CN113089981A - Floor tile paving device and floor tile paving robot - Google Patents
Floor tile paving device and floor tile paving robot Download PDFInfo
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- CN113089981A CN113089981A CN201911352700.6A CN201911352700A CN113089981A CN 113089981 A CN113089981 A CN 113089981A CN 201911352700 A CN201911352700 A CN 201911352700A CN 113089981 A CN113089981 A CN 113089981A
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- tile
- floor tile
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- tiles
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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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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
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Abstract
The application relates to the field of auxiliary tools, in particular to a floor tile paving device and a floor tile paving robot. The floor tile paving device comprises a base body, a floor tile taking and placing mechanism and a resettable rotary connecting mechanism; the floor tile taking and placing mechanism is used for picking and releasing floor tiles to be paved; the floor tile taking and placing mechanism is rotatably connected with the base body through a rotating connecting mechanism; the floor tile taking and placing mechanism can be in a first position or can rotate from the first position to a second position under the action of external force relative to the base body; the rotational connection mechanism is configured to return the tile pick and place mechanism to the first position when the external force is removed. When the tile lifting device is used, the power is applied to enable the tiles to be paved to be abutted against the paved tiles, so that the tile lifting mechanism can be rotated passively to enable the tiles to be aligned in a self-adaptive mode, and the reliability is good. This approach requires less light sources than visual alignment. Further, the floor tile taking and placing mechanism is provided with positioning bayonet locks and other parts, so that the paving efficiency can be greatly improved.
Description
Technical Field
The application relates to the field of auxiliary tools, in particular to a floor tile paving device and a floor tile paving robot.
Background
The floor tile paving device is mainly used for assisting in paving floor tiles, and compared with manual paving, the floor tile paving device greatly improves the floor tile paving efficiency. However, during the paving process, the tiles may exert a torque on the tile paving device, which may cause the tile paving device to be damaged by the torque.
Disclosure of Invention
An object of the embodiment of the application is to provide a floor tile paving device and floor tile paving robot, it aims at improving current floor tile paving device and is difficult for aligning at the laying in-process, and it is lower to lay and paste efficiency.
The first aspect of the application provides a floor tile paving device, which comprises a base body, a floor tile taking and placing mechanism and a resettable rotary connecting mechanism;
the floor tile taking and placing mechanism is used for picking and releasing floor tiles to be paved; the floor tile taking and placing mechanism is rotatably connected with the base body through a rotating connecting mechanism; the floor tile taking and placing mechanism can be in a first position or can rotate from the first position to a second position under the action of external force relative to the base body; the rotational connection mechanism is configured to return the tile pick and place mechanism to the first position when the external force is removed.
Torque may be generated in the process of moving the floor tile taking and placing mechanism, the rotating connecting mechanism can transmit the torque to the base body, and the rotating connecting mechanism can enable the base body and the floor tile taking and placing mechanism to reset; after the first floor tile to be laid is laid, the connecting mechanism is rotated to enable the base body and the floor tile taking and placing mechanism to return to the first position, then the second floor tile to be laid is installed, and in the whole installation process, the angle and the like of the floor tile laying device do not need to be adjusted and calibrated too much.
In some embodiments of the first aspect of the present application, the rotational connection mechanism includes a connection block, a rotational reset component, and a support, the connection block is connected to the floor tile taking and placing mechanism, one end of the rotational reset component is rotatably connected to the connection block, the other end of the rotational reset component is rotatably connected to the base, the support is provided with a first connection member, the base is provided with a second connection member matching with the first connection member, and under the action of an external force and the reset component, the first connection member and the second connection member can be separated or connected.
In some embodiments of the first aspect of the present application, the first connector includes an elastic projection, and the second connector includes a groove that mates with the elastic projection.
The elastic lug boss is matched with the groove, so that the first connecting piece and the second connecting piece can be separated or connected.
In some embodiments of the first aspect of the present application, the resilient boss comprises an elastomer and a flange attached to an end of the elastomer;
the bracket is provided with a mounting hole for accommodating the elastic body; when the elastic body is in a free state, the flange is abutted against the groove.
The elastic body is connected with the flange, so that the flange can reset under the action of the elastic body, and the first connecting piece and the second connecting piece are more rapid in the process of separation or connection.
In some embodiments of the first aspect of the present application, the rotational reset assembly includes a rotating shaft and a torsion spring sleeved outside the rotating shaft, and two opposite ends of the torsion spring are respectively connected to the connecting block and the base;
one end of the rotating shaft is connected with the connecting block, and the other end of the rotating shaft is rotationally connected with the base body; or one end of the rotating shaft is connected with the base body, and the other end of the rotating shaft is rotatably connected with the connecting block.
The torsion spring and the rotating reset assembly formed by the rotating shaft can store torque, and the torque stored by the torsion spring enables the first connecting piece to be connected with the second connecting piece after the external force action disappears. Thereby resetting the base body and the floor tile taking and placing mechanism.
In some embodiments of the first aspect of the present application, the base includes a disk body having a circular outer edge, and the plurality of second connectors are disposed at the outer edge of the disk body at intervals in a circumferential direction of the disk body;
the rotary connecting mechanism comprises a plurality of supports, the supports are arranged along the periphery of the tray body at intervals, and each support is provided with one first connecting piece corresponding to the second connecting piece.
