CN111270842A

CN111270842A - Paving leveling device and material paving robot

Info

Publication number: CN111270842A
Application number: CN202010185832.0A
Authority: CN
Inventors: 黄学志; 何恒富; 朱洞兵; 向青云
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-03-17
Filing date: 2020-03-17
Publication date: 2020-06-12

Abstract

The invention relates to a paving leveling device and a material paving robot, comprising: a mounting seat; and flattening compactor mechanism, flattening compactor mechanism is used for spreading to wait to lay subaerial material that paves and carry out the compaction flattening, flattening compactor mechanism including set up in guide component on the mount pad, remove set up in last flattening briquetting of guide component, and set up in first vibration equipment on the flattening briquetting, first vibration equipment is used for the drive the flattening briquetting is reciprocating motion on guide component, makes the flattening briquetting will wait to pave the material and hit the compaction flattening. In the operation process, along with removing the chassis walking, first vibrating equipment work produces high-frequency vibration, drive flattening briquetting reciprocating motion on the direction subassembly, the flattening briquetting and then can beat, compaction and flattening to the dry mortar of unloading on the ground, alright accomplish dry mortar high efficiency, high roughness spreading operation from this automatically, improve the quality that follow-up ceramic tile spread.

Description

Paving leveling device and material paving robot

Technical Field

The invention relates to the technical field of construction robots, in particular to a paving and leveling device and a material paving robot.

Background

At present, the work flow of paving bricks on the ground of places such as sidewalks, houses and the like is generally as follows: workers firstly pour dry mortar on a foundation by using an ash shovel, and primarily flatten the dry mortar in a back-and-forth scraping and pushing mode; then, beating a sand layer by means of the back of an ash shovel or bricks to carry out compaction trial paving; and finally, leveling the ground surface of the dry sand layer in multiple directions by adopting a level ruler to finish paving and pasting the floor tiles. The whole dry mortar paving working procedure is complicated, the labor intensity of workers is high, the paving flatness of the dry mortar is not easy to control, and the paving quality of the floor tile is further influenced.

Disclosure of Invention

Based on this, it is necessary to provide a paving leveling device and a material paving robot, aiming at solving the problems of complicated paving procedure, high labor intensity and poor paving leveling degree in the prior art.

The technical scheme is as follows:

in one aspect, the application provides a leveling device paves, and it includes:

a mounting seat; and

flattening compactor mechanism, flattening compactor mechanism is used for spreading to wait to lay subaerial material that paves and carry out the compaction flattening, flattening compactor mechanism including set up in guide assembly on the mount pad, remove set up in last flattening briquetting of guide assembly, and set up in first vibration equipment on the flattening briquetting, first vibration equipment is used for the drive the flattening briquetting is reciprocating motion on guide assembly, makes the flattening briquetting will wait to pave the material and hit the compaction flattening.

The paving and leveling device is applied and installed in a material paving robot, can replace the traditional manual labor for directly executing equipment for paving dry mortar and other materials, and can automatically and highly accurately finish the leveling and paving of the dry mortar before paving floor tiles. Particularly, bear fixed discharge mechanism and flattening compaction mechanism through the mount pad, not only can obtain compact structure and the matched leveling device that paves in coordination to this leveling device that paves can also integrate to on moving the chassis, form the ability that the limit removed the limit and pave. In the operation process, along with removing the chassis walking, dry mortar is discharged from discharge mechanism constantly and is waited to lay subaerially, first vibration equipment work produces high-frequency vibration, drive flattening briquetting reciprocating motion on the direction subassembly, the flattening briquetting and then can beat the dry mortar of unloading on the ground, compaction and flattening, alright accomplish the dry mortar high efficiency automatically from this, the operation is spread to high roughness, this leveling device that paves can effectively alleviate workman's work, improve the quality that follow-up ceramic tile paved.

The technical solution of the present application is further described below:

in one embodiment, the leveling and compacting mechanism further comprises an elastic buffer member, the elastic buffer member is installed on the guide assembly and abutted to the leveling press block, and the elastic buffer member is used for buffering the leveling press block when the material to be paved is hit.

In one embodiment, the leveling and compacting mechanism further comprises a leveling knife which is arranged on the mounting seat and is positioned behind the leveling press block.

