WO2022262505A1

WO2022262505A1 - Sheet paving device, paving method, plate coating apparatus, and sheet paving apparatus

Info

Publication number: WO2022262505A1
Application number: PCT/CN2022/093224
Authority: WO
Inventors: 张人才; 贺长林
Original assignee: 广东博智林机器人有限公司
Priority date: 2021-06-16
Filing date: 2022-05-17
Publication date: 2022-12-22

Abstract

A sheet paving device (1000), comprising: a depth camera (20) used for acquiring construction surface information, first position information of a plate (600) to be paved during a paving process, and second position information of said plate (600) after the pavement; a travelling chassis (10) used for moving to a paving start position according to the construction surface information; a paving manipulator (30) comprising a first mechanical arm (310) and a grabbing apparatus (320), the grabbing apparatus (320) being used for grabbing said plate (600), and the first mechanical arm (310) being used for controlling the grabbing apparatus (320) to pave said plate (600) grabbed on a construction surface according to the first position information; and an adjustment manipulator (40) comprising a second mechanical arm (410) and an adjustment apparatus (420), the second mechanical arm (420) being used for controlling the adjustment apparatus (420) to adjust the position of said plate (600) after the pavement according to the second position information. A paving method using the sheet paving device (1000), a plate coating apparatus, and a sheet paving apparatus (3000) are further provided. The sheet paving device can adjust in real time the position of an object to be paved during the paving process, thereby improving the paving quality.

Description

Board laying equipment, laying method, board coating device, and board laying device

This application claims the priority of the Chinese patent application submitted to the China Patent Office on June 16, 2021 with the application number 202110666224.6, and claims the priority of the Chinese patent application submitted to the China Patent Office on June 16, 2021 with the application number 202110666263.6 Right, the entire content of the above application is incorporated in this application by reference.

technical field

The present application relates to the technical field of building construction equipment, for example, to a panel laying equipment, a laying method, a panel coating device and a panel laying device.

Background technique

In the actual application process of the wall tile laying robot, the wall tile laying robot is greatly affected by the site environment, and the robot itself can only guarantee the global flatness and verticality of the finished surface. Due to the influence of gravity, the process of laying wall tiles is very dependent on the flatness of the upper edge of each brick support brick, and the robot does not have the ability to adjust in real time, so the quality of the laying cannot be guaranteed.

Contents of the invention

The embodiment of the present application proposes a panel laying equipment.

The embodiment of the present application also proposes a paving method of the sheet material paving and pasting equipment, so as to apply the above-mentioned sheet material paving and pasting equipment.

The panel paving equipment in the embodiment of the present application includes: a depth camera, the depth camera is used to obtain the construction surface information, the first position information of the panel to be paved during the paving process, and the first position information of the panel to be paved after paving Two position information; the walking chassis, the walking chassis is used to move to the initial paving position according to the construction surface information; the paving manipulator, the paving manipulator includes a first mechanical arm and a grabbing device, the first The mechanical arm is arranged on the walking chassis, the grabbing device is arranged at the end of the first robotic arm, the grabbing device is used to grab and place the board to be paved, and the first robotic arm is used to A position information controls the grasping device to lay the grasped board to be paved on the construction surface; adjust the manipulator, and the adjustment manipulator includes a second manipulator and an adjustment device, and the second manipulator is arranged on the The walking chassis, the adjustment device is arranged at the end of the second mechanical arm, and the second mechanical arm is used to control the adjustment device to adjust the position of the board to be paved after paving according to the second position information. Location.

A paving method of sheet material paving equipment according to an embodiment of the present application includes the following steps: the depth camera obtains the construction surface information of the construction surface, and controls the walking chassis to move to the initial paving position of the construction surface; the first mechanical arm controls The grabbing device grabs and lays the board to be paved, the depth camera obtains the first position information of the board to be paved in real time during the paving process, and the first mechanical arm lays the board to be paved according to the first position information laying boards; the depth camera acquires second position information of the boards to be paved after paving, and the second mechanical arm controls the adjustment device to adjust the position of the boards to be paved after paving according to the second position information.

The embodiment of the present application is also intended to provide a panel laying device to apply panel coating equipment.

The panel coating device of the embodiment of the present application includes: a coating mechanism, the coating mechanism includes a coating bracket and a coating assembly, and the coating assembly can move relative to the coating bracket along a preset coating direction; a transfer mechanism, the transfer mechanism It includes a transfer seat and a transfer drive assembly, the transfer seat is located on one side of the paint support along a direction perpendicular to the preset paint direction, and has a guide portion inclined outward relative to the paint support, the The transfer seat is provided with an avoidance area for feeding and taking materials; a feeding mechanism, the feeding mechanism can send the plate to be coated to a first preset height, so that the coating component can coat the plate to be coated with slurry , and the painted plate can be sent to a second preset height, so that the transfer driving assembly can send the painted plate to the transfer seat along the guide portion.

The sheet material laying device according to the embodiment of the present application includes: the sheet material coating device as described above; the sheet material laying equipment, and the sheet material laying equipment can take out the painted sheet material from the avoidance area and The paint sheet is laid on the preset position of the work surface.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, wherein:

Fig. 1 is the schematic diagram of the three-dimensional structure of sheet material paving equipment in the embodiment of the present application;

Fig. 2 is the top view of sheet material laying equipment in the embodiment of the present application;

Fig. 3 is a partial enlarged schematic diagram of III of Fig. 1;

Fig. 4 is the partial three-dimensional structure schematic diagram of coating device in the embodiment of the present application;

Fig. 5 is a partially enlarged schematic diagram of V in Fig. 4;

Fig. 6 is the partial front view of coating device in the embodiment of the present application;

FIG. 7 is a schematic diagram of the internal structure of the inclination adjustment mechanism in an embodiment of the present application;

Fig. 8 is a block diagram 1 of the paving method of the sheet material paving equipment according to the embodiment of the present application;

Fig. 9 is the flow chart II of the paving method of the sheet material paving equipment according to the embodiment of the present application;

Fig. 10 is a schematic diagram of the three-dimensional structure of the plate coating device in the embodiment of the present application;

Fig. 11 is the front view of the partial structure of plate coating device in the embodiment of the present application;

Fig. 12 is another three-dimensional structural schematic diagram of the plate coating device in the embodiment of the present application;

Fig. 13 is the plan view of plate coating device in the embodiment of the present application;

Fig. 14 is another schematic diagram of the plate coating device in the embodiment of the present application;

Fig. 15 is a partially enlarged schematic diagram at VI of Fig. 10;

Figure 16 is a schematic diagram 1 of the process of transferring the board to the inclined state in the embodiment of the present application;

Fig. 17 is the second schematic diagram of the process of transferring the plate to the inclined state in the embodiment of the present application;

Fig. 18 is a schematic diagram 1 of grabbing the board by the board laying device in the embodiment of the present application;

Fig. 19 is a second schematic diagram of the sheet material paving device grabbing the sheet material in the embodiment of the present application;

Fig. 20 is a schematic diagram 3 of the panel laying device grabbing the panel in the embodiment of the present application;

Fig. 21 is a schematic diagram 4 of grabbing the board by the board laying device in the embodiment of the present application.

Reference signs:

1000. Sheet laying equipment;

10. Walking chassis; 110. Chassis main body; 120. Rotary mechanism; 130. Lifting mechanism; 140. Traveling wheels; 150. Ground support mechanism; 1501. Ground support rod;

20. Depth camera;

30. Paving manipulator; 310. First robotic arm; 320. Grabbing device; 600. Plate to be paved;

40. Adjusting the manipulator; 410. The second manipulator; 420. Adjusting the device;

4201. Inclination adjustment mechanism;

42011, pushing surface; 401, stepped surface; 402, connecting slope; 42022, base surface;

421, seat body part; 4211, accommodation chamber; 4212, slideway; 422, adjustment part; 423, driving part; 4231, driving motor; 4232, driving nut; 4233, driving screw; 4234, flexible transmission part; 4235 , support nut;

4202. Flatness adjustment mechanism;

4203, rotating rod;

50. Coating device;

510, positioning mechanism; 5101, support frame; 5102, rack; 5103, guide rail;

520. Coating mechanism;

530, scraping mechanism; 5301, scraping piece; 5302, thickness adjustment piece; 5303, mounting seat;

540. Transfer mechanism; 5401. Transfer seat; 54011. Guide groove; 5402. Drive assembly; 54021. Flexible transmission assembly; 501. Flexible member; 502. Drive wheel; , sliding shaft; 54031, support piece;

550, material storage mechanism; 560, lifting mechanism; 5601, leading screw; 5602, leading screw nut; 5603, lifting motor;

60. Multi-degree-of-freedom mechanical arm; 600. Plates to be paved.

2000. Plate coating device;

520. Coating mechanism;

5210, paint bracket; 52101, notch; 52102, support part; 5103, guide rail;

5300, coating component; 531, coating unit; 530, scraping mechanism; 5303, mounting seat; 5301, scraping piece; 5302, thickness adjustment piece;

540. Transfer agency;

5401, transfer seat; 54011, guide groove;

5403, sliding shaft; 54031, support piece;

54040, elastic parts;

54020, transfer drive assembly; 502, transmission wheel; 54021, flexible transmission assembly; 54022, thrust piece; 54023, drive motor; 54024, connecting shaft;

5000. Feeding mechanism;

5100, support column;

5101, support frame; 51011, limit piece;

560, lifting mechanism; 5601, leading screw; 5602, leading screw nut; 5603, lifting motor;

400, guide assembly; 4100, guide rod; 4200, guide sleeve;

60. Multi-degree-of-freedom robotic arm; 1000. Sheet material laying and pasting equipment; 3000. Sheet material laying and pasting device; 310. First manipulator; 320. Grabbing device. 600, plate.

detailed description

Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, and are only for explaining the present application, and should not be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " The orientation or positional relationship indicated by "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and "circumferential" are based on the attached The orientation or positional relationship shown in the figure is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be interpreted as a reference to this application. Application Restrictions.

In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of these features, which are used to describe the features differently, without order or importance.

In the description of the present application, unless otherwise specified, "plurality" means two or more.

In the description of this application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application in specific situations.

The panel laying equipment 1000 of the embodiment of the present application will be described below with reference to the accompanying drawings.

As shown in FIG. 1 , the panel laying equipment 1000 according to the embodiment of the present application includes: a walking chassis 10 , a depth camera 20 , a laying manipulator 30 , and an adjusting manipulator 40 .

The depth camera 20 may be a depth vision camera, which is used to obtain construction surface information, first position information of the board to be paved during the paving process, and second position information of the board to be paved after paving. It can be understood that the panel laying equipment 1000 can pre-set a completed surface, and the visual camera 20 can calculate the global depth between the completed surface and the construction surface according to the three-dimensional measurement of the global construction surface, so as to obtain the information of the construction surface, and then control the walking chassis 10 Move to the starting position of the paving. The depth camera 20 can also detect the deviation of the position and preset posture between the board to be paved 600 and the construction surface or positioning board during the laying process, so as to obtain the first position information. After the board to be paved 600 is paved, the finished surface is finally formed. After the board to be paved 600 is paved, the visual camera 20 can detect the difference in height between the board to be paved 600 and the adjacent paved board and the gap between the bricks. Width, to obtain the second position information, so as to realize the quality inspection of the finished surface.

The walking chassis 10 moves to the initial paving position according to the construction surface information, that is to say, after the walking chassis 10 enters the construction area, it moves to the vicinity of the construction surface through its own navigation and positioning, and then the construction surface information obtained by the visual camera 20 can be Accurate positioning of the walking chassis 10 is realized to ensure accurate paving of the first board to be paved.

The paving manipulator 30 includes a first mechanical arm 310 and a grabbing device 320, the first robotic arm 310 is arranged on the walking chassis 10, the grabbing device 320 is arranged at the end of the first robotic arm 310, and the grabbing device 320 is used for grabbing and placing For laying the board 600, the first robotic arm 310 controls the grasping device 320 to lay the grasped board 600 to be laid on the construction surface according to the construction surface information and the first position information. After obtaining the construction surface information and the first position information of the board to be paved 600 in real time through the depth camera 20, the first robotic arm 310 can drive the grabbing device 320 to accurately lay the board to be paved 600 on the construction surface, as described above , after the visual camera 20 obtains the first position information of the board to be paved 600, it can control the degree of freedom of the first mechanical arm 310 to adjust the position of the grabbing device 320, so as to ensure that the paving position of the board to be paved 600 is very correct and will not occur. skewed. And because the depth camera 20 can obtain information online in real time, it can ensure that the laying position of each board 600 to be laid is very accurate.

The adjustment manipulator 40 includes a second manipulator 410 and an adjustment device 420, the second manipulator 410 is arranged on the walking chassis 10, the adjustment device 420 is arranged at the end of the second manipulator 410, and the second manipulator 410 is controlled and adjusted according to the second position information Device 420 adjusts the position of the laid boards. After obtaining the second position information of the board to be paved 600 after paving and pasting online in real time through the depth camera 20, the height difference and inclination angle deviation between the board to be paved 600 after paving and the surface of the adjacent paved board can be known, The second mechanical arm 410 can drive the adjustment device 420 to adjust the position of the board to be paved after paving, which can achieve a higher level of position accuracy adjustment and ensure that the installation positions of two adjacent boards can meet the quality requirements of the finished surface. Moreover, since the depth camera 20 can obtain information online in real time, it can be ensured that two adjacent plates can meet the quality requirements.