The plurality of brackets and the plurality of second connecting pieces enable the position relation of the base body and the rotating connecting mechanism to be more stable and do not deviate in the radial direction in the relative rotating process.
In some embodiments of the first aspect of the present application, the tile pick and place mechanism is provided with at least two locking pins for abutting against the tile to be laid, each locking pin has an abutting portion on a side away from the tile to be laid, and each abutting portion is used for abutting against the laid tile.
One side of the clamping pin leans against the floor tiles to be paved, and the other side of the clamping pin leans against the paved floor tiles, so that gaps between the clamping pin and the floor tiles are the same, and the influence of the error of the size of the floor tiles on the width of the gaps can be reduced.
In some embodiments of the first aspect of the present application, the tile paving apparatus further comprises a first linear driving assembly, an output end of the first linear driving assembly is connected to the tile picking and placing mechanism for driving the tile picking and placing mechanism to move along the first direction, and the rotational connecting mechanism is rotatably connected to the driving end of the first linear driving assembly.
In some embodiments of the first aspect of the present application, the tile paving apparatus further comprises a second linear driving assembly, an output end of the second linear driving assembly is connected to the tile pick and place mechanism to drive the tile pick and place mechanism to move in a direction perpendicular to the first direction, a driving end of the second linear driving assembly is connected to the rotational connection mechanism, and the driving end of the second linear driving assembly is slidably connected to the first linear driving assembly.
The present application second aspect provides a floor tile paving robot, and floor tile paving robot includes the floor tile paving device that the present application first aspect provided to and the arm, the arm is connected with the base member.
The torque generated by the floor tile taking and placing mechanism is transmitted to the base body through the rotating connecting mechanism and further transmitted to the mechanical arm, and the floor tile paving robot can return to the original position through the rotating connecting mechanism.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural view illustrating a tile paving apparatus according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a tile picking and placing mechanism according to an embodiment of the present application;
FIG. 3 shows an enlarged view of section III of FIG. 2;
fig. 4 is a schematic view of a tile pick and place mechanism and a partial structure of a laid tile according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram illustrating a first linear driving assembly provided by an embodiment of the present application;
fig. 6 is a diagram illustrating the position of the tile to be laid during the laying process;
fig. 7 is a diagram showing the positional relationship between tiles to be laid during the laying process;
FIG. 8 is a schematic structural diagram illustrating a rotational coupling mechanism provided in an embodiment of the present application;
fig. 9 shows a cross-sectional view of a rotary connection provided by an embodiment of the present application.
Icon: 10-a first tile; 20-a second tile; 100-floor tile paving device; 110-a tile pick and place mechanism; 111-a substrate; 112-a suction cup; 113-an electromagnet knocking hammer; 114-a position sensor; 115-fixed height bolts; 116-a movable catch; 117-bayonet; 118-a holding portion; 120-a drive mechanism; 121-a first linear drive assembly; 1211-mounting base; 122-a guide bar; 123-a push block; 124-a driver; 125-an elastic member; 126-linear guide rail; 127-a bottom plate; 128-fixed block; 129-a second linear drive assembly; 130-a rotating connection mechanism; 131-connecting blocks; 132-a rotating shaft; 133-torsion spring; 134-a substrate; 135-a bracket; 136-a first connector; 137-a second connector; 138-elastomer.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it should be understood that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships that the products of the application usually place when in use, or the orientations or positional relationships that the skilled person usually understands, are only for convenience of description and simplification of description, and do not indicate or imply that the indicated devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the application.
Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Examples
Referring to fig. 1, a schematic structural diagram of a tile paving apparatus 100 according to an embodiment of the present invention is shown, and referring to fig. 1, the tile paving apparatus 100 mainly includes a tile picking and placing mechanism 110, a driving mechanism 120, a rotating connecting mechanism 130 and a base 134.
The tile pick-and-place mechanism 110 is mainly used for picking up and releasing the tiles to be tiled, and ensures that the tiles do not fall off the tile pick-and-place mechanism 110 during the movement of the tile tiling apparatus 100, and after the tile pick-and-place mechanism 110 moves to a predetermined position, the tiles are separated from the tiles to be installed at the predetermined position.
The output end of the driving mechanism 120 is connected to the tile picking and placing mechanism 110, and is mainly used for driving the tile picking and placing mechanism 110 to move, so that the tile picking and placing mechanism 110 carries the tiles to be tiled to move to the preset position.
The driving end of the driving mechanism 120 is connected with the rotating connecting mechanism 130; the primary function of the rotational coupling mechanism 130 is that when the drive end of the drive mechanism 120 has a tendency to rotate, the drive end of the drive mechanism 120 transmits the torque of the tile retrieval and placement mechanism 110 to the rotational coupling mechanism 130, and the rotational coupling mechanism 130 stores a portion of the torque and transmits a portion of the torque to the substrate 134. When the tendency of the rotation of the tile pick and place mechanism 110 is lost, the stored torque of the rotational connection mechanism 130 restores the tile pick and place mechanism 110. The base 134 may be coupled to a robotic arm or the like.