In one embodiment, the leveling and compacting mechanism further comprises a first side baffle plate and a second side baffle plate which are arranged on the mounting seat side by side at intervals and are respectively arranged on two opposite sides of the leveling press block.

In one of them embodiment, the leveling device that paves still includes and is used for paving waiting to pave the material and to wait to lay subaerial discharge mechanism, discharge mechanism set up in on the mount pad, and along the removal direction that paves, the leveling compaction mechanism arrange in discharge mechanism's low reaches, the leveling compaction mechanism be used for with wait to lay subaerial the material that paves carries out the compaction flattening.

In one of them embodiment, discharge mechanism is including being used for with the material that will pave the subaerial feed bin of waiting to pave, the feed bin is equipped with the discharge gate, discharge mechanism still include with the discharge gate opens and close the complex switch door mechanism.

In one embodiment, the door opening and closing mechanism comprises a driving piece, a driving assembly in transmission fit with the driving piece, and a bin door connected with the driving assembly, wherein the bin door is used for opening or closing the discharge hole.

In one embodiment, the driving assembly comprises a transmission wheel set in driving connection with the driving piece, a transmission belt sleeved on the transmission wheel set, a sliding block connected with the transmission belt, and a guide rail arranged on the mounting seat and connected with the sliding block, and the sliding block is further connected with the bin gate.

In one embodiment, the discharging mechanism further comprises a second vibrating device connected with the bin.

In addition, this application still provides a material paving robot, it includes as above paving leveling device.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural view of a paving and leveling device according to an embodiment of the present invention;

fig. 2 is a left side view of the structure of fig. 1.

Description of reference numerals:

10. a mounting seat; 20. a discharging mechanism; 21. a storage bin; 22. a drive member; 23. a transmission wheel set; 24. a bin gate; 25. a transmission belt; 26. a slider; 27. a guide rail; 30. leveling and compacting mechanisms; 31. a guide assembly; 32. leveling and pressing the blocks; 33. a first vibrating device; 34. a scraping knife; 35. a first side baffle plate; 36. a second side baffle plate; 40. a pose detection mechanism; 41. a tilt sensor; 42. a vision sensor; 50. a second vibrating device.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The application claims protection a material paving robot, it is applied to before the ceramic tile that paves, carries out the construction occasion that dry mortar was automatic to the ground and paves, especially can replace traditional manpower manual operation mode, and high-efficient, high-quality completion dry mortar levels and paves.

The material paving robot mainly comprises a movable chassis, a stirring mechanism, a manipulator and a paving and leveling device. The stirring mechanism, the manipulator and the paving and leveling device are all arranged on the movable chassis, and the movable chassis enables the material paving robot to freely walk to meet the construction requirements of large-area ground or different construction places. The stirring mechanism is used for stirring and preparing dry mortar raw materials with uniform texture so as to be supplied to the paving and leveling device. The dry mortar paving device is installed on the manipulator, and high-precision paving operation of the dry mortar in the target area is completed by means of flexible moving freedom degree of the manipulator. It can be understood that, during actual construction, the movable chassis travels along the zigzag path, so that the dry mortar is paved according to a plurality of strip-shaped areas arranged side by side in sequence.

As shown in fig. 1, a paving and leveling device according to an embodiment of the present disclosure includes: the device comprises a mounting seat 10, a discharging mechanism 20, a leveling and compacting mechanism 30 and a pose detection mechanism 40. The discharging mechanism 20 is disposed on the mounting base 10. The leveling and compacting mechanism 30 is arranged on the mounting base 10 and is used for leveling and compacting the dry mortar discharged from the discharging mechanism 20; along with removing the chassis walking, material paving robot has and paves the moving direction, and along paving the moving direction, flattening compaction mechanism 30 arranges in discharge mechanism 20's low reaches. The attitude detecting mechanism 40 is provided on the mount 10 and is used to detect the spatial attitude of the leveling and compacting mechanism.

