CN112942757B - Ceramic tile conveying device for automatic paving and pasting robot - Google Patents
Ceramic tile conveying device for automatic paving and pasting robot Download PDFInfo
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- CN112942757B CN112942757B CN202110120116.9A CN202110120116A CN112942757B CN 112942757 B CN112942757 B CN 112942757B CN 202110120116 A CN202110120116 A CN 202110120116A CN 112942757 B CN112942757 B CN 112942757B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—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
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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)
- Road Paving Machines (AREA)
Abstract
The invention discloses a ceramic tile conveying device for an automatic paving robot, which comprises a ceramic tile hopper and a ceramic tile conveying device, wherein the ceramic tile hopper comprises: the device comprises a visual positioning target, a hopper mounting base, an electric telescopic supporting rod, a concave tray and a tile paving tray; the hopper mounting base is mounted on the automatic paving and pasting robot; the ceramic tile transporting device comprises: the device comprises an industrial camera for positioning, a tile conveying tray, a tile push plate, a push plate driving motor, a tray X axial driving motor, an X axial moving pulley, a conveying base and a convex tray; the transportation base is arranged on the moving trolley. The automatic tile paving and pasting robot is applied to tile transportation of an automatic paving and pasting robot in building construction, the tile hopper can realize turnover and is used for grabbing of a mechanical arm of the automatic paving and pasting robot and automatic feeding of tiles, the tile transportation device can realize automatic feeding and tile pushing in the X-axis direction, manual participation is avoided in the whole process, and full-process automatic operation of tile paving and pasting is realized.
Description
Technical Field
The invention relates to the technical field of building construction, in particular to a tile conveying device for an automatic paving and pasting robot.
Background
In building construction, robots are increasingly used. In the use of the automatic tile laying robot, the robot arm of the robot can accurately grab a tile to a designated tile hopper position through the end effector, but still needs to manually place the tile into the tile hopper at regular intervals at present.
Therefore, in order to realize the full-process automation operation of tile paving, it is necessary to design a tile conveying device for an automatic paving robot.
Disclosure of Invention
Therefore, the invention aims to provide a tile conveying device for an automatic tile paving robot, which is used for matching with the automatic tile paving robot, and adopts the following specific technical scheme:
a ceramic tile transporting device for an automatic paving robot comprises a ceramic tile hopper and a ceramic tile transporting device,
the ceramic tile hopper includes: the device comprises a visual positioning target, a hopper mounting base, an electric telescopic supporting rod, a concave tray and a tile paving tray; the hopper mounting base is mounted on the automatic paving and pasting robot; the tile paving tray is a first right-angle plate, one end of the first right-angle plate, which is provided with a right-angle surface, is in adaptive connection with the other end of the concave tray, which is far away from the concave end of the concave tray, and the first right-angle plate is vertical to the concave tray; the concave surface of the first right-angle plate faces the concave tray, and a visual positioning target is fixed above the concave surface; the bottom of the convex end of the first straight angle plate is hinged with the upper surface of the hopper mounting base through a first rotating mechanism, the upper part of the first straight angle plate is hinged with one end of an electric telescopic supporting rod through a second rotating mechanism, the other end of the electric telescopic supporting rod is hinged on the hopper mounting base, and the hinged point of the electric telescopic supporting rod and the first rotating mechanism are respectively arranged at two ends of the upper surface of the hopper mounting base;
the ceramic tile transporting device comprises: the device comprises an industrial camera for positioning, a tile conveying tray, a tile push plate, a push plate driving motor, a tray X axial driving motor, an X axial moving pulley, a conveying base and a convex tray; the transportation base is arranged on the movable trolley; the X axial moving pulley is connected with the upper surface of the transportation base in a sliding manner and is driven by a tray X axial driving motor which is also positioned above the transportation base; a convex tray is fixedly connected above the X-axis moving pulley; one end of the convex tray, which faces the concave tray, can be in matched butt joint with the concave end of the concave tray under the drive of the tray X axial drive motor; the tile conveying tray is a second right-angle plate which is designed by hollowing the lower middle part, a right-angle surface is arranged on the second right-angle plate, the hollowed end is matched and connected with the other end, far away from the convex end, of the convex tray, and the second right-angle plate is perpendicular to the convex tray; the concave surface of the second right-angle plate faces the convex tray, and an industrial camera for positioning is fixed above the concave surface and corresponds to the position of the visual positioning target; the ceramic tile push plate is a third right-angle plate, is positioned below the concave surface of the second right-angle plate and can cover the hollow part of the second right-angle plate; the convex end of the third right-angle plate is connected with a push plate driving motor, and the push plate driving motor drives the third right-angle plate to move along the X-axis direction.