According to the board material paving equipment 1000 of the embodiment of the present application, by setting the depth camera 20, the construction surface information, the first position information of the board to be paved during the paving process, and the second position information of the board to be paved after paving can be obtained online in real time. location information. The walking chassis 10 can realize the precise positioning of the initial paving position through the information of the construction surface. The first mechanical arm 310 and the grabbing device 320 can realize accurate laying of the board to be paved 600 according to the first position information of the board to be paved during the paving process. The second mechanical arm 410 and the adjustment device 420 can adjust the position of the board to be paved 600 after paving according to the second position information of the board to be paved after paving, so as to ensure the accuracy of paving and the quality of the finished surface. The entire panel laying equipment 1000 has a high degree of automation, which can ensure the accuracy of laying and improve the quality of laying. At the same time, the laying and laying of the laying manipulator 30 and the adjustment of the adjustment manipulator 40 can be carried out at the same time. The two do not interfere with each other, which can improve The working efficiency of the sheet laying equipment 1000.

The embodiment of the present application proposes a panel paving and pasting equipment, which can adjust the position of the object to be paved and pasted in real time during the paving and pasting process, so as to improve the quality of paving and pasting.

In some embodiments, as shown in FIG. 1 , the walking chassis 10 may include a chassis body 110 and a slewing mechanism 120 , and the slewing mechanism 120 includes a slewing table (not shown in the figure) and a slewing drive (not shown in the figure). The turntable is rotatably arranged on the chassis main body 110, and the paving manipulator 30 and the adjustment manipulator 40 are both installed on the turntable. The rotary driving member is used to drive the rotary table to rotate relative to the chassis main body 110 . It can be understood that when the panel paving equipment 1000 is paving in a certain direction, the paving manipulator 30 first paves the panel 600 to be paved, and then the adjusting manipulator 40 adjusts the position of the panel 600 to be paved; When the paving equipment 1000 moves in the reverse direction to carry out the paving operation, the rotary driving part can drive the rotary table to rotate, so as to ensure that the paving manipulator 30 can firstly pave the board to be paved 600, and then adjust the manipulator 40 to adjust the board to be paved 600 s position.

That is to say, by providing the rotary mechanism 120 and setting the rotary mechanism 120 to include a rotary table and a rotary driving part, the overall adaptability of the panel laying equipment 1000 can be improved to meet the use requirements of different working conditions.

In some embodiments, the rotary driving part can be any one of a rotary cylinder, a rotary hydraulic cylinder, and a rotary motor. The structure of this rotary driving part is simple and the control is convenient.

In some embodiments, as shown in FIG. 1 , the rotating shaft of the turntable is arranged vertically, and the laying manipulator 30 and the adjusting manipulator 40 are installed on opposite sides or on the same side of the turntable. For example, the paving manipulator 30 is set on the left side of the turntable, and the adjusting manipulator 40 is set on the right side of the turntable. The plate 600 to be laid is then adjusted by adjusting the manipulator 40 to adjust the paved object. By arranging the paving manipulator 30 and the adjusting manipulator 40 on opposite sides of the turntable, the interference between the two manipulators can be avoided. For another example, the paving robot 30 and the adjusting robot 40 are jointly arranged on the left or right side of the turntable, which can also avoid interference during operation of the two robots.

The depth camera 20 can be installed on the top of the turret, so that the distance between the depth camera 20 and the construction surface is relatively close, and the information of the construction surface, the first position information of the board to be paved during the paving process, and the position of the board to be paved can be better obtained. Second location information after laying.

In some embodiments, as shown in FIG. 1 , the walking chassis 10 further includes a lifting mechanism 130 , the lifting mechanism 130 is installed on the chassis main body 110 , and the turntable is mounted on the lifting mechanism 130 in a liftable manner. The paving and laying manipulator 30 and the adjusting manipulator 40 can be lifted or lowered to a specified height by the lifting mechanism 130, so as to better adapt to the laying and pasting of the boards 600 to be laid at different heights.

In some embodiments, as shown in FIG. 1 , the walking chassis 10 can also include traveling wheels 140 installed on the chassis main body 110 and a ground support mechanism 150. The ground support mechanism 150 has a downwardly telescopic ground support rod 1501, and the ground support rod The bottom end of 1501 can be switched between the supporting state and the suspended state, the bottom end of the strut 1501 in the supporting state is lower than the bottom end of the road wheel 140, and the bottom end of the strut 1501 in the suspended state is higher than the bottom end of the road wheel 140 bottom end. That is to say, after the sheet material paving equipment 1000 enters the construction area, when the walking chassis 10 finds the initial paving position, the floor support rod 1501 is in a supporting state at this time, supporting downward on the ground to avoid the Displacement occurs; when the construction surface in the current area has been paved, the ground strut 1501 is in a suspended state at this time, and the walking chassis 10 moves to the next target construction area through the walking wheels 140 .

It can be understood that, by setting the ground support mechanism 150 on the chassis main body 110, the ground support rod 1501 of the ground support mechanism 150 can be switched between the support state and the suspended state, so as to improve the overall stability of the equipment during the paving process.

In some embodiments, as far as the lifting mechanism 130 is concerned, the lifting mechanism can be constituted by a driving motor, a corresponding transmission member, and a lifting platform. For example, an implementation form of a class of two-stage lifting mechanism may be represented as: the lifting mechanism includes at least two stages of lifting columns, a driving assembly and a rack and pinion assembly arranged in sequence in nested order. In every two adjacent lifting columns, the upper level lifting column is sleeved on the outer periphery of the lower level lifting column, the lower level lifting column can perform lifting movement along the upper level lifting column, and the output end of the lowermost lifting column end is used to install the actuator; The driving assembly includes a driving motor, which is used to drive the lower lifting column and is installed on the outside of the upper lifting column; the rack and pinion assembly includes a gear and a rack that mesh with each other, the gear transmission is connected to the output end of the driving motor, and the rack is installed on the lower lifting column Above: the driving motor drives the lower lifting column to move vertically relative to the upper lifting column through the rack and pinion assembly.

In some embodiments, the ground support mechanism 150 can be any one of an air cylinder, a hydraulic cylinder, and an electric push rod. Correspondingly, the ground support rod 1501 is a telescoping rod of an air cylinder, a hydraulic cylinder, or an electric push rod. Adopting this kind of ground supporting mechanism 150 has a simple structure and is convenient to control.

In some embodiments, the walking chassis 10 also includes a depth sensor. After the walking chassis 10 enters the construction area, the depth sensor detects the first depth information of the chassis body 110 relative to the construction surface, and the walking chassis 10 adjusts the relative construction surface according to the first depth information. After the depth sensor detection is completed, the depth camera 20 acquires the construction surface information to obtain the second depth information, and the walking chassis 10 further adjusts the position relative to the construction surface according to the second depth information. That is to say, the walking chassis 10 can perform the first position adjustment through its own depth sensor, and through the detection of the depth camera 20, the walking chassis 10 can perform the second position adjustment. The accuracy is higher, so it can ensure that the starting position of the walking chassis 10 in the construction area is positioned accurately, and the position accuracy of the first board to be laid 600 can be guaranteed.

In some embodiments, as shown in FIG. 1 and FIG. 2 , the adjustment device 420 may include an inclination adjustment mechanism 4201, the push mechanism 4201 is installed on the second mechanical arm 410, and the inclination adjustment mechanism 4201 is used to push the board to be paved after paving 600 displacement, to adjust the width of the gap between the board to be paved 600 and the adjacent paved board after paving. That is to say, there may be an inclination angle between the board to be paved 600 and the adjacent board that has been paved, resulting in inconsistent gap widths. For example, when the construction surface is a vertical wall, the board to be paved 600 and the board that has been paved There may be an inclination angle on the vertical surface, and one end of the gap is wider and the other end is narrower. At this time, the inclination adjustment mechanism 4201 pushes the board to be paved 600 to move after laying, which can eliminate the inclination problem and ensure the quality of the completed surface.

In some embodiments, as shown in FIG. 7 , the inclination adjustment mechanism 4201 includes a base member 421 , an adjustment member 422 , and a driving member 423 .

As shown in Fig. 3 and Fig. 7, the adjusting member 422 is movably arranged on the base member 421 along the direction perpendicular to the board 600 to be laid. The distance between the push surface 42011 and the base surface 42022 gradually decreases in the extension direction of the adjustment piece 422, the adjustment piece 422 can be inserted into the gap between the board to be laid 600 and the adjacent laid board after laying, and the push surface 42011 stops On the side of the board to be paved 600 after paving. It can be understood that the pushing surface 42011 is an inclined surface, which is inclined backward and upward along the paving feeding direction, and the base surface 42022 is a plane. , as the depth of the adjusting member 422 inserted into the slit increases, the width of the slit can be adjusted to make it uniform. For example, when the width of the gap between the board to be paved 600 after paving and the adjacent paved board is inconsistent, one side is larger and the other side is smaller, for example, the width of the left side of the gap is smaller, and the width of the right side is larger , then the push surface 42011 stops against the left side of the board to be laid 600, and the base surface 42022 stops against the left side of the board already laid. The board to be paved 600 is moved so that the width on the left side and the width on the right side of the gap remain consistent.

As shown in FIG. 7 , the driving member 423 is disposed on the base member 421 , and the driving member 423 can push the adjustment member 422 to move and make the adjustment member 422 detach from the base member 421 . That is to say, the driving part 423 is used to drive the adjusting part 422 to move to realize automatic operation. At the same time, the driving part 423 pushes the adjusting part 422 away from the base part 421, so that the adjusting part 422 stays in the gap and supports the board to be paved. The function of 600 is to prevent the plate to be paved 600 from being displaced again when the next plate is laid.

In some embodiments, as shown in FIG. 7 , the base member 421 has a receiving chamber 4211 and a slideway 4212 connected to the receiving chamber 4211 , one end of the slideway 4212 extends out of the base member 421 , and the driving member 423 is arranged in the receiving chamber 4211 , the adjusting member 422 is slidably disposed in the slideway 4212 . The slideway 4212 can provide an installation position and a stable and reliable guiding function for the adjustment piece 422. The driver 423 only needs to push the adjustment piece 422 out of the slideway 4212 to separate the adjustment piece 422 from the base piece 421. The structure is simple.

In some embodiments, there is only one adjusting member 422 , and after the driving member 423 pushes the adjusting member 422 out of the slideway 4212 , only a new adjusting member 422 needs to be replaced and installed in the slideway 4212 .

In some embodiments, the adjusting member 422 is a shell member, and there are multiple adjusting members 422 that are sheathed and connected in sequence. That is to say, after each adjustment piece 422 is moved out of the slideway 4212 and inserted into the gap, there is no need to replace a new adjustment piece 422 , which can reduce labor intensity and improve work efficiency.

In some embodiments, as shown in FIG. 7 , the driving member 423 includes a driving motor 4231 , a driving nut 4232 , a driving screw 4233 , and a flexible transmission member 4234 . The driving motor 4231 is arranged on the base member 421, the driving nut 4232 is rotatably arranged on the base member 421, the driving screw 4233 is fitted on the driving nut 4232, and one end of the driving screw 4233 stops against the adjusting member 422, flexing One end of the flexible transmission member 4234 is connected to the other end of the driving screw 4233 and the other end of the flexible transmission member 4234 is connected to the output shaft of the driving motor 4231 . When the driving motor 4231 is started, the driving motor 4231 drives the flexible transmission assembly 4234 to move, thereby driving the nut 4232 to rotate, and the driving nut 4232 drives the driving screw 4233 to move axially, and finally the adjusting part 422 is pushed out of the seat body part 421. The driving method is simple, and the driving is stable and reliable.

In some embodiments, as shown in FIG. 7 , the driving member 423 further includes a support nut 4235, the support nut 4235 is rotatably arranged on the base member 421, and the support nut 4235 is spaced apart from the drive nut 4232 to better support Drive the lead screw 4233.

For example, referring to the foregoing, the support nut 4235 is disposed in the slideway 4212 , and the driving screw 4233 is partially disposed in the slideway 4212 , so as to facilitate the movement of the adjusting member 422 .

In some embodiments, the flexible transmission element 4234 is any one of a synchronous belt transmission element, a chain transmission element, and a rope rotation element. For example, when the flexible transmission part 4234 is a synchronous belt transmission part, one synchronous belt is sleeved on the output shaft of the driving motor 4231 , and the other synchronous belt is sleeved on the driving screw 4233 .