In other words, the substrate 134 and the tile pick and place mechanism 110 have a plurality of relative positions, and the tile pick and place mechanism 110 has a first position relative to the substrate 134 when the tile pick and place mechanism 110 is not subjected to an external force (e.g., a force applied by a laid tile to the tile pick and place mechanism 110), and the tile pick and place mechanism 110 has a second position when the external force is applied. When the external force is removed, the rotation of the connection mechanism 130 can return the tile retrieving and placing mechanism 110 to the first position.
Fig. 2 is a schematic diagram illustrating a structure of a tile pick and place mechanism 110 according to an embodiment of the present application, and fig. 3 is an enlarged view of part iii of fig. 2; referring to fig. 2 and 3, the tile pick-and-place mechanism 110 includes a substrate 111 and a suction cup 112, the substrate 111 has a near side and a far side, the tile to be tiled abuts against the near side of the substrate 111 during the process of clamping the tile to be tiled by the tile pick-and-place mechanism 110, the suction cup 112 is installed on the far side of the substrate 111, and the suction cup 112 extends to the near side of the substrate 111 through the substrate 111 for sucking the tile to be tiled.
Fig. 4 is a partial schematic structural view of the tile picking and placing mechanism 110 and the tiled tiles according to the embodiment of the present invention, please refer to fig. 2 and 4 together, in the embodiment, the tile picking and placing mechanism 110 includes four suction cups 112, a connecting line of the four suction cups 112 is square, and the four suction cups 112 are respectively used for sucking four corners of the tile to be tiled to achieve a stable function.
In this embodiment, the floor tile taking and placing mechanism 110 further includes an electromagnet knocking hammer 113, the electromagnet knocking hammer 113 is installed at a far side of the substrate 111, the main function of the electromagnet knocking hammer 113 is that after the floor tile paving device 100 reaches a preset position, the electromagnet knocking hammer 113 knocks the floor tile to be paved to place the floor tile at the preset position, and after the floor tile is placed at the preset position, the electromagnet knocking hammer 113 continuously knocks the floor tile to tamp the floor tile.
In this embodiment, the tile retrieving and placing mechanism 110 further includes a position sensor 114, the position sensor 114 is installed on the remote side of the substrate 111, and the position sensor 114 mainly functions to detect the distance between the tile paving device 100 and the paved tiles, or to detect the distance between the tile paving device 100 and the wall surface.
In this embodiment, the tile retrieving and placing mechanism 110 further includes a height-fixing bolt 115, the height-fixing bolt 115 is connected to the substrate 111, and the height-fixing bolt 115 is used for adjusting the distance between the ground and the substrate 111. In this embodiment, the tile pick and place mechanism 110 may include a plurality of height-fixing bolts 115, and the height-fixing bolts 115 are spaced apart from each other.
In this embodiment, the floor tile retrieving and placing mechanism 110 further includes a movable clamping portion 116, the movable clamping portion 116 is connected to the edge of the substrate 111, one end of the movable clamping portion 116 is telescopically disposed, and an end portion of the movable clamping portion 116 can extend to a ground side of the substrate 111, after the floor tile paving device 100 reaches a preset position, the end portion of the movable clamping portion 116 is used for abutting against a gap between installed floor tiles, and it is determined again that the floor tiles to be installed are located at the preset position. If the floor tiles have dimension errors, the cooperation of the movable clamping part 116 and the clamping pin 117 can eliminate the accumulated errors which can occur by only depending on the positioning of the front floor tile by ensuring the position of the cross-shaped seam of the adjacent floor tiles, so that the adjacent two floor tiles are flush. The expansion and contraction of the movable catch 116 may be achieved by a motor-driven screw-ball pair, an air cylinder, or the like, for example.
It should be noted that in other embodiments of the present application, the suction cups 112 may have other structures, such as a clamping assembly for clamping the tile, and the clamping assembly is disposed on one side of the substrate 111 for fixing the position of the substrate and the tile. Accordingly, the electromagnet rapping hammer 113, the position sensor 114, the set-height bolt 115, and the movable clamping portion 116 may be omitted or replaced by other structures. For example, the electromagnet rapping hammers 113 may be manually knocked and tamped, or manually pressed against the floor tile pick and place mechanism 110 to tamp. The height-fixing bolt 115 may not be provided, and the base plate 111 may be provided to have a structure having a predetermined height with respect to the ground, for example, a protrusion may be provided on the ground side. The movable catch 116 may not be provided.
Referring to fig. 4 again, in the embodiment of the present invention, eight pins 117 are convexly disposed on the near-ground side of the substrate 111, the eight pins 117 are used for abutting against the periphery of the floor tile to be paved, and a side of each pin 117 facing away from the floor tile to be paved has an abutting portion 118, and the abutting portion 118 is used for abutting against the already paved floor tile. Every two clamping pins 117 are abutted against one side of the floor tile to be paved, the two clamping pins 117 abutted against the same side of the floor tile to be paved are arranged at intervals, and the connecting line of the abutting parts 118 of the two clamping pins 117 abutted against the same side of the floor tile to be paved is parallel to one side of the floor tile to be paved.
In other words, one side of the latch 117 is used to abut against the tile to be tiled, so that the relative position of the latch 117 and the tile to be tiled is fixed, the abutting part 118 of the latch 117 is used to abut against the tile already laid, and the latch 117 makes the relative position of the tile to be tiled and the tile already laid fixed.
