WO2023010906A1 - 墙砖铺贴设备及墙砖铺贴方法 - Google Patents

墙砖铺贴设备及墙砖铺贴方法 Download PDF

Info

Publication number
WO2023010906A1
WO2023010906A1 PCT/CN2022/089458 CN2022089458W WO2023010906A1 WO 2023010906 A1 WO2023010906 A1 WO 2023010906A1 CN 2022089458 W CN2022089458 W CN 2022089458W WO 2023010906 A1 WO2023010906 A1 WO 2023010906A1
Authority
WO
WIPO (PCT)
Prior art keywords
wall
laid
tiles
information
wall tiles
Prior art date
Application number
PCT/CN2022/089458
Other languages
English (en)
French (fr)
Inventor
高志伟
贺长林
易州
黄贵南
Original Assignee
广东博智林机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2023010906A1 publication Critical patent/WO2023010906A1/zh

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/20—Implements for finishing work on buildings for laying flooring
    • E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs

Definitions

  • the present application relates to the technical field of building construction equipment, for example, to a wall tile laying equipment and a wall tile laying method.
  • the present application provides a wall tile laying equipment and a wall tile laying method, which can realize the automatic laying of the first row of wall tiles, improve the automation degree of the wall tile laying, and reduce labor costs.
  • An embodiment of the present application provides a wall tile laying equipment, including: a chassis; a first camera assembly, the first camera assembly is installed on the chassis; a mechanical arm, the mechanical arm is installed on the chassis A paving device, the paving device is installed at the end of the mechanical arm, configured to grab the wall tiles to be paved; a second camera assembly, the second camera assembly is installed on the paving device; and control device, the control device is configured to obtain the point cloud data information of the brick surface to be paved and the point cloud data information of the reference wall brick surface that has been paved, and the to-be-paved surface acquired by the second camera component.
  • the gap information in the row direction between the wall tiles and the reference wall tiles, and the corner position information of the reference wall tiles determine the position information and posture information of the wall tiles to be pasted by the paving device.
  • Fig. 1 is a structural schematic diagram of a perspective of a wall tile laying equipment provided by an embodiment of the present application
  • Fig. 2 is a structural schematic view of another perspective of the wall tile laying equipment provided by an embodiment of the present application;
  • Fig. 3 is a schematic diagram of the orientation of the wall tiles provided by an embodiment of the present application.
  • Fig. 4 is a schematic diagram of the working principle of the first camera assembly provided by an embodiment of the present application.
  • Fig. 5 is a structural schematic diagram of a viewing angle of a paving device and a second camera assembly of the wall tile paving equipment provided by an embodiment of the present application;
  • Fig. 6 is a structural schematic diagram of another viewing angle of the paving device and the second camera assembly of the wall tile paving equipment provided by an embodiment of the present application;
  • Fig. 7 is a schematic diagram of the inclination angle of the wall tiles to be laid in the column direction provided by an embodiment of the present application.
  • Fig. 8 is a schematic diagram of the inclination angle of the wall tiles to be laid relative to the row direction provided by an embodiment of the present application;
  • Fig. 9 is a schematic diagram of the first row of wall tiles laid by the wall tile laying equipment provided by an embodiment of the present application.
  • Fig. 10 is a schematic diagram of wall tiles to be laid in the direction of the laying column of the wall tile laying equipment provided by an embodiment of the present application;
  • Fig. 11 is a schematic diagram of the adjustment of the first wall tile at the corner of the two walls provided by the wall tile laying equipment provided by an embodiment of the present application;
  • Fig. 12 is a schematic diagram of laying the first wall tile at the inner corner of two walls by the wall tile laying equipment provided by an embodiment of the present application.
  • Icons 100-wall tile laying equipment; 10-chassis; 11-brake mechanism; 20-first camera assembly; 30-mechanical arm; 40-paving device; 41-substrate; 411-installation part; ;42-suction cup assembly; 50-second camera assembly; 51-second camera; 52-laser sensor; 53-driver; 60-tilt sensor; 80-wall tile; - Advance direction.
  • the first row of wall tiles is the first row of wall tiles on the wall surface to be laid, and after the first row of wall tiles is laid and pasted, the wall tiles in the column direction are then laid and pasted.
  • the wall tiles to be laid are rectangular, the horizontal laying of the wall tiles is taken as an example, that is, the length direction of the wall tiles is the row direction, and the width direction of the wall tiles is the column direction.
  • the wall tile laying equipment 100 includes: a chassis 10, a first camera assembly 20, a mechanical arm 30, a laying device 40, a second camera assembly 50 and a control device (not shown in the figure).
  • the orientation coordinates are indicated as: the direction represented by the letter X is the row direction, the direction represented by the letter Y is the column direction, that is, the vertical direction; the direction represented by the letter Z is The advancing direction may be a direction perpendicular to the laid wall tiles 80, for example, may be a direction perpendicular to the reference wall tiles.
  • FIG. 3 it shows a schematic diagram of the orientation of the wall tiles 80 when they are laid.
  • the chassis 10 serves as a bearing, and is configured to support and install other components.
  • the chassis 10 can be a mobile chassis, which facilitates the movement of the entire device.
  • the first camera assembly 20 is installed on the chassis 10 (for example, can be installed on the side of the chassis 10 ), has a larger field of view, so as to obtain image information, and the first camera 20 can also be installed on the mechanical arm 30 .
  • the first camera component 20 can acquire the point cloud data information of the wall brick surface to be laid and the point cloud data information of the reference wall brick surface P (refer to FIG. 4 ) that has been laid. As shown in FIG. 1 and FIG.
  • the mechanical arm 30 is installed on the chassis 10 , the mechanical arm 30 has multiple degrees of freedom, and is configured to realize actions with multiple degrees of freedom.
  • the paving device 40 is installed at the end of the mechanical arm 30, and the paving device 40 is set to grab the wall tile 80 to be paved to perform the paving action; the wall tile 80 to be paved
  • the wall tiles that have been plastered can be directly paved on the wall surface that has not been paved with wall tiles after being grabbed by the paving device 40 .
  • the wall tiles 80 to be laid mentioned in the embodiment of the present application are the wall tiles to be laid and grasped by the laying device 40 , unless otherwise specified. As shown in Fig. 1 and Fig.
  • the second camera assembly 50 is installed in the paving device 40, and can obtain the image information of the wall tiles 80 to be paved by the paving device 40, and the second camera assembly 50 is set to obtain The gap information between the pasted wall tile 80 and the reference wall tile in the row direction X and the corner position information of the reference wall tile.
  • the control device can be based on the point cloud data information of the wall tile surface to be paved and the point cloud data information of the reference wall brick surface P obtained by the first camera assembly 20, and the to-be-paved surface obtained by the second camera assembly 50.
  • the gap information between the pasted wall tile 80 and the reference wall tile in the row direction X and the corner information of the reference wall tile determine the position information and posture information of the wall tile 80 to be pasted by the paving device 40 .
  • the reference wall brick is a reference brick
  • the reference wall brick may be the first wall brick in the first row, or any other wall brick in the first row.
  • the reference wall tile can be a wall tile laid by hand, or a fixing device similar to the size of the wall tile can be placed at the position of the reference brick. After the second wall tile is laid and pasted, the fixing device Two wall tiles are used as a reference to fill in the wall tiles at this position. When laying the first row of subsequent wall tiles, the previous wall tiles can be used as the reference wall tiles to lay the next wall tiles.
  • the point cloud data information of the wall brick surface to be laid and the point cloud data information of the reference wall brick surface P are acquired through the first camera assembly 20 arranged on the chassis 10, It is convenient to adjust the brick surface of the wall tiles to be laid 80 and the brick surface of the reference wall bricks to a plane, so as to ensure the laying accuracy of the first row of wall tiles.
  • the control device determines the position information and position information of the paving device 40 for paving the wall tiles to be paved according to the gap information of the wall tiles to be paved and the reference wall tiles in the row direction X obtained by the second camera assembly 50 and the corner information of the reference wall tiles.
  • Posture information control the paving device 40 to pave the wall tiles to be paved, and ensure the paving accuracy of the wall tiles to be paved.
  • the first wall tile to be paved is used as the reference wall tile for paving, and the subsequent to be paved
  • it can realize the automatic laying of the first row of wall tiles, ensure the laying accuracy of the first row of wall tiles, and save labor costs.
  • the point cloud data information of the wall brick surface to be laid and the point cloud data information of the reference wall brick surface P that has been laid can be provided by an external measuring device or the wall brick laying equipment 100.
  • the measuring device obtains it and transmits it to the control device.
  • the chassis 10 is an AGV chassis, which has an automatic navigation function, so as to improve the automation of wall tile laying and ensure the accuracy of laying.
  • the chassis 10 when the chassis 10 moves to a preset position, the chassis 10 switches to a parking state; Can be a jacking cylinder, the jacking cylinder is installed on the bottom of the chassis 10, the jacking cylinder can stretch out and abut against the ground, the levelness of the chassis 10 can be adjusted by adjusting the extension length of different jacking cylinders, and at the same time prevent the chassis 10 from move.
  • Can be a jacking cylinder the jacking cylinder is installed on the bottom of the chassis 10
  • the jacking cylinder can stretch out and abut against the ground
  • the levelness of the chassis 10 can be adjusted by adjusting the extension length of different jacking cylinders, and at the same time prevent the chassis 10 from move.
  • the first camera assembly 20 may be a depth camera, and when the chassis 10 is parked at an approximate position where the first camera assembly 20 can identify the end feature point of the reference wall brick, the first camera assembly 20 can Utilize sudden changes in gray value or depth information to identify the reference wall brick surface P and the wall surface without wall tiles, use the depth camera to obtain the rotation angle relative to the reference wall brick, and the control device controls the chassis 10 to rotate at a preset angle so as to be consistent with the reference wall brick.
  • the wall tiles are parallel, and at the same time, the first camera component 20 obtains point cloud data information of the wall tile surface to be laid and point cloud data information of the reference wall brick surface P that has been laid.
