as measuring robot), and then sent to the controller in the wall tile laying robot through the network, and the controller is sent to the first detection unit in the wall tile laying robot.
  • the first detection unit is a part of the controller, and the external device transmits the concave-convex information to the first detection unit through the network.
  • the wall surface unevenness data measured by an external measuring device may be transmitted to the first detection unit; it may also be information detected by the first detection unit of the machine itself.
  • the detection unit may be a product capable of realizing three-dimensional measurement and imaging technology, such as an existing measurement robot on the market.
  • the squeegee assembly 200 includes a laser sensor and a first controller, the first controller is electrically connected to the laser sensor, and the first controller is electrically connected to the squeegee assembly 200 .
  • the laser sensor scans the wall surface, and sends the scanned data to the first controller, and the first controller processes the data scanned by the laser sensor to obtain concave-convex information.
  • the distance between the squeegee assembly 200 and the wall tiles is adjustable to adjust the thickness of the squeegee.
  • the glue scraping assembly 200 is close to the wall tiles, more glue material will be scraped off, and the thickness of the glue material on the wall tiles is smaller.
  • the glue scraping assembly 200 is far away from the wall tiles, less glue material will be scraped off, and the thickness of the glue material on the wall tiles is larger.
  • the squeegee assembly 200 includes a plurality of driving elements 210 and a plurality of scraping blades 220 , and the driving elements 210 and the scraping blades 220 are in one-to-one correspondence.
  • the driving part 210 is electrically connected with the first controller, and the driving part 210 is used for driving the scraper 220 to approach or move away from the wall tiles.
  • the driving member 210 drives the scraper 220 to approach the wall tile, the thickness of the scraper decreases.
  • the driving member 210 drives the scraper 220 away from the wall tile, the thickness of the scraper increases.
  • the first controller controls the action of the driving member 210 according to the concave-convex information, so that the scraper 220 is close to or away from the wall tiles, and the thickness of the squeegee at the corresponding position is changed. For example, if there are protrusions on the wall, the first controller controls the action of the driving member 210 so that the scraper 220 is close to the wall tiles, so that after shaving, the thickness of the squeegee matches the protrusions on the wall. There is a depression on the wall, and the first controller controls the action of the driver 210 to keep the scraper 220 away from the wall tiles, so that after scraping the glue, the thickness of the scraping glue matches the depression on the wall.
  • a plurality of scrapers 220 are arranged adjacent to each other in sequence, and are arranged in a row along one direction.
  • the plurality of driving members 210 are also arranged in a row along the same direction.
  • the driving member 210 is a linear driving member 210, for example, a linear electric cylinder, a linear cylinder, a linear oil cylinder, and the like.
  • the driving member 210 is a rotating driving member 210, eg, a motor.
  • the rotary driving member 210 can either convert the rotary motion into a linear motion through a transmission mechanism, and can also use the rotary motion to adjust the distance between the scraper 220 and the wall tiles.
  • the number of scrapers 220 and the number of driving members 210 may not be in one-to-one correspondence.
  • the number of the driving members 210 is greater than the number of the scrapers 220 .
  • a scraper 220 is simultaneously driven by a plurality of driving members 210 to act.
  • the number of the driving members 210 is less than the number of the scrapers 220, and one driving member 210 drives the plurality of scrapers 220 to act simultaneously.
  • the squeegee assembly 200 includes a lifting structure and a scraper 220, the wall tiles are fixed on the lifting structure, and the scraper 220 is located above the wall tiles.
  • the first controller controls the action of the lifting structure according to the concave-convex information, so that the wall tiles are close to or away from the scraper 220, and the thickness of the squeegee at the corresponding position is changed. For example, if there are protrusions on the wall, the first controller controls the movement of the lifting structure, so that the wall tiles are close to the scraper 220, so that after scraping, the thickness of the scraping glue matches the protrusions on the wall. There is a depression on the wall, and the first controller controls the action of the lifting structure to keep the wall tiles away from the scraper 220, so that after scraping the glue, the thickness of the scraping glue matches the depression on the wall.
  • the wall tiles may be coated with an adhesive material having a maximum thickness that satisfies the concave-convex information.
  • the first controller can complete the squeegee by controlling the extension and contraction of the driving member 210 .
  • the glue squeegee mechanism 10 includes a glue application component 300 , and the glue application component 300 is electrically connected to the first controller of the first detection unit.
  • the glue application component 300 The wall tiles can be glued according to the bump information.
  • the gluing mechanism can apply gluing to the wall tiles based on the concave-convex information. In this way, when scraping glue, less glue material needs to be scraped off, which saves glue material and is more environmentally friendly.
  • the coating can be performed to meet the maximum required thickness of the concave-convex information as the gluing thickness, or the required minimum thickness of the concave-convex information can be the gluing thickness, or the gluing thickness can be applied.
  • the average thickness required to satisfy the concave-convex information is the coating thickness, and the amount of glue at each position can be adjusted according to the concave-convex information to achieve precise coating.
  • both the squeegee assembly 200 and the gluing assembly 300 are connected to the second bracket 400 and are arranged at intervals along the wide band direction X of the second bracket 400 .
  • the squeegee assembly 200 and the gluing assembly 300 are connected by connecting pieces.