In some embodiments, as shown in FIG. 3 , the push surface 42011 includes a plurality of stepped surfaces 401, and the plurality of stepped surfaces 401 can better adjust the gap between the boards. For example, each board to be paved 600 and The gap width deviation between adjacent paved boards may be different, and different stepped surfaces 401 can be used to adapt to different boards 600 to be paved, so that different stepped surfaces 401 can be selected to stop against the sides of the boards to be paved 600 as required side. For example, when the width of one end of the gap between the board to be paved 600 and the adjacent paved board is less than the standard gap width, the depth of the adjustment member 422 inserted into the gap is small, and the step surface 401 (such as the first The first step surface 401 or the second step surface 401) can adjust the gap width; when the width of one end of the gap between the board to be paved 600 and the adjacent laid board is larger than the standard gap width, the regulator 422 The depth of the insertion slit is relatively large, and the width of the slit can be adjusted through the front stepped surface 401 (for example, the third stepped surface 401 or the fourth stepped surface 401 ).

In some embodiments, there is a connecting inclined surface 402 between any two adjacent stepped surfaces 401 . During the process of inserting the adjusting member 422 into the gap, the connecting inclined surface 402 between two adjacent stepped surfaces 401 can ensure that the latter stepped surface 401 can smoothly stop against the side of the board to be laid 600 after laying On, it is beneficial to the use of the adjustment member 422 .

In some embodiments, as shown in FIG. 1 and FIG. 2 , the adjustment device 420 may further include: a flatness adjustment mechanism 4202 and a rotating rod 4203 .

The flatness adjustment mechanism 4202 is used to vibrate on the board surface of the board to be paved 600 after paving. After the depth camera 20 acquires the second position information of the board to be paved after paving, it can detect the board to be paved after paving. Whether the paved board material 600 protrudes outwards relative to the adjacent paved board material, or whether one end of the paved board material 600 after paving is protruded outward relative to the adjacent paved board material, at this time, through the vibrating mechanism The (flatness adjustment mechanism) 4202 vibrates on the surface of the board to be paved 600 to keep the surface of the board to be paved 600 flush with the surface of the adjacent paved board.

The rotating rod 4203 is rotatably installed at the end of the second mechanical arm 410 , and the inclination adjustment mechanism 4201 and the flatness adjusting mechanism 4202 are installed at both ends of the rotating rod 4203 . The second mechanical arm 410 can move the adjustment device 420 to the position of the board to be paved 600 after paving, and then rotate the rotating rod 4203 to adjust the inclination adjustment mechanism 4201 and the flatness adjustment mechanism 4202 to the corresponding board to be paved after paving. For the position to be adjusted on the paving board 600 , the position accuracy between the inclination adjustment mechanism 4201 and the flatness adjustment mechanism 4202 and the board to be paved 600 is improved.

In some embodiments, the flatness adjustment mechanism 4202 may include a vibrating motor and a vibrating plate, the output end of the vibrating motor is connected to the vibrating plate, and the vibrating plate stops against the board to be paved 600 after paving and then transmits the vibration force , so that the plate 600 to be paved is leveled.

In some embodiments, as shown in FIG. 1 , the panel laying equipment 1000 can also include a coating device 50, the coating device 50 is arranged on the walking chassis 10, and the coating device 50 is used to apply slurry to the panel 600 to be laid, for example, The board to be paved 600 can be ceramic tiles, and the slurry can be any one of tile glue and adhesive. The coating device 50 applies the slurry on the back of the tiles, and the paving manipulator 30 can lay the tiles after grabbing the front of the tiles. Stick it on the construction surface.

In some embodiments, the grabbing device 320 is used to grab the edge of the board to be paved 600 and/or absorb the front of the board to be paved 600 . That is to say, the grabbing device 320 may be a pneumatic claw, which grabs the edge of the panel 600 to take away the panel to be paved 600 . The grabbing device 320 can also be a suction cup, which can take away the board to be paved 600 by absorbing on the front surface of the board to be paved 600 .

In some embodiments, as shown in FIG. 1 , FIG. 4 and FIG. 6 , the coating device 50 may include: a positioning mechanism 510 , a coating mechanism 520 , and a scraping mechanism 530 .

The positioning mechanism 510 has a support frame 5101 for supporting the front of the board to be paved 600; the coating mechanism 520 is used to smear slurry to the back of the board to be paved 600; the scraper mechanism 530 includes a scraper 5301 set corresponding to the support frame 5101 , the scraping member 5301 is spaced apart from the support frame 5101 and is movable relative to the support frame 5101 . The board to be paved 600 is pre-placed on the support frame 5101. During the paving operation, the coating mechanism 520 first smears the slurry on the back of the board to be paved 600, and then the scraper 5301 moves relative to the support frame 5101, and the board to be paved The excess slurry on the back of the 600 is scraped off to realize the fine finishing of the slurry. Wherein, the scraper 5301 can be movably arranged on the positioning mechanism 510, and the scraper 5301 can be moved to scrape off the grout on the back side of the plate 600 to be laid, or the support frame 5101 can be movably, passed through the support frame 5101 drives the board to be paved 600 to move, so that the scraper 5301 scrapes the back surface of the board to be paved 600 to smear the slurry.

In some embodiments, the depth camera 20 can calculate the required slurry thickness on the board to be paved 600 according to the acquired construction surface information, and the scraper mechanism 530 scrapes off excess slurry on the board to be paved 600 according to the thickness of the slurry, so as to Realize automatic fine correction of slurry thickness.

In some embodiments, as shown in Figure 4, the positioning mechanism 510 also includes a frame 5102, the support frame 5101 is arranged on the frame 5102, the scraping mechanism 530 is arranged on the frame 5102, and the coating mechanism 520 is arranged on the frame 5102 or on the chassis body 110 . The frame 5102 is used to provide the installation position of each component.

In some embodiments, as shown in FIG. 4 , the scraping mechanism 530 is movably arranged on the frame 5102 so that it can move relative to the support frame 5101 to scrape off the slurry on the back of the board to be paved 600 and adjust the thickness of the board. thickness.

In some embodiments, the support frame 5101 is movably arranged on the frame 5102, and the scraper mechanism 530 is fixed on the frame 5102, so that the support frame 5101 can move relative to the scraper mechanism 530, and the back of the board to be paved 600 The slurry is scraped off to adjust the thickness of the slurry.

In some embodiments, as shown in FIG. 4 , the coating device 50 further includes a transfer mechanism 540, the transfer mechanism 540 is arranged on the positioning mechanism 510, and the transfer mechanism 540 is used to move the board to be paved 600 from the support frame 5101 to the position to be taken, And the board material 600 to be paved is adjusted from the horizontal state on the support frame 5101 to the inclined state of the waiting position. Since the back side of the board to be paved 600 is upward, and the back side of the board to be paved 600 has been smeared with slurry, the board to be paved 600 is moved from the support frame 5101 to the position to be taken by the transfer mechanism 540, and the board to be paved 600 can be supported by The horizontal state on the frame 5101 is adjusted to the inclined state of the position to be taken, so that the front of the board to be paved 600 is exposed, which greatly facilitates the grasping device 320 to grab the board to be paved 600.

In some embodiments, as shown in FIG. 4 and FIG. 6 , the transfer mechanism 540 includes a transfer base 5401 and a drive assembly 5402, and the drive assembly 5402 can drive the board to be paved 600 to move along the transfer base 5401 to adjust the board to be paved 600 from a horizontal state to The tilt state of the position to be fetched. For example, the transfer seat 5401 has a guide surface (not shown in the figure), and the distance between the guide surface and the other side of the transfer seat 5401 away from the guide surface gradually decreases from bottom to top, so that the driving assembly 5402 drives the plate 600 to be laid. After moving along the guide surface, it can be adjusted from the horizontal state to the inclined state of the waiting position, with simple structure and convenient operation.

In some embodiments, as shown in FIG. 6 , the guide surface may be an arc surface, and the plank 600 to be laid along the arc surface is beneficial to ensure smooth turning.

In some embodiments, as shown in Figure 5 and Figure 6, the transfer base 5401 has a guide groove 54011, the groove surface of the guide groove 54011 forms a guide surface, the transfer mechanism 540 also includes a sliding shaft 5403, and the sliding shaft 5403 is slidably arranged on the guide In the groove 54011, a support member 54031 is provided on the sliding shaft 5403, and the support member 54031 is used to stop against the board 600 to be paved. That is to say, the edge of the board to be paved 600 stops against the support member 54031, and when the driving assembly 5402 drives the board to be paved 600 to move, the sliding shaft 5403 slides along the groove surface of the guide groove 54011, and the board to be paved 600 is turned over to be inclined. state. The sliding shaft 5403 and the support member 54031 can provide good support for the board to be paved 600 , ensuring the safety of the board to be paved 600 .

In some embodiments, as shown in FIG. 5 , the support member 54031 is a strip-shaped plate, and a groove is formed on the strip-shaped plate. Arranged so that it can fully contact the board to be paved 600 and provide a better supporting effect.

In some embodiments, the support member 54031 is a plurality of support blocks, grooves are formed on the support blocks, and the edge of the board 600 to be laid is placed in the grooves, and the plurality of support blocks are arranged at intervals along the axial direction of the sliding shaft 5403 On the sliding shaft 5403, materials can be saved and costs can be reduced while ensuring reliable support.

In some embodiments, the end of the sliding shaft 5403 is installed in the guide groove 54011 through a sliding bearing, so as to play a position-limiting role and prevent the sliding shaft 5403 from detaching from the guiding groove 54011.

In some embodiments, as shown in FIG. 4 , two groups of transfer seats 5401 are spaced apart on the frame 5102, and two sliding shafts 5403 are provided, and the two sliding shafts 5403 are respectively arranged on the guides of the two groups of transfer seats 5401. In the slot 54011, the two sliding shafts 5403 can realize the support of both ends of the board to be paved 600, and when the paving manipulator 30 grabs the board to be paved 600, it only needs to move the paving manipulator 30 away from the paving manipulator 30 towards the sliding shaft 5403 One side moves, and just can make the board material 600 to be laid break away from slide shaft 5403.

In some embodiments, as shown in FIG. 4 , the driving assembly 5402 may include: a flexible transmission assembly 54021 , a thrust member 54022 , and a driving motor 54023 .

The flexible transmission assembly 54021 is arranged along the direction perpendicular to the moving direction of the board to be laid 600; the thrust member 54022 is arranged on the flexible member 501 of the flexible transmission assembly 54021; the output shaft of the driving motor 54023 moves to link the flexible transmission assembly 54021 The transmission wheel 502. That is to say, the driving motor 54023 can drive the transmission wheel 502 to rotate, so that the flexible member 501 rotates, and the pushing member 54022 can push the board to be paved 600 to move along with the movement of the flexible member 501, and the board to be paved 600 to move along the transfer seat. The 5401 flips in a tilted state. Adopting this kind of driving assembly 5402 is simple, stable and reliable in driving, and helps to reduce costs.

In some embodiments, as shown in FIG. 6 , the scraping mechanism 530 includes a thickness adjusting member 5302 connected to the scraping member 5301, and the thickness adjusting member 5302 is used to adjust the distance of the scraping member 5301 relative to the support frame 5101 to adjust the thickness of the slurry. thickness. During the paving process, the construction surface may not be a flat surface, resulting in inconsistencies in the depth between the construction surface and the set paving completed surface. The depth camera 20 can obtain the depth information of the construction surface relative to the paving completed surface. The information can calculate the thickness of the slurry required on the current board to be paved 600, and the thickness of the slurry on different boards to be paved 600 can be adjusted by adjusting the distance of the scraper 5301 relative to the support frame 5101 through the thickness adjustment member 5302. Obtain a paved finish that meets quality requirements.

In some embodiments, the thickness adjusting member 5302 is a servo electric cylinder, and the servo electric cylinder can drive the scraping member 5301 to move, so as to realize high-precision control of the thickness of the slurry on the board 600 to be laid.

In other examples, the thickness adjusting member 5302 is a lifting member, and the lifting member is any one of an air cylinder or a hydraulic cylinder. The lifting member can adjust the distance between the scraping member 5301 and the back surface of the board to be paved 600 by driving the scraping member 5301 to lift. The distance between them can adjust the thickness of the slurry.

In some embodiments, as shown in Figure 4 and Figure 6, the scraping mechanism 530 also includes a mounting base 5303, the mounting base 5303 is movably arranged on the frame 5102, and the thickness adjusting member 5302 is arranged on the mounting base 5303, by installing The seat 5303 moves on the frame 5102, and drives the scraping mechanism 530 to be displaced relative to the support frame 5101 to scrape off excess slurry.

In some embodiments, the frame 5102 is provided with a scraping driving mechanism, and the scraping driving mechanism is connected to the mounting base 5303 to drive the scraping mechanism 530 to move. For example, the scraping driving mechanism can be any driving structure such as a linear module, a telescopic cylinder, an electric push rod, etc., so as to provide a stable driving effect. The structure of other driving mounts 5303 can be the scraping driving mechanism of the present application, which will not be repeated here.

For example, as shown in FIG. 4 , the frame 5102 is provided with a guide rail 5103 , and the installation seat 5303 is movably arranged on the guide rail 5103 , and the guide rail 5103 can provide a guiding function for the movement of the installation seat 5303 .