  • the center of the chassis 10 when the center of the chassis 10 is moved to align with the edge line of the reference wall tile, the center of the field of view of the first camera assembly 20 is located on the edge line of the reference wall tile.
  • the movement of the center of the chassis 10 to align with the edge line of the reference wall brick here means that the center of the chassis 10 moves to the rear end of the reference wall brick and aligns with the edge line of the rear end of the reference wall brick.
  • the setting position of the first camera assembly 20 can ensure that the first camera assembly 20 follows the movement of the chassis 10 and moves to be aligned with the edge line of the reference wall tile, so that the first camera assembly 20 can acquire the tail end and unattached edge of the reference wall tile.
  • the image information of the wall surface of the wall tiles (for example, grayscale mutation) is convenient for precise adjustment of the laying accuracy of the wall tiles to be laid in the row direction X.
  • the control device can obtain the angle ⁇ information of the chassis 10 (please refer to FIG. 1 ) relative to the reference wall brick surface P obtained by the first camera assembly 20, and the angle ⁇ between the chassis 10 and the reference wall.
  • the distance D information of the wall brick face P, adjust the chassis 10, make the chassis 10 parallel with the reference wall brick face P, and make the distance D between the base plate 10 and the reference wall brick face P be a set value (the set value can be specific value or range of values).
  • the navigation deviation ensures that the wall tile 80 to be laid is parallel to the surface of the wall brick 80 that has been laid.
  • the mechanical arm 30 when the wall tile laying equipment is in the initial state, in order to avoid interference with other components, the mechanical arm 30 is in a contracted state, and the laying device 40 and the first camera assembly 20 are located on the same side of the chassis 10, so that The movement stroke of the mechanical arm 30 is reduced.
  • double laser sensors or three-dimensional vision sensors are installed on the paving device 40, and the second camera assembly 50 is a two-dimensional camera assembly; According to the two distance information of the laid wall tiles along the row direction X detected by the dual laser sensor, and the corner position information of the laid wall tiles acquired by the second camera assembly 50, the wall tiles to be laid and the wall tiles already laid The gap information in the column direction Y determines the position information and pose information of the wall tiles to be laid by the laying device 40 .
  • the wall tiles to be paved here are the wall tiles to be paved in the column direction Y, for example, the wall tiles to be paved in the second row on the column direction Y, and the corresponding wall tiles that have been paved are first Rows of wall bricks.
  • the dual laser sensors are two laser sensors 52, and the laser sensors 52 are set to detect the distance between the wall tiles to be laid and the wall tiles that have been laid perpendicular to the wall tiles that have been laid.
  • the distance information in the direction of the brick surface that is, the advancing direction Z).
  • the two second camera assemblies 50 obtain the gap information on the column direction Y at different positions of the wall tiles to be laid and the wall tiles already laid, and one of them is the first
  • the two camera components 50 acquire the position information of the corners of the tiles that have been laid at the same time.
  • the number of the second camera assembly 50 is one, and at this time, the second camera assembly 50 can move.
  • the gap information on the column direction Y of the different positions of the wall tiles to be laid and the wall tiles that have been laid is obtained through two second camera components 50, so as to ensure that the wall tiles to be laid and the walls that have been laid
  • the distance between the paved wall tiles is equal to ensure the accuracy of the paving of the wall tiles above the first row of wall tiles.
  • the size of the column direction Y of the wall tiles is relatively short, and only one second camera component 50 is needed to acquire the position information of a corner of the wall tiles that have been laid, which can save costs while ensuring the accuracy of the laying.
  • the control device when laying the wall to be laid in the subsequent row in the column direction Y, the information acquired by the two second camera assemblies 50 will use the previously laid wall brick as the reference brick, for example, in the column
  • the control device can detect the wall tiles to be paved and the second row of wall tiles that are perpendicular to the second row according to the detection of the two second camera components 50 .
  • the distance on the direction of the tile surface (that is, the advancing direction Z), and the second line of corner position information of the tiles that have been tiled, the wall tiles to be tiled and the second row obtained by the two second camera assemblies 50
  • the gap information of the laid wall tiles in the column direction Y determines the position information and posture information of the wall tiles to be laid in the third row by the laying device 40 .
  • the second camera component 50 may be a depth camera, and the control device collects the point cloud data information of the wall tile surface to be laid and the points of the wall brick surface that have been laid by the second camera component 50.
  • the second camera component 50 is a depth camera, which can acquire distance information, and can also identify gap information, so as to ensure the laying accuracy of the wall tiles 80 to be laid.
  • the paving device 40 includes a base plate 41 and a suction cup assembly 42 , the suction cup assembly 42 is configured to grab a wall tile 80 , and the suction cup assembly 42 is installed on the thickness direction of the base plate 41 .
  • the second camera assembly 50 is installed on the second side in the thickness direction of the substrate 41.
  • the second camera assembly 50 includes a driver 53 installed on the substrate 41 and a second camera 51 installed on the driver 53.
  • the driver 53 can drive the second camera 51 to extend or retract the substrate 41 .
  • the driving member 53 drives the second camera 51 to extend or retract the base plate 41 to adapt to the laying of wall tiles 80 of different sizes, which has a wide range of applications and ensures the accuracy of laying.
  • the two second camera assemblies 50 when there are two second camera assemblies 50, the two second camera assemblies 50 obtain the gap information in the column direction Y at different positions of the wall tiles to be laid and the wall tiles already laid.
  • the two second camera assemblies 50 and the suction cup assembly 42 are configured such that the corners of the wall tiles to be paved and the wall tiles that have been laid by the suction cup assembly 42 that are grabbed by the suction cup assembly 42 are located within the field of view of at least one second camera assembly 50 Central region.
  • the corners of the wall tiles to be laid and the wall tiles that have been laid are located in the central area of the field of view of at least one second camera assembly 50, which is convenient for obtaining the corner position information of the wall tiles to be laid and the wall tiles that have been laid, so as to Ensure the laying accuracy of the wall tiles to be laid.
  • the two second camera assemblies 50 when the two second camera assemblies 50 acquire the corner information of the adjacent wall tiles to be laid and the wall tiles already laid, the two second camera assemblies 50 need to be located below the laying device 40, and also That is, the two second camera assemblies 50 are located at the lower edge of the substrate 41 along the column direction Y. Referring to FIG. When the wall tiles to be laid above the first row of wall tiles are laid, the laser sensor 52 can be irradiated onto the wall tiles that have been laid.
  • the mechanical arm 30 drives the base plate 41 to rotate 180°, so that the two second camera components 50 are positioned on the base plate 41 The upper edge of Y along the column direction.
  • the two second camera assemblies 50 are arranged in a V-shape, so that the two second camera assemblies 50 can obtain the wall tiles to be laid and the tiles that have already been laid in the row direction X. Gap information at both ends of the paved wall tile.
  • the substrate 41 is a rectangular structure, and the length direction of the substrate 41 can be the row direction X, and the width direction of the substrate 41 can be the column direction Y, that is, the length direction of the substrate 41 is consistent with the length direction of the wall tile 80.
  • the symmetrical centerlines of the two second camera assemblies 50 pass through the center of the substrate 41 , and the two camera assemblies are spaced along the length of the substrate 41 to have a larger field of view.
  • the moving track of the second camera 51 is the line between the corner of the substrate 41 and the midpoint of the long side (the long side away from the corner) of the substrate 41, so as to It is ensured that when the suction cup assembly 42 grabs any specification of wall tiles to be laid, the second camera 51 can obtain the corner information of the wall tiles to be laid.
  • the two second camera components 50 are configured to be located at two corners of the same long side of the substrate 41, and the second camera 51 is located outside the substrate 41, so as to prevent the substrate 41 from blocking the field of view of the second camera 51 .
  • the driving member 53 may be a linear motor, and the second camera 51 is installed at the execution end of the linear motor. In other embodiments of the present application, the driving member 53 may also be an air cylinder, a hydraulic cylinder, or the like.
  • two laser sensors 52 correspond to two second camera components 50 one by one, and each laser sensor 52 is installed on a second camera 51, and is positioned at the second camera 51 close to the other One side of the second camera 51 of the second camera assembly 50 , that is, the two laser sensors 52 are located between the two second cameras 51 .
  • two laser sensors 52 can be irradiated onto the already laid wall tiles, so as to adjust the wall tiles to be laid.
  • the two laser sensors 52 may be located on the same straight line parallel to the row direction X.
  • the paving device 40 is installed at the end of the robotic arm 30 , and the robotic arm 30 can drive the paving device 40 and the second camera assembly 50 to move in multiple degrees of freedom.
  • the robotic arm 30 can drive the paving device 40 and the second camera assembly 50 to move in multiple degrees of freedom.
  • a mounting portion 411 connected to the robot arm 30 is disposed at the center of the base plate 41 , and the end of the robot arm 30 is detachably connected to the mounting portion 411 .
  • the installation part 411 may include a through hole.
  • the substrate 41 is provided with hollowed out parts 412 , and the number and positions of the hollowed out parts 412 can be determined according to the overall strength of the substrate 41 .
  • the wall tile laying equipment 100 also includes an inclination sensor 60 or an IMU sensor, the inclination sensor 60 is installed on the paving device 40, and the control device can The information adjusts the inclination angle ⁇ 1 between the wall tile 80 to be laid and the wall surface in the column direction Y (as shown in FIG. 7 ).
  • the angle information detected by the inclination sensor 60 facilitates the control device to adjust the rotation angle of the wall tiles to be paved in the detour direction X, so as to ensure that the wall tiles to be paved are parallel to the surface of the paved wall tiles.