  • the squeegee mechanism 10 includes a second detection unit 280 .
  • the second detection unit 280 is electrically connected to the gluing assembly 300 , and the second detection unit 280 is configured to detect the gluing thickness of the wall tiles. .
  • the gluing assembly 300 is configured to be able to re-glue the wall tiles according to the concave-convex information and the gluing thickness during the gluing process.
  • the second detection unit 280 By setting the second detection unit 280, the thickness of the glue applied is detected, which provides a basis for whether the glue needs to be replenished, and forms a negative feedback adjustment to ensure that the thickness of the squeegee is accurate and reliable.
  • the second detection unit 280 is mounted on the second bracket 400 , the second detection unit 280 is located on the side where the glue applicator 300 is located, and the second detection unit 280 measures the thickness of the glue material at the position where the glue will be squeegeed. Check to get the glue thickness.
  • the first controller is electrically connected to the second detection unit 280 , the first controller is electrically connected to the driving member 210 , and the first controller is electrically connected to the gluing assembly 300 .
  • the second detection unit 280 transmits the acquired glue thickness to the first controller.
  • the first controller controls the gluing assembly 300 to apply gluing to increase the thickness of the glue material.
  • the first controller controls the driver 210 to drive the squeegee 220 to squeegee the squeegee with the squeegee thickness determined according to the concave-convex information.
  • the glue application component 300 is controlled to replenish the glue. If it is found that the thickness of the glue applied can meet the requirement of the thickness of the squeegee, the driving member 210 is controlled to act to complete the squeegee.
  • the first controller controls the gluing assembly 300 to apply gluing and replenish the gluing material until the gluing thickness can meet the squeegee thickness determined according to the concave-convex information.
  • the thickness of the glue applied can meet the thickness of the squeegee determined according to the concave-convex information, it means that the glue material on the wall tile can meet the requirement of the thickness of the squeegee after squeegeeing. Scrape the thickness of the glue to ensure that the unevenness of the glue material on the wall tiles matches the unevenness of the wall.
  • the second detection unit 280 is a laser ranging sensor, and the laser ranging sensor detects the difference in height (thickness) of the wall tiles before and after gluing, and then obtains the gluing thickness.
  • the second detection unit 280 may also be a 3D (3-dimensional, three-dimensional) scanning device or the like.
  • the rubber squeegee mechanism 10 includes a rubber baffle 260 , and the rubber baffle 260 is located at the rear side of the scraper 220 .
  • the rubber baffle 260 is located on the scraper 220 and the second detection plate 260 Between the units 280 , the rubber baffle 260 is attached to the scraper 220 , and the rubber baffle 260 is connected to the second bracket 400 through the connecting plate 270 .
  • the glue may accumulate on the scraper 220.
  • the glue baffle 260 By setting the glue baffle 260, when the accumulated glue is in contact with the glue baffle 260, the accumulated glue will be blocked, and the glue will be blocked at the glue baffle. Under the action of the plate 260 , the accumulated glue material falls back on the wall tile again, so as to avoid excessive accumulation of the glue material and influence the second detection unit 280 to measure the glue coating thickness.
  • the squeegee mechanism 10 includes a drive assembly 500 and a first bracket 700 , and the squeegee assembly 200 and the gluing assembly 300 can be connected to each other through the second bracket 400 and the first bracket 700 .
  • the driving assembly 500 is used for driving the squeegee assembly 200 to reciprocate.
  • the drive assembly 500 includes a first motor, a driving wheel, a driven wheel and a transmission belt.
  • the first motor is connected to the first bracket 700, the output end of the first motor is connected to the driving wheel, and the driving wheel and the driven wheel are respectively rotatably connected to the first bracket 700.
  • the bracket 700, the transmission belt is connected with the driving pulley and the driven wheel, and the second bracket 400 is connected with the transmission belt.
  • the first motor rotates, it drives the second bracket 400 to slide relative to the first bracket 700 , and drives the squeegee assembly 200 and the glue application assembly 300 to move.
  • the squeegee mechanism 10 includes a side squeegee 240 , the side squeegee 240 is disposed on both sides of the squeegee assembly 200 , and the side squeegee 240 and the The two brackets 400 are connected for scraping off the glue on the first bracket 700 .
  • the squeegee mechanism 10 further includes a chamfering plate 230, which is connected to the side of the side squeegee 240 away from the first bracket 700, and the chamfering plate 230 is chamfering the glue material when squeegeeing.
  • the glue scraping mechanism 10 includes a wall tile clamp 600 , and the wall tile clamp 600 is located under the first bracket 700 for clamping and fixing the wall tiles.
  • the wall tile fixture 600 includes two sets of clamping assemblies, each set of clamping assemblies includes a second motor 610, a rotating shaft 620 and a plurality of clips 630, the second motor 610 is connected to the rotating shaft 620 in a transmission, and the plurality of clips 630 are arranged at intervals on the rotating shaft 620 Axial. Two sets of clamping components are arranged at intervals. When the two second motors 610 act, the plurality of clips 630 can clip and fix the wall tiles.
  • the embodiment of the present application provides a squeegee mechanism 10 , the squeegee mechanism 10 includes a first detection unit and a squeegee assembly 200 , and the first detection unit is electrically connected to the squeegee assembly 200 .