To sum up, the implementation of the technical scheme of the application has the following beneficial effects: the paving and leveling device is applied and installed in a material paving robot, can replace the traditional manual operation of manpower for directly executing equipment for finishing paving operation of dry mortar, and automatically and precisely finishes leveling and paving the dry mortar before paving floor tiles. Particularly, bear fixed discharge mechanism 20, flattening compaction mechanism 30 and position detection mechanism through mount pad 10, not only can obtain compact structure and the flattening device that paves of cooperation to this flattening device that paves can also integrate to moving the chassis on, form the ability that moves the limit and pave. In the operation process, along with the movement of the movable chassis, the pose detection mechanism 40 can detect the spatial positions and the poses of the discharging mechanism 20 and the leveling and compacting mechanism 30 in real time, and ensure that the paving operation surface is always in the same horizontal elevation, so as to form the basic condition of a dry mortar layer which is even, flat and consistent in height. On this basis, along with removing the chassis walking, dry mortar is discharged from discharging mechanism 20 constantly and is waited to lay subaerially, and flattening compaction mechanism 30 and then can beat, compaction and flattening to the dry mortar of unloading on the ground, alright accomplish dry mortar high efficiency, high roughness automatically from this and pave the operation, do benefit to and alleviate workman's work, improve follow-up ceramic tile and pave the quality.

With reference to fig. 1, in the present embodiment, the pose detection mechanism 40 includes a tilt sensor 41 and a photoelectric sensor respectively disposed on the mount 10 and cooperating with each other. By means of a multi-sensor fusion measuring system formed by the inclination angle sensor 41, the photoelectric sensor and the laser demarcation device during working, the spatial positioning errors of the discharging mechanism 20 and the leveling and compacting mechanism 30 can be detected in real time, and then the pose is adjusted and compensated in time through the manipulator (the compensated azimuth angles are RX, RY and Z), so that the paving operation can be guaranteed to be always carried out in the same horizontal elevation interface, the levelness of the whole paving is guaranteed, and the height difference (thickness difference) of the dry mortar layer is controlled within an allowable range value.

Further, the posture detecting mechanism 40 further includes a vision sensor 42 provided on the mount 10. By means of the image visual ability of the visual sensor 42, the size data of the last row of the floor tiles can be accurately acquired, parameter basis is provided for pose compensation (the compensation azimuth angles are X, Y and RZ) of the manipulator, the paving and leveling device can finish continuous paving and continuous splicing of different areas in the horizontal plane, and the continuous paving effect and quality are guaranteed. Preferably, the vision sensors 42 are two and are arranged on two opposite sides of the mounting base 10 at intervals side by side to improve the detection accuracy and reliability.

In this embodiment, the discharging mechanism 20 includes a bin 21 formed with a discharging port, and a door opening and closing mechanism cooperating with the discharging port. In one embodiment, the storage bin 21 is a rectangular cylinder with two ends penetrating through and a hollow middle part, and is made of wear-resistant stainless steel materials so as to ensure the service life. The upper end of the bin 21 is formed with a flared flange to better receive the dry mortar raw material conveyed from the stirring mechanism. The lower end of the hopper 21 is formed as a discharge port. For avoiding short-term out-of-work time, the dry mortar in the feed bin 21 takes place the caking scheduling problem, influences smooth ejection of compact and paves the quality, installs stirring spiral assembly in the feed bin 21. The door opening and closing mechanism is electrically connected with a controller of the paving robot, can open the discharge hole to enable dry mortar in the stock bin 21 to smoothly and uniformly flow out, or can close the discharge hole in time when the work place needs to be changed or the paving operation is finished, so that the waste of the dry mortar is avoided.

With reference to fig. 1 and fig. 2, in an embodiment, the door opening and closing mechanism includes a proximity switch, a driving member 22, a driving assembly in transmission fit with the driving member 22, and a bin door 24 connected to the driving assembly, wherein the bin door 24 is used for opening or closing the discharge hole. In addition, the controller can ensure that the dry mortar is not easy to splash and scatter and ensure the effective utilization rate of the dry mortar by controlling the preset distance between the discharge port and the foundation, the controller immediately controls the driving piece 22 to work, and the driving component transmits power to the bin door 24, so that the bin door 24 can be driven to open the discharge port to finish discharging the dry mortar or close the discharge port to stop discharging.