For example, as shown in FIG. 4 , two sets of guide rails 5103 are provided, and the two sets of guide rails 5103 respectively slide and fit with the two ends of the mounting base 5303 . Wherein, at least one group of guide rails 5103 extends out of the frame 5102, and the scraping mechanism 530 has an avoidance position. When the scraper mechanism 530 is in the avoidance position, the scraper mechanism 530 is located on the extension end of the guide rail 5103 and outside the frame 5102, so as to It plays an avoidance role, and ensures that the board material 600 to be paved can be turned over from the top of the frame 5102 along the transfer seat 5401 to an inclined state.

For example, in the flexible transmission assembly 54021 corresponding to the guide rail 5103 extending out of the frame 5102, the resisting member 54022 extends along the length direction of the guide rail 5103 toward the side close to the frame 5102, so that the scraper mechanism 530 is in an avoidance position At this time, the pushing member 54022 can pass through the scraping mechanism 530 to push against the board material 600 to be paved.

In some embodiments, as shown in Figure 6, there are multiple scraping members 5301 and thickness adjusting members 5302, and the multiple scraping members 5301 and the multiple thickness adjusting members 5302 are arranged in one-to-one correspondence, and each thickness adjusting member 5302 can drive The corresponding scrapers 5301 are adjusted to have the same or different thicknesses.

It can be understood that, after the depth camera 20 acquires the depth information of the construction surface relative to the paving completed surface, when it detects that the surface of the construction surface is uneven, in order to obtain a paving completed surface with consistent flatness, it is necessary to The position adjusts the thickness of the slurry on the board to be paved 600. At this time, a plurality of thickness adjustment members 5302 can drive a plurality of scraping members 5301 to lift to different heights according to the depth information acquired by the depth camera 20, and the thickness of the slurry on the board to be paved 600 can be adjusted. The slurry is scraped into different thicknesses to realize the finishing of the slurry thickness and adapt to the current uneven construction surface. And when the depth camera 20 detects that the surface of the construction surface is flat, a plurality of thickness adjustment parts 5302 can drive a plurality of scraping parts 5301 to lift to the same height, so as to ensure that the slurry on the board to be paved 600 is scraped into a uniform Thickness, adapt to the current flat construction surface.

In some embodiments, as shown in FIG. 1 , the paint mechanism 520 is installed on the chassis body 110 through a multi-degree-of-freedom robot arm 60 , and the multi-degree-of-freedom robot arm 60 is used to drive the paint mechanism 520 to perform paint operations.

For example, the multi-degree-of-freedom mechanical arm 60 can be a four-degree-of-freedom mechanical arm, which can drive the coating mechanism 520 to move laterally, vertically, rotate around a vertical axis, and lift, and the four-degree-of-freedom mechanical arm is a scara (selective compliance assembly robot arm , planar double-jointed robot) mechanical arm, can paint with higher pose accuracy, so that the coating amount of the slurry can basically conform to the thickness of the slurry calculated by the depth camera 20 . The multi-degree-of-freedom manipulator 60 can also be a manipulator with more than four degrees of freedom, which will not be repeated here.

Generally, a scara robot has three rotating joints, whose axes are parallel to each other, and is positioned and oriented in a plane; another joint of a scara robot is a moving joint, which is used to complete the movement of the end piece perpendicular to the plane.

In some embodiments, as shown in FIG. 1 and FIG. 2 , the coating device 50 further includes a material storage mechanism 550 , the material storage mechanism 550 is arranged on the walking chassis 10 , and the material storage mechanism 550 is used to supply material to the coating mechanism 520 . A certain amount of slurry can be stored in the material storage mechanism 550, and the slurry is pumped into the coating mechanism 520, and then sprayed on the back of the board to be paved 600 by the nozzle of the coating mechanism 520, and the scraping mechanism 530 can also scrape the slurry. The removed slurry is brought back to the storage mechanism 550 to avoid slurry waste. A certain amount of slurry can be carried by setting the storage mechanism 550 to ensure the flexible operation of the panel laying equipment 1000 .

For example, the structure of the material storage mechanism 550 can refer to the tile glue storage device in the related art. The nozzle of the mechanism 520 can continuously pump the slurry into the nozzle, so that the slurry is coated on the back surface of the board 600 to be laid.

In some embodiments, as shown in FIG. 4 , the coating device 50 further includes a lifting mechanism 560 connected to the support frame 5101 for pushing the support frame 5101 up or down. That is to say, when the board to be paved 600 is transferred to the transfer seat 5401, the lifting mechanism 560 can lift another board to be paved 600 upwards to replace the transferred board to be paved 600, and paint and scrape the board to be paved 600 again. materials and transfer operations.

For example, as shown in FIG. 4 , the lifting mechanism 560 includes a lead screw 5601 , a lead screw nut 5602 , and a lifting motor 5603 . The lead screw nut 5602 is arranged on the support member 20, one end of the lead screw 5601 is rotatably connected to the frame 5102, the lead screw 5601 is arranged on the lead screw nut 5602 and penetrates the support member 20, and the movement linkage of the lifting motor 5603 The leading screw 5601 rotates by driving the leading screw 5601. When lifting, the lifting motor 5603 drives the lead screw 5601 to rotate, and the lead screw 5601 can push the lead screw nut 5602 up and down, so that the supporting member 20 is lifted. By setting the lifting mechanism 560 to include a leading screw 5601, a leading screw nut 5602, and a lifting motor 5603, a smooth lifting motion can be provided.

For example, the lifting motor 5603 and the leading screw 5601 can realize motion transmission through any one of a belt transmission mechanism, a gear set, and a chain transmission. For example, a belt transmission mechanism is set between the lifting motor 5603 and the leading screw 5601, and one end of the belt transmission mechanism The lifting motor 5603 is connected and the other end of the belt transmission mechanism is connected to the lead screw 5601.

In some embodiments of the present application, as shown in FIG. 1 , the first robotic arm 310 and the second robotic arm 410 are scara robotic arms, which can ensure high pose accuracy for laying and adjusting the board to be laid 600 .

A specific embodiment of the panel laying equipment 1000 of the present application will be described below with reference to the accompanying drawings.

As shown in FIGS. 1 to 6 , a panel laying equipment 1000 includes: a walking chassis 10 , a depth camera 20 , a laying robot 30 , an adjusting robot 40 , and a coating device 50 .

The board to be paved 600 is a ceramic tile, and the slurry applied on the board to be paved 600 is tile glue.

The walking chassis 10 includes a chassis main body 110 , a slewing mechanism 120 , a lifting mechanism 130 , traveling wheels 140 , and a ground support mechanism 150 . The swivel mechanism 120 includes a swivel table and a swivel drive. The turntable is rotatably arranged on the chassis main body 110, and the paving manipulator 30 and the adjustment manipulator 40 are both installed on the turntable. The rotary driving member is used to drive the rotary table to rotate relative to the chassis main body 110 . The rotating shaft of the turntable is arranged vertically, and the paving manipulator 30 and the adjustment manipulator 40 are installed on opposite sides of the turntable. The lifting mechanism 130 is mounted on the chassis main body 110 , and the turntable is mounted on the lifting mechanism 130 in a liftable manner. The walking wheels 140 and the ground support mechanism 150 are installed on the chassis main body 110. The ground support mechanism 150 has a downwardly telescopic ground support rod 1501. The bottom end of the ground support rod 1501 can be switched between the supporting state and the suspended state. When the bottom end of the bar 1501 is in the supporting state, the bottom end of the ground strut 1501 is lower than the bottom end of the road wheel 140, and when the bottom end of the ground strut 1501 is in a suspended state, the bottom end of the ground strut 1501 is higher than the bottom end of the road wheel 140. bottom end.

The depth camera 20 is installed on the top of the turret, and is used to acquire the construction surface information, the first position information of the board to be paved 600 during the paving process, and the second position information of the board to be paved 600 after paving.

Wherein, the construction surface information is the global depth information of the completed surface and the construction surface calculated by the visual camera 20 according to the global three-dimensional measurement of the construction surface. The first position information is the deviation of the position and preset posture of the board to be paved 600 and the construction surface or positioning board detected by the depth camera 20 during the laying process. The second position information is the height difference information between the board to be paved 600 and the adjacent paved board and the width information of the brick joint detected by the visual camera 20 .

The laying robot 30 includes a first robot arm 310 and a grabbing device 320 . The first mechanical arm 310 is a scara mechanical arm, which is arranged on the walking chassis 10, and the grabbing device 320 is arranged at the end of the first robotic arm 310, and the grabbing device 320 is a suction cup, which is used to absorb the front of the board 600 to be paved. The arm 310 adjusts the position of the grabbing device 320 according to the first position information of the board to be paved 600 , so that the grabbing device 320 lays the grabbed board 600 to be paved on the construction surface.

The adjustment robot 40 includes a second robot arm 410 and an adjustment device 420 . The second mechanical arm 410 is a scara mechanical arm, which is installed on the walking chassis 10. The adjustment device 420 is installed at the end of the second mechanical arm 410. The second mechanical arm 410 is controlled and adjusted according to the second position information of the board to be paved 600 after laying. The position of the device 420 adjusts the position of the laid board 600 .

The adjustment device 420 includes: an inclination adjustment mechanism 4201 , a flatness adjustment mechanism 4202 , and a rotating rod 4203 . The rotating rod 4203 is rotatably installed at the end of the second mechanical arm 410 , and the inclination adjustment mechanism 4201 and the flatness adjusting mechanism 4202 are installed at both ends of the rotating rod 4203 . The inclination adjustment mechanism 4201 is installed on the second mechanical arm 410, and the inclination adjustment mechanism 4201 is used to push the board to be paved 600 after paving.

The inclination adjustment mechanism 4201 includes a base member 421 , an adjustment member 422 , and a driving member 423 .

The adjusting member 422 is movably arranged on the base member 421 along the direction perpendicular to the board material 600 to be paved. The opposite sides of the adjusting member 422 are the pushing surface 42011 and the base surface 42022, and the pushing surface faces the extending direction of the adjusting member 422. The distance between 42011 and the base surface 42022 gradually decreases, and the adjusting member 422 can be inserted into the gap between the paved board 600 and the adjacent paved board, and the push surface 42011 stops against the paved board 600 on the side. The driving part 423 is disposed on the base part 421 , and the driving part 423 can push the adjustment part 422 to move and make the adjustment part 422 detach from the base part 421 .

The push surface 42011 includes a plurality of stepped surfaces 401 , and a connecting inclined surface 402 is formed between any two adjacent stepped surfaces 401 .

The base member 421 has a receiving chamber 4211 and a slideway 4212 connected to the receiving chamber 4211. One end of the slideway 4212 extends out of the base member 421. The driving member 423 is arranged in the receiving chamber 4211, and the adjusting member 422 is slidably arranged in the slideway 4212. .

The driving part 423 includes a driving motor 4231 , a driving nut 4232 , a driving screw 4233 , and a flexible transmission part 4234 . The driving motor 4231 is arranged on the base member 421, the driving nut 4232 is rotatably arranged on the base member 421, the driving screw 4233 is fitted on the driving nut 4232, and one end of the driving screw 4233 stops against the adjusting member 422, flexing One end of the flexible transmission member 4234 is connected to the other end of the driving screw 4233 and the other end of the flexible transmission member 4234 is connected to the output shaft of the driving motor 4231 .

The driving member 423 further includes a support nut 4235 rotatably disposed on the base member 421 , and the support nut 4235 is spaced apart from the drive nut 4232 to better support the driving screw 4233 .

The flexible transmission part 4234 is a synchronous belt transmission part.

The flatness adjustment mechanism 4202 is used to vibrate the board surface of the board to be paved 600 after paving. The flatness adjustment mechanism 4202 includes a vibrating motor and a vibrating plate, the output end of the vibrating motor is connected to the vibrating plate, and the vibrating plate stops against the plate to be paved 600 after paving and transmits the vibration force, and the plate to be paved 600 Zhenping.

The coating device 50 is arranged on the walking chassis 10 , and the coating device 50 is used for covering the slurry on the back side of the board 600 to be paved.

The coating device 50 includes: a positioning mechanism 510 , a coating mechanism 520 , a scraping mechanism 530 , a transfer mechanism 540 , a storage mechanism 550 , and a lifting mechanism 560 .

The positioning mechanism 510 has a support frame 5101 for being supported on the front of the board to be paved 600; the positioning mechanism 510 also includes a frame 5102, the support frame 5101 is located on the frame 5102, and the scraper mechanism 530 is located on the frame 5102, and the paint The mechanism 520 is provided on the frame 5102 or the chassis body 110 .

The coating mechanism 520 is used to apply slurry to the back of the board to be paved 600; the coating mechanism 520 is set on the chassis main body 110 through the multi-degree-of-freedom mechanical arm 60, and the multi-degree-of-freedom mechanical arm 60 is a scara mechanical arm, which is used to drive the coating mechanism 520 Do the paint job.

The scraping mechanism 530 includes: a scraping member 5301 , a thickness adjusting member 5302 , and a mounting base 5303 .