  • the first detection unit is configured to acquire the unevenness information of the wall surface, and the squeegee assembly 200 is configured to be able to adjust the thickness of the squeegee according to the unevenness information.
  • the squeegee assembly 200 includes a plurality of driving members 210 and a plurality of scraping blades 220 arranged side by side.
  • the driving members 210 and the scraping blades 220 are in one-to-one correspondence, and the driving member 210 is electrically connected to the first detection unit. Stay away from the wall tiles to adjust the thickness of the squeegee.
  • the glue squeegee mechanism 10 includes a glue applicator assembly 300, which is electrically connected to the first detection unit. The glue applicator assembly 300 is used for applying glue material on the wall tiles. Glue the wall tiles according to the bump information.
  • the glue scraping mechanism 10 includes a second detection unit 280, the second detection unit 280 is electrically connected with the glue application component 300, the second detection unit 280 is configured to detect the glue application thickness of the wall tiles, and the glue application component 300 is configured to be able to During the gluing process, the wall tiles are glued according to the bump information and gluing thickness.
  • the glue scraping mechanism 10 includes a glue baffle 260 , the glue baffle 260 is located between the scraper 220 and the second detection unit 280 , and the glue baffle 260 is attached to the scraper 220 .
  • the gluing assembly 300 includes a gluing cylinder for storing glue, a conveying mechanism, a gluing mechanism and other components.
  • the squeegee mechanism 10 provided in this embodiment works as follows:
  • the driving component 500 starts to drag the glue coating component 300 to move from the end away from the first motor to the end close to the first motor, and the glue coating component 300 performs preliminary coating cloth.
  • the driving assembly 500 starts to drag the gluing assembly 300 and the squeegee assembly 200 to move from the end close to the first motor to the end far away from the first motor, and the squeegee assembly 200 moves according to the The bump information starts to squeegee.
  • the glue application assembly 300 does not act.
  • the glue application component 300 When the first controller determines that the thickness of the glue material before the scraper 220 is insufficient, the glue application component 300 operates to start glue application and increase the thickness of the glue material. During the process of returning the gluing assembly 300 to the original position, the driving member 210 drives the scraper 220 to scrape glue according to the concave-convex information, and the scraping is completed when the scraper 220 passes over the edge of the wall tile. During the glue scraping process, the side glue scraper 240 automatically scrapes off the glue material inside the first bracket 700 .
  • the squeegee mechanism 10 obtains the concave and convex information of the wall through the first detection unit, and adjusts the thickness of the squeegee of the wall tiles according to the concave and convex information, so that the wall tiles and the wall are closely attached after the paving is completed to ensure the sticking effect, Achieve lower empty drum rates.
  • gluing assembly 300 By setting the gluing assembly 300, gluing is applied to the wall tiles.
  • the glue can be replenished through the glue coating assembly 300 .
  • the rubber blocking plate 260 By arranging the rubber blocking plate 260, when the accumulated rubber material is in contact with the rubber blocking board 260, the accumulated rubber material is blocked. Too much material is accumulated, which affects the second detection unit 280 to detect the thickness of the glue.
  • the present embodiment further provides a wall tile laying device 20
  • the wall tile laying device 20 includes a robotic arm 810 , a chassis 820 , a tile placing assembly 830 and the above-mentioned glue scraping mechanism 10 .
  • the glue scraping mechanism 10 , the brick placing assembly 830 and the mechanical arm 810 are respectively disposed on the chassis 820 , and the first detection unit is connected to the mechanical arm 810 .
  • the wall tile paving device 20 can automatically complete the wall tile paving, and the paved wall tiles are well-fitted with the wall surface, are firmly pasted, and have good flatness.
  • the brick placing assembly 830 is a platform for placing wall tiles, and the platform can be provided with a baffle plate to limit the movement of the bricks.
  • This embodiment also provides a method for laying and pasting wall tiles.
  • the method for laying and pasting wall tiles includes extracting a point cloud of wall information, obtaining concave-convex information on the wall, converting the concave-convex information on the wall into glue material thickness information, and according to glue material thickness information for gluing and squeegeeing.
  • the wall tile paving method is used to scrape glue, the thickness of the glue material on the wall tiles matches the unevenness of the wall surface, and the wall tiles are closely attached to the wall surface after the paving is completed.
  • the glue thickness on the wall tiles is monitored in real time.
  • the glue is replenished to increase the thickness of the glue.
  • the excess glue material is scraped off.
  • the embodiment of the present application provides a glue scraping mechanism, which aims to improve the problems of wall tiles that are prone to hollowing or poor adhesion in the related art when the wall surface is uneven.
  • the squeegee assembly includes a plurality of driving members and a plurality of scraping blades arranged side by side, the driving members and the scraping blades are in one-to-one correspondence, the driving member is electrically connected to the first detection unit, and the driving member is used to drive the scraping blades to approach or away from the wall. bricks to adjust the thickness of the squeegee.
  • the driving member drives the scraper to approach the wall tiles, the thickness of the glue material decreases.
  • the driving part drives the scraper away from the wall tiles, the thickness of the glue material increases, so as to realize the adjustment of the thickness of the scraper glue.
  • the squeegee mechanism includes a drive assembly and a first bracket.