The invention is applied to the tile transportation of an automatic paving robot in building construction, is used for matching with the automatic paving robot of tiles, and is divided into two parts: ceramic tile hopper and ceramic tile transportation device, the upset can be realized to the ceramic tile hopper for automatic paving paste robot arm snatch with the automatic feeding of ceramic tile, the automatic feed and the ceramic tile propelling movement of X axle direction can be realized to the ceramic tile transportation device, whole ceramic tile transportation process is not artifical to participate in, has realized the full process automation operation that the ceramic tile was spread and has pasted.
Preferably, the electric telescopic supporting rod can drive the integral mechanism formed by the tile paving tray and the concave tray to realize 5-90-degree overturning. Wherein, 5 degrees positions are used for the snatching of paving machine robot arm, and 90 degrees positions are used for the automatic feeding of ceramic tile.
Preferably, the concave end of the concave tray is designed with a V-shaped head, and the convex end of the convex tray is designed to be capable of being inserted into the bidirectional groove structure of the V-shaped head in a matching manner so as to realize the tight fit of the concave end and the convex end.
Preferably, the upper surface of the X axial moving pulley is provided with a Y axial elastic position fine adjustment device, and the bottom of the convex tray is fixedly connected with a connecting block arranged above the middle part of the Y axial elastic position fine adjustment device; when the concave tray and the convex tray are close to each other, the Y-axial elastic position fine-tuning device can automatically align the concave tray and the convex tray within 0-5 mm, and the requirement on the position precision of a control system is reduced.
Preferably, the Y-axis elastic position fine adjustment device is a Y-axis elastic sliding lever.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic diagram of the practical installation and application of the present invention.
Figure 2 is a front view of the tile hopper of the present invention.
Figure 3 is a top view of the tile hopper of the present invention.
Figure 4 is an isometric view of a tile hopper of the present invention.
Fig. 5 is a front view of the tile conveying apparatus according to the present invention.
Fig. 6 is a plan view of the tile conveying apparatus of the present invention.
Figure 7 is an isometric view of the tile handling device of the present invention.
Fig. 8 is an enlarged view of the female tray and the male tray of the present invention when they are mated.
Fig. 9-17 are diagrammatic views of the working steps of the present invention.
In the figure, 1. visual positioning of a target; 2. a hopper mounting base; 3. an electric telescopic support rod; 4. a concave tray; 5. paving a ceramic tile tray; 6. positioning an industrial camera; 7. transporting the ceramic tile tray; 8. a ceramic tile push plate; 9. a push plate driving motor; 10. the tray X drives the motor axially; moving the pulley in the X axial direction; 12. a transportation base; a Y-axis elastically sliding polished bar; 14. a convex tray; 15. an automatic paving and pasting robot; 16. moving the trolley; 17. and (5) ceramic tiles.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A tile handling device for an automatic tile laying robot according to an embodiment of the present invention will be described in detail with reference to fig. 1 to 17.
Example (b):
the tile conveying device for the automatic paving robot, provided by the embodiment of the invention, comprises a tile hopper and a tile conveying device as shown in fig. 1.
As shown in fig. 2-4, the tile hopper comprises: the device comprises a visual positioning target 1, a hopper mounting base 2, an electric telescopic supporting rod 3, a concave tray 4 and a tile paving tray 5; the hopper mounting base 2 is mounted on the automatic paving and pasting robot 15; the tile paving tray 5 is a first right-angle plate, one end of the first right-angle plate, which is provided with a right-angle surface, is in adaptive connection with the other end of the concave tray 4, which is far away from the concave end of the concave tray, and the first right-angle plate is vertical to the concave tray 4; the concave surface of the first right-angle plate faces the concave tray 4, and a visual positioning target 1 is fixed above the concave surface; the bottom of the convex end of the first straight angle plate is hinged with the upper surface of the hopper mounting base 2 through a first rotating mechanism, the upper part of the convex end of the first straight angle plate is hinged with one end of the electric telescopic supporting rod 3 through a second rotating mechanism, the other end of the electric telescopic supporting rod 3 is hinged on the hopper mounting base 2, and the hinged point of the electric telescopic supporting rod and the first rotating mechanism are respectively arranged at two ends of the upper surface of the hopper mounting base 2.
Further, the electric telescopic supporting rod 3 can drive the whole mechanism formed by the tile paving tray 5 and the concave tray 4 to realize 5-90-degree overturning, wherein the 5-degree position is used for grabbing the mechanical arm of the automatic tile paving robot 15, and the 90-degree position is used for automatic feeding of tiles 17.