The scraper 5301 is a scraper and is arranged corresponding to the support frame 5101 . The scraper 5301 is spaced apart from the support frame 5101 and is movable relative to the support frame 5101 . The thickness adjusting member 5302 is used to adjust the distance between the scraping member 5301 and the supporting frame 5101 to adjust the thickness of the slurry, and the thickness adjusting member 5302 is a servo electric cylinder. The mounting base 5303 is movably disposed on the frame 5102 , and the thickness adjusting member 5302 is disposed on the mounting base 5303 . The frame 5102 is provided with a guide rail 5103, and the installation base 5303 is movably arranged on the guide rail 5103.

The transfer mechanism 540 is arranged on the positioning mechanism 510, and the transfer mechanism 540 is used to move the board material 600 to be paved from the support frame 5101 to the position to be taken, and adjust the board material 600 to be paved from the horizontal state on the support frame 5101 to the position to be picked up. lean state.

The transfer mechanism 540 includes: two transfer seats 5401 , a driving assembly 5402 , and two sliding shafts 5403 .

Each transfer seat 5401 has a guide surface, and the distance between the guide surface and the other side of the transfer seat 5401 away from the guide surface gradually decreases from bottom to top. The transfer seat 5401 has a guide groove 54011, and the groove surface of the guide groove 54011 forms a guide surface.

The two sliding shafts 5403 are respectively slidably arranged in the guide grooves 54011 of the two transfer seats 5401 , and the sliding shafts 5403 are provided with a support member 54031 for stopping against the board 600 to be paved. The support member 54031 is a strip-shaped board, and a groove is formed on the strip-shaped board, and the edge of the board material 600 to be paved is placed in the groove.

The driving assembly 5402 includes: a flexible transmission assembly 54021 , a thrust member 54022 , and a driving motor 54023 .

The flexible transmission assembly 54021 is arranged along the direction perpendicular to the moving direction of the board to be laid 600; the thrust member 54022 is arranged on the flexible member 501 of the flexible transmission assembly 54021; the output shaft of the driving motor 54023 moves to link the flexible transmission assembly 54021 The transmission wheel 502.

The material storage mechanism 550 is arranged on the traveling chassis 10 , and the material storage mechanism 550 is used to supply materials to the paint mechanism 520 . The material storage mechanism 550 includes a material cylinder, a pump, and a feed pipe connecting the pump and the material cylinder. The feed pipe is connected to the nozzle of the coating mechanism 520, and the slurry can be continuously pumped into the nozzle, and the slurry is applied to the board to be laid. 600 on the back.

The lifting mechanism 560 is connected to the support frame 5101 and used to push the support frame 5101 up or down.

The lifting mechanism 560 includes a lead screw 5601 , a lead screw nut 5602 , and a lifting motor 5603 . The lead screw nut 5602 is arranged on the support member 20, one end of the lead screw 5601 is rotatably connected to the frame 5102, the lead screw 5601 is arranged on the lead screw nut 5602 and penetrates the support member 20, and the movement linkage of the lifting motor 5603 The leading screw 5601 rotates by driving the leading screw 5601.

The following describes the working process of the panel laying equipment 1000 of the present application by taking the panel 600 to be laid as a ceramic tile:

First, the walking chassis 10 moves to the designated paving area, and the walking chassis 10 stops once at each positioning site, and the depth camera 20 starts to collect the depth information of the construction surface through the pan-tilt connected below, and monitors the entire house. modeling. After the modeling is completed, the wall is divided into regions according to the layout of the tiles. During the calculation process, the walking chassis 10 moves to the designated laying point, and the ground support rod 1501 is lifted to stabilize the entire fuselage on the ground.

After the depth camera 20 adjusts the angle, it measures the yaw angle error at which the walking chassis 10 stops and the depth error from the wall; synchronously, the tiles to be pasted are lifted to the gluing station by the lifting mechanism 130 and the support frame 5101.

The storage mechanism 550 pumps the tile adhesive to the nozzle of the coating mechanism 520, and then sprays it evenly to the back of the tile through the continuous trajectory movement of the multi-degree-of-freedom mechanical arm 60; while applying glue, the scraping mechanism 530 follows the multi-degree-of-freedom The mechanical arm 60 moves, and the tile adhesive is accurately trimmed according to the control amount calculated by the depth information provided by the depth camera 20, and the excess tile adhesive is taken away during the movement, and the excess tile adhesive is returned to the storage mechanism 550 , Complete the recovery of tile adhesive.

After gluing is completed, the driving assembly 5402 mounted on the frame 5102 of the positioning mechanism 510 will pull the tiles, and transport the tiles to the station to be grasped along the arc-shaped groove surface of the transfer mechanism 540; The manipulator 30 will wait at this station, grab the tiles that have been glued, and lay them on the designated position on the wall according to the layout. position and posture, and then press the tiles tightly.

During this process, the support frame 5101, the transfer mechanism 540, the scraping mechanism 530, and the storage mechanism 550 are still continuing to provide the paving manipulator 30 with new glue-coated tiles; after the tiles are pressed, the depth camera 20 Carry out the finished surface detection, and when local height differences are found, or the overall width error of the brick joints is out of tolerance, the vibrating mechanism 4202 will be used to vibrate and level the high points, and the pushing mechanism 4201 will be used to adjust the brick joints; When the tiles are jointed, the laying manipulator 30 will lay the next tiles to ensure the continuity and parallelism of the whole process.

The sheet material laying and pasting equipment 1000 of the present application not only solves the problem that the robot adopts the relative positioning method during the laying and pasting process, which causes local error amplification and leads to the problem that some brick joints are out of tolerance. At the same time, it solves the problem of offline collection of wall depth information and actual measurement to establish a map. At the same time, the entire equipment can fully realize the functions of parallel execution and parallel calculation, and realize the goal of making the paving quality up to standard without manual access while ensuring the completion of surface composite acceptance requirements. To sum up, this application mainly involves a highly flexible automatic wall tile laying equipment. By combining the global depth visual inspection + multi-arm cooperation, the wall data collection, tile adhesive quantitative coating trimming and automatic adjustment The flatness and height difference of the finished surface are integrated on one robot, thus ensuring the quality of the finished surface.

This program mainly solves the following five problems:

1. Through the depth camera 20 integrated on the slewing mechanism 120, the depth information of the wall surface relative to the paved surface can be collected online, and the high precision of the structured light camera also ensures the accuracy of data collection.

2. Use the pose accuracy of the scara robotic arm to apply glue, so that the amount of glue applied basically conforms to the control amount given by the wall depth data.

3. The scraping system composed of high-precision servo electric cylinders ensures that the finished surface after trimming of tile glue is basically consistent with the depth information given.

4. The tiles that have been glued will be pushed to the designated waiting position through the transfer mechanism 540, so as to ensure that the glue is still continuing while the tiles are being tiled, and the parallelism of the two processes is guaranteed.

5. After the tiling is completed, the adjustment manipulator 40 completes the adjustment of the brick joints and the height difference without affecting the brick taking and tiling of the paving manipulator 30, ensuring that glue application, tiling and adjustment are all parallel processes. The working efficiency of the whole robot is greatly improved.

The sheet material paving equipment 1000 of the present application mainly solves the complicated phenomenon that in the current construction system, the robot needs to manually participate in the adjustment of the joints of the facing bricks. Synchronous tile surface adjustment is completed; at the same time, the online measurement method is used to replace the offline global measurement form, and the measurement accuracy is improved by reducing the coverage area of a single measurement to ensure the accuracy of the wall information (the global measurement accuracy is ±1mm, and the local depth vision The measurement accuracy is ±0.2mm); through the combination of a more accurate gluing arm + squeegee system, the degree of agreement between the gluing finished surface and the wall is effectively guaranteed; through the slewing mechanism 120 on the lifting mechanism 130, it is ensured The accessibility of the working space of the attaching manipulator 30 can cover the entire working surface.

It can be understood that this patent application proposes a new design scheme for a highly flexible wall tile laying robot, which is mainly realized by using the absolute measurement technology of structured light layout + the relative measurement technology of submillimeter position and posture + flexible dual-arm collaborative robot Wall tile paving. This application intends to use the robot to carry out autonomous walking, autonomous positioning, online measurement, real-time compensation, online guidance, and integrate tile tiling and leveling on the same robot. The problem of brick joint consistency cannot be guaranteed during the process, and the problem of relying on the flatness of supporting bricks can be effectively solved. At the same time, in the upgrade of the gluing system, we have designed a 4-degree-of-freedom gluing system to match the 2-degree-of-freedom squeegee system by taking advantage of the fact that gluing only requires three-plane position accuracy and one attitude accuracy. , while ensuring the thickness of the glue is accurate, it can realize accurate scraping, and ensure that the thickness of the tile back glue is exactly the same as the measured value, thereby improving the flatness of the tile laying and reducing the hollowing rate.

The following describes the laying method of the panel laying equipment of the embodiment of the present application.

As shown in Figure 8, a paving method of a sheet material paving equipment according to an embodiment of the present application includes the following steps:

Step S1: The depth camera 20 obtains the construction surface information of the construction surface, and controls the walking chassis 10 to move to the initial paving position of the construction surface.

It can be understood that the panel laying equipment 1000 can pre-set a completed surface, and the visual camera 20 can calculate the global depth between the completed surface and the construction surface according to the three-dimensional measurement of the global construction surface, so as to obtain the information of the construction surface, and then control the walking chassis 10 Move to the starting position of paving to achieve precise positioning.

Step S2: The first robotic arm 310 controls the grabbing device 320 to grab and lay the board to be paved 600, and the depth camera 20 acquires the first position information of the board to be paved 600 in real time during the paving process. 1. Position information for paving and affixing the panels 600 to be paved.

That is to say, the depth camera 20 can also detect the deviation between the position and the preset posture of the board to be paved 600 and the construction surface or positioning board during the paving process, so as to obtain the first position information, and the first mechanical arm 310 can obtain the first position information according to the first position information The laying and pasting of the board to be paved 600 can ensure the accuracy of the paving position of the board to be paved 600 .

Step S3: The depth camera 20 obtains the second position information of the board to be paved 600 after paving, and the second mechanical arm 410 controls the adjustment device 420 to adjust the position of the board to be paved 600 after paving according to the second position information.

That is to say, after the board to be paved 600 is paved, the finished surface is finally formed. After the board to be paved 600 is paved, the visual camera 20 can detect the height difference between the board to be paved 600 and the adjacent paved board. Whether it is consistent with the width of the brick joint to obtain the second position information to realize the quality inspection of the finished surface.

According to the paving method of the sheet material paving equipment in the embodiment of the present application, the construction surface information of the construction surface is obtained through the depth camera 20, and the walking chassis 10 is controlled to move to the initial paving position of the construction surface; The fetching device 320 grabs and lays the board to be paved 600, the depth camera 20 acquires the first position information of the board to be paved 600 in the process of laying and pasting in real time, and the first mechanical arm 310 lays and pastes the board to be paved according to the first position information 600; the depth camera 20 obtains the second position information of the board to be paved 600 after paving, and the second mechanical arm 410 controls the adjustment device 420 to adjust the position of the board to be paved 600 after paving according to the second position information, so as to realize the initial Accurate positioning of the paving position, accurate paving of the 600 panels to be paved, and ensuring the accuracy of the paving and the quality of the finished surface.

As shown in Figure 9, in some embodiments, the adjustment device 420 includes an inclination adjustment mechanism 4201 and a flatness adjustment mechanism 4202, and the second position information includes the height between the board to be paved 600 and the adjacent paved board after paving Difference information and inclination information, step S3 comprises the following steps:

Step S301: The flatness adjustment mechanism 4202 vibrates the paved board 600 to make the board surface of the paved board 600 flush with the adjacent paved board.

Step S302: The inclination adjustment mechanism 4201 adjusts the position of the paved board 600 after paving, so that the width of the gap between the paved board 600 and the adjacent paved board is uniform.

Other configurations and operations of the panel laying equipment 1000 according to the embodiment of the present application are known to those skilled in the art and will not be described in detail here.

In the description of this specification, descriptions with reference to the terms "embodiment", "example" and the like mean that specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application . In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present application. The scope of the application is defined by the claims and their equivalents.

During the paving process of building construction, especially tile paving, it is necessary to apply tile glue on the back of the tiles, and the robot will grab the tiles and then carry out the paving work. However, since the tiles are placed on the platform, the back of the tiles faces up for gluing, which makes it difficult for the robot to grab the glued tiles, resulting in reduced work efficiency.

In view of this situation, the panel coating device 2000 of the embodiment of the present application will be described below with reference to the accompanying drawings.

As shown in FIG. 10 , the plate coating device 2000 according to the embodiment of the present application includes: a coating mechanism 520 , a transfer mechanism 540 , and a feeding mechanism 5000 .

The paint mechanism 520 includes a paint support 5210 and a paint assembly 5300 , and the paint assembly 5300 can move relative to the paint support 5210 along a preset paint direction. The plate 600 can be a floor tile or a wall tile, and the paint assembly 5300 can be used for applying grout and brick glue. For example, the plate 600 is a ceramic tile, and the preset paint direction is along the left and right directions, then the paint component 5300 can move relative to the paint bracket 5210 along the left and right direction to apply tile glue to the tile.