  • the inclination sensor 60 can also detect the inclination angle ⁇ 2 (as shown in FIG. 8 ) information of the wall tiles to be laid relative to the row direction X, that is, the inclination sensor 60 is a two-dimensional sensor;
  • the above angle information detected by 60 adjusts the inclination angle of the wall tiles to be laid relative to the row direction X, that is, the control device adjusts the rotation angle of the wall tiles to be laid around the direction (Z direction) perpendicular to the wall tiles that have been laid, so as to ensure The width of the gap between the wall tiles to be laid and the wall tiles already laid is consistent in the column direction Y, ensuring that the wall tiles 80 to be laid are parallel to the wall tiles 80 already laid.
  • the inclination sensor 60 is installed on the side of the substrate 41 away from the suction cup assembly 42 to avoid interference with the wall tiles to be laid.
  • the control device can include a PLC controller, and the control device is electrically connected with the electrical components of the wall tile laying equipment 100, so as to realize the control of the electrical components.
  • the control device is respectively electrically connected with the mechanical arm 30 and the chassis 10, and is set to control The mechanical arm 30 acts and controls the chassis 10 to move.
  • the robotic arm 30 can be a six-axis robotic arm, which can realize movement with multiple degrees of freedom.
  • a method for laying wall tiles 80 is provided.
  • the wall tile 80 paving methods include:
  • the point cloud data information of the brick surface to be laid determines the position information and posture information when the paving device 40 is paving the wall tiles to be paved;
  • the wall tiles to be paved are paved, as shown in FIG. 9 .
  • the laying accuracy of the first row of wall tiles can be ensured, the automatic laying of the first row of wall tiles 80 can be realized, and labor costs can be saved.
  • the control device controls the chassis 10 to move to the position where the field of view of the first camera assembly 20 covers the tail end of the reference wall tile, so that the first camera assembly 20 can obtain the wall tiles to be paved.
  • the control device controls the mechanical arm 30 to move the paving device 40 to the corner position where the field of view of the second camera assembly 50 covers the reference wall brick away from the ground so that the second camera component 50 can obtain the gap information between the wall tile to be laid and the reference wall tile in the row direction X, and the corner position information of the reference wall tile.
  • the above “according to the point cloud data information of the brick surface to be paved, the point cloud data information of the reference wall brick surface P, the distance between the wall brick to be paved and the reference wall brick in the row direction X Gap information and reference wall tile corner position information, determine the position information and posture information when the paving device 40 is paving the wall tiles to be paved.”
  • the rotation angle of the wall tiles to be paved around the column direction Y and the rotation angle of the wall tiles to be paved The moving amount of the wall brick along the direction perpendicular to the reference wall brick surface P is determined according to the point cloud data information of the wall brick surface to be laid and the point cloud data information of the reference wall brick surface P;
  • the movement amount in the direction X is determined according to the gap information between the wall tiles to be laid and the reference wall tiles in the row direction X; the movement amount of the wall tiles to be laid in the column direction Y is determined according to the corner position information of the reference wall tiles.
  • the rotation angle of the wall brick to be laid around the column direction Y is zero , that is, do not rotate the wall tiles to be paved; when there is an angle between the wall tiles to be paved and the reference wall brick surface P, then rotate the wall tiles to be paved around the column direction Y corresponding to the angle; when the wall to be paved
  • the distance of the wall brick to be laid perpendicular to the surface P of the reference wall brick can be determined.
  • the amount of movement of the wall tiles to be paved in the row direction X is determined according to the gap information between the wall tiles to be paved and the reference wall tiles in the row direction X", according to the gap information and the wall tiles preset when laying Compared with the gap value, adjust the position of the wall tiles to be laid in the row direction X.
  • the position of the wall tiles to be paved in the column direction Y and the position of the wall tiles to be paved are adjusted. posture to ensure that the long side of the upper part of the wall tile to be laid is in a straight line with the upper boundary of the reference wall tile.
  • the wall tile paving method also includes obtaining the inclination information of the wall tiles to be paved in the column direction Y, the inclination information of the wall tiles to be paved relative to the row direction X, and according to the inclination angle of the wall tiles to be paved in the column direction Y ⁇ 1 information, the inclination angle ⁇ 2 information of the wall tiles to be laid relative to the row direction X, determine the rotation angle of the wall tiles to be laid in the direction X, and the direction of the wall tiles to be laid to be perpendicular to the brick surface of the laid wall tiles The angle of rotation (in the Z direction).
  • the inclination angle ⁇ 1 information of the wall tiles to be paved and the wall surface in the column direction Y and the inclination angle ⁇ 2 information of the wall tiles to be paved with respect to the row direction X are detected by the inclination sensor 60 .
  • the width of the gap between the wall tiles 80 is the same, or, when laying the wall tiles above the first row of wall tiles, in the row direction X, the gap width between the wall tiles to be laid and the wall tiles already laid is the same.
  • the wall tile 80 paving method further includes: detecting the direction perpendicular to the brick surface of the wall tile to be paved and the wall tile that has been laid. (that is, the distance in the advancing direction Z); obtain the corner position information of the wall tiles that have been laid and the gap information between the wall tiles to be laid and the wall tiles that have been laid in the column direction Y; The distance of the wall tiles in the direction perpendicular to the surface of the wall tiles that have been laid (that is, the advancing direction Z), the position information of the corners of the wall tiles that have been laid, and the column direction Y between the wall tiles to be laid and the wall tiles that have been laid The gap information on the wall determines the position information and posture information of the paving device 40 to pave the wall tiles to be paved.
  • this step is used for laying the wall tiles on the first row of wall tiles.
  • the already laid wall tiles are the first row of wall tiles;
  • the third row of wall tiles in the direction Y just replace the first row of tiles with the second row of tiles, and the other actions are the same.
  • the first camera assembly 20 on the chassis 10 cannot obtain the image information of the position to be paved, so it is necessary to use
  • the two second camera components 50 on the paving device 40 are used to obtain the image information of the wall tiles to be paved and the wall tiles that have been paved.
  • two second cameras 51 when laying the first row of wall tiles 80, two second cameras 51 are located on the upper edge of the base plate 41, and at least one of the two second cameras 51 can acquire The corner position information of the upper part of the wall tile and the corner position information of the adjacent wall tiles have been laid to prevent the second camera 51 from interfering with the ground;
  • the mechanical arm 30 drives the base plate 41 to rotate 180°, so that the two second cameras 51 are located at the lower edge of the base plate 41, and at least one of the two second cameras 51 can obtain the image to be laid.
  • the corner position information of the lower part of the wall tile and the corner position information of the adjacent laid wall tiles are provided.
  • the robotic arm 30 drives the laying device 40 to lay the wall tiles to be laid.
  • the mechanical arm 30 drives the paving device 40 to pave and paste the wall tiles to be paved.
  • the paving process can be based on the distance information measured by the laser sensor 52 (when the first row of wall tiles is paved, the wall tiles to be paved according to the first camera assembly 20 is measured).
  • the distance information from the reference wall brick determines the amount of movement of the wall brick to be laid in the direction perpendicular to the brick surface of the laid wall brick (that is, the advancing direction Z), and directly drives the wall brick to be laid to move to the wall It can also adjust the posture of the wall tiles to be laid while moving.
  • the second camera 51 near the corner of the two second camera assemblies 50 is captured It is configured to protrude relative to the base plate 41 when acquiring the corner position information of the wall tiles to be laid and the wall bricks already laid, and retract relative to the base plate 41 when the laying device 40 is laying the wall bricks to be laid.
  • the second wall tile 80 is laid.
  • the edge of the second camera 51 exceeds the length of the tile.
  • the mechanical arm 30 first moves to a predetermined position, as shown in Figure 11, at this time, the positions of the wall tiles to be laid and the wall tiles already laid are staggered, so as to prevent the second camera 51 from interfering with the corner of the wall; the second camera 51 close to the first wall Q1 The second camera 51 acquires the corner position information of the wall tiles to be laid and the wall tiles that have been laid.
  • the gap information with the laid wall tiles can determine the amount of movement of the wall tiles to be laid in the column direction Y, the rotation angle around the direction perpendicular to the brick surface (that is, the advancing direction Z) of the laid wall tiles, and the For the amount of movement of the wall tiles in the row direction X, the control device adjusts the posture of the mechanical arm 30 according to the above value obtained, and at the same time, the second camera 51 close to the first wall Q1 retracts, as shown in Figure 12, and then according to the two
  • the value of a laser sensor 52 adjusts the rotation around the row direction Y and the amount of movement perpendicular to the direction of the brick surface (that is, the advancing direction Z) of the tiles that have been laid, and finally utilizes the value of the inclination sensor 60 to determine the rotation around the direction X angle, the paving device 40 paves the wall tiles 80 to be paved.
  • the above-mentioned paving of the first wall tile refers to the paving of the wall tile 80 above the first row of
  • the first row of wall tiles 80 of the present application is firstly laid, and left to stand for a period of time (for example, 2 days to 3 days). After the bricks are fixed on the wall, the subsequent laying of the wall bricks to be laid in the column direction Y is carried out.
  • the wall tile 80 paving method of the embodiment of the present application for the paving of each wall tile to be paved, it is necessary to use the reference wall tile to adjust the position information and attitude information of the wall tile to be paved, so as to ensure that each piece to be paved.
  • the laying accuracy of the wall tiles realizes the automatic laying of the wall tiles 80, without manual adjustment of the wall tiles 80 in the later stage.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Road Paving Machines (AREA)