The driving assembly comprises a transmission wheel set 23 in driving connection with the driving piece 22, a transmission belt 25 sleeved on the transmission wheel set 23, a sliding block 26 connected with the transmission belt 25, and a guide rail 27 arranged on the mounting base 10 and connected with the sliding block 26, wherein the sliding block 26 is also connected with the bin gate 24. Optionally, the drive member 22 is a geared brushless motor. The speed reduction brushless motor drives the transmission wheel set 23 to rotate, and then the transmission belt 25 can be synchronously driven to rotate; the driving belt 25 rotates to drive the sliding block 26 to move along the guiding rail 27 synchronously, and the sliding block 26 drives the bin gate 24 to open or close the discharge hole. It can be understood that when the motor rotates in the forward direction, the bin gate 24 moves away from the discharge port, and the discharge port is opened to realize dry mortar discharge; when the motor rotates reversely, the bin gate 24 moves close to the discharge port, and the discharge port is closed by the bin gate 24 to stop discharging. In this scheme, guide rail 27 and feed bin door 24 mutually perpendicular arrange for slider 26 can drive feed bin door 24 and be close to or keep away from the discharge gate with parallel mode, and the aperture size of so discharge gate changes in the control, changes in the control to the load and the ejection of compact speed of dry mortar promptly, guarantees that the dry mortar of different regions paves thickness unanimously.

In this scheme, transmission wheelset 23 adopts the structural style that three synchronizing wheel are triangle-shaped and arranges, so adaptation that can be better is installed in the narrow and small mount pad 10 in space. And, at least one of them synchronizing wheel is adjustable for the position, possesses the function of take-up pulley promptly, can guarantee that drive belt 25 keeps the tensioning constantly, and then guarantees transmission efficiency.

Preferably, in an embodiment, the two driving assemblies are symmetrically arranged, and the two driving assemblies are respectively connected to two opposite ends of the bin gate 24 in a one-to-one correspondence manner. During operation, two drive assembly synchronous output power can guarantee that feed bin door 24 is close to or keeps away from the discharge gate with absolute parallel movement's mode, guarantees the two side synchronism that feed bin door 24 opened or closed, avoids appearing card material etc. and influences the smooth and easy nature problem of ejection of compact.

It should be noted that, in order to realize the opening or closing of the discharge port, besides the structural mode of the parallel linear movement of the bin gate 24, a discharging mode of the rotational opening and closing of the bin gate 24 and the lateral sliding opening and closing of the bin gate 24 may also be used; or a plurality of discharge ports can be used for discharging in cooperation, a single discharge port can be used for discharging in a reciprocating manner, and the like, and the discharging modes are also within the protection scope of the application.

With continued reference to fig. 2, the discharging mechanism further includes a second vibrating device 50 connected to the bin 21. For example, the second vibration device 50 is a vibration motor, and when the second vibration device works, the bin 21 can vibrate in a high-frequency and micro-amplitude manner, so that the dry mortar in the bin 21 can be further prevented from caking, the normal discharging is influenced, and meanwhile, the dry mortar is easier to be uniformly paved on the foundation.

With reference to fig. 1, in the present embodiment, the leveling and compacting mechanism 30 includes a guide assembly 31 disposed on the mounting base 10, a leveling press block 32 movably disposed on the guide assembly 31, and a first vibrating device 33 disposed on the leveling press block 32, where the first vibrating device 33 is configured to drive the leveling press block 32 to reciprocate on the guide assembly 31, so that the leveling press block 32 strikes, compacts and levels the material to be paved. Specifically, the leveling and compacting mechanism 30 is disposed behind the discharging mechanism 20 along the traveling direction, so that the dry mortar in the bin 21 can enter the lower portion of the leveling and compacting mechanism 30 to be hit and compacted after falling onto the ground. The working process is as follows: first vibrating equipment 33 produces the high-frequency vibration of vertical direction, and then drives flattening briquetting 32 and produce vertical high-frequency vibration, so flattening briquetting 32 just can form the high frequency to beat to press to hit to the dry mortar that the below paved on the ground, eliminates the gap in the dry mortar, makes the dry mortar more closely knit, ties admittedly, also can flatten the roughness on dry mortar layer surface simultaneously. It will be appreciated that the guide assembly 31 serves to carry and guide the up and down movement of the flattening press 32.

Of course, the second vibration device 50 and the first vibration device 33 may be other devices capable of generating vibration, such as an ultrasonic vibration head, etc., in the prior art, besides a vibration motor.