The connecting line of the abutting parts 118 of the two clamping pins 117 is parallel to one side of the floor tile to be paved. Because the two floor tiles are required to be parallel to each other in the floor tile laying process, the included angle between the two floor tiles approaches zero. Therefore, the connecting line of the abutting portion 118 of the locking pin 117 needs to be parallel to one side of the tile to be laid, so that when the abutting portion 118 abuts against the tile already laid, the tile to be laid and the tile already laid are parallel to each other.
In the embodiment of the present application, the connection line of the abutting portions 118 of the two pins 117 refers to a connection line of the abutting portions 118 of the two pins 117 and the acting points of the laid floor tiles after the pins 117 abut against the laid floor tiles; it should be noted that the line is not absolutely parallel to the side of the tile to be tiled, but may be allowed to be parallel within the tolerances of the art.
Alternatively, in other embodiments of the present application, the inside of the detent 117 is used to abut a tile to be laid and the abutment 118 is used to abut a tile already laid. Each abutment 118 is for abutting against a laid tile. The connecting line of the propping part 118 and the acting point of the laid floor tile is also parallel to one side of the floor tile to be laid.
Further, since a gap is required between the tiles, the thickness of the locking pin 117 is the same as the size of the gap. For example, if a 2mm gap between tiles is desired, the thickness of the detent 117 is 2 mm. The thickness of the detent 117 refers to the dimension of the detent 117 in the direction of the centerline of the tile to be laid.
It should be noted that in other embodiments of the present application, only two pins 117 may be disposed on the ground-proximal side of the substrate 111, and the two pins 117 are used for abutting against one edge of the tile to be tiled; during installation, the abutments 118 of the two detents 117 abut the laid tile. In other embodiments, three, four, five, or more detents 117 may be provided on the ground-proximal side of the base 111. The number of detents 117 for abutting one edge of the tile to be tiled may also be three, four or more. Accordingly, all the supporting portions 118 of the pins 117 for supporting one side of the tile are connected in parallel to one side of the tile.
In this embodiment, the two pins 117 for abutting against one side of the tile to be tiled are independently arranged, and in other embodiments of the present application, the two pins 117 for abutting against one side of the tile to be tiled may be integrally arranged, or may be connected by other connecting components, etc.
It should be noted that in other embodiments of the present application, the locking pin 117 may not abut against the tile to be tiled, in other words, when the tile tiling apparatus 100 is in use, the locking pin 117 may have a certain distance from the tile to be tiled; the positional relationship between the pins 117 and the tiles to be tiled is determined. The clamping pin 117 has a butting portion 118, the butting portion 118 is disposed on one side of the clamping pin 117 away from the floor tile to be tiled, and a connecting line of the butting portion 118 of the clamping pin 117 for butting against one side of the floor tile to be tiled is parallel to one side of the floor tile to be tiled. Therefore, in the laying process, after the abutting parts 118 of all the clamping pins 117 abut against the laid floor tiles, the laid floor tiles can be ensured to be parallel to the floor tiles to be laid.
It should be noted that in other embodiments of the present application, the tile pick and place mechanism 110 may not be provided with the locking pin 117, and the width of the gap may be determined directly by determining the distance between the edge of the substrate 111 and the laid tiles; or by means of a separate card or the like, with a defined gap between the tiles to be laid and the tiles already laid. For example, a clamping plate with a predetermined thickness is abutted against the laid tiles, and the tile paving device 100 drives the tiles to be laid against the clamping plate and then installs the tiles. The thickness of the clamping plate can be equal to the width of a gap between the floor tiles to be paved and the paved floor tiles.
As mentioned above, the tile paving device 100 includes the driving mechanism 120, and the driving mechanism 120 is used for driving the tile picking and placing mechanism 110 to a predetermined position.
In this embodiment, the driving mechanism 120 is a linear driving assembly for driving the tile retrieving and placing mechanism 110 to perform a linear motion.
In this embodiment, the drive mechanism 120 includes a first linear drive assembly 121 and a second linear drive assembly 129. The first linear drive assembly 121 drives the tile pick and place mechanism 110 to move in a first direction parallel to a centerline of the tile to be tiled, and the second linear drive assembly 129 drives the tile pick and place mechanism 110 to move in a second direction perpendicular to the first direction, i.e., parallel to another centerline of the tile to be tiled.
Fig. 5 shows a schematic structural diagram of a first linear driving assembly 121 according to an embodiment of the present disclosure, please refer to fig. 1 and fig. 5, in which the first linear driving assembly 121 includes a guide rod 122, a pushing block 123, a driving member 124, an elastic member 125, a linear guide rail 126, a bottom plate 127, a fixing block 128, and a mounting seat 1211. The guide rod 122, the pushing block 123, the driving member 124, the elastic member 125, the linear guide 126 and the mounting seat 1211 are disposed on the bottom plate 127. The pushing block 123 is connected with the guiding rod 122 in a sliding mode, the driving piece 124 drives the pushing block 123 to slide along the guiding rod 122, and the driving end of the driving piece 124 is connected with the rotating connecting mechanism 130. The elastic member 125 is sleeved on the guide rod 122, the other end of the elastic member 125 is connected to the fixing block 128, the fixing block 128 is connected to the bottom plate 127, and the bottom plate 127 is connected to the floor tile pick-and-place mechanism 110. The mount 1211 is slidably coupled to the linear guide 126, and the mount 1211 is coupled to the rotary coupling mechanism 130. After the driving member 124 outputs the linear driving force, the floor tile pick-and-place mechanism 110 is pushed to move along the axial direction of the guide rod 122 by the elastic member 125.