  • the squeegee assembly is slidably connected with the first bracket, and the drive assembly is used for driving the squeegee assembly to reciprocate.
  • the driving assembly it is convenient to drive the squeegee assembly to reciprocate relative to the first bracket.
  • the glue scraping mechanism includes side scraping plates, which are disposed on both sides of the glue scraping assembly, and are used for scraping the glue material on the first bracket. By arranging the side scraping plate, the glue material is prevented from adhering to the first bracket.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • Coating Apparatus (AREA)
  • Finishing Walls (AREA)

Abstract

本申请实施例提供了一种刮胶机构、墙砖铺贴设备及墙砖铺贴方法。该刮胶机构包括第一检测单元和刮胶组件，第一检测单元与刮胶组件电连接。第一检测单元设置为获取墙面的凹凸信息，刮胶组件被配置为能够根据凹凸信息调整刮胶厚度。

Description

刮胶机构、墙砖铺贴设备及墙砖铺贴方法
本申请要求在2021年03月04日提交中国专利局、申请号为202110240594.3的中国专利申请的优先权，以上申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及建筑装修技术领域，例如涉及一种刮胶机构、墙砖铺贴设备及墙砖铺贴方法。
背景技术
墙砖铺贴机器人涂胶装置的主要作用是在于把墙砖胶均匀涂抹在墙砖，在墙面平整时能满足铺贴要求，但是实际工作中，墙面平整度较差，如果墙砖胶厚度还是统一一致，将导致部分墙砖凹陷或者凸起，铺贴好后的墙砖为了保证整体平整，单块墙砖会有空鼓或粘贴不牢固等缺陷。
发明内容
本申请实施例提供了一种刮胶机构，用于控制涂敷的胶材的厚度，该刮胶机构包括第一检测单元和刮胶组件，第一检测单元与刮胶组件电连接。第一检测单元设置为获取墙面的凹凸信息，刮胶组件被配置为能够根据凹凸信息调整刮胶厚度。
本申请实施例还提供了一种墙砖铺贴设备，该墙砖铺贴设备包括机械臂、底盘、放砖组件和上述任一项中的刮胶机构。刮胶机构、放砖组件和机械臂分别设置于底盘上，第一检测单元与机械臂连接。
本申请实施例还提供了一种墙砖铺贴方法，该墙砖铺贴方法包括提取墙面信息点云，得到墙面的凹凸信息，将墙面的凹凸信息转化为胶材厚度信息，并根据胶材厚度信息进行涂胶和刮胶。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本申请实施例提供的刮胶机构(隐藏第一支架)的整体结构示意图；
图2为本申请实施例提供的刮胶机构(隐藏第一支架)在第一视角下的结构示意图；
图3为图2中Ⅲ-Ⅲ位置的剖视图；
图4为本申请实施例提供的刮胶机构(隐藏第一支架)在第二视角下的结构示意图；
图5为图4中Ⅴ-Ⅴ位置的剖视图；
图6为本申请实施例提供的刮胶机构(显示第一支架)的整体结构示意图；
图7为本申请实施例提供的刮胶机构(显示第一支架)的爆炸图；
图8为本申请实施例提供的墙砖铺贴设备的结构示意图。
图标：10-刮胶机构；20-墙砖铺贴设备；200-刮胶组件；210-驱动件；220-刮刀；230-倒角板；240-侧刮胶板；260-挡胶板；270-连接板；280-第二检测单元；300-涂胶组件；400-第二支架；500-驱动组件；600-墙砖夹具；610-第二电机；620-转轴；630-夹片；700-第一支架；810-机械臂；820-底盘；830-放砖组件。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。
因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