As shown in fig. 5 to 7, the tile conveying apparatus can perform automatic feeding and tile pushing in the X-axis direction, and includes: the automatic tile conveying device comprises an industrial camera 6 for positioning, a tile conveying tray 7, a tile push plate 8, a push plate driving motor 9, a tray X axial driving motor 10, an X axial moving pulley 11, a conveying base 12 and a convex tray 14; the transportation base 12 is arranged on a movable trolley 16; the X-axis moving trolley 11 is connected with the upper surface of the transportation base 12 in a sliding mode and is driven by a tray X-axis driving motor 10 which is also located above the transportation base 12; a convex tray 14 is fixedly connected above the X axial movement pulley 11; one end of the convex tray 14 facing the concave tray 4 can be in fit butt joint with the concave end of the concave tray 4 under the drive of the tray X axial driving motor 10; the tile dumping tray 7 is a second right-angle plate with a hollow design close to the lower middle position, a right-angle surface is arranged on the second right-angle plate, one hollow end of the second right-angle plate is connected with the other end, far away from the convex end, of the convex tray 14 in a matched mode, and the second right-angle plate is perpendicular to the convex tray 14; the concave surface of the second right-angle plate faces the convex tray 14, a positioning industrial camera 6 is fixed above the concave surface, and the positioning industrial camera 6 corresponds to the visual positioning target 1; the ceramic tile push plate 8 is a third right-angle plate, is positioned below the concave surface of the second right-angle plate and can cover the hollow part of the second right-angle plate; the convex end of the third right-angle plate is connected with a push plate driving motor 9, and the push plate driving motor 9 drives the third right-angle plate to move along the X-axis direction.
As shown in fig. 8, the female end of the female tray 4 is designed with a V-head and the male end of the male tray 14 is designed with a bi-directional groove structure that can fit into the V-head.
Meanwhile, the upper surface of the X axial movement pulley 11 is provided with a Y axial elastic position fine adjustment device, preferably a Y axial elastic sliding optical lever 13, the bottom of the convex tray 14 is fixedly connected with a connecting block arranged above the middle part of the Y axial elastic sliding optical lever 13, and springs are sleeved on the Y axial elastic sliding optical levers 13 on the two sides of the connecting block.
When the concave tray 4 and the convex tray 14 are close to each other, the Y-axial elastic sliding light bar 13 can automatically align the concave tray 4 and the convex tray 14 within 0-5 mm, and the requirement on the position precision of a control system is reduced, so that the ceramic tile 17 is accurately pushed to the concave tray 4 by the convex tray 14.
The whole ceramic tile transporting process is free of manual participation, and the whole-process automatic operation is realized.
The specific construction process of the ceramic tile transporting device for the automatic paving robot comprises the following steps:
in the working step 1, as shown in fig. 9, the moving trolley 16 with the tile conveying device with the tiles 17 is close to a tile hopper on the automatic paving robot 15;
working step 2, as shown in fig. 10, the electric telescopic supporting rod 3 is started, and the tile laying tray 5 is rotated to a 90-degree position;
working step 3, as shown in fig. 11 and 12, the moving trolley 16 obtains the coordinates of the visual positioning target 1 in real time through the industrial camera 6 for positioning, and the position is adjusted to be close to the tile hopper;
working step 4, as shown in fig. 13 and 14, starting the tray X axial driving motor 10 to drive the convex tray 14 to approach the concave tray 4, designing the joint of the convex tray 14 and the concave tray 4 as a bidirectional groove, and when the convex tray 14 and the concave tray 4 approach each other, elastically sliding the optical lever 13 in the Y axial direction within 0-5 mm to automatically align the two trays;
working step 5, as shown in fig. 15, the push plate driving motor 9 is started to drive the tile push plate 8, the tile push plate 8 pushes the tile 17 to the concave tray 4, and the tile 17 is attached to the tile laying tray 5;
in working step 6, as shown in fig. 16, the mobile carriage 16 is separated from the tile hopper of the automatic laying robot 15.