Further, after the driving member 124 outputs the linear driving force, the bottom plate 127 is pushed to move along the axial direction of the guide rod 122, because the linear guide rail 126 is slidably connected with the mounting seat 1211; therefore, during the process of pushing the bottom plate 127 to move along the axial direction of the guide rod 122, the rotation connecting mechanism 130 and the mounting seat 1211 do not move along the axial direction of the guide rod 122.
In this embodiment, the first linear driving assembly 121 includes two parallel guide rods 122, the push block 123 is provided with two shaft holes, the push block 123 is sleeved on the two guide rods 122 through the two shaft holes, each guide rod 122 is provided with an elastic member 125, and the driving member 124 is disposed between the two guide rods 122.
In the embodiment of the present application, the elastic member 125 is a spring, and in other embodiments of the present application, the elastic member 125 may also be an elastic rubber tube or other structures.
In this embodiment, the driving member 124 is an electric push rod.
In this embodiment, each guide rod 122 is sleeved with two elastic members 125, the two elastic members 125 are respectively installed at two ends of the guide rod 122, the push block 123 is disposed at the middle position of the guide rod 122, one of the elastic members 125 is connected as described above, one end of the other elastic member 125 abuts against the driving end of the driving member 124 through the slider, and the slider is slidably sleeved on the guide rod 122. During the driving of the driving member 124, one of the elastic members 125 is compressed and the other elastic member 125 is stretched, so that the tile pick and place mechanism 110 holds the laid tiles by the locking pins 117. After the installation is completed, the force output by the driving member 124 is removed, the clamping pin 117 does not abut against the laid floor tile, and the positions of the driving member 124 and the bottom plate 127 can be restored to a certain extent under the action of the two elastic members 125.
Further, in some embodiments of the present application, the driving member 124 is provided with a stroke sensor, and the push rod is normally displaced to a maximum stroke middle position, so as to ensure that the maximum displacement in the left-right direction is equal.
It should be noted that in other embodiments of the present application, the first linear driving assembly 121 may have other structures, such as a screw-ball pair driven by a motor, or a pneumatic cylinder, etc. Or the first linear driving element 121 provided in this embodiment, but the elastic element 125 is not provided.
As mentioned above, in the embodiment of the present application, the driving mechanism 120 further includes the second linear driving assembly 129, and in the embodiment, the structure of the second linear driving assembly 129 is the same as that of the first linear driving assembly 121. The driving end of the second linear driving element 129 is also connected to the rotational connection mechanism 130, the output end of the second linear driving element 129 is connected to the tile picking and placing mechanism 110, and the driving end of the second linear driving element 129 is slidably connected to the first linear driving element 121.
The first linear drive assembly 121 can drive the tile pick and place mechanism 110 in a first direction and the second linear drive assembly 129 can drive the tile pick and place mechanism 110 in a direction perpendicular to the first direction.
In this embodiment, the driving end of the second linear driving assembly 129 is connected to the bottom plate 127, and the second linear driving assembly 129 is correspondingly provided with a sliding track, so that when the first linear driving assembly 121 drives the tile picking and placing mechanism 110 to move along the first direction, the second linear driving assembly 129 moves along with the tile picking and placing mechanism 110 along the first direction under the action of the bottom plate 127 and the sliding track.
Referring again to fig. 4, after the tile placement device 100 holds the tiles to be laid, the first linear driving element 121 drives the tile pick-and-place mechanism 110 to move in a first direction to abut one of the tiles (e.g., the upper tile already laid in fig. 4), the second linear driving element 129 drives the tile pick-and-place mechanism 110 to move in a direction perpendicular to the first direction to abut another tile (e.g., the right tile already laid in fig. 4), and the tile pick-and-place mechanism 110 releases the tiles to be laid to a predetermined position.
It should be noted that in other embodiments of the present application, the second linear drive assembly 129 may not be provided. The tile pick and place mechanism 110 can be manually engaged with another tile by external force.
Alternatively, in other embodiments of the present application, the tile paving device 100 may not be provided with the driving mechanism 120, and the tile paving device 100 may be manually driven to move in the first direction or the direction perpendicular to the first direction, or the entire tile paving device 100 may be directly driven to move in the first direction or the direction perpendicular to the first direction by a robot arm or the like.
As an example, fig. 6 illustrates a position relationship diagram of tiles to be laid during a laying process, fig. 6 illustrates a moving path of the tiles to be laid from left to right, fig. 7 illustrates a position relationship diagram of the tiles to be laid during the laying process, and a dotted line in fig. 7 indicates a state where the tiles to be laid are not yet attached to the tiles to be laid, please refer to fig. 6 and 7, and for convenience of description, in fig. 7, the tiles to be laid are named as first tiles 10, and the tiles to be laid are named as second tiles 20.