Abstract

一种墙砖铺贴设备及墙砖铺贴方法，墙砖铺贴设备包括底盘、第一相机组件、机械臂、铺贴装置、第二相机组件及控制装置。第一相机组件安装于底盘上；机械臂安装在底盘上；铺贴装置安装在机械臂的末端，设置为抓取待铺贴墙砖；第二相机组件安装于铺贴装置上；控制装置设置为根据第一相机组件获取的待铺贴墙砖的砖面的点云数据信息和已铺贴的基准墙砖砖面的点云数据信息，以及第二相机组件获取的待铺贴墙砖与基准墙砖在行方向上的缝隙信息、基准墙砖角部位置信息，确定铺贴待铺贴墙砖的位置信息和姿态信息。

Description

墙砖铺贴设备及墙砖铺贴方法
本申请要求申请日为2021年8月2日、申请号为202110882134.0的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及建筑施工设备技术领域，例如涉及一种墙砖铺贴设备及墙砖铺贴方法。
背景技术
墙砖铺贴设备在进场铺贴墙砖之前，需要人工将该房间的所有首行砖都铺贴完成，作为后续墙砖铺贴设备铺贴墙砖时的参考墙砖。因此，首行砖平面完成度将决定着整面墙铺贴的效果，但由于铺贴首行砖的人工成本在不断的上浮，急需解决使用墙砖铺贴设备完成首行砖的铺贴问题，这样既可以减少人工成本，也可以增加墙砖铺贴设备铺贴的覆盖率。
发明内容
本申请提供了一种墙砖铺贴设备及墙砖铺贴方法，能够实现首行墙砖的自动铺贴，提高了墙砖铺贴的自动化程度，降低人工成本。
本申请一实施例提供了一种墙砖铺贴设备，包括：底盘；第一相机组件，所述第一相机组件安装于所述底盘上；机械臂，所述机械臂安装在所述底盘上铺贴装置，所述铺贴装置安装在所述机械臂的末端，设置为抓取待铺贴墙砖；第二相机组件，所述第二相机组件安装于所述铺贴装置上；及控制装置，所述控制装置设置为根据获取的待铺贴墙砖砖面的点云数据信息和已铺贴的基准墙砖砖面的点云数据信息，以及所述第二相机组件获取的待铺贴墙砖与基准墙砖在行方向上的缝隙信息、基准墙砖角部位置信息，确定所述铺贴装置铺贴待铺贴墙砖的位置信息和姿态信息。
附图说明
图1为本申请一实施例提供的墙砖铺贴设备的一种视角的结构示意图；
图2为本申请一实施例提供的墙砖铺贴设备的另一种视角的结构示意图；
图3为本申请一实施例提供的墙砖铺贴时的方位示意图；
图4为本申请一实施例提供的第一相机组件的工作原理示意图；
图5为本申请一实施例提供的墙砖铺贴设备的铺贴装置和第二相机组件的一种视角的结构示意图；
图6为本申请一实施例提供的墙砖铺贴设备的铺贴装置和第二相机组件的另一种视角的结构示意图；
图7为本申请一实施例提供的待铺贴墙砖在列方向上的倾角示意图；
图8为本申请一实施例提供的待铺贴墙砖相对于行方向的倾角示意图；
图9为本申请一实施例提供的墙砖铺贴设备铺贴首行墙砖的示意图；
图10为本申请一实施例提供的墙砖铺贴设备铺贴列方向上的待铺贴墙砖的示意图；
图11为本申请一实施例提供的墙砖铺贴设备铺贴两面墙阴角处第一块墙砖的调整示意图；
图12为本申请一实施例提供的墙砖铺贴设备铺贴两面墙阴角处第一块墙砖的铺贴示意图。
图标：100-墙砖铺贴设备；10-底盘；11-刹车机构；20-第一相机组件；30-机械臂；40-铺贴装置；41-基板；411-安装部；412-镂空部；42-吸盘组件；50-第二相机组件；51-第二相机；52-激光传感器；53-驱动件；60-倾角传感器；80-墙砖；X-行方向；Y-列方向；Z-推进方向。
具体实施方式
在本申请的描述中，需要说明的是，除非另有说明，“多个”的含义是两个以上；术语“上”、“下”、“左”、“右”、“内”、“外”等指示的方位或位置关系仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。“垂直”并不是严格意义上的垂直，而是在误差允许范围之内。“平行”并不是严格意义上的平行，而是在误差允许范围之内。
下述描述中出现的方位词均为图中示出的方向，并不是对本申请的具体结构进行限定。在本申请的描述中，还需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接， 也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可视具体情况理解上述术语在本申请中的具体含义。
本申请实施例中，首行墙砖为待铺贴墙面上的第一行墙砖，在完成首行墙砖的铺贴之后，再进行列方向上的墙砖的铺贴。本申请中，当铺贴的墙砖为矩形墙砖时，以墙砖横向铺贴为例介绍，也即，墙砖的长度方向为行方向，墙砖的宽度方向为列方向。
下面参考图描述根据本申请一方面实施例的墙砖铺贴设备。
如图1-图12所示，根据本申请实施例的墙砖铺贴设备100，包括：底盘10、第一相机组件20、机械臂30、铺贴装置40、第二相机组件50及控制装置(图中未示出)。
为了便于描述，本申请的附图中，方位坐标的指示为：以字母X代表的方向为行方向，以字母Y代表的方向为列方向,也即竖直方向；以字母Z代表的方向为推进方向，可以为垂直于已铺贴墙砖80的方向，例如，可以为垂直于基准墙砖的方向。例如，如图3所示，示出了墙砖80铺贴时的方位示意图。
在一实施例中，如图1和图2所示，底盘10起到承载的作用，设置为支撑和安装其他部件。底盘10可以为移动式底盘，便于实现整个设备的移动。第一相机组件20安装于底盘10上(例如，可以安装于底盘10的侧部)，具有较大的视野范围，以便于获取图像信息，第一相机20还可以安装在机械臂30上。例如，第一相机组件20能够获取待铺贴墙砖砖面的点云数据信息和已铺贴的基准墙砖砖面P(请参见图4)的点云数据信息。如图1和图2所示，机械臂30的一端安装于底盘10上，机械臂30具有多个自由度，设置为实现多个自由度的动作。如图1和图2所示，铺贴装置40安装在机械臂30的末端，铺贴装置40设置为抓取待铺贴的墙砖80，以执行铺贴动作；待铺贴的墙砖80为已抹浆的墙砖，被铺贴装置40抓取后可以直接铺贴至未铺贴墙砖的墙面上。本申请实施例提及的待铺贴的墙砖80为被铺贴装置40抓取的待铺贴墙砖，另有说明的除外。如图1和图2所示，第二相机组件50安装于铺贴装置40，能够获取铺贴装置40抓取的待铺贴墙砖80的图像信息，第二相机组件50设置为获取待铺贴的墙砖80与基准墙砖在行方向X上的缝隙信息及基准墙砖角部位置信息。控制装置能够根据第一相机组件20获取的待铺贴墙砖砖面的点云数据信息和已铺贴的基准墙砖砖面P的点云数据信息，以及第二相机组件50获取的待铺贴的墙砖80与基准墙砖在行方向X上的缝隙信 息及基准墙砖角部信息，确定铺贴装置40铺贴待铺贴墙砖80的位置信息和姿态信息。
在一实施例中，基准墙砖为参考砖，基准墙砖可以为首行第一块墙砖，也可以为首行任意其他位置处的墙砖。基准墙砖可以为人工铺贴的墙砖，也可以为一个类似于墙砖大小的固定装置放置在参考砖的位置，待第二块墙砖铺贴完成后，拿走该固定装置，以第二块墙砖作为参考补齐此位置的墙砖。在铺贴首行后续墙砖时，前一个铺贴的墙砖可以作为基准墙砖来铺贴下一个墙砖。根据本申请实施例的墙砖铺贴设备100，通过设置于底盘10的第一相机组件20获取待铺贴墙砖砖面的点云数据信息和基准墙砖砖面P的点云数据信息，便于调整待铺贴墙砖80铺的砖面和基准墙砖的砖面调整至一个平面上，保证首行墙砖铺贴精度。控制装置根据第二相机组件50获取的待铺贴墙砖与基准墙砖在行方向X上的缝隙信息及基准墙砖角部信息确定铺贴装置40铺贴待铺贴墙砖的位置信息和姿态信息，控制铺贴装置40铺贴待铺贴墙砖，保证待铺贴墙砖的铺贴精度。通过第一相机组件20和第二相机组件50的配合，铺贴第二块待铺贴墙砖时，以铺贴的第一块待铺贴墙砖为基准墙砖进行铺贴，后续待铺贴墙砖依次类推，能够实现首行墙砖的自动铺贴，保证首行墙砖的铺贴精度，节省人工成本。
根据本申请的一些实施例，待铺贴墙砖砖面的点云数据信息和已铺贴的基准墙砖砖面P的点云数据信息可以由外部测量设备或者墙砖铺贴设备100自带的测量装置获取后传送给控制装置。
根据本申请的一些实施例，底盘10为AGV底盘，具有自动导航的功能，以便于提高墙砖铺贴的自动化程度，保证铺贴精度。
根据本申请的一些实施例，当底盘10移动至预设位置时，底盘10切换至停车状态；如图1和图2所示，该墙砖铺贴设备100还包括刹车机构11，刹车机构11可以为顶升气缸，顶升气缸安装于底盘10的底部，顶升气缸能够伸出并与地面抵接，通过调整不同顶升气缸的伸出长度可以调整底盘10的水平度，同时防止底盘10移动。
根据本申请的一些实施例，第一相机组件20可以为深度相机，当底盘10停靠在第一相机组件20能够识别到基准墙砖的尾端特征点的大概位置时，第一相机组件20能够利用灰度值突变或深度信息识别基准墙砖砖面P和未贴墙砖的墙面，利用深度相机获取相对于该基准墙砖的旋转角度，控制装置控制底盘10旋转预设角度以与基准墙砖平行，同时，第一相机组件20获取待铺贴墙砖砖面的 点云数据信息和已铺贴的基准墙砖砖面P的点云数据信息。