The transfer mechanism 540 includes a transfer seat 5401 and a transfer drive assembly 54020. The transfer seat 5401 is located on one side of the paint support 5210 perpendicular to the preset paint direction, and has a guide portion inclined outward relative to the paint support 5210. The transfer seat 5401 is provided with There is an avoidance area for retrieving materials. For the painted board, the board 600 is mostly placed with the back facing up, and the slurry is applied to the back of the board 600. At this time, the painted board is inconvenient to grasp, and the painted board can be moved along the transfer base 5401 through the transfer drive assembly 54020. Transfer to an inclined position to facilitate gripping of painted panels from the front side of the coated panels, for example, in the case of robot laying panels, transfer the painted panels to an inclined position to facilitate the gripping of coated panels by the robot arm.

The feeding mechanism 5000 can send the board to be coated to a first preset height for the coating assembly 5300 to coat the board to be coated with slurry, and can send the coated board to a second preset height for the transfer drive assembly 54020 sends the painted plate to the transfer seat 5401 along the guide. The feeding mechanism 5000 sends the plate to be painted to the first preset height, which is convenient for the plate 600 sent from outside to be transported to the paint position, and sends the painted plate to the second preset height, which is convenient for the transfer mechanism 540 to transfer the painted plate .

According to the board coating device 2000 of the embodiment of the present application, by setting the coating mechanism 520 including the coating bracket 5210 and the coating assembly 5300 , coating the slurry on the board 600 can be realized. By setting the transfer mechanism 540 to include a transfer seat 5401 and a transfer drive assembly 54020, the transfer seat 5401 is located on one side of the paint support 5210 perpendicular to the preset paint direction, and is inclined outward relative to the paint support 5210. The transfer seat 5401 is provided with a The avoidance area for taking materials can transfer the painted boards to the inclined state, which is convenient for grabbing the painted boards. By setting the feeding mechanism 5000 to send the plate 600 to the first preset height and the second preset height, the plate 600 can be transported to the gluing position and the transfer position to meet the requirements of different processes. The whole device has a high degree of automation, and can realize the coating and transfer of the board 600 , which is beneficial to the laying of the board 600 .

In some embodiments, the transfer base 5401 can be a transfer stand.

In some embodiments, the direction perpendicular to the predetermined paint direction may be the front-to-back direction.

In some embodiments, as shown in Figure 10 and Figure 13, the paint support 5210 is in the shape of a door, and one end of the paint support 5210 along the preset paint direction is provided with a gap 52101, when the feeding mechanism 5000 sends the plate to be painted to the first preset When setting the height, a semi-closed glue-coating space is formed between the paint plate and the paint bracket 5210, and the paint bracket 5210 is located below the side of the gap 52101 and is provided with a slurry stirring device for receiving overflow. That is to say, forming a semi-closed glue-coating space between the plate to be painted and the paint bracket 5210 can prevent the slurry from spilling around during the coating process, and can ensure cleanliness during the coating process, while the paint bracket 5210 is located on the side of the gap 52101 There is a slurry stirring device below to receive the overflow, which can recover the excess overflow in the coating process and avoid waste.

In some embodiments, a slurry stirring device for receiving overflow is provided below the paint support 5210 .

In some embodiments, the slurry stirring device can be a stirring device in the related art, and the stirring device can drive blades through a driving motor for stirring.

In some embodiments, as shown in FIG. 10 , the feeding mechanism 5000 includes: a supporting column 5100 , a supporting frame 5101 , and a lifting mechanism 560 . The coating mechanism 520 is installed on the top of the support column 5100; the support frame 5101 is installed on the support column 5100 to slide up and down, and the support frame 5101 can carry the plate to be painted; the lifting mechanism 560 can drive the support frame 5101 to move up and down along the support column 5100 . It can be understood that after the plate 600 is transported, it is placed on the support frame 5101, and then the lifting mechanism 560 can drive the support frame 5101 to move upward along the support column 5100. When the first preset height is reached, the paint mechanism 520 applies slurry to the plate 600 When the material reaches the second preset height, the transfer mechanism 540 will transfer the smeared plate to an inclined position, and the structure of this feeding mechanism 5000 is simple.

It should be noted that a plurality of boards 600 can be placed on the support frame 5101 in advance. First, the uppermost board 600 is lifted to a first preset height. After the uppermost board 600 is coated with slurry by the coating mechanism 520, the lifting mechanism 560 The supporting frame 5101 is driven to make the board 600 reach a second preset height, and the transfer mechanism 540 transfers the coated board to an inclined position, and then the coated board is taken away. By analogy, the sequential coating and transfer of multiple boards 600 can be realized, improving work efficiency.

In one embodiment, the supporting frame 5101 can be a carrying board.

In one embodiment, as shown in FIG. 10 , the lifting mechanism 560 includes a lead screw 5601 , a lead screw nut 5602 , and a lifting motor 5603 . The lead screw nut 5602 is arranged on the support frame 5101, and one end of the lead screw 5601 is rotatably connected to the paint bracket 5210, the lead screw 5601 is arranged on the lead screw nut 5602 and penetrates the support frame 5101, and the lifting motor 5603 moves with the lead screw 5601 Rotate with driving screw 5601. When lifting, the lifting motor 5603 drives the lead screw 5601 to rotate, and the lead screw 5601 can push the lead screw nut 5602 to rise and fall, so as to make the support frame 5101 rise and fall. In this way, a stable and reliable lifting movement can be provided.

It should be noted that the above is just an example, and the structure of the lifting mechanism 560 is not limited thereto. Other mechanisms that can drive the support frame 5101 up and down can also be the lifting mechanism 560 of the present application. For example, the lifting mechanism 560 is a hydraulic rod. The telescopic movement of the rod can also drive the support frame 5101 to go up and down.

In one embodiment, as shown in FIG. 12 , a plurality of limiting members 51011 are provided on the supporting frame 5101 , and the plurality of limiting members 51011 are distributed on at least three sides of the supporting frame 5101 . The plurality of stoppers 51011 can stop against at least three sides of the plate 600 , thereby fixing the position of the plate 600 and avoiding displacement of the plate 600 .

For example, as shown in FIG. 12 , there is at least one limiting member 51011 on each side of the support frame 5101 . For example, when there is one limiting member 51011 on each side, it can not only play a limiting role but also reduce the cost; bit effect.

In one embodiment, as shown in FIG. 10 , the plate coating device 2000 further includes a guide assembly 400 , and the guide assembly 400 includes a guide rod 4100 and a guide sleeve 4200 . The guide sleeve 4200 is disposed on the support frame 5101 , the guide rod 4100 is passed through the support frame 5101 and sleeved on the guide sleeve 4200 , and one end of the guide rod 4100 is connected to the paint support 5210 . By arranging the guide rod 4100 and the guide sleeve 4200, the lifting stability of the support frame 5101 can be improved.

For example, as shown in FIG. 10 , multiple sets of guide assemblies 400 are provided, and multiple sets of guide assemblies 400 are arranged on the paint support 5210 at intervals. For example, the guide assembly 400 is provided with three groups, and the three sets of guide assemblies 400 are located at three corner positions of the paint support 5210, while the lifting mechanism 560 is located at another corner position of the paint support 5210, using the lift mechanism 560 and the three sets of guide assemblies The arrangement of 400 distributed at the four corners of the paint bracket 5210 is conducive to improving the stability of the entire structure.

In some embodiments, as shown in FIG. 12 and FIG. 13 , the transfer drive assembly 54020 includes: two sets of transmission wheels 502 , a flexible transmission assembly 54021 , a thrust member 54022 , and a drive motor 54023 . The two sets of drive wheels 502 are respectively arranged on both sides of the preset paint direction of the paint bracket 5210; each set of drive wheels 502 is provided with a flexible transmission assembly 54021; The push piece 54022 can stop against the side of the plate to be coated away from the transfer seat 5401; the driving motor 54023 can drive the transmission wheel 502 to rotate, so as to drive the push piece 54022 on the flexible transmission assembly 54021 to drive the painted plate 600 Move to the transfer seat 5401. For example, as shown in Fig. 12, Fig. 16 and Fig. 17, if the preset paint direction is the left and right directions, then a set of drive wheels 502 are respectively provided on the left and right sides of the paint support 5210, and each set of drive wheels 502 is two, each The two transmission wheels 502 of the group are provided with a flexible transmission assembly 54021, and the output shaft of the driving motor 54023 is connected to a transmission wheel 502, then the driving motor 54023 can drive the transmission wheel 502 to rotate, and then the flexible transmission assembly 54021 will rotate. , driving the resisting piece 54022 on the flexible transmission assembly 54021 to push the painted plate to move to the transfer seat 5401. The transfer drive assembly 54020 is set to include two sets of transmission wheels 502, flexible transmission assembly 54021, thrust member 54022, and drive motor 54023. The structure is simple and the overall occupied volume is small, which is beneficial to save space.

In one embodiment, the resisting member 54022 can be a column, a baffle or other fixed objects based on relative positions.

In one embodiment, the flexible transmission component 54021 can be any one of a conveyor belt, a transmission chain, and a transmission rope. Correspondingly, the transmission wheel 502 can be any one of a synchronous pulley, a sprocket, and a sheave.

In one embodiment, as shown in Figure 12, the transfer drive assembly 54020 also includes a connecting shaft 54024, one end of the connecting shaft 54024 is connected to a group of transmission wheels 502 and the other end of the connection shaft 54024 is connected to another group of transmission wheels 502, and the driving motor 54023 motion linkage connecting shaft 54024. That is to say, the driving motor 54023 transmits power to the two sets of transmission wheels 502 through the connecting shaft 54024, which can reduce the number of driving motors 54023 and reduce the cost. At the same time, the driving motor 54023 can drive two flexible transmission assemblies 54021 through the connecting shaft 54024. The synchronous movement avoids the deflection of the plate 600 caused by asynchronous driving on opposite sides of the plate 600 .

In one embodiment, the driving motor 54023 can be connected to the shaft 54024 through a gear set. For example, the gear set includes at least a driving gear and a driven gear. The driving gear is set on the output shaft of the driving motor 54023, and the driven gear is set on the connection On the shaft 54024, the connecting shaft 54024 can be driven to rotate. The above is just an example, and the number of gears in the gear set is not limited thereto, and may be three, four, etc., and the output rotational speed transmitted from the driving motor 54023 to the connecting shaft 54024 can be adjusted through the gear set.

In some embodiments, as shown in FIG. 10 to FIG. 12 and FIG. 15 , the transfer mechanism 540 further includes: a sliding shaft 5403, the guide part is configured as a guide groove 54011 on the transfer seat 5401, and the distance between the guide groove 54011 and the transfer seat 5401 is The distance between the sides of the paint bracket 5210 gradually decreases from bottom to top, and the sliding shaft 5403 is slidably arranged in the guide groove 54011. The sliding shaft 5403 has a support member 54031 extending along the preset paint direction, and the transfer drive assembly 54020 In the process of driving the painted plate to move from the second preset height to the transfer seat 5401, the sliding shaft 5403 can rotate so that the support member 54031 always stops against the top side of the painted plate, that is to say, continue to refer to FIG. 15 From 16 to 16, during the process of moving the painted plate from the second preset height to the transfer seat 5401, the bottom side of the plate 600 always stops against the push piece 54022, and the top side stops against the support piece 54031, and the transfer drive When the component 54020 drives the plate 600 to move, the sliding shaft 5403 slides along the groove surface of the guide groove 54011. Since the distance between the guide groove 54011 and the side of the transfer seat 5401 away from the paint support 5210 gradually decreases from bottom to top, it can The board 600 is turned over into an inclined state. The sliding shaft 5403 and the pushing member 54022 can provide good support for the board 600 and ensure the safety of the board 600 .

In some embodiments, the support 54031 can stop the groove.

As shown in Figures 15 and 16, the paint support 5210 has a support portion 52102 away from the bottom of the guide groove 54011 in the vertical preset paint direction. height, the support portion 52102 stops against the bottom side of the painted board. It can be understood that, before the painted board is transferred to the third preset height, the push piece 54022 always stops against the bottom side of the painted board, and when the painted board reaches the third preset height, the painted board The bottom side of the plate will disengage from the push piece 54022, and at this time, the bottom side of the painted plate will stop against the support part 52102. When the transfer drive assembly 54020 pushes the board to reach the preset tilt position, it reaches the third preset height. The bottom side of the board 600 starts to abut against the support part 52102, and the board 600 is supported by the support part 52102, so that the transfer drive assembly 54020 can be reset to prepare for the transfer of the next plate 600.

In some embodiments, the supporting part 52102 can be a baffle, a column, a protrusion or a plate, etc. Referring to Fig. 16 and Fig. 17, the support part 52102 can be a baffle plate arranged at an angle.