在本申请实施例的描述中，需要理解的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”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，或者是该申请产品使用时惯常摆放的方位或位置关系，或者是本领域技术人员惯常理解的方位或位置关系，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设备或元件必须具有 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”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
在本申请实施例的描述中，还需要说明的是，除非另有明确的规定和限定，术语“设置”、“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。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。
实施例
请参照图1，本实施例提供了一种刮胶机构10，控制涂敷的胶材的厚度，该刮胶机构10包括第一检测单元(图中未示出)和刮胶组件200，第一检测单元与刮胶组件200电连接。第一检测单元设置为获取墙面的凹凸信息，刮胶组件200被配置为能够根据凹凸信息调整刮胶厚度。该刮胶机构10的第一检测单元能够获取墙面凹凸信息，提取出墙面信息的点云，通过刮胶组件200，可以根据墙面的凹凸信息，调整墙砖的刮胶厚度，使铺贴完成后胶材与墙面完全贴合，保证黏贴效果，实现较低的空鼓率。
刮胶组件200能够根据凹凸信息调整刮胶厚度，例如，墙面上的某位置下凹1mm，则相应的墙砖上的与该位置相对应的位置的刮胶厚度增大1mm。墙面上的某位置凸出1mm，则相应的墙砖上的与该位置相对应的位置的刮胶厚度减小1mm。
在本实施例中，刮胶组件200包括深度相机和第一控制器，深度相机与第一控制器电连接，第一控制器与刮胶组件200电连接。深度相机能够对墙面进行拍摄，并将拍摄得到的数据发送给第一控制器，由第一控制器对深度相机拍摄的数据进行处理，得到凹凸信息。另外，第一控制器能够根据凹凸信息控制刮胶组件200对墙砖进行刮胶，使得胶材的刮胶厚度能够与墙面的凹凸情况相匹配。举例来说，墙面上的某位置凹陷，相应的，墙砖上与该位置相贴合的位置的刮胶厚度增大，形成凸起，以填补该凹陷。墙面上的某位置凸起，相应的，墙砖上与该位置相贴合的位置的刮胶厚度减小，形成凹陷，使得铺贴完成后胶材与墙面完全贴合。简单来说，墙面上凸起的位置，墙砖上与该位置相对应的胶材就凹陷。墙面上凹陷的位置，墙砖上与该位置相对应的胶材就凸起。
在一实施例中，就获取墙面的凹凸信息的方式而言，除了由第一控制器对 深度相机拍摄的数据进行处理，得到凹凸信息之外，凹凸信息也可以是通过外部设备(例如测量机器人)得到，然后通过网络传送给墙砖铺贴机器人中的控制器，控制器传送给墙砖铺贴机器人中的第一检测单元。或者，第一检测单元就是控制器的一部分，外部设备通过网络传送凹凸信息给第一检测单元。
在一实施例中，就获取墙面的凹凸信息的方式而言，可以通过外部测量设备测量的墙面凹凸数据传递给第一检测单元；也可以是机器本身的第一检测单元检测的信息。
例如，检测单元可为能够实现三维测量、成像技术产品，例如市面上已有的测量机器人。
在一种实施方式中，刮胶组件200包括激光传感器和第一控制器，第一控制器与激光传感器电连接，第一控制器与刮胶组件200电连接。激光传感器对墙面进行扫描，并将扫描得到的数据发送给第一控制器，由第一控制器对激光传感器扫描的数据进行处理，得到凹凸信息。
在本实施例中，刮胶组件200与墙砖之间的距离可调，以调整刮胶厚度。当刮胶组件200靠近墙砖时，较多的胶材会被刮去，墙砖上的胶材厚度较小。当刮胶组件200远离墙砖时，较少的胶材会被刮去，墙砖上的胶材厚度较大。
请参照图2～图5，在本实施例中，刮胶组件200包括多个驱动件210和多个刮刀220，驱动件210和刮刀220一一对应。驱动件210与第一控制器电连接，驱动件210用于驱动刮刀220靠近或远离墙砖。当驱动件210驱动刮刀220靠近墙砖时，刮胶厚度减小。当驱动件210驱动刮刀220远离墙砖时，刮胶厚度增大。在进行刮胶时，第一控制器根据凹凸信息，控制驱动件210动作，使得刮刀220靠近或者远离墙砖，改变相应位置的刮胶厚度。例如，墙面上存在凸起，第一控制器控制驱动件210动作，使得刮刀220靠近墙砖，使得刮胶后，刮胶厚度与墙面的凸起相匹配。墙面上存在凹陷，第一控制器控制驱动件210动作，使得刮刀220远离墙砖，使得刮胶后，刮胶厚度与墙面的凹陷相匹配。
请参照图2～图5，在本实施例中，多个刮刀220依次相邻设置，沿着一个方向排成一排。相应的，多个驱动件210也沿着相同方向排成一排。驱动件210为直线驱动件210，例如，直线电缸、直线气缸和直线油缸等。在一种实施方式中，驱动件210为转动驱动件210，例如，电机。转动驱动件210既可以通过传动机构将转动运动转换为直线运动，也可以采用转动运动来调节刮刀220与墙砖之间的距离。