根据本申请的一些实施例，底盘10的中心移动至与基准墙砖的边缘线对齐时，第一相机组件20的视野中心位于基准墙砖的边缘线上。在一实施例中，这里的底盘10的中心移动至与基准墙砖的边缘线对齐，是指底盘10的中心移动至基准墙砖的尾端，并与基准墙砖的尾端的边缘线对齐。第一相机组件20的设置位置，能够保证第一相机组件20跟随底盘10的移动而移动至与基准墙砖的边缘线对齐，以使第一相机组件20获取基准墙砖的尾端和未贴墙砖的墙面的图像信息(例如灰度突变)，便于精确调整待铺贴墙砖在行方向X上的铺贴精准度。
根据本申请的一些实施例，如图4所示，控制装置能够根据第一相机组件20获取的底盘10(请参照图1)相对于基准墙砖砖面P的角度β信息、底盘10与基准墙砖砖面P的距离D信息，调整底盘10，使底盘10与基准墙砖砖面P平行，并且使底盘10与基准墙砖砖面P的距离D为设定值(设定值可以为具体数值或者数值范围)。通过第一相机组件20获取的底盘10相对于基准墙砖砖面P的角度β信息、底盘10与基准墙砖砖面P的距离D信息，以便于控制装置调整底盘10的姿态，调整底盘10的导航偏差，保证待铺贴墙砖80与已铺贴墙砖80砖面平行。
在一实施例中，当墙砖铺贴设备处于初始状态时，为了避免与其他部件干涉，机械臂30处于收缩状态，铺贴装置40与第一相机组件20位于底盘10的同侧，以便于减少机械臂30的移动行程。
根据本申请的一些实施例，铺贴装置40上安装有双激光传感器或三维视觉传感器，第二相机组件50为二维相机组件；在铺贴首行墙砖上方的墙砖时，控制装置能够根据双激光传感器检测的已铺贴墙砖沿行方向X的两个距离信息，以及第二相机组件50获取的已铺贴墙砖角部位置信息、待铺贴墙砖与已铺贴墙砖在列方向Y上的缝隙信息，确定铺贴装置40铺贴待铺贴墙砖的位置信息和位姿信息。在一实施例中，这里的待铺贴墙砖为列方向Y上的待铺贴墙砖，例如为列方向Y上的第二行的待铺贴墙砖，对应的已铺贴墙砖为首行的墙砖。通过双激光传感器和第二相机组件50的配合，能够保证首行墙砖上方的墙砖的铺贴精度。
在一实施例中，如图5和图6所示，双激光传感器为两个激光传感器52，激光传感器52设置为检测待铺贴墙砖与已铺贴墙砖在垂直于已铺贴墙砖的砖面的方向(即推进方向Z)上的距离信息。
根据本申请的一些实施例，第二相机组件50为两个，两个第二相机组件50分别获取待铺贴墙砖与已铺贴墙砖不同位置列方向Y上的缝隙信息，其中一个第 二相机组件50同时获取已铺贴墙砖角部位置信息。在一实施例中，第二相机组件50的数量为一个，此时，第二相机组件50可以移动。由于墙砖的行方向X的尺寸较大，通过两个第二相机组件50获取待铺贴墙砖与已铺贴墙砖不同位置列方向Y上的缝隙信息，保证待铺贴墙砖与已铺贴墙砖之间的距离相等，保证首行墙砖上方的墙砖的铺贴精度。而墙砖的列方向Y的尺寸较短，只需要一个第二相机组件50获取已铺贴墙砖的一个角部位置信息即可，保证铺贴精度的同时，节省成本。
在一实施例中，在列方向Y的后续行的待铺贴墙的铺贴时，两个第二相机组件50获取的信息将以前一行的已铺贴墙砖为参考砖，例如，在列方向Y上的第三行待铺贴墙砖铺贴时，控制装置能够根据两个第二相机组件50检测的待铺贴墙砖与第二行已铺贴墙砖在垂直于第二行已铺贴墙砖砖面的方向(即推进方向Z)上的距离，以及两个第二相机组件50获取的第二行已铺贴墙砖角部位置信息、待铺贴墙砖与第二行已铺贴墙砖在列方向Y上的缝隙信息，确定铺贴装置40铺贴第三行的待铺贴墙砖的位置信息和姿态信息。
根据本申请的一些实施例，第二相机组件50可以为深度相机，控制装置根据第二相机组件50采集的待铺贴墙砖砖面的点云数据信息和已铺贴墙砖砖面的点云数据信息，待铺贴墙砖与已铺贴墙砖在行方向X上的缝隙信息，已铺贴墙砖80角部位置信息，确定铺贴装置40铺贴待铺贴墙砖80的位置信息和位姿信息。第二相机组件50为深度相机，能够获取距离信息，也可以识别缝隙信息，保证待铺贴墙砖80的铺贴精度。
根据本申请的一些实施例，如图5和图6所示，铺贴装置40包括基板41和吸盘组件42，吸盘组件42设置为抓取墙砖80，吸盘组件42安装在基板41厚度方向的第一侧，第二相机组件50安装在基板41厚度方向的第二侧，第二相机组件50包括安装在基板41上的驱动件53和安装在驱动件53上的第二相机51，驱动件53能够驱动第二相机51伸出或缩回基板41。通过驱动件53驱动第二相机51伸出或缩回基板41，以适应不同尺寸的墙砖80的铺贴，适用范围广，保证铺贴精度。
根据本申请的一些实施例，当第二相机组件50为两个时，两个第二相机组件50分别获取待铺贴墙砖与已铺贴墙砖的不同位置在列方向Y上的缝隙信息，两个第二相机组件50和吸盘组件42被配置为：使得吸盘组件42抓取的待铺贴墙砖与已铺贴墙砖相邻的角部位于至少一个第二相机组件50视野范围的中心区域。待铺贴墙砖与已铺贴墙砖相邻的角部位于至少一个第二相机组件50视野范围的 中心区域，便于获取待铺贴墙砖与已铺贴墙砖的角部位置信息，以保证待铺贴墙砖的铺贴精度。
在一实施例中，两个第二相机组件50获取待铺贴墙砖与已铺贴墙砖相邻的角部信息时，两个第二相机组件50需要位于铺贴装置40的下方，也即，两个第二相机组件50位于基板41的沿列方向Y的下方边缘。在铺贴首行墙砖上方的待铺贴墙砖时，激光传感器52能够照射到已铺贴的墙砖上。但是，当铺贴首行待铺贴墙砖时，由于首行待铺贴墙砖更靠近地面，如果两个第二相机组件50位于基板41的沿列方向Y的下方边缘时，则第二相机组件50容易与地面干涉，导致第二相机组件50损坏；因此，在铺贴首行待铺贴墙砖时，机械臂30驱动基板41旋转180°，使得两个第二相机组件50位于基板41的沿列方向Y的上方边缘。
根据本申请的一些实施例，如图5所示，两个第二相机组件50呈V字型布置，以便于两个第二相机组件50能够在行方向X上获取待铺贴墙砖与已铺贴墙砖的两端的缝隙信息。
基板41为矩形结构，并且基板41的长度方向可以为行方向X，基板41的宽度方向为可以列方向Y，也即，基板41的长度方向与墙砖80的长度方向一致。在一实施例中，两个第二相机组件50的对称中心线过基板41的中心，并且，两个相机组件在基板41的长度方向上间隔分布，以具有较大的视野范围。
由于第二相机组件50设置有驱动件53，第二相机51的移动轨迹为基板41的角部与基板41的长边(远离该角部的长边)的中点之间的连线，以保证吸盘组件42抓取任意规格的待铺贴墙砖时，第二相机51能够获取该待铺贴墙砖的角部信息。
在一实施例中，两个第二相机组件50被配置为位于基板41的同一长边的两个角部，且第二相机51位于基板41的外侧，避免基板41遮挡第二相机51的视野。
在一实施例中，驱动件53可以为直线电机，第二相机51安装于直线电机的执行端。在本申请的其他实施例中，驱动件53还可以为气缸、液压缸等。
如图5和图6所示，两个激光传感器52与两个第二相机组件50一一对应，每个激光传感器52安装于一个第二相机51上，且位于第二相机51的靠近另一第二相机组件50的第二相机51的一侧，也即两个激光传感器52位于两个第二相机51之间。铺贴每列墙砖时，两个激光传感器52能够照射至已铺贴墙砖上，以便于调整待铺贴墙砖。
为了保证测量精度，两个激光传感器52可以位于平行于行方向X的同一直线 上。
如图2所示，铺贴装置40安装于机械臂30的末端，机械臂30能够驱动铺贴装置40及第二相机组件50多自由度移动。在铺贴首行墙砖时，由于首行墙砖接近地面，如果两个第二相机51位于基板41的下方，则容易导致两个相机与地面干涉，因此，在铺贴首行墙砖时，需要通过机械臂30调整基板41的姿态，使得，两个第二相机51位于基板41的上方。当铺贴后续行方向X上的墙砖时，则需要通过机械臂30调整基板41的姿态，使得，两个第二相机51位于基板41的下方，以通过两个相机获取待铺贴墙砖与已铺贴墙砖的图像信息。
如图5和图6所示，基板41的中心部位设置有与机械臂30连接的安装部411，机械臂30的末端与安装部411可拆卸地连接。在一实施例中，安装部411可以包括通孔。
为了减轻基板41的重量，如图5和图6所示，基板41设置有镂空部412，镂空部412的数量及位置可以根据基板41的整体强度来确定。
根据本申请的一些实施例，如图5所示，墙砖铺贴设备100还包括倾角传感器60或IMU传感器，倾角传感器60安装在铺贴装置40上，控制装置能够根据倾角传感器60检测的角度信息调整待铺贴墙砖80与墙面在列方向Y上的倾角α1(如图7所示)。通过倾角传感器60检测的角度信息，便于控制装置调整待铺贴墙砖绕行方向X的旋转角度，保证待铺贴墙砖与已铺贴墙砖砖面平行。