In this embodiment, the guiding assembly 31 is composed of a guide rod and a linear bearing. The linear bearing is sleeved outside the guide rod, and the linear bearing is assembled and connected with the leveling pressing block 32 and can stably slide on the guide rod. The structure is simple, the reliability is high, the longitudinal movement precision is high, and the contact plane of the leveling press block 32 and the dry mortar layer can be ensured to be a horizontal plane, namely, the levelness of the surface of the leveled mortar layer is ensured.

In order to reduce the rigid impact damage of the leveling press block 32 and the ground hammering, the leveling and compacting mechanism 30 further includes an elastic buffer member mounted on the guide assembly 31, and the elastic buffer member abuts against the leveling press block. The telescopic floating of the elastic buffer part can play a role in buffering and protecting the flattening pressing block so as to avoid the problems. Alternatively, the elastomeric buffer may be, but is not limited to, a spring, elastomeric post, or the like. When the elastomeric buffer is a spring, the spring is nested outside the guide assembly 31.

With continued reference to fig. 1, further, the leveling and compacting mechanism 30 further includes a leveling blade 34 disposed on the mounting base 10 and behind the leveling press block 32. After flattening briquetting 32 is with the solid flattening of dry mortar layer, along with removing the chassis and removing, strickle 34 and just can continue to carry out the operation of leveling to the surface on dry mortar layer to further guarantee the roughness on dry mortar layer, appear unevenness's problem when avoiding follow-up paving ceramic tile. Preferably, the number of the scraping knives 34 is two or more, and the scraping knives are arranged side by side at intervals along the advancing direction of the moving chassis, so that a plurality of scraping constructions can be carried out on the dry mortar layer to obtain higher flatness.

In addition, the leveling and compacting mechanism 30 further includes a first side baffle 35 and a second side baffle 36 which are arranged on the mounting base 10 at intervals side by side and are respectively arranged at two opposite sides of the leveling press block 32. The first side grout baffle 35 and the second side grout baffle 36 can prevent dry mortar from scattering toward the vacant areas on the two sides of the device, so that the dry mortar discharged from the discharge port is gathered below the leveling and compacting mechanism 30, and the utilization rate of the dry mortar and the laying height of a mortar layer are ensured.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A paving leveling device, comprising:

a mounting seat; and

2. The paving and leveling device according to claim 1, wherein the leveling and compacting mechanism further comprises an elastic buffer member, the elastic buffer member is mounted on the guide assembly and abutted against the leveling press block, and the elastic buffer member is used for buffering the leveling press block when the material to be paved is hit.

3. The paving leveling device of claim 1, wherein the leveling and compacting mechanism further comprises a leveling blade disposed on the mounting base and behind the leveling press block.

4. The paving leveling device of claim 1, wherein the leveling and compacting mechanism further comprises a first side dam and a second side dam spaced side-by-side on the mounting block and arranged on opposite sides of the leveling block.

5. The paving and leveling device of any one of claims 1 to 4, wherein the paving and leveling device further comprises a discharging mechanism for paving the material to be paved on the ground to be paved, the discharging mechanism is arranged on the mounting seat and moves along the paving direction, the leveling and compacting mechanism is arranged at the downstream of the discharging mechanism, and the leveling and compacting mechanism is used for compacting and leveling the material to be paved on the ground to be paved.

6. The paving and leveling device according to claim 5, wherein the discharging mechanism comprises a bin for paving the material to be paved on the ground, the bin is provided with a discharge port, and the discharging mechanism further comprises a door opening and closing mechanism matched with the discharge port in an opening and closing manner.

7. The paving leveling device of claim 6, wherein the door opening and closing mechanism comprises a driving member, a driving assembly in transmission fit with the driving member, and a bin door connected with the driving assembly, wherein the bin door is used for opening or closing the discharge port.

8. The paving and leveling device of claim 7, wherein the driving assembly comprises a transmission wheel set in driving connection with the driving piece, a transmission belt sleeved on the transmission wheel set, a sliding block connected with the transmission belt, and a guide rail arranged on the mounting seat and connected with the sliding block, and the sliding block is further connected with the bin gate.

9. The paving screed of claim 6, wherein the outfeed mechanism further comprises a second vibratory device coupled to the hopper.

10. A material paving robot comprising a paving screed according to any one of claims 1 to 9.