And in the working step 7, as shown in fig. 17, the electric telescopic supporting rod 3 is started to rotate the tile paving tray 5 to a 5-degree position, and the position can prevent the tiles from falling off and facilitate the grabbing of a mechanical arm of the robot.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. A ceramic tile transporting device for an automatic paving robot is characterized by comprising a ceramic tile hopper and a ceramic tile transporting device,
the ceramic tile hopper includes: the device comprises a visual positioning target (1), a hopper mounting base (2), an electric telescopic supporting rod (3), a concave tray (4) and a tile laying tray (5); the hopper mounting base (2) is mounted on an automatic paving and pasting robot (15); the tile paving tray (5) is a first right-angle plate, one end of the first right-angle plate, which is provided with a right-angle surface, is in adaptive connection with the other end of the concave tray (4), which is far away from the concave end of the concave tray, and the first right-angle plate is vertical to the concave tray (4); the concave surface of the first right-angle plate faces the concave tray (4), and a visual positioning target (1) is fixed above the concave surface; the bottom of the convex end of the first straight angle plate is hinged with the upper surface of the hopper mounting base (2) through a first rotating mechanism, the upper part of the first straight angle plate is hinged with one end of the electric telescopic supporting rod (3) through a second rotating mechanism, the other end of the electric telescopic supporting rod (3) is hinged on the hopper mounting base (2), and the hinged point and the first rotating mechanism are respectively arranged at two ends of the upper surface of the hopper mounting base (2); the electric telescopic support rod (3) can drive an integral mechanism consisting of the tile paving tray (5) and the concave tray (4) to realize 5-90-degree turnover;
the ceramic tile transporting device comprises: an industrial camera (6) for positioning, a tile conveying tray (7), a tile push plate (8), a push plate driving motor (9), a tray X-axis driving motor (10), an X-axis moving pulley (11), a conveying base (12) and a convex tray (14); the transportation base (12) is arranged on the mobile trolley (16); the X-axis moving trolley (11) is connected with the upper surface of the transportation base (12) in a sliding mode and is driven by a tray X-axis driving motor (10) which is also located above the transportation base (12); a convex tray (14) is fixedly connected above the X-axis moving pulley (11); one end of the convex tray (14) facing the concave tray (4) can be in fit butt joint with the concave end of the concave tray (4) under the drive of the tray X axial drive motor (10); the tile conveying tray (7) is a second right-angle plate which is designed by hollowing out the middle position of the lower right-angle plate, a right-angle surface is arranged on the second right-angle plate, the hollowed-out end of the second right-angle plate is connected with the other end, far away from the convex end, of the convex tray (14) in a matched mode, and the second right-angle plate is perpendicular to the convex tray (14); the concave surface of the second right-angle plate faces the convex tray (14), a positioning industrial camera (6) is fixed above the concave surface, and the positioning industrial camera (6) corresponds to the visual positioning target (1); the ceramic tile push plate (8) is a third right-angle plate, is positioned below the concave surface of the second right-angle plate and can cover the hollow part of the second right-angle plate; the convex end of the third right-angle plate is connected with a push plate driving motor (9) and is driven by the push plate driving motor (9) to move along the X-axis direction; a Y-axis elastic position fine-tuning device is arranged on the upper surface of the X-axis moving pulley (11), and the bottom of the convex tray (14) is fixedly connected with a connecting block arranged above the middle part of the Y-axis elastic position fine-tuning device; when the concave tray (4) and the convex tray (14) are close to each other, the Y-axis elastic position fine-adjustment device can automatically align the two trays within 0-5 mm.
2. Tile handling device for an automatic tile laying robot according to claim 1, characterized in that the female end of the female tray (4) is designed with a V-head and the male end of the male tray (14) is designed with a bidirectional groove structure that can be fitted into said V-head.
3. A tile handling device for an automated tiling robot according to claim 1 wherein the Y-axis elastic position fine adjustment means is a Y-axis elastic slide lever (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110120116.9A CN112942757B (en) | 2021-01-28 | 2021-01-28 | Ceramic tile conveying device for automatic paving and pasting robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110120116.9A CN112942757B (en) | 2021-01-28 | 2021-01-28 | Ceramic tile conveying device for automatic paving and pasting robot |
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| CN112942757A CN112942757A (en) | 2021-06-11 |
| CN112942757B true CN112942757B (en) | 2022-08-05 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115522715A (en) * | 2021-06-25 | 2022-12-27 | 广东博智林机器人有限公司 | Plate paving equipment and plate paving method |
| CN113585685A (en) * | 2021-08-10 | 2021-11-02 | 中一建设(河北)股份有限公司 | Swing arm ceramic tile laying device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100529865C (en) * | 2005-09-21 | 2009-08-19 | 共和纸业株式会社 | Tray and method for loading and transporting base-board of thin display device using said tray |
| CN102030193B (en) * | 2010-10-18 | 2012-10-03 | 关任 | Ceramic tile loading machine |
| CN201895959U (en) * | 2010-10-18 | 2011-07-13 | 关任 | Ceramic tile charging machine |
| CN202481365U (en) * | 2012-03-19 | 2012-10-10 | 南京中钞长城金融设备有限公司 | Note pile pushing device |
| CN110036162B (en) * | 2016-09-30 | 2021-04-02 | 新加坡-Eth研究中心 | System and method for placing an object on a surface |
| CN209871759U (en) * | 2019-03-15 | 2019-12-31 | 上海统超物流有限公司 | Tray feeder |
| CN111605788B (en) * | 2020-05-10 | 2022-04-29 | 河南升旭建设科技有限公司 | Quick collecting device of ceramic tile |
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