在一实施例中，倾角传感器60还可以检测待铺贴墙砖相对于行方向X的倾角α2(如图8所示)信息，也即倾角传感器60为二维传感器；控制装置能够根据倾角传感器60检测的上述角度信息，调整待铺贴墙砖相对于行方向X的倾角，也即控制装置调整待铺贴墙砖绕垂直于已铺贴墙砖的方向(Z方向)的旋转角度，保证待铺贴墙砖与已铺贴墙砖的缝隙宽度在列方向Y上一致，保证待铺贴墙砖80与已铺贴墙砖80平行。
如图5所示，倾角传感器60安装于基板41的背离吸盘组件42的一侧，避免与待铺贴墙砖发生干涉。
控制装置可以包括PLC控制器，控制装置与墙砖铺贴设备100的电气元件电连接，以便于实现对电气元件的控制，例如，控制装置分别与机械臂30和底盘10电连接，设置为控制机械臂30动作和控制底盘10移动。
机械臂30可以为六轴机械臂，可以实现多个自由度的移动。
根据本申请实施例的另一方面，提供了一种墙砖80铺贴方法。该墙砖80铺 贴方法包括：
获取待铺贴墙砖砖面的点云数据信息、基准墙砖砖面P的点云数据信息、待铺贴墙砖与基准墙砖在行方向X上的缝隙信息、基准墙砖角部位置信息。
根据待铺贴墙砖砖面的点云数据信息、基准墙砖砖面P的点云数据信息、待铺贴墙砖与基准墙砖在行方向X上的缝隙信息及基准墙砖角部位置信息，确定铺贴装置40铺贴待铺贴墙砖时的位置信息和姿态信息；
基于该位置信息和姿态信息对待铺贴墙砖进行铺贴，如图9所示。
根据本申请实施例的墙砖铺贴方法，能够保证首行墙砖的铺贴精度，实现首行墙砖80的自动铺贴，节省人工成本。
需要指出的是，墙砖80铺贴过程中，控制装置控制底盘10移动至第一相机组件20的视野覆盖基准墙砖的尾端的位置处，以便于第一相机组件20获取待铺贴墙砖砖面的点云数据信息、基准墙砖砖面P的点云数据信息；控制装置控制机械臂30将铺贴装置40移动至第二相机组件50的视野覆盖基准墙砖远离地面的角部位置处，以便于第二相机组件50获取待铺贴墙砖与基准墙砖在行方向X上的缝隙信息、基准墙砖角部位置信息。
根据本申请的一些实施例，上述“根据待铺贴墙砖砖面的点云数据信息、基准墙砖砖面P的点云数据信息、待铺贴墙砖与基准墙砖在行方向X上的缝隙信息及基准墙砖角部位置信息，确定铺贴装置40铺贴待铺贴墙砖时的位置信息和姿态信息”包括：待铺贴墙砖绕列方向Y的旋转角度及待铺贴墙砖沿垂直于基准墙砖砖面P的方向的移动量根据待铺贴墙砖砖面的点云数据信息和基准墙砖砖面P的点云数据信息确定；待铺贴墙砖在行方向X上的移动量根据待铺贴墙砖与基准墙砖在行方向X上的缝隙信息确定；待铺贴墙砖在列方向Y上的移动量根据基准墙砖角部位置信息确定。
所述“待铺贴墙砖绕列方向(即列方向Y)的旋转角度、待铺贴墙砖沿垂直于基准墙砖砖面P的方向的移动量根据待铺贴墙砖砖面的点云数据信息和基准墙砖砖面P的点云数据信息确定”步骤中，当待铺贴墙砖与基准墙砖砖面P平行时，待铺贴墙砖绕列方向Y的旋转角度为零，也即不旋转待铺贴墙砖；当待铺贴墙砖与基准墙砖砖面P具有夹角时，则对应该夹角绕列方向Y旋转待铺贴墙砖；当待铺贴墙砖与基准墙砖砖面P平行时，能够确定待铺贴墙砖沿垂直于基准墙砖砖面P的距离。
所述“待铺贴墙砖在行方向X上的移动量根据待铺贴墙砖与基准墙砖在行方 向X上的缝隙信息确定”步骤中，根据缝隙信息与墙砖铺贴时预设的缝隙值比较，调整待铺贴墙砖在行方向X上的位置。
所述“待铺贴墙砖在列方向Y上的移动量根据基准墙砖的角部位置信息确定”步骤中，调整待铺贴墙砖在列方向Y上的位置以及待铺贴墙砖的姿态，以保证待铺贴墙砖的上部的长边与基准墙砖的上方边界在一条直线上。
该墙砖铺贴方法还包括获取待铺贴墙砖在列方向Y上的倾角信息、待铺贴墙砖相对于行方向X的倾角信息，根据待铺贴墙砖在列方向Y上的倾角α1信息、待铺贴墙砖相对于行方向X的倾角α2信息，确定待铺贴墙砖绕行方向X的旋转角度、待铺贴墙砖绕垂直于已铺贴墙砖的砖面的方向(Z方向)的旋转角度。具体为，通过倾角传感器60检测待铺贴墙砖与墙面在列方向Y上的倾角α1信息、待铺贴墙砖相对于行方向X的倾角α2信息，铺贴装置40在机械臂30的驱动下调整待铺贴墙砖的姿态，以保证待铺贴墙砖与已铺贴墙砖平行，且铺贴首行墙砖时，在列方向Y上，待铺贴墙砖与已铺贴墙砖80之间的缝隙宽度一致，或者，在铺贴首行墙砖上方的墙砖时，在行方向X上，待铺贴墙砖与已铺贴墙砖之间的缝隙宽度一致。
例如，当铺贴首行墙砖时，在待铺贴墙砖的上边界与基准墙砖的上边界在同一直线上时，绕行方向X旋转待铺贴墙砖，调整待铺贴墙砖与基准墙砖平行，能够使得待铺贴墙砖的下边界与基准墙砖的下边界在同一直线上，保证待铺贴墙砖的铺贴精度。
根据本申请的一些实施例，请参照图10所示，该墙砖80铺贴方法还包括：检测待铺贴墙砖与已铺贴墙砖在垂直于已铺贴墙砖的砖面的方向(即推进方向Z)上的距离；获取已铺贴墙砖角部位置信息及待铺贴墙砖与已铺贴墙砖在列方向Y上的缝隙信息；根据待铺贴墙砖与已铺贴墙砖在垂直于已铺贴墙砖砖面的方向(即推进方向Z)上的距离、已铺贴墙砖角部位置信息及待铺贴墙砖与已铺贴墙砖在列方向Y上的缝隙信息，确定铺贴装置40铺贴待铺贴墙砖的位置信息和姿态信息。需要指出的是，此步骤用于首行墙砖上的墙砖的铺贴，例如，当铺贴列方向Y上的第二行墙砖时，已铺贴墙砖为首行墙砖；当铺贴列方向Y上的第三行墙砖时，将首行已铺贴墙砖替换为第二行已铺贴墙砖即可，其他动作一致。通过上述方法步骤，能够实现列方向Y上的除首行墙砖外的待铺贴墙砖的精确铺贴，实现墙砖80的自动化铺贴，且铺贴精度高。
需要指出的是，在铺贴列方向Y上的待铺贴墙砖80时，由于铺贴高度的增加， 底盘10上的第一相机组件20无法获取待铺贴位置的图像信息，则需要利用铺贴装置40上的两个第二相机组件50来获取待铺贴墙砖与已铺贴墙砖的图像信息。
根据本申请的一些实施例，在铺贴首行墙砖时，如图9所示，检测待铺贴墙砖的上部的角部位置信息与基准墙砖的角部位置信息；在铺贴首行墙砖上方的墙砖时，如图10所示，检测待铺贴墙砖的下部的角部位置信息与已铺贴墙砖的角部位置信息。在一实施例中，如图9所示，在铺贴首行墙砖80时，两个第二相机51位于基板41的上边缘，两个第二相机51中至少一者能够获取待铺贴墙砖的上部的角部位置信息与邻近的已铺贴墙砖的角部位置信息，以防止第二相机51与地面干涉；如图10所示，在铺贴列方向Y上的除首行墙砖外的待铺贴墙砖时，机械臂30驱动基板41旋转180°，使得两个第二相机51位于基板41的下边缘，两个第二相机51中至少一者能够获取待铺贴墙砖的下部的角部位置信息与邻近的已铺贴墙砖的角部位置信息。
根据本申请的一些实施例，在确定待铺贴墙砖的位置信息和姿态信息后，机械臂30驱动铺贴装置40铺贴待铺贴墙砖。机械臂30驱动铺贴装置40铺贴待铺贴墙砖铺贴过程可以根据激光传感器52测量的距离信息(首行墙砖铺贴时，根据第一相机组件20测得的待铺贴墙砖与基准墙砖的距离信息)确定待铺贴墙砖在垂直于已铺贴墙砖的砖面的方向(即推进方向Z)上的移动量，直接驱动待铺贴墙砖移动至贴于墙面，也可以在移动的同时调整待铺贴墙砖的姿态。
根据本申请的一些实施例，在铺贴墙角处的第一块墙砖(即靠近墙角处的第一列墙砖)时，两个第二相机组件50中靠近墙角处的第二相机51被配置为在获取待铺贴墙砖与已铺贴墙砖的角部位置信息时相对于基板41伸出，且在铺贴装置40铺贴待铺贴墙砖时相对于基板41缩回。
在一实施例中，如图11所示，在铺贴两面墙(第一面墙Q1和第二面墙Q2)阴角处的第一块墙砖80时，由于两面墙垂直，铺贴第二面墙Q2的第一块墙砖80时，为保证砖角在第二相机51的视角中心，导致第二相机51边缘超出砖长，因此，在铺贴阴角处的墙砖80时，机械臂30先运动到一个预定位置，如图11所示，此时，待铺贴墙砖与已铺贴墙砖位置错开，以免第二相机51与墙角干涉；靠近第一面墙Q1的第二相机51获取待铺贴墙砖和已铺贴墙砖的角部位置信息，两个第二相机51根据待铺贴墙砖和已铺贴墙砖的角部位置信息及待铺贴墙砖与已铺贴墙砖的缝隙信息可确定待铺贴墙砖在列方向Y上的移动量和绕垂直于已铺贴墙砖的砖面的方向(即推进方向Z)的旋转角度以及待铺贴墙砖在行方向X上的 移动量，控制装置根据得到的上述值调整机械臂30姿态，同时，靠近第一面墙Q1的第二相机51缩回，如图12所示，然后根据两个激光传感器52的值，调整绕列方向Y旋转以及在垂直于已铺贴墙砖的砖面方向(即推进方向Z)上的移动量，最后利用倾角传感器60的数值确定绕行方向X旋转角度，铺贴装置40铺贴待铺贴墙砖80。需要指出的是，上述描述的第一块墙砖的铺贴是指对靠近墙角的第一列墙砖中首行墙砖上方的墙砖80进行铺贴。
需要指出的是，本申请的墙砖80铺贴方法，首先完成首行墙砖的铺贴，并静置一段时间(例如2天-3天)，待浆料凝固，首行已铺贴墙砖固定于墙面后，再进行列方向Y上的后续待铺贴墙砖的铺贴。同时，本申请实施例的墙砖80铺贴方法，对于每块待铺贴墙砖的铺贴，需要借助基准墙砖来调整待铺贴墙砖的位置信息和姿态信息，以保证每块待铺贴墙砖的铺贴精度，实现墙砖80的自动化铺贴，无需后期借助人工调整墙砖80。