In some embodiments, as shown in Figures 10 to 12 and Figures 16 to 17, the transfer mechanism 540 further includes: an elastic member 54040, one end of the elastic member 54040 is connected to the sliding shaft 5403 and the other end of the elastic member 54040 is connected to the transfer seat 5401 When the painted plate is taken away at the third preset height of the transfer seat 5401, the elastic member 54040 can drive the sliding shaft 5403 to return to the bottom of the guide groove 54011. When the plate 600 reaches the preset inclined position, if the plate 600 is taken away, the elastic member 54040 can make the sliding shaft 5403 return quickly.

In some embodiments, the elastic member 54040 is a spring, which has a simple structure and low cost.

In some embodiments, as shown in FIG. 10 and FIG. 12 , there are two groups of transfer seats 5401 , and the two groups of transfer seats 5401 are arranged at intervals along the preset coating direction, and a space is formed between the two groups of transfer seats 5401 . With the preset coating direction as the left and right directions, and the grabbing direction of the manipulator as the front and rear directions, when the manipulator grabs the painted plate, the avoidance area is convenient for the manipulator to pass through and grab the plate.

In some embodiments, as shown in Figures 10-12, there are two sliding shafts 5403, and the two sliding shafts 5403 are correspondingly arranged in the guide grooves 54011 of the two sets of transfer seats 5401, and a manipulator avoidance is formed between the two sliding shafts 5403 Area. That is to say, take the grabbing direction of the manipulator as the front and rear directions as an example. When the manipulator grabs the painted plate, the manipulator pushes the painted plate to move backward, so that the two sides of the painted plate and the two sliding shafts 5403 The supporting part 54031 is disengaged, and under the action of the elastic part 54040, the two sliding shafts 5403 are pulled down and reset quickly. Coating sheet.

In some embodiments, as shown in FIG. 14 , the paint assembly 5300 includes: a paint unit 531 and a scraper mechanism 530 .

The coating unit 531 is located at one end of the coating support 5210 in the preset coating direction. The coating unit 531 can move along the preset coating direction and apply slurry to the plate to be coated. The coating unit 531 can spray the slurry along the preset coating direction through the spray nozzle. Set the coating direction to spread the slurry evenly on the board 600 . The scraper mechanism 530 is movably arranged on the paint bracket 5210 along the preset paint direction to scrape off excess slurry on the sheet to be painted, in this way the thickness of the slurry on the sheet 600 can be ensured to be suitable, and the thickness of the sheet 600 can be ensured. paving quality.

In some embodiments, as shown in FIG. 11 and FIG. 12 , the scraping mechanism 530 includes: a mounting seat 5303 , a plurality of scraping members 5301 , and a plurality of thickness adjustment members 5302 . The mounting base 5303 is movably arranged on the paint bracket 5210; a plurality of scraping parts 5301 are arranged side by side along a direction perpendicular to the preset coating; a plurality of thickness adjustment parts 5302 are arranged on the mounting base 5303, and a plurality of thickness adjustment parts 5302 and multiple Each scraping member 5301 is connected one by one to drive a plurality of scraping members 5301 to rise and fall to the same or different heights. That is to say, a plurality of thickness adjustment members 5302 cooperate with a plurality of scraper members 5301 to adjust the thickness of the slurry on the board 600 as required.

For example, when the surface of the target construction surface is uneven, in order to obtain a finished surface with consistent flatness, it is necessary to adjust the thickness of the slurry on the board 600 according to the laying position of the target construction surface. At this time, multiple thickness adjustment members 5302 drive multiple Each scraping member 5301 can be raised and lowered to different heights to scrape the slurry on the board 600 into different thicknesses, so as to realize the refinement of the thickness of the slurry and adapt to the current uneven target construction surface. And when the surface of the target construction surface is flat, multiple thickness adjusting parts 5302 drive multiple scraping parts 5301 to rise and fall to the same height, so as to ensure that the slurry on the plate 600 is scraped into a consistent thickness, which is suitable for the current smooth goal construction surface.

It can be seen that the scraping mechanism 530 is configured to include a mounting base 5303, a plurality of scraping parts 5301, and a plurality of thickness adjustment parts 5302, which can meet different usage requirements according to construction conditions and improve the adaptability of the scraping mechanism 530.

In some embodiments, the scraper 5301 can be a scraper.

In some embodiments, the thickness adjusting member 5302 is a servo electric cylinder, and the servo electric cylinder can drive the scraping member 5301 to move so as to control the thickness of the slurry on the plate 600 with high precision.

In some embodiments, as shown in FIG. 10 and FIG. 12 , a guide rail 5103 is provided on the paint support 5210 , and the installation seat 5303 is movably arranged on the guide rail 5103 , and the guide rail 5103 can provide guidance for the movement of the installation seat 5303 .

For example, as shown in Figure 10 and Figure 13, two sets of guide rails 5103 are provided, and the two sets of guide rails 5103 are respectively slidingly fitted with the two ends of the mounting base 5303. stability. Wherein, at least one group of guide rails 5103 extends out of the paint bracket 5210, and the scraper mechanism 530 has an avoidance position. When the scraper mechanism 530 is in the avoidance position, the scraper mechanism 530 is located on the extension end of the guide rail 5103 and outside the paint bracket 5210, so as to It plays an avoidance role, ensuring that the plate 600 can be turned over from above the paint support 5210 along the transfer seat 5401 to an inclined state.

In some embodiments, the paint support 5210 is provided with a scraper driving mechanism (not shown in the figure), and the scraper driving mechanism is connected to the mounting base 5303 to drive the scraper mechanism 530 to move. For example, the scraping driving mechanism can be any driving structure such as a linear module, a telescopic cylinder, an electric push rod, etc., so as to provide a stable driving effect. The structure of other driving mounts 5303 can be the scraping driving mechanism of the present application, which will not be repeated here.

In the embodiment of the present application, as shown in FIG. 14 , the paint unit 531 is set on the paint support 5210 through a multi-degree-of-freedom robot arm 60, and the multi-degree-of-freedom robot arm 60 is used to drive the paint unit 531 to perform paint operations. For example, the multi-degree-of-freedom robot arm 60 can be a four-degree-of-freedom robot arm, which can drive the coating unit 531 to move laterally, vertically, rotate around a vertical axis, and lift. The multi-degree-of-freedom manipulator 60 can also be a manipulator with more than four degrees of freedom, which will not be repeated here.

For example, the multi-degree-of-freedom robotic arm 60 is a scara robotic arm, and high-precision coating of fillers can be achieved through the high pose accuracy of the scara robotic arm.

A specific embodiment of the panel coating device 2000 of the present application will be described below with reference to the accompanying drawings.

As shown in FIGS. 10 to 17 , a plate coating device 2000 includes: a coating mechanism 520 , a transfer mechanism 540 , a feeding mechanism 5000 , and a guide assembly 400 .

The paint mechanism 520 includes a paint bracket 5210 and a paint assembly 5300 .

The coating bracket 5210 is in the shape of a door, and one end of the coating bracket 5210 along the preset coating direction is provided with a gap 52101. When the feeding mechanism 5000 sends the panel to be coated to the first preset height, a gap is formed between the panel to be coated and the coating bracket 5210. In the semi-enclosed gluing space, the paint support 5210 is located below the side of the notch 52101 and is provided with a slurry stirring device for receiving overflow. The paint assembly 5300 can move relative to the paint support 5210 along a preset paint direction. The plate 600 is a tile, and the grout is tile glue.

The paint assembly 5300 includes: a paint unit 531 and a scraper mechanism 530 .

The scraping mechanism 530 includes: a mounting base 5303 , a plurality of scraping components 5301 , and a plurality of thickness adjustment components 5302 . The mounting base 5303 is movably arranged on the paint bracket 5210; a plurality of scraping parts 5301 are arranged side by side along a direction perpendicular to the preset coating; a plurality of thickness adjustment parts 5302 are arranged on the mounting base 5303, and a plurality of thickness adjustment parts 5302 and multiple Each scraping member 5301 is connected one by one to drive a plurality of scraping members 5301 to rise and fall to the same or different heights.

The thickness adjusting part 5302 is a servo electric cylinder, and the servo electric cylinder can drive the scraping part 5301 to move so as to control the thickness of the slurry on the board 600 with high precision.

A guide rail 5103 is provided on the paint support 5210, and the installation seat 5303 is movably arranged on the guide rail 5103, and the guide rail 5103 can provide guidance for the movement of the installation seat 5303.

Two sets of guide rails 5103 are provided, and the two sets of guide rails 5103 are slidingly matched with the two ends of the mounting base 5303 respectively.

The transfer mechanism 540 includes a transfer base 5401 , a transfer drive assembly 54020 , a slide shaft 5403 , and an elastic member 54040 .

The transfer base 5401 is located on the side of the paint support 5210 perpendicular to the preset paint direction, and has a guide portion inclined outward relative to the paint support 5210. The transfer base 5401 is provided with a space for feeding and unloading.

The transfer driving assembly 54020 includes: two sets of transmission wheels 502 , a flexible transmission assembly 54021 , a thrust member 54022 , and a driving motor 54023 .

The two sets of drive wheels 502 are respectively arranged on both sides of the preset paint direction of the paint bracket 5210; each set of drive wheels 502 is provided with a flexible transmission assembly 54021; The push piece 54022 can stop against the side of the plate to be coated away from the transfer seat 5401; the driving motor 54023 can drive the transmission wheel 502 to rotate, so as to drive the push piece 54022 on the flexible transmission assembly 54021 to drive the painted plate 600 Move to the transfer seat 5401.

The flexible transmission assembly 54021 can be a conveyor belt.

The transfer drive assembly 54020 also includes a connecting shaft 54024, one end of the connecting shaft 54024 is connected to one set of transmission wheels 502 and the other end of the connecting shaft 54024 is connected to another set of transmission wheels 502, and the driving motor 54023 moves in conjunction with the connecting shaft 54024.

The driving motor 54023 can be connected to the shaft 54024 through a gear train motion linkage.

The guide portion is formed into a guide groove 54011 in the transfer seat 5401, and the distance between the guide groove 54011 and the side of the transfer seat 5401 away from the paint support 5210 gradually decreases from bottom to top, and the sliding shaft 5403 is arranged in the guide groove 54011. 5403 has a support member 54031. During the process of driving the painted plate by the transfer drive assembly 54020 to move to the transfer seat 5401 from the second preset height, the sliding shaft 5403 can rotate so that the support member 54031 always stops against the top side of the painted plate side. The paint bracket 5210 has a support portion 52102 that is away from the bottom of the guide groove 54011 in the vertical preset paint direction. When the transfer drive assembly 54020 drives the painted plate to move to the third preset height on the transfer seat 5401, the support portion 52102 stops. Paint the bottom side of the sheet.

The elastic member 54040 is a spring. One end of the elastic member 54040 is connected to the sliding shaft 5403 and the other end of the elastic member 54040 is connected to the transfer seat 5401. When the painted plate is taken away at the third preset height of the transfer seat 5401, the elastic member 54040 can drive the sliding The shaft 5403 returns to the bottom of the guide groove 54011.

There are two groups of transfer seats 5401, and the two groups of transfer seats 5401 are arranged at intervals along the preset paint direction. An air-avoiding area is formed between the two groups of transfer seats 5401. There are two sliding shafts 5403, and the two sliding shafts 5403 are correspondingly arranged on two sides. In the guide groove 54011 of the group transfer base 5401 , a manipulator avoidance area is formed between the two sliding shafts 5403 .

The feeding mechanism 5000 can send the board to be coated to a first preset height for the coating assembly 5300 to coat the board to be coated with slurry, and can send the coated board to a second preset height for the transfer drive assembly 54020 sends the painted plate to the transfer seat 5401.

The feeding mechanism 5000 includes: a supporting column 5100 , a supporting frame 5101 , and a lifting mechanism 560 . The coating mechanism 520 is installed on the top of the support column 5100; the support frame 5101 is installed on the support column 5100 to slide up and down, and the support frame 5101 can carry the plate to be painted; the lifting mechanism 560 can drive the support frame 5101 to move up and down along the support column 5100 .

The lifting mechanism 560 includes a lead screw 5601 , a lead screw nut 5602 , and a lifting motor 5603 . The lead screw nut 5602 is arranged on the support frame 5101, and one end of the lead screw 5601 is rotatably connected to the paint bracket 5210, the lead screw 5601 is arranged on the lead screw nut 5602 and penetrates the support frame 5101, and the lifting motor 5603 moves with the lead screw 5601 Rotate with driving screw 5601.

The lifting motor 5603 and the leading screw 5601 are provided with a belt transmission mechanism, one end of the belt transmission mechanism is connected to the lifting motor 5603 and the other end of the belt transmission mechanism is connected to the leading screw 5601.

The supporting frame 5101 is provided with a plurality of limiting parts 51011, and the plurality of limiting parts 51011 are distributed on three sides of the supporting frame 5101, and there is one limiting part 51011 on each side of the supporting frame 5101.

The guide assembly 400 includes a guide rod 4100 and a guide sleeve 4200 . The guide sleeve 4200 is disposed on the support frame 5101 , the guide rod 4100 is passed through the support frame 5101 and sleeved on the guide sleeve 4200 , and one end of the guide rod 4100 is connected to the paint support 5210 . By arranging the guide rod 4100 and the guide sleeve 4200, the lifting stability of the support frame 5101 can be improved.