During tile laying, when the first linear driving element 121 drives the tile pick and place mechanism 110 to hold the second tile 20 close to the first tile 10, and as mentioned above, the force applied to the first tile 10 by the first linear driving element 121 is parallel to the centerline of the second tile 20, and the force applied to the second tile 20 by the first linear driving element 121 is shown as F in fig. 7, during the movement of the second tile 20 toward the first tile 10, the edge (the dotted line at the upper end shown in fig. 7) of the second tile 20 close to the first tile 10 may be close to the first tile 10 in a parallel relationship with the first tile 10, but the probability is small; in general, the edge line of the second tile 20 adjacent to the first tile 10 (shown as a dotted line at the top in FIG. 7) will be at an angle to the first tile 10 adjacent to the first tile 10; as shown in FIG. 7, the point B of the second tile 20 contacts the first tile 10 first, and then the first linear drive assembly 121 continues to apply a force to the tile pick and place mechanism 110, under the force F, the point A contacts the first tile 10.
In view of the above, in the present application, the base plate 111 is provided with the latch 117, and accordingly, the latch 117 abuts against one side of the second tile 20, and during the installation process, the abutting portion 118 of the latch 117 abuts against the first tile 10; in this embodiment, points a and B are located at the positions where the two pins 117 abut the second tile 20. Of course, for embodiments without detent 117, points A and B still exist on second tile 20, in other words, the existence of points A and B is not tied to detent 117.
During the process from point B contacting the first tile 10 to point a not contacting the first tile 10 to point B and point a contacting the first tile 10, the direction of the force F is not changed, so that the torque is transmitted to the tile retrieving and releasing mechanism 110 by the first tile 10 and the second tile 20, and the torque is transmitted to the first linear driving element 121 through the tile retrieving and releasing mechanism 110, and then transmitted to the rotational connecting mechanism 130 by the driving end of the first linear driving element 121.
In this embodiment, the rotating link 130 transmits a portion of the torque to a substrate 134 (e.g., a robotic arm) coupled to the rotating link 130 and stores a portion of the torque; when the second tile 20 is installed or the tile placement device 100 is no longer in contact with the first tile 10, a portion of the torque stored in the rotational connection mechanism 130 causes the rotational connection mechanism 130 to restore, and the reaction force of the first tile 10 to the tile placement device 100 does not cause rigid damage to the first linear drive assembly 121 and the tile pick and place mechanism 110 when the tile placement device 100 applies a force to the first tile 10.
Fig. 8 shows a schematic structural diagram of the rotating connection mechanism 130 provided in the embodiment of the present application, and fig. 9 shows a cross-sectional view of the rotating connection mechanism 130 provided in the embodiment of the present application, please refer to fig. 1, fig. 8 and fig. 9 together, and as mentioned above, the rotating connection mechanism 130 is connected to the driving end of the first linear driving assembly 121, and in this embodiment, the rotating connection mechanism 130 is fixedly connected to the base of the electric putter and the linear guide 126 through bolts.
In this embodiment, the rotation connecting mechanism 130 includes a connecting block 131, a rotating shaft 132, a torsion spring 133 and a bracket 135, and the driving ends of the first linear driving assembly 121 and the second linear driving assembly 129 are connected to the connecting block 131; in the present embodiment, the connecting block 131 is fixedly connected to the linear guide 126 by bolts.
One end of the rotating shaft 132 is connected to the connecting block 131, in this embodiment, the rotating shaft 132 and the connecting block 131 rotate synchronously through the screw fixation, and the other end of the rotating shaft 132 is rotatably connected to the base 134, so that the base 134 can rotate relative to the rotating shaft 132. In this embodiment, a bearing is mounted between the base 134 and the shaft 132.
The torsion spring 133 is sleeved outside the rotating shaft 132, and two opposite ends of the torsion spring 133 are respectively connected with the connecting block 131 and the base 134; one end of the torsion spring 133 is connected with the connecting block 131, and when the torque of the connecting block 131 is large during the rotation of the connecting block 131, part of the torque is stored in the torsion spring 133, and part of the torque is transmitted to the base 134 through the torsion spring 133.
One end of the bracket 135 is connected with the connecting block 131, in this embodiment, the other end of the bracket 135 extends towards the base 134, the bracket 135 rotates synchronously with the connecting block 131, the bracket 135 is provided with a first connecting piece 136, the base 134 is provided with a second connecting piece 137 matched with the first connecting piece 136, and the first connecting piece 136 and the second connecting piece 137 can be separated or connected under the action of the torsion spring 133. In other words, the first link 136 and the second link 137 may be coupled to or separated from each other by an external force from the torsion spring 133. When the torque of the connecting block 131 is large, a part of the torque is transmitted to the base 134 through the torsion spring 133 to drive the base 134 to rotate, and when the force of the rotation is enough to separate the first connecting member 136 from the second connecting member 137, the first connecting member 136 is separated from the second connecting member 137. When the torque transmitted to the connection block 131 disappears, the torque stored in the torsion spring 133 makes the base 134 rotate in the reverse direction, and the first connection member 136 is connected to the second connection member 137.
In this embodiment, the base 134 includes a flange with a circular outer edge, four second connecting members 137 are spaced around the flange, four brackets 135 are spaced around the connecting block 131, each bracket includes one first connecting member 136, and each first connecting member 136 is matched with one second connecting member 137.
In other embodiments of the present application, the number of the brackets 135 may be one, and the number of the first connecting members 136 and the second connecting members 137 may also be one. The number of the first connecting member 136 and the second connecting member 137 may be two, three, five or more. In addition, in other embodiments of the present application, the substrate 134 may have other shapes.
In this embodiment, the second connecting member 137 is a groove, and the first connecting member 136 is an elastic protrusion matching with the groove, and the elastic protrusion can extend into the groove. The resilient projection may be compressed to extend into the recess or to disengage from the recess.
Further, in order to better connect and disconnect the first link 136 and the second link 137. The first connecting member 136 includes an elastic body 138 and a ball, one end of the elastic body 138 is connected to the ball, and the bracket 135 is provided with a mounting hole for receiving the elastic body 138; the other end of the elastic body 138 extends into the through hole arranged in the bracket 135 and is connected with the bracket 135, and when the elastic body 138 is in a free state, the top bead is abutted against the groove; when the base 134 and the bracket 135 are rotated relatively, the top bead is disengaged from the groove, the elastic body 138 is compressed, and the first link 136 is separated from the second link 137. The base 134 and the bracket 135 are reset under the action of the torsion spring 133, and the elastic body 138 enables the top bead to be propped against the groove again to achieve the effect of stabilizing the base 134. In this embodiment, the elastic body 138 is a spring, in other embodiments, the elastic body 138 may also be a spring, and correspondingly, the ball may also be other flanges.
In other embodiments of the present application, the first connecting element 136 and the second connecting element 137 may have other structures, such as a male and female buckle or magnets capable of attracting each other.
In other embodiments of the present application, the rotating shaft 132 and the torsion spring 133 may also be other returning components, for example, the rotating shaft 132 and a plurality of springs wound around the rotating shaft 132. Accordingly, the rotating connection 130 may be other components that can store a portion of the torque.
As mentioned above, in this embodiment, one of the functions of the base 134 is to transmit the torque of the tile pick and place mechanism 110 to the base 134, and rotate the connecting mechanism 130 to quickly reposition the base 134 and the tile pick and place mechanism 110. The base 134 may be connected to a robotic arm, or may be connected to a handle for holding by hand, or the like.
The use principle of the floor tile paving device 100 provided by the embodiment of the application is as follows:
the suction cup 112 of the tile retrieving and placing mechanism 110 sucks the tile to be laid to the ground near the substrate 111, the two locking pins 117 abut against the tile to be laid, the tile paving apparatus 100 is moved to the area to be laid, the driving member 124 of the first linear driving assembly 121 drives the pushing block 123 to move along the guiding rod 122, the tile retrieving and placing mechanism 110 is moved along the first direction by the elastic member 125, one of the two locking pins 117 abuts against the already laid tile first, the driving member 124 continues to push the pushing block 123, so that the two locking pins 117 of the tile retrieving and placing mechanism 110 both abut against the already laid tile; in the process, the torque of the driving end of the driving member 124 is transmitted to the connecting block 131, and then a part of the torque is transmitted to the base 134 through the torsion spring 133, so that the base 134 is separated from the bracket 135 by the first connecting member 136 and the second connecting member 137 and then transmitted to a component connected to the base 134, such as a mechanical arm. Part of the torque is stored in the torsion spring 133. It should be noted that if the torque at the drive end of the driver 124 is not large, the base 134 and the bracket 135 may not move relative to each other, and all the torque is stored in the torsion spring 133.
The floor tile pick and place mechanism 110 is disengaged from the floor tile to be laid, the floor tile pick and place mechanism 110 no longer applies a force to the laid floor tile, the driving end of the driving member 124 no longer outputs a torque, the base 134 is reset by the torsion spring, and the first connecting member 136 is connected to the second connecting member 137.
Accordingly, if the tile pick and place mechanism 110 needs to move in a direction perpendicular to the first direction, a linear drive is output through the second linear drive assembly 129, and accordingly, if the driving end of the second linear drive assembly 129 transmits a torque, still to the connecting block 131, and then partially through the torsion spring 133 to the base 134, the base 134 is disengaged from the bracket 135 by the first and second connectors 136 and 137 and then transmitted to a component connected to the base 134, such as a robotic arm. Part of the torque is stored in the torsion spring 133. The driving end of the second linear driving assembly 129 does not output torque any more, the base 134 is reset under the action of the torsion spring, and the first connecting piece 136 is connected with the second connecting piece 137.
In the process that the driving member 124 does not output the linear driving force any more, the elastic member 125 sleeved on the guide rod 122 enables the driving member 124 to move a certain distance along the axial direction of the guide rod 122.
The main advantages of the floor tile paving device 100 provided by the embodiment of the present application are:
during the process of installing the floor tiles, if the floor tiles to be installed are not parallel to the laid floor tiles, the floor tile picking and placing mechanism 110 is moved to make the floor tiles to be laid abut against the laid floor tiles, and the connecting mechanism 130 is rotated to make the floor tiles to be laid self-adaptively aligned with the laid floor tiles, so that the reliability is good. The alignment can be carried out without the help of other tools such as a position sensor and the like, and accordingly, the alignment is more accurate and quicker than visual alignment. The paving efficiency can be improved by means of the clamping plate and the like.
Furthermore, for embodiments where the first linear drive assembly 121 is provided, it is avoided that the torque of the laid tiles on the tile pick and place mechanism 110 during tile installation causes rigid damage to the tile pick and place mechanism 110 or the first linear drive assembly 121 due to the rotational motion. The rotational connection mechanism 130 can dampen and eliminate the torque transferred to the tile pick and place mechanism 110 and the first linear drive assembly 121, allowing for a quick return without the application of external force.
Furthermore, one side of the bayonet 117 leans against the floor tile to be laid, and the other side leans against the laid floor tile, so that the gaps between the bayonet 117 and the floor tile are the same, and the floor tile laying efficiency can be improved.
Embodiments of the present application also provide a floor tile paving robot, which includes the floor tile paving device 100 as described above, and a robotic arm connected to the base 134.
In use, the robotic arm drives the tile paving apparatus 100 to move, and the torque generated by the tile pick and place mechanism 110 is transmitted to the base 134 via the rotational connection mechanism 130 and further transmitted to the robotic arm, and the rotational connection mechanism 130 enables the tile paving robot to return to its original position.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A floor tile paving device is characterized by comprising a base body, a floor tile taking and placing mechanism and a resettable rotary connecting mechanism;
the floor tile taking and placing mechanism is used for picking and releasing floor tiles to be paved; the floor tile taking and placing mechanism is rotatably connected with the base body through the rotating connecting mechanism;
the floor tile taking and placing mechanism can be in a first position or can rotate from the first position to a second position under the action of external force relative to the base body; the rotational connection mechanism is configured to return the tile pick and place mechanism to the first position when the external force is removed.
2. The floor tile paving apparatus according to claim 1, wherein the rotational connection mechanism comprises a connection block connected to the floor tile retrieving and placing mechanism, a rotational reset assembly rotatably connected at one end thereof to the connection block and at the other end thereof to the base, and a bracket provided with a first connection member, the base being provided with a second connection member matching the first connection member, the first connection member being detachable from or connectable to the second connection member by the external force and the rotational reset assembly.
3. A tile paving apparatus as claimed in claim 2, wherein said first connecting member comprises a resilient boss and said second connecting member comprises a recess which mates with said resilient boss.
4. A tile paving apparatus as claimed in claim 3, wherein said resilient boss comprises an elastomer and a flange connected to an end of said elastomer;
the bracket is provided with a mounting hole for accommodating the elastic body; when the elastic body is in a free state, the flange is abutted against the groove.
5. The floor tile paving device according to claim 3, wherein the rotary return component comprises a rotary shaft and a torsion spring sleeved outside the rotary shaft, and two opposite ends of the torsion spring are respectively connected with the connecting block and the base body;
one end of the rotating shaft is connected with the connecting block, and the other end of the rotating shaft is rotatably connected with the base body; or one end of the rotating shaft is connected with the base body, and the other end of the rotating shaft is rotatably connected with the connecting block.
6. A floor tile paving apparatus as claimed in any one of claims 2 to 5, wherein said base comprises a disc having a circular outer edge, a plurality of said second connecting members being provided at circumferentially spaced locations on the outer edge of said disc;
the rotary connecting mechanism comprises a plurality of supports, the supports are arranged along the periphery of the tray body at intervals, and each support is provided with one first connecting piece corresponding to the second connecting piece.
7. A floor tile laying apparatus according to any one of claims 1 to 5, wherein the tile pick and place mechanism is provided with at least two detents for abutting against the tile to be laid, each detent having an abutment on a side remote from the tile to be laid, each abutment being for abutting against a laid tile.
8. A tile paving apparatus as claimed in any one of claims 1 to 5, further comprising a first linear drive assembly, an output of said first linear drive assembly being connected to said tile pick and place mechanism for driving said tile pick and place mechanism in a first direction, said rotary connection being rotatably connected to a drive end of said first linear drive assembly.
9. The tile paving apparatus according to claim 8, further comprising a second linear drive assembly, an output of the second linear drive assembly being coupled to the tile pick and place mechanism for driving the tile pick and place mechanism in a direction perpendicular to the first direction, the drive end of the second linear drive assembly being coupled to the rotational coupling mechanism and the drive end of the second linear drive assembly being slidably coupled to the first linear drive assembly.
10. A tile paving robot, comprising the tile paving apparatus of any one of claims 1-9, and a robotic arm coupled to the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911352700.6A CN113089981A (en) | 2019-12-23 | 2019-12-23 | Floor tile paving device and floor tile paving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911352700.6A CN113089981A (en) | 2019-12-23 | 2019-12-23 | Floor tile paving device and floor tile paving robot |
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| Publication Number | Publication Date |
|---|---|
| CN113089981A true CN113089981A (en) | 2021-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911352700.6A Withdrawn CN113089981A (en) | 2019-12-23 | 2019-12-23 | Floor tile paving device and floor tile paving robot |
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| Country | Link |
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| CN (1) | CN113089981A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114131640A (en) * | 2021-11-05 | 2022-03-04 | 清华大学 | Mechanical gripper capable of clamping and paving flexible object |
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Application publication date: 20210709 |