Claims (15)

  1. 一种墙砖铺贴设备，包括：
    底盘(10)；
    第一相机组件(20)，所述第一相机组件(20)安装于所述底盘(10)上；
    机械臂(30)，所述机械臂(30)安装在所述底盘(10)上；
    铺贴装置(40)，所述铺贴装置(40)安装在所述机械臂(30)的末端，设置为抓取待铺贴墙砖(80)；
    第二相机组件(50)，所述第二相机组件(50)安装于所述铺贴装置(40)上；
    控制装置，所述控制装置设置为根据获取的待铺贴墙砖砖面的点云数据信息和基准墙砖砖面P的点云数据信息，以及所述第二相机组件(50)获取的待铺贴墙砖与基准墙砖在行方向X上的缝隙信息、基准墙砖角部位置信息，确定所述铺贴装置(40)铺贴首行待铺贴墙砖的位置信息和姿态信息。
  2. 根据权利要求1所述的墙砖铺贴设备，其中，
    所述铺贴装置(40)上安装有双激光传感器，所述第二相机组件(50)为二维相机组件；
    所述控制装置设置为在铺贴首行墙砖上方的墙砖时，根据所述双激光传感器检测的与已铺贴墙砖沿行方向X的两个距离信息，以及所述第二相机组件(50)获取的已铺贴墙砖角部位置信息、待铺贴墙砖与已铺贴墙砖在列方向Y上的缝隙信息，确定所述铺贴装置(40)铺贴待铺贴墙砖的位置信息和位姿信息。
  3. 根据权利要求2所述的墙砖铺贴设备，其中，所述第二相机组件(50)为两个，两个所述第二相机组件(50)分别设置为获取所述待铺贴墙砖与已铺贴墙砖不同位置列方向Y上的缝隙信息，其中一个所述第二相机组件(50)还设置为获取已铺贴墙砖(80)角部位置信息。
  4. 根据权利要求1所述的墙砖铺贴设备，其中，所述第二相机组件(50)为深度相机，所述控制装置根据所述第二相机组件采集的待铺贴墙砖砖面的点云数据信息和已铺贴墙砖砖面的点云数据信息，待铺贴墙砖与已铺贴墙砖在行方向X上的缝隙信息，及已铺贴墙砖(80)角部位置信息，确定所述铺贴装置(40)铺贴待铺贴墙砖的位置信息和位姿信息。
  5. 根据权利要求1所述的墙砖铺贴设备，其中，所述铺贴装置(40)包括 基板(41)和吸盘组件(42)，所述吸盘组件(42)设置为抓取墙砖(80)，所述吸盘组件(42)安装在所述基板(41)厚度方向的第一侧，所述第二相机组件(50)安装在所述基板(41)厚度方向的第二侧，所述第二相机组件(50)包括安装在所述基板(41)上的驱动件(53)和安装在所述驱动件(53)上的第二相机(51)，所述驱动件(53)设置为驱动所述第二相机(51)伸出或缩回所述基板(41)。
  6. 根据权利要求5所述的墙砖铺贴设备，其中，所述第二相机组件(50)为两个，在铺贴墙角处的第一块墙砖(80)时，两个所述第二相机组件(50)中靠近墙角处的第二相机(51)被配置为在获取所述待铺贴墙砖(80)与已铺贴墙砖(80)的角部位置信息时，相对于所述基板(41)伸出，且在所述铺贴装置(40)铺贴所述待铺贴墙砖(80)时，相对于所述基板(41)缩回。
  7. 根据权利要求5所述的墙砖铺贴设备，其中，所述第二相机组件(50)为两个，两个所述第二相机组件(50)分别获取所述待铺贴墙砖与已铺贴墙砖不同位置列方向Y上的缝隙信息，两个所述第二相机组件(50)和所述吸盘组件(42)被配置为：所述吸盘组件(42)抓取的待铺贴墙砖与已铺贴墙砖相邻的角部位于至少一个所述第二相机组件(50)视野范围的中心区域。
  8. 根据权利要求1至7任意一项所述的墙砖铺贴设备，还包括：倾角传感器(60)，所述倾角传感器(60)安装在所述铺贴装置(40)上；所述控制装置设置为根据所述倾角传感器(60)检测的角度信息调整待铺贴墙砖(80)与墙面在列方向Y上的倾角。
  9. 根据权利要求1所述的墙砖铺贴设备，其中，所述控制装置设置为根据所述第一相机组件(20)获取的所述底盘(10)相对于所述基准墙砖砖面P2的角度信息及所述底盘(10)与所述基准墙砖砖面P2的距离D，调整所述底盘(10)，使所述底盘(10)与所述基准墙砖砖面P2平行，并且使所述底盘(10)与所述基准墙砖砖面P2的距离为设定值。
  10. 根据权利要求9所述的墙砖铺贴设备，其中，所述底盘(10)的中心移动至与所述基准墙砖的边缘线对齐时，所述第一相机组件(20)的视野中心位 于所述基准墙砖的边缘线上。
  11. 一种墙砖铺贴方法，包括：
    获取待铺贴墙砖砖面的点云数据信息、基准墙砖砖面P2的点云数据信息、待铺贴墙砖与基准墙砖在行方向X上的缝隙信息及基准墙砖角部位置信息；
    根据待铺贴墙砖砖面的点云数据信息、基准墙砖砖面P2的点云数据信息、待铺贴墙砖与基准墙砖在行方向X上的缝隙信息、基准墙砖角部位置信息，确定铺贴装置(40)铺贴待铺贴墙砖时的位置信息和姿态信息；及
    基于所述位置信息和所述姿态信息对首行待铺贴墙砖进行铺贴。
  12. 根据权利要求11所述的墙砖铺贴方法，其中，所述根据待铺贴墙砖砖面的点云数据信息、基准墙砖砖面P2的点云数据信息、待铺贴墙砖与基准墙砖在行方向X上的缝隙信息、基准墙砖角部位置信息，确定铺贴装置(40)铺贴待铺贴墙砖时的位置信息和姿态信息，包括：
    待铺贴墙砖绕列方向Y的旋转角度及待铺贴墙砖沿垂直于基准墙砖砖面的方向的移动量根据待铺贴墙砖的砖面的点云数据信息和基准墙砖砖面P2的点云数据信息确定；
    待铺贴墙砖在行方向X上的移动量根据待铺贴墙砖与基准墙砖在行方向X上的缝隙信息确定；及
    待铺贴墙砖在列方向Y上的移动量根据基准墙砖角部位置信息确定。
  13. 根据权利要求11所述的墙砖铺贴方法，还包括：获取待铺贴墙砖在列方向Y上的倾角信息、待铺贴墙砖相对于行方向X的倾角信息，根据待铺贴墙砖在列方向Y上的倾角信息及待铺贴墙砖相对于行方向X的倾角信息，确定待铺贴墙砖绕行方向X的旋转角度、待铺贴墙砖绕垂直于已铺贴墙砖砖面的方向的旋转角度。
  14. 根据权利要求11所述的墙砖铺贴方法，还包括：
    检测待铺贴墙砖与已铺贴墙砖在垂直于已铺贴墙砖砖面的方向上的距离；
    获取已铺贴墙砖角部位置信息、待铺贴墙砖与已铺贴墙砖在列方向Y上的缝隙信息；及
    根据待铺贴墙砖与已铺贴墙砖在垂直于已铺贴墙砖砖面的方向上的距离、 已铺贴墙砖角部位置信息、待铺贴墙砖与已铺贴墙砖在列方向Y上的缝隙信息，确定铺贴装置(40)铺贴待铺贴墙砖的位置信息和姿态信息。
  15. 根据权利要求14所述的墙砖铺贴方法，其中，在铺贴首行墙砖时，检测待铺贴墙砖的上部的角部位置信息与基准墙砖的角部位置信息；在铺贴首行墙砖上方的墙砖时，检测待铺贴墙砖的下部的角部位置信息与已铺贴墙砖的角部位置信息。
PCT/CN2022/089458 2021-08-02 2022-04-27 墙砖铺贴设备及墙砖铺贴方法 WO2023010906A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110882134.0A CN115701472A (zh) 2021-08-02 2021-08-02 墙砖铺贴设备及墙砖铺贴方法
CN202110882134.0 2021-08-02