在一些实施方式中，刮刀220与驱动件210的个数可以不一一对应。例如， 驱动件210的个数多于刮刀220的个数。由多个驱动件210同时驱动一个刮刀220动作。又如，驱动件210的个数少于刮刀220的个数，由一个驱动件210同时驱动多个刮刀220动作。
在一种实施方式中，刮胶组件200包括升降结构和刮刀220，墙砖被固定于升降结构上，刮刀220位于墙砖的上方。在进行刮胶时，第一控制器根据凹凸信息，控制升降结构动作，使得墙砖靠近或者远离刮刀220，改变相应位置的刮胶厚度。例如，墙面上存在凸起，第一控制器控制升降结构动作，使得墙砖靠近刮刀220，使得刮胶后，刮胶厚度与墙面的凸起相匹配。墙面上存在凹陷，第一控制器控制升降结构动作，使得墙砖远离刮刀220，使得刮胶后，刮胶厚度与墙面的凹陷相匹配。
在本实施方式中，进行刮胶前，可以先在墙砖上涂上满足凹凸信息的最大厚度的胶材。这样，在进行刮胶时，第一控制器通过控制驱动件210伸缩，即可完成刮胶。
请参照图1和图2，配合参照图3，在本实施例中，刮胶机构10包括涂胶组件300，涂胶组件300与第一检测单元的第一控制器电连接，涂胶组件300能够根据凹凸信息对墙砖进行涂胶。通过设置涂胶机构，使得涂胶机构以凹凸信息为依据，对墙砖进行涂胶，这样，在进行刮胶时，需要刮除的胶材较少，节省了胶材，较为环保。例如，涂胶组件300在涂胶时，可以以满足凹凸信息的所需的最大厚度为涂胶厚度进行涂料，也可以以满足凹凸信息的所需的最小厚度为涂胶厚度进行涂料，或者以满足凹凸信息的所需的平均厚度为涂胶厚度进行涂料，还可以根据凹凸信息，调整每个位置的胶量，实现精确涂料。
请参照图1和图2，配合参照图3，在本实施例中，刮胶组件200和涂胶组件300均连接于第二支架400，沿着第二支架400的宽带方向X间隔设置。为了增强结构的稳定性，刮胶组件200和涂胶组件300通过连接件连接。请参照图3，在本实施例中，刮胶机构10包括第二检测单元280，第二检测单元280与涂胶组件300电连接，第二检测单元280被配置为检测墙砖的涂胶厚度。涂胶组件300被配置为能够在刮胶过程中根据凹凸信息和涂胶厚度对墙砖进行补胶。通过设置第二检测单元280，来检测涂胶厚度，为是否需要补胶提供依据，形成负反馈调节，保证刮胶厚度精准可靠。
在本实施例中，第二检测单元280安装于第二支架400，第二检测单元280位于涂胶组件300所在的一侧，第二检测单元280对即将进行刮胶的位置的胶材厚度进行检测，得到涂胶厚度。第一控制器与第二检测单元280电连接，第 一控制器与驱动件210电连接，第一控制器与涂胶组件300电连接。第二检测单元280将获取的涂胶厚度传递给第一控制器。当涂胶厚度无法满足根据凹凸信息确定的刮胶厚度时，第一控制器控制涂胶组件300涂胶，以增加胶材厚度。当涂胶厚度能够满足根据凹凸信息确定的刮胶厚度时，第一控制器控制驱动件210驱动刮刀220以根据凹凸信息确定的刮胶厚度刮胶。经过第一控制器处理涂胶厚度和凹凸信息后，若发现涂胶厚度无法满足刮胶厚度的需要时，则控制涂胶组件300补充胶料。若发现涂胶厚度能够满足刮胶厚度的需要时，则控制驱动件210动作，完成刮胶。
当涂胶厚度无法满足根据凹凸信息确定的刮胶厚度时，说明墙砖上的胶材的胶量不足，无法在刮胶后与墙面的凹凸相匹配。此时，第一控制器控制涂胶组件300涂胶，补充胶材，直到涂胶厚度能够满足根据凹凸信息确定的刮胶厚度。当涂胶厚度能够满足根据凹凸信息确定的刮胶厚度时，说明墙砖上的胶材能够在刮胶后满足刮胶厚度的需要，此时，第一控制器控制驱动件210驱动刮刀220以刮胶厚度刮胶，保证墙砖上胶材的凹凸情况与墙面的凹凸情况相匹配。
在一实施例中，第二检测单元280为激光测距传感器，激光测距传感器检测涂胶前后的墙砖的高度(厚度)差，进而得出涂胶厚度。第二检测单元280也可以是3D(3-dimensional，三维)扫描设备等。
请参照图2，配合参照图3，在本实施例中，刮胶机构10包括挡胶板260，挡胶板260位于刮刀220的后侧，例如，挡胶板260位于刮刀220和第二检测单元280之间，挡胶板260与刮刀220贴合，挡胶板260通过连接板270与第二支架400连接。在刮刀220进行刮胶的过程中，胶材可能会在刮刀220上堆积，通过设置挡胶板260，当堆积的胶材与挡胶板260接触时，堆积的胶材被阻挡，在挡胶板260的作用下，堆积的胶材重新落回在墙砖上，避免胶材堆积过多，影响第二检测单元280测量涂胶厚度。
请参照图6，配合参照图7，在本实施例中，刮胶机构10包括驱动组件500和第一支架700，刮胶组件200和涂胶组件300通过第二支架400与第一支架700可滑动地连接，驱动组件500用于驱动刮胶组件200往复运动。驱动组件500包括第一电机、主动轮、从动轮和传动带，第一电机与第一支架700连接，第一电机的输出端与主动轮连接，主动轮和从动轮分别可转动地连接于第一支架700，传动带连接主动轮和从动轮，第二支架400与传动带连接。当第一电机转动时，带动第二支架400相对于第一支架700滑动，带动刮胶组件200和涂胶组件300移动。
请再次参照图2和图3，配合参照图6和图7，刮胶机构10包括侧刮胶板240，侧刮胶板240设置于刮胶组件200的两侧，侧刮胶板240与第二支架400连接，用于刮除第一支架700上的胶材。刮胶机构10还包括倒角板230，倒角板230与侧刮胶板240的远离第一支架700的一侧连接，倒角板230在刮胶时为胶材倒角。
在一实施例中，侧刮胶板240设有2个，2个侧刮胶板240分别设于刮胶组件200的两侧。
请参照图7，在本实施例中，刮胶机构10包括墙砖夹具600，墙砖夹具600位于第一支架700下方，用于夹持和固定墙砖。墙砖夹具600包括两组夹持组件，每组夹持组件包括第二电机610、转轴620和多个夹片630，第二电机610与转轴620传动连接，多个夹片630间隔设置于转轴620的轴向。两组夹持组件间隔设置。当两个第二电机610动作时，多个夹片630能够将墙砖夹起并固定。
本申请实施例提供了一种刮胶机构10，该刮胶机构10包括第一检测单元和刮胶组件200，第一检测单元与刮胶组件200电连接。第一检测单元设置为获取墙面的凹凸信息，刮胶组件200被配置为能够根据凹凸信息调整刮胶厚度。刮胶组件200包括多个驱动件210和并排设置的多个刮刀220，驱动件210和刮刀220一一对应，驱动件210与第一检测单元电连接，驱动件210用于驱动刮刀220靠近或远离墙砖，以调整刮胶厚度。刮胶机构10包括涂胶组件300，涂胶组件300与第一检测单元电连接，涂胶组件300用于在墙砖上涂覆胶材，涂胶组件300被配置为能够在刮胶过程中根据凹凸信息对墙砖进行补胶。刮胶机构10包括第二检测单元280，第二检测单元280与涂胶组件300电连接，第二检测单元280被配置为检测墙砖的涂胶厚度，涂胶组件300被配置为能够在刮胶过程中根据凹凸信息和涂胶厚度对墙砖进行补胶。刮胶机构10包括挡胶板260，挡胶板260位于刮刀220和第二检测单元280之间，挡胶板260与刮刀220贴合。
在一实施例中，涂胶组件300包括储存胶的胶筒、传送机构及出胶机构等构件。
请参照图7，本实施例提供的刮胶机构10是这样工作的：
当墙砖被墙砖夹具600固定在第一支架700下方时，驱动组件500开始拖动涂胶组件300从远离第一电机的一端往靠近第一电机的一端移动，涂胶组件300进行初步涂布。当涂胶组件300到达靠近第一电机的一端时，驱动组件500 开始拖动涂胶组件300和刮胶组件200从靠近第一电机的一端往远离第一电机的一端移动，刮胶组件200根据凹凸信息开始刮胶。当第一控制器判断刮刀220前的胶材厚度充足时，涂胶组件300不动作。当第一控制器判断刮刀220前的胶材厚度不充足时，涂胶组件300动作，开始涂胶，增加胶材厚度。在涂胶组件300回到原位过程中，驱动件210驱动刮刀220根据凹凸信息刮胶，当刮刀220越过墙砖边缘后刮胶完成。刮胶过程中侧刮胶板240自动刮掉第一支架700内侧的胶材。
该刮胶机构10通过第一检测单元获取墙面的凹凸信息，并根据该凹凸信息相应调整墙砖的刮胶厚度，使得铺贴完成后墙砖与墙面贴合紧密，保证黏贴效果，实现较低的空鼓率。通过设置涂胶组件300，为墙砖涂胶。当墙砖上的胶材无法满足刮胶厚度的需要时，可以通过涂胶组件300补胶。通过设置挡胶板260，当堆积的胶料与挡胶板260接触时，堆积的胶料被阻挡，在挡胶板260的作用下，堆积的胶料重新落回在墙砖上，避免胶料堆积过多，影响第二检测单元280检测涂胶厚度。
请参照图8，本实施例还提供了一种墙砖铺贴设备20，该墙砖铺贴设备20包括机械臂810、底盘820、放砖组件830和上述的刮胶机构10。刮胶机构10、放砖组件830和机械臂810分别设置于底盘820上，第一检测单元与机械臂810连接。该墙砖铺贴设备20能够自动完成墙砖铺贴，并且铺贴的墙砖与墙面贴合较好，粘贴牢固，平整性好。
在一实施例中，放砖组件830为可摆放墙砖的平台，该平台可设置挡板，限制砖的移动。
本实施例还提供了一种墙砖铺贴方法，该墙砖铺贴方法包括提取墙面信息点云，得到墙面的凹凸信息，将墙面的凹凸信息转化为胶材厚度信息，并根据胶材厚度信息进行涂胶和刮胶。采用该墙砖铺贴方法进行刮胶，墙砖上的胶材厚度与墙面的凹凸情况相匹配，铺贴完成后墙砖与墙面贴合紧密。
在根据胶材厚度信息进行涂胶和刮胶时，实时监测墙砖上的涂胶厚度。响应于涂胶厚度无法满足根据凹凸信息确定的胶材厚度，进行补胶，增加涂胶厚度。响应于涂胶厚度能够满足根据凹凸信息确定的胶材厚度，刮除多余胶材。通过进行补胶操作，确保墙砖上的胶材厚度能够满足根据凹凸信息确定的胶材厚度。
本申请实施例提供一种刮胶机构，其旨在改善相关技术中墙面凹凸不平时，墙砖容易出现空鼓或者粘贴不牢的问题。
在一实施例中，刮胶组件包括多个驱动件和并排设置的多个刮刀，驱动件和刮刀一一对应，驱动件与第一检测单元电连接，驱动件用于驱动刮刀靠近或远离墙砖，以调整刮胶厚度。当驱动件驱动刮刀靠近墙砖时，胶材的厚度减小。当驱动件驱动刮刀远离墙砖时，胶材的厚度增大，以实现对刮胶厚度的调整。
在一实施例中，刮胶机构包括驱动组件和第一支架。刮胶组件与第一支架可滑动地连接，驱动组件用于驱动刮胶组件往复运动。通过设置驱动组件，便于驱动刮胶组件相对于第一支架往复运动。
在一实施例中，刮胶机构包括侧刮胶板，侧刮胶板设置于刮胶组件的两侧，用于刮除第一支架上的胶材。通过设置侧刮胶板，防止胶料黏附于第一支架上。
以上所述仅为本申请的一些实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (14)

  1. 一种刮胶机构，用于控制涂敷的胶材的厚度，所述刮胶机构(10)包括第一检测单元和刮胶组件(200)，所述第一检测单元与所述刮胶组件(200)电连接，所述第一检测单元设置为获取墙面的凹凸信息，所述刮胶组件(200)被配置为能够根据所述凹凸信息调整刮胶厚度。
  2. 根据权利要求1所述刮胶机构，其中，所述刮胶组件(200)与墙砖之间的距离可调，以调整刮胶厚度。
  3. 根据权利要求1所述刮胶机构，其中，所述刮胶组件(200)包括多个驱动件(210)和并排设置的多个刮刀(220)，所述多个驱动件(210)和所述多个刮刀(220)一一对应，所述多个驱动件(210)与所述第一检测单元电连接，所述多个驱动件(210)用于驱动所述多个刮刀(220)靠近或远离墙砖。
  4. 根据权利要求3所述刮胶机构，所述刮胶机构(10)还包括挡胶板(260)，所述挡胶板(260)位于所述多个刮刀(220)的一侧，所述挡胶板(260)与所述多个刮刀(220)贴合。
  5. 根据权利要求1所述刮胶机构，所述刮胶机构(10)还包括驱动组件(500)和第一支架(700)，所述刮胶组件(200)与所述第一支架(700)可滑动地连接，所述驱动组件(500)用于驱动所述刮胶组件(200)往复运动。
  6. 根据权利要求5所述刮胶机构，所述刮胶机构(10)还包括侧刮胶板(240)，所述侧刮胶板(240)设置于所述刮胶组件(200)的两侧中的一侧，用于刮除所述第一支架(700)上的胶材。
  7. 根据权利要求6所述刮胶机构，所述刮胶机构(10)还包括倒角板(230)，所述倒角板(230)连接于所述侧刮胶板(240)的远离所述第一支架(700)的一侧。
  8. 根据权利要求5所述刮胶机构，所述刮胶机构(10)还包括墙砖夹具(600)，所述墙砖夹具(600)位于所述第一支架(700)下方，用于夹持和固定墙砖。
  9. 根据权利要求1所述刮胶机构，所述刮胶机构(10)还包括涂胶组件(300)，所述涂胶组件(300)与所述第一检测单元电连接，所述涂胶组件(300)用于在墙砖上涂覆胶材，所述涂胶组件(300)被配置为能够在刮胶过程中根据所述凹凸信息对墙砖进行补胶。
  10. 根据权利要求9所述刮胶机构，所述刮胶机构(10)还包括第二检测单元(280)，所述第二检测单元(280)与所述涂胶组件(300)电连接，所述第二检测单元(280)被配置为检测墙砖的涂胶厚度，所述涂胶组件(300)被配置为能够在刮胶过程中根据所述凹凸信息和所述涂胶厚度对墙砖进行补胶。
  11. 根据权利要求10所述刮胶机构，其中，所述第一检测单元包括第一控制器，所述第一控制器与所述第二检测单元(280)电连接，所述第一控制器与所述刮胶组件(200)电连接，所述第一控制器与所述涂胶组件(300)电连接，所述第二检测单元(280)将获取的涂胶厚度传递给所述第一控制器，所述第一控制器设置为响应于所述涂胶厚度无法满足根据所述凹凸信息确定的刮胶厚度，控制所述涂胶组件(300)涂胶，以增加胶材厚度；所述第一控制器设置为响应于所述涂胶厚度能够满足根据所述凹凸信息确定的刮胶厚度，控制所述刮胶组件(200)根据所述凹凸信息确定的刮胶厚度刮胶。
  12. 一种墙砖铺贴设备，所述墙砖铺贴设备(20)包括机械臂(810)、底盘(820)、放砖组件(830)和根据权利要求1-11任一项中所述的刮胶机构(10)，所述刮胶机构(10)、所述放砖组件(830)和所述机械臂(810)分别设置于所述底盘(820)上，所述第一检测单元与所述机械臂(810)连接。
  13. 一种墙砖铺贴方法，所述墙砖铺贴方法包括：
    提取墙面信息点云，得到墙面的凹凸信息，将墙面的凹凸信息转化为胶材厚度信息，并根据所述胶材厚度信息进行涂胶和刮胶。
  14. 根据权利要求13所述墙砖铺贴方法，还包括：
    在根据所述胶材厚度信息进行涂胶和刮胶时，实时监测墙砖上的涂胶厚度，响应于所述涂胶厚度无法满足根据所述凹凸信息确定的胶材厚度，进行补胶，增加涂胶厚度；响应于所述涂胶厚度能够满足根据所述凹凸信息确定的胶材厚度，刮除多余胶材。
PCT/CN2022/078268 2021-03-04 2022-02-28 刮胶机构、墙砖铺贴设备及墙砖铺贴方法 WO2022184017A1 (zh)

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