There are three sets of guide assemblies 400 , and the three sets of guide assemblies 400 are set at three corners of the paint bracket 5210 , while the lifting mechanism 560 is set at another corner of the paint bracket 5210 .

The panel laying device 3000 of the embodiment of the present application will be described below with reference to the accompanying drawings.

As shown in Figure 18, the panel laying device 3000 according to the embodiment of the present application includes: the panel coating device 2000 as mentioned above; the panel laying equipment 1000, and the panel laying equipment 1000 can take out the painted material from the avoidance area The board and lay the painted board on the preset position of the work surface. The board laying equipment 1000 may include a first manipulator 310 and a grabbing device 320, the first manipulator 310 controls the grabbing device 320 to grab the painted board and lay the painted board on a preset position on the working surface.

As shown in Figures 18 to 21, it can be understood that the first manipulator 310 controls the grasping device 320 to grab the painted plate 600 in an inclined state, and then lifts the plate 600 upwards and transfers it to the working surface. 600 sheets are paved.

According to the panel laying device 3000 of the embodiment of the present application, by setting the panel coating device 2000, it is possible to apply slurry to the panel and transfer the coated panel to an inclined state, so that the panel laying equipment 1000 can grab the coated panel. It can improve the efficiency of laying and pasting the board 600, and is beneficial to realize automatic operation.

In some embodiments, as shown in FIG. 18 and FIG. 20 , the grabbing device 320 may be a claw mechanism or a suction cup mechanism to grab the painted board.

Other configurations and operations of the tile supply device 2000 according to the embodiment of the present application are known to those skilled in the art, and will not be described in detail here.

Claims

A sheet material laying equipment (1000), comprising:

Depth camera (20), the depth camera (20) is used to obtain construction surface information, the first position information of the board to be paved (600) in the paving process, and the second position information of the board to be paved (600) after paving. location information;

A walking chassis (10), which is used to move to the initial paving position according to the construction surface information;

A paving manipulator (30), the paving manipulator (30) comprising a first mechanical arm (310) and a grabbing device (320), the first mechanical arm (310) being arranged on the walking chassis (10), The grabbing device (320) is arranged at the end of the first mechanical arm (310), the grabbing device (320) is used to grab and place the board to be paved (600), and the first robotic arm (310) Controlling the grasping device (320) according to the first position information to pave the grasped board to be paved (600) on a construction surface;

Adjust the manipulator (40), the adjustment manipulator (40) includes a second manipulator (410) and an adjustment device (420), the second manipulator (410) is arranged on the walking chassis (10), the adjustment The device (420) is arranged at the end of the second mechanical arm (410), and the second mechanical arm (410) is used to control the adjustment device (420) to adjust the paving according to the second position information. Describe the position of the board (600) to be laid.
The sheet material laying equipment (1000) according to claim 1, wherein the walking chassis (10) comprises a chassis main body (110) and a turning mechanism (120), and the turning mechanism (120) comprises:

a turntable, the turntable is rotatably arranged on the chassis main body (110), the paving manipulator (30) and the adjustment manipulator (40) are installed on the turntable respectively;

A rotary driving member, the rotary driving member is used to drive the rotary table to rotate relative to the chassis main body (110).
The panel laying equipment (1000) according to claim 2, wherein, the rotating shaft of the turntable is arranged vertically, and the laying manipulator (30) and the adjusting manipulator (40) are installed on the turntable The opposite sides or the same side, the depth camera (20) is installed on the top of the turntable.
The panel laying equipment (1000) according to claim 2, wherein the walking chassis (10) further comprises:

A lifting mechanism (130), the lifting mechanism (130) is installed on the chassis main body (110), and the turntable is mounted on the lifting mechanism (130) in a liftable manner.
The panel laying equipment (1000) according to claim 2, wherein the walking chassis (10) further comprises:

The road wheels (140) and ground support mechanism (150) installed on the chassis main body (110), the ground support mechanism (150) has a downwardly telescopic ground support rod (1501), and the ground support rod ( 1501) can be switched between the support state and the suspended state, and when the bottom end of the ground support rod (1501) is in the support state, the bottom end of the ground support rod (1501) is lower than the walking wheel ( 140), when the bottom end of the ground strut (1501) is suspended, the bottom end of the ground strut (1501) is higher than the bottom end of the walking wheel (140).
The panel laying equipment (1000) according to any one of claims 1-5, wherein the adjustment device (420) comprises:

An inclination adjustment mechanism (4201), the inclination adjustment mechanism (4201) is installed on the second mechanical arm (410), and the inclination adjustment mechanism (4201) is used to push the paved board (600) after paving ) displacement to adjust the gap width between the board to be paved (600) and the adjacent board that has been paved after paving.
The panel laying equipment (1000) according to claim 6, wherein the inclination adjustment mechanism (4201) comprises:

Seat body part (421);

The adjustment piece (422) is movably arranged on the base piece (421) along the direction perpendicular to the board to be paved (600), and the opposite sides of the adjustment piece (422) are push surfaces (42011 ) and the base surface (42022), and the distance between the push surface (42011) and the base surface (42022) decreases gradually in the extending direction toward the adjustment member (422), the adjustment member ( 422) can be inserted into the gap between the paved board (600) and the adjacent paved board, and the push surface (42011) stops against the paved board (600) on the side of

A driving member (423), the driving member (423) is arranged on the base member (421), the driving member (423) can push the adjustment member (422) to move and make the adjustment member (422) ) disengages from the seat member (421).
The panel laying equipment (1000) according to claim 7, wherein the push surface (42011) includes a plurality of stepped surfaces (401), and any adjacent two of the stepped surfaces (401) have Connect the ramp (402).
The panel laying equipment (1000) according to claim 6, wherein the adjustment device (420) further comprises:

A flatness adjustment mechanism (4202), used for vibrating the surface of the board to be paved (600) after paving;

Rotating rod (4203), the rotating rod (4203) is rotatably installed on the end of the second mechanical arm (410), the tilt angle adjustment mechanism (4201) and the flatness adjustment mechanism (4202) are installed at both radial ends of the rotating rod (4203).
The sheet material laying equipment (1000) according to any one of claims 1-5, further comprising: a coating device (50), the coating device (50) being arranged on the walking chassis (10), so The coating device (50) is used to smear slurry to the board to be paved (600), and the grasping device (320) is used to grab the board to be paved (600) that has been coated with slurry and apply the slurry to the board to be paved (600). The board to be paved (600) of the slurry is laid on the construction surface.
A paving method for sheet material paving equipment, comprising the following steps:

The depth camera obtains the construction surface information of the construction surface, and controls the movement of the walking chassis to the initial paving position of the construction surface;

The first mechanical arm controls the grabbing device to grab and lay the board to be paved, and the depth camera acquires the first position information of the board to be paved in real time during the paving process, and the first mechanical arm according to the first position information Laying and affixing the board to be paved;

The depth camera obtains the second position information of the board to be paved after paving, and the second mechanical arm controls the adjustment device to adjust the position of the board to be paved after paving according to the second position information.
The laying method of sheet material laying equipment according to claim 11, wherein the adjustment device includes an inclination adjustment mechanism and a flatness adjustment mechanism, and the second position information includes the laying of the sheet to be laid and Height difference information and inclination angle information between adjacent laid panels,

The second mechanical arm controls the adjustment device according to the second position information to adjust the position of the board to be paved after paving, including the following steps:

The flatness adjustment mechanism vibrates the paved board material after paving, so that the board surface of the paved board material and the adjacent paved board material are flush;

The inclination adjustment mechanism adjusts the position of the board to be paved after paving, so that the gap width between the board to be paved and the adjacent paved board after paving remains uniform.
A panel coating device, comprising:

A paint mechanism (520), the paint mechanism (520) comprising a paint bracket (5210) and a paint component (5300), the paint component (5300) being able to move relative to the paint bracket (5210) along a preset paint direction;

A transfer mechanism (540), the transfer mechanism (540) includes a transfer seat (5401) and a transfer drive assembly (54020), the transfer seat (5401) is positioned on the paint along a direction perpendicular to the preset paint direction One side of the bracket (5210), and has a guide portion inclined outwards relative to the paint bracket (5210), and the transfer seat (5401) is provided with an empty space for feeding and taking materials;

A feeding mechanism (5000), the feeding mechanism (5000) can send the plate to be coated to a first preset height for the coating assembly (5300) to coat the plate to be coated with slurry, and can deliver the The painted sheet is sent to a second preset height for the transfer drive assembly (54020) to send the painted sheet to the transfer seat (5401) along the guide.
The panel coating device according to claim 13, wherein, the coating bracket (5210) is door-shaped, and one end of the coating bracket (5210) along the preset coating direction is provided with a gap (52101), when the When the feeding mechanism (5000) sends the plate to be painted to the first preset height, a semi-closed glue-coating space is formed between the plate to be painted and the paint support (5210), and the paint support (5210) A slurry stirring device for receiving overflow is provided under one side of the notch (52101).
The plate coating device according to claim 13, wherein the feeding mechanism (5000) comprises:

A support column (5100), the coating mechanism (520) is installed on the top of the support column (5100);

The support frame (5101) can be slid up and down and installed on the support column (5100), and the support frame (5101) can carry the plate to be painted;

The lifting mechanism (560) can drive the support frame (5101) to move up and down along the support column (5100).
The panel coating apparatus of claim 13, wherein said transfer drive assembly (54020) comprises:

Two sets of transmission wheels (502), the two sets of transmission wheels (502) are respectively arranged on both sides of the preset paint direction of the paint bracket (5210);

A flexible transmission assembly (54021), each set of transmission wheels (502) is sleeved with the flexible transmission assembly (54021);

The push piece (54022), the push piece (54022) is installed on the flexible transmission assembly (54021), and the push piece (54022) can stop the plate to be painted away from the transfer seat (5401) on the side of one side;

A driving motor (54023), the driving motor (54023) can drive the transmission wheel (502) to rotate, so as to drive the pusher (54022) on the flexible transmission assembly (54021) to drive the painted plate Move toward the transfer seat (5401).
The plate coating device according to claim 13, wherein the transfer mechanism (540) further comprises:

The sliding shaft (5403), the guide part is configured as a guide groove (54011) on the transfer seat (5401), and the sliding shaft (5403) is slidably arranged in the guide groove (54011), so The sliding shaft (5403) has a support member (54031) extending along the preset paint direction, and the transfer driving assembly (54020) drives the painted plate from the second preset height to the transfer seat (5401 ) during the movement, the sliding shaft (5403) can rotate so that the support (54031) always stops against the top side of the painted board;

The paint bracket (5210) has a support portion (52102) away from the bottom of the guide groove (54011) in the direction perpendicular to the preset paint direction, when the transfer drive assembly (54020) drives the painted plate When the seat (5401) moves up to a third preset height, the support part (52102) stops against the bottom side of the painted board.
The plate coating device according to claim 17, wherein the transfer mechanism (540) further comprises:

An elastic piece (54040), one end of the elastic piece (54040) is connected to the sliding shaft (5403) and the other end of the elastic piece (54040) is connected to the transfer seat (5401), and the painted plate is placed on the When the third preset height of the transfer seat (5401) is removed, the elastic member (54040) can drive the sliding shaft (5403) to return to the bottom of the guide groove (54011).
The plate coating device according to claim 17, wherein the transfer seats (5401) are divided into two groups, the transfer seats (5401) of the two groups are arranged at intervals along the preset coating direction, and the transfer seats (5401) of the two groups are arranged at intervals along the preset coating direction. The empty space is formed between the seats (5401).
The plate coating device according to claim 19, wherein there are two sliding shafts (5403), and the two sliding shafts (5403) correspond to the guide grooves (54011) provided on two sets of transfer seats (5401) ), a manipulator avoidance area is formed between the two sliding shafts (5403).
The panel coating device according to claim 13, wherein the coating assembly (5300) comprises:

A paint unit (531), the paint unit (531) is arranged at one end of the paint bracket (5210) in the preset paint direction, and the paint unit (531) can move along the preset paint direction And apply slurry to the plate to be coated;

A scraper mechanism (530), the scraper mechanism (530) is movably arranged on the paint support (5210) along the preset paint direction, to scrape excess slurry on the plate to be painted .
The plate coating device according to claim 21, wherein the scraping mechanism (530) comprises:

An installation seat (5303), the installation seat (5303) is movably arranged on the paint support (5210);

A plurality of scraping members (5301), the plurality of scraping members (5301) are arranged side by side along the direction perpendicular to the preset paint;

A plurality of thickness adjustment parts (5302), a plurality of thickness adjustment parts (5302) are arranged on the installation base (5303), a plurality of thickness adjustment parts (5302) and a plurality of scraper parts (5301 ) are connected in one-to-one correspondence, so as to drive a plurality of scraper members (5301) to lift to the same or different heights.
A sheet material laying device (3000), comprising:

The plate coating device (2000) described in any one of claims 13 to 22;

Sheet material laying equipment (1000), said sheet material laying equipment (1000) can take out the painted board material from the said avoidance area and lay the painted board material on the preset position on the working surface.