Publications (1)

Publication Number Publication Date
WO2023010906A1 true WO2023010906A1 (zh) 2023-02-09

Family

ID=85142505

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/089458 WO2023010906A1 (zh) 2021-08-02 2022-04-27 墙砖铺贴设备及墙砖铺贴方法

Country Status (2)

Country Link
CN (1) CN115701472A (zh)
WO (1) WO2023010906A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117270524A (zh) * 2023-08-07 2023-12-22 南京筑领科技有限责任公司 地砖铺贴的控制方法、装置、介质

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117569538B (zh) * 2024-01-15 2024-03-29 山西交通建设工程有限公司 一种用于门窗安装的固定装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109958265A (zh) * 2019-03-30 2019-07-02 广东博智林机器人有限公司 抓取装置、贴砖设备、物体位置确定方法和计算机存储介质
CN110424694A (zh) * 2019-08-19 2019-11-08 广东博智林机器人有限公司 一种瓷砖铺贴机器人及其铺贴方法
JP2019210717A (ja) * 2018-06-05 2019-12-12 積水ハウス株式会社 プログラム、施工ロボット、及び施工システム
US20200024853A1 (en) * 2016-09-30 2020-01-23 Eth Singapore Sec Ltd System for placing objects on a surface and method thereof
CN111894247A (zh) * 2020-08-04 2020-11-06 广东博智林机器人有限公司 一种装饰面材铺贴方法、装置、系统及存储介质
CN112123342A (zh) * 2020-11-25 2020-12-25 清华大学 一种机器人系统以及测控方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200024853A1 (en) * 2016-09-30 2020-01-23 Eth Singapore Sec Ltd System for placing objects on a surface and method thereof
JP2019210717A (ja) * 2018-06-05 2019-12-12 積水ハウス株式会社 プログラム、施工ロボット、及び施工システム
CN109958265A (zh) * 2019-03-30 2019-07-02 广东博智林机器人有限公司 抓取装置、贴砖设备、物体位置确定方法和计算机存储介质
CN110424694A (zh) * 2019-08-19 2019-11-08 广东博智林机器人有限公司 一种瓷砖铺贴机器人及其铺贴方法
CN111894247A (zh) * 2020-08-04 2020-11-06 广东博智林机器人有限公司 一种装饰面材铺贴方法、装置、系统及存储介质
CN112123342A (zh) * 2020-11-25 2020-12-25 清华大学 一种机器人系统以及测控方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117270524A (zh) * 2023-08-07 2023-12-22 南京筑领科技有限责任公司 地砖铺贴的控制方法、装置、介质
CN117270524B (zh) * 2023-08-07 2024-03-29 南京筑领科技有限责任公司 地砖铺贴的控制方法、装置、介质

Also Published As

Publication number Publication date
CN115701472A (zh) 2023-02-10

Similar Documents

Publication Publication Date Title
WO2023010906A1 (zh) 墙砖铺贴设备及墙砖铺贴方法
US11739542B2 (en) System for placing objects on a surface and method thereof
US8166727B2 (en) Automated brick laying system for constructing a building from a plurality of bricks
CN106064776A (zh) 用于自动电梯安装的方法和装置
EP2907938A1 (en) Apparatus and method for placing a tile on a floor
CN111350361B (zh) 一种砌筑方法、砌筑系统及砌筑机器人
CN104563469B (zh) 一种用于墙面抹灰机器人的垂直度测量与补偿系统及方法
CN110683451B (zh) 电梯安装装置
CN111395717A (zh) 一种铺贴装置、地砖铺贴机器人及地砖铺贴方法
CN112012450B (zh) 一种自动抹灰机
CN110158931A (zh) 一种铺砖子母机以及铺砖方法
CN115405077A (zh) 高度调平执行装置以及地砖铺设方法
EP3260247B1 (en) Tool for placing objects
WO2022262505A1 (zh) 板料铺贴设备、铺贴方法、板材涂料装置及板料铺贴装置
CN111677249A (zh) 一种大空间室内瓷砖智能铺贴机器人
CN215881648U (zh) 一种建筑施工用移动式砖块铺设机器人系统
CN112049384B (zh) 首砖调节装置及铺砖方法
US20230167650A1 (en) Block transfer apparatus and improved clamping assembly for use therewith
JP6893590B2 (ja) 旅客搭乗橋の走行制御方法
CN114351991B (zh) 铺贴机构、铺贴机器人及可兼容不同尺寸墙砖的铺贴方法
CN216974090U (zh) 铺贴装置及铺贴设备
CN113175189B (zh) 铺料机器人及铺料装置
CN220504449U (zh) 调平机构及机械夹爪
CN219654195U (zh) 墙面施工系统
CN112746729B (zh) 瓷砖锤平装置及瓷砖锤平方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22851627

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE