CN114351991B - Paving mechanism, paving robot and paving method compatible with wall bricks of different sizes - Google Patents
Paving mechanism, paving robot and paving method compatible with wall bricks of different sizes Download PDFInfo
- Publication number
- CN114351991B CN114351991B CN202210086635.2A CN202210086635A CN114351991B CN 114351991 B CN114351991 B CN 114351991B CN 202210086635 A CN202210086635 A CN 202210086635A CN 114351991 B CN114351991 B CN 114351991B
- Authority
- CN
- China
- Prior art keywords
- paved
- wall
- image detection
- detection module
- paving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
- E04F21/1844—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one
- E04F21/1872—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one using suction-cups
-
- 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
- E04F21/1877—Leveling devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Road Paving Structures (AREA)
Abstract
The application provides a paving mechanism, a paving robot and a paving method compatible with wall bricks of different sizes, and relates to the technical field of building robots. The paving mechanism comprises a base, wherein the base is used for connecting the mechanical arm; the pick-up unit is arranged on the front side of the base and is used for taking and placing the wall bricks to be paved; the mobile detection unit comprises a driving module, a first image detection module and a second image detection module, wherein the driving module can respectively drive the first image detection module and the second image detection module to move in a preset direction, the preset direction is the extending direction of one side edge of the wall brick to be paved, the first image detection module is used for detecting the information of the corner of the wall brick to be paved, and the second image detection module is used for detecting the information of the edge of the wall brick to be paved extending along the preset direction. The paving mechanism can finish accurate positioning of the wall bricks to be paved, so that the paving robot applying the paving mechanism expands the coverage rate of automatic paving after combining corresponding paving methods compatible with the wall bricks with different sizes.
Description
Technical Field
The application relates to the technical field of building robots, in particular to a paving mechanism, a paving robot and a paving method compatible with wall bricks of different sizes.
Background
Building finishing is to tile the walls of kitchens, toilets and public areas. The robot is used for replacing a person to finish the wall surface tile paving, so that the wall surface tile paving is a better solution. Wall tiles of 600mm x 300mm are commonly used in engineering, and non-integral tiles with a length of less than 600mm are often required to be laid due to the limitation of house type structures. The adaptability of the robot to tiles of different sizes is a core point for improving coverage rate, generating economic benefit and improving market competitiveness, for example, a wall tile paving device provided by CN111910894a cannot pave non-whole tiles, and the coverage rate for paving tiles of different sizes is insufficient.
Disclosure of Invention
The application aims to provide a paving mechanism which can be used for solving the problem of low coverage rate when the existing robot is used for ceramic tile paving.
Another object of the present application is to provide a tiling robot comprising the above tiling mechanism, which has all the characteristics of the tiling mechanism.
Another object of the present application is to provide a method for paving wall tiles compatible with different sizes, which can be applied to the above-mentioned paving robot to realize the paving of the tiles with different sizes.
Embodiments of the present application are implemented as follows:
an embodiment of the present application provides a lay-up mechanism including:
the base is used for connecting the mechanical arm;
the pick-up unit is arranged on the front side of the base and is used for taking and placing the wall bricks to be paved;
the mobile detection unit comprises a driving module, a first image detection module and a second image detection module, wherein the driving module is arranged on the base, the driving module can respectively drive the first image detection module and the second image detection module to move in a preset direction, the preset direction is the extending direction of one side edge of the wall brick to be paved, the first image detection module is used for detecting the information of the corner of the wall brick to be paved, and the second image detection module is used for detecting the information of the edge of the wall brick to be paved extending along the preset direction;
when the driving module works, the first image detection module identifies the information of the corners of the wall bricks to be paved and the corners of the wall bricks to be paved, and the second image detection module identifies the information of one side of the wall bricks to be paved and one side of the wall bricks to be paved.
After the pick-up unit fixes the wall bricks to be paved, the first image detection module and the second image detection module can respectively move along the preset direction and detect corresponding information, and through detection of the information, the external equipment using the paving mechanism can accurately acquire the position information of the wall bricks to be paved so as to realize paving, not only complete wall bricks to be paved, but also incomplete or smaller wall bricks, and the size coverage of automatic paving of the wall bricks is improved.
In addition, the paving mechanism provided by the embodiment of the application can also have the following additional technical characteristics:
in an alternative embodiment of the present application, the driving module includes a first telescopic module and a second telescopic module;
the first telescopic module is used for driving the first image detection module to move in the preset direction, and the second telescopic module is used for driving the second image detection module to move in the preset direction.
The first telescopic module and the second telescopic module respectively drive the first image detection module and the second image detection module to move in a preset direction, so that the image detection modules can move according to the size of the wall tiles and detect information of key positions.
In an alternative embodiment of the present application, each of the telescopic modules includes a base, a linear transmission assembly, a driving member, and a connecting arm, where the base is disposed on the base, the driving member is disposed on the base and drives the connecting arm to move along the preset direction through the linear transmission assembly, and the connecting arm is used to connect with a corresponding image detection module.
The seat body can provide the installation basis for other parts, and the driving piece then drives the connecting arm through the linear transmission subassembly and makes rectilinear motion to the position of image detection module is adjusted according to the size of wall brick.
In an alternative embodiment of the present application, the linear transmission assembly includes a screw and a slider, the screw is rotatably disposed on the base, the screw is connected to an output end of the driving member, the driving member is used for driving the screw to rotate, the slider is sleeved on the screw and is slidably disposed on the base, and the connecting arm is fixed on the slider.
The screw rod and the sliding block are matched, so that the displacement control of the image detection module is more accurate, and the reliability of image detection is improved.
In an alternative embodiment of the present application, the first image detection module and/or the second image detection module is a light source integrated camera.
The integrated camera of light source can carry out the light filling when shooing for the definition and the stability of shooing are better.
In an alternative embodiment of the present application, the paving mechanism further includes an inclination sensor, where the inclination sensor is disposed on the base, and the inclination sensor is used to obtain a pitch angle of the wall brick to be paved relative to the wall surface.
By detecting the pitching angle, the external mechanical arm can adjust the pitching posture of the wall bricks to be paved.
In an alternative embodiment of the application, the paving mechanism further comprises two displacement sensors, wherein the two displacement sensors are fixed on the base, and the two displacement sensors are used for measuring the distance between the paving mechanism and the paved wall bricks respectively.
The displacement sensor can adjust the left-right inclined angle of the wall brick to be paved by measuring the distance between the displacement sensor and the paved wall brick, so that the wall brick to be paved can be flush with the top surface of the paved wall brick.
In an alternative embodiment of the application, the paving mechanism further comprises a stopper fixed to the base and protruding forward from the front side of the base.
The stop piece can limit the movement of the wall brick to be paved and conduct the acting force of the mechanical arm during paving, so that the wall brick to be paved can be stably paved on a wall surface without deflection.
An embodiment of the present application provides a tiling robot including:
a chassis;
the mechanical arm is arranged on the chassis;
a controller;
a lay-on mechanism according to any preceding claim, said lay-on mechanism being connected to the end of said robotic arm, said controller being adapted to control the operation of said robotic arm and said lay-on mechanism.
The paving robot can pave and paste the wall bricks with complete size, incomplete size and small size by using the paving mechanism, so that the coverage rate of automatic paving is enlarged, and the economic benefit is better.
The embodiment of the application provides a paving method compatible with wall bricks of different sizes, which uses a mechanical arm, a controller, a pickup unit and a movement detection unit, wherein the movement detection unit comprises a first image detection module and a second image detection module, and the paving method compatible with the wall bricks of different sizes comprises the following steps:
grabbing the wall bricks to be paved through a pick-up unit;
the mechanical arm drives the wall bricks to be paved to move to the area to be paved;
the mobile detection unit works and feeds back the information of the corners of the wall bricks to be paved and the corners of the paved wall bricks to the controller, the information of one side edge of the wall bricks to be paved and one side edge of the paved wall bricks is fed back by the mobile detection unit, and the controller controls the mechanical arm to drive the position of the wall bricks to be paved to adjust according to the information fed back by the mobile detection unit;
when the wall bricks to be paved are adjusted in place, the first image detection module can identify that the corners of the wall bricks to be paved and the corners of the paved wall bricks form cross joints, and the second image detection module can identify that one side of the wall bricks to be paved and one side of the paved wall bricks form transverse joints;
the mechanical arm drives the wall bricks to be paved to move forwards so as to pave and attach the wall bricks to be paved in place.
The paving method compatible with the wall bricks with different sizes can enable the paving robot to complete automatic paving of the wall bricks, improves paving efficiency and enables the size coverage rate of the wall bricks capable of being paved to be larger.
In an alternative embodiment of the application, in the step of gripping the wall brick to be laid by the pick-up unit:
the extending direction of the center line of the base is perpendicular to the preset direction, the center line of the base is parallel to the center line of the wall brick to be paved and has a distance in the preset direction, so that the projection of one side of the base in the preset direction on the wall brick to be paved is not beyond the edge of the wall brick to be paved.
Through the eccentric fixation wait to lay the wall brick that pastes, can avoid base and external environment to take place to interfere.
In an optional embodiment of the present application, in the step of operating the movement detection unit and feeding back information of a corner of the wall brick to be paved and a corner of the wall brick to be paved to the controller, the controller controls the mechanical arm to drive the wall brick to be paved to adjust the position according to the information fed back by the movement detection unit, where the information of one side of the wall brick to be paved and one side of the wall brick to be paved is:
the controller controls the driving module to drive the second image detection module to move according to the size of the wall brick to be paved, so that the projection of the second image detection module on the wall brick to be paved does not exceed the edge of the wall brick to be paved.
Through the eccentric fixed wall brick that waits to lay, can avoid second image detection module to take place to interfere with external environment to improve the security of laying the subsides, avoid second image detection module to be bumped.
In an optional embodiment of the present application, in the step of controlling, by the controller, the driving module to drive the second image detection module to move according to the size of the wall tile to be paved:
the controller is preset with preset size data of the wall bricks to be paved, the mobile detection unit can acquire actual size data of the wall bricks to be paved, the controller compares the actual size data with the preset size data for analysis, the brick paving is directly controlled when the actual size data accords with the preset size data, and the brick paving stopping and alarming are controlled when the actual size data does not accord with the preset size data.
By comparing the actual size data of the wall bricks to be paved with the preset size data, whether the wall bricks are matched with the size of the area to be paved of the wall surface or not can be confirmed, so that paving errors are avoided.
In an optional embodiment of the present application, in the step of the mechanical arm driving the wall brick to be laid to move to the area to be laid, the step of:
the controller obtains the inclination angle of the wall brick to be paved and the wall surface, obtains the distance between the wall brick to be paved and the paved wall brick in the front-back direction, and controls the mechanical arm to drive the wall brick to be paved to adjust the posture so that the wall brick to be paved and the paved wall brick are parallel.
By adjusting the posture before paving, the paved wall bricks and other paved wall bricks can be kept neat, and reworking is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an isometric view of a paving mechanism according to an embodiment of the present application;
FIG. 2 is a bottom view of FIG. 1;
FIG. 3 is a schematic diagram of a first telescopic module and a first image detection module;
FIG. 4 is an isometric view of the paving mechanism of FIG. 1 when paving a full brick;
FIG. 5 is a top view of the paving mechanism of FIG. 1 when paving a full brick;
FIG. 6 is an isometric view of the paving mechanism of FIG. 1 when paving non-integral tiles;
FIG. 7 is a top view of the paving mechanism of FIG. 1 when paving non-integral tiles;
fig. 8 is a flow chart of a method of laying compatible wall tiles of different sizes.
Icon: 100-paving mechanism; 10-a base; a 20-pick-up unit; 30-a movement detection unit; 41-a first telescopic module; 42-a second expansion module; 431-a base; 4321-a slider; 433—a driver; 434-a connecting arm; 50-a first image detection module; 60-a second image detection module; 70-stop; 80-tilt sensor; a 90-displacement sensor; 200-wall bricks to be paved; 300-the wall bricks are paved.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "inner", "outer", etc. are based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship that the product is conventionally put in use, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Examples
Referring to fig. 1 and 2, an embodiment of the present application provides a paving mechanism 100, including:
the base 10, the base 10 is used for connecting the mechanical arm;
the pick-up unit 20, the pick-up unit 20 is arranged at the front side of the base 10, and the pick-up unit 20 is used for picking and placing the wall bricks 200 to be paved;
the mobile detection unit 30, the mobile detection unit 30 includes a driving module, a first image detection module 50 and a second image detection module 60, the driving module is disposed at the rear side of the base 10, the driving module is capable of driving the first image detection module 50 and the second image detection module 60 to move in a preset direction (an extending direction (an X-axis direction in fig. 4) of one side of the wall brick 200 to be paved), the first image detection module 50 is used for detecting information of corners of the wall brick 200 to be paved, and the second image detection module 60 is used for detecting information of edges of the wall brick 200 to be paved extending along the preset direction;
in operation, the first image detection module 50 identifies the information of the corners of the wall brick 200 to be laid and the corners of the wall brick 300 to be laid, and the second image detection module 60 identifies the information of one side of the wall brick 200 to be laid and one side of the wall brick 300 to be laid.
The base 10 of the present embodiment is a flange main board, and can be connected with a mechanical arm through a connecting flange, and drives the position of the wall brick fixed by the pick-up unit 20 and drives the wall brick to be paved on a wall surface through the mechanical arm.
Briefly, after the pickup unit 20 fixes the wall brick 200 to be paved, the first image detection module 50 and the second image detection module 60 can respectively move along the preset direction and detect corresponding information, and by detecting the information, the external equipment using the paving mechanism 100 can accurately acquire the position information of the wall brick 200 to be paved so as to realize paving, not only the complete wall brick 200 to be paved, but also the incomplete or smaller wall brick can be paved, and the size coverage of automatic paving of the wall brick is improved.
In the present application, a vacuum chuck is used as the pickup unit 20, the negative pressure of the vacuum chuck is generated by an air passage, and an air pipe, a vacuum generator, an electromagnetic valve, an air pump, an air filter, etc. included in the air passage can be referred to as a kit for a general vacuum chuck. In this embodiment, the vacuum chucks are four and symmetrically disposed on the base 10. The paving mechanism 100 of the present embodiment further includes a stopper 70, the stopper 70 being fixed to the base 10 and protruding forward from the front side of the base 10.
In detail, the stopper 70 has a column shape, and six stoppers 70 are distributed in the vicinity of the four vacuum chucks and symmetrically distributed. The stopper 70 can restrict the movement of the wall brick 200 to be laid and conduct the force of the mechanical arm at the time of laying, so that the wall brick 200 to be laid can be stably laid on the wall surface without being skewed. The base 10 of the embodiment is in a flat plate shape, and the stop member 70 can keep parallel to the base 10 after the wall bricks are adsorbed, so that the relative positions of the wall bricks and the base 10 are consistent after each grabbing of the wall bricks, the calculated amount of the robot arm of the paving mechanism 100 for carrying out posture adjustment on the wall bricks is reduced, and the adjustment speed is increased.
With continued reference to fig. 1, the driving module of the present application includes a first telescopic module 41 and a second telescopic module 42;
the first telescopic module 41 is used for driving the first image detection module 50 to move in a preset direction, and the second telescopic module 42 is used for driving the second image detection module 60 to move in the preset direction. The first telescopic module 41 and the second telescopic module 42 respectively drive the first image detection module 50 and the second image detection module 60 to move in a preset direction, so that the image detection modules can move according to the size of the wall tiles and detect the information of the key positions.
In the present embodiment, the first telescopic module 41 and the second telescopic module 42 are simply referred to as telescopic modules, and the first image detection module 50 and the second image detection module 60 are simply referred to as image detection modules.
Please combine fig. 3, each telescopic module includes a base 431, a linear transmission assembly, a driving member 433 and a connecting arm 434, the base 431 is disposed on the base 10, the driving member 433 is disposed on the base 431 and drives the connecting arm 434 to move along a preset direction through the linear transmission assembly, and the connecting arm 434 is used for connecting with a corresponding image detection module. Further, as shown in fig. 1, the first telescopic module 41 and the second telescopic module 42 are symmetrically arranged.
The base 431 can provide a mounting base for other components, and the driving member 433 drives the connecting arm 434 to make a linear motion through the linear transmission assembly, so as to adjust the position of the image detection module according to the size of the wall brick. The driving member 433 of the present embodiment is a driving motor.
In detail, the linear transmission assembly includes a screw (not shown) rotatably disposed on the base 431 through a bearing, and a slider 4321 connected to an output end of the driving member 433, wherein the driving member 433 is used for driving the screw to rotate, the slider 4321 is sleeved on the screw and slidably disposed on the base 431, and the connection arm 434 is fixed to the slider 4321. The screw rod and the sliding block 4321 are matched, so that the displacement control of the image detection module is more accurate, and the reliability of image detection is improved. Of course, when the driving member 433 is a linear motor, the connecting arm 434 may be directly mounted to an output end of the linear motor, so as to drive the image detection module to perform linear telescopic motion through the linear motor. In other embodiments, it is also conceivable to use linearly drivable devices such as pneumatic cylinders, hydraulic cylinders and electric cylinders as the driving member 433 and to use them in combination with the required connection members, so-called linear transmission assemblies.
In the present embodiment, the first image detection module 50 and/or the second image detection module 60 is a light source integrated camera. The integrated camera of light source can carry out the light filling when shooing for the definition and the stability of shooing are better. It will be appreciated that other schemes of industrial cameras with industrial light sources may also be used as image detection modules and are suitable for the image acquisition operation of the present application. The industrial camera may be connected to the connection arm 434, and the industrial light source may be disposed on the base 431 or may be disposed on the connection arm 434 together with the industrial camera. Therefore, the first image detection module 50 and the second image detection module 60 may be designed as a light source integrated camera as in the present embodiment, or one of them may be designed as a light source integrated camera, and the other may be designed as another type of camera, which may be specifically selected according to actual requirements.
With continued reference to fig. 1, the paving mechanism 100 of the present embodiment further includes an inclination sensor 80, where the inclination sensor 80 is disposed on the base 10, and the inclination sensor 80 is configured to obtain a pitch angle of the wall brick 200 to be paved relative to the wall surface. By detecting the pitching angle, the external mechanical arm can adjust the pitching posture of the wall bricks to be paved.
With continued reference to fig. 1 and 2, the paving mechanism 100 of the present embodiment further includes two displacement sensors 90, the two displacement sensors 90 are fixed to the base 10, and the two displacement sensors 90 are used for measuring distances from the paved wall bricks 300 respectively. The displacement sensor 90 can adjust the left-right tilting angle of the wall brick 200 to be laid by the mechanical arm by measuring the distance from the laid wall brick 300 so that the wall brick 200 to be laid can be flush with the top surface of the laid wall brick 300. The laser displacement sensor is adopted in the embodiment, the accuracy is high, the distance between the laser displacement sensor and the paved wall brick 300 can be accurately detected, and the mechanical arm is convenient to adjust the posture of the wall brick 200 to be paved.
Based on the above-described tiling mechanism 100, an embodiment of the present application provides a tiling robot including:
a chassis;
the mechanical arm is arranged on the chassis;
a controller;
according to the paving mechanism 100 described above, the paving mechanism 100 is connected to the end of the mechanical arm, and the controller is used to control the mechanical arm and the paving mechanism 100 to work.
Simply put, the paving robot can perform paving on wall bricks with complete sizes, incomplete sizes and small sizes by using the paving mechanism 100, so that the coverage rate of automatic paving is enlarged, and the economic benefit is better.
Referring to fig. 8, an embodiment of the present application provides a method for applying wall tiles of different sizes, which can be implemented using the above-mentioned application robot and the application mechanism used, i.e., reference is made to the structural components of the application robot and the application mechanism described above for structural components used in the steps of the method.
Specifically, the paving method compatible with the wall bricks with different sizes comprises the following steps:
s100: grabbing the wall brick 200 to be laid by the pick-up unit 20;
s200: the mechanical arm drives the wall brick 200 to be paved to move to the area to be paved;
s300: the movement detection unit 30 works and feeds back the information of the corners of the wall bricks 200 to be paved and the corners of the wall bricks 300 to be paved, the information of one side of the wall bricks 200 to be paved and one side of the wall bricks 300 to be paved to the controller, and the controller controls the mechanical arm to drive the wall bricks 200 to be paved to adjust the position according to the information fed back by the movement detection unit 30;
s400: when the wall brick 200 to be paved is adjusted in place, the first image detection module 50 can recognize that the corner of the wall brick 200 to be paved and the corner of the wall brick 300 to be paved form a cross joint, and the second image detection module 60 can recognize that one side edge of the wall brick 200 to be paved and one side edge of the wall brick 300 to be paved form a transverse joint;
s500: the robotic arm moves the wall brick 200 forward to lay the wall brick 200 in place.
The cross and transverse slits in fig. 5 and 7 are shown to be relatively wide, and do not represent actual placement such as leaving a particularly large slit, but are shown exaggerated in width for ease of reference to positional relationships and slit shapes.
The paving method compatible with the wall bricks with different sizes can enable the paving robot to complete automatic paving of the wall bricks, improves paving efficiency and enables the size coverage rate of the wall bricks capable of being paved to be larger.
In the step of gripping the wall brick 200 to be laid by the pick-up unit 20:
the extending direction of the center line of the base 10 is perpendicular to the preset direction, and the center line of the base 10 is parallel to the center line of the wall brick 200 to be paved and has a distance in the preset direction, so that the projection of one side of the base 10 in the preset direction on the wall brick 200 to be paved does not exceed the edge of the wall brick 200 to be paved. By eccentrically fixing the wall brick 200 to be laid, interference between the base 10 and the external environment can be avoided.
In the steps that the movement detection unit 30 works and feeds back the information of the corners of the wall bricks 200 to be paved and the corners of the wall bricks 300 to be paved to the controller, and the controller controls the mechanical arm to drive the wall bricks 200 to be paved to adjust the position according to the information fed back by the movement detection unit 30, wherein the information of one side of the wall bricks 200 to be paved and one side of the wall bricks 300 to be paved is:
the controller controls the driving module to drive the second image detection module 60 to move according to the size of the wall brick 200 to be paved, so that the projection of the second image detection module 60 on the wall brick 200 to be paved does not exceed the edge of the wall brick 200 to be paved. Through the eccentric fixation of the wall brick 200 to be paved, the interference between the second image detection module 60 and the external environment can be avoided, so that the paving safety is improved, and the second image detection module 60 is prevented from being broken.
In the step of controlling the driving module to drive the second image detection module 60 to move by the controller according to the size of the wall brick 200 to be laid:
the controller is preset with preset size data of the non-integral wall bricks 200 to be paved, the mobile detection unit 30 can acquire actual size data of the wall bricks 200 to be paved, the controller compares the actual size data with the preset size data for analysis, the controller directly controls paving bricks when the actual size data accords with the preset size data, and controls stopping paving bricks and giving an alarm when the actual size data does not accord with the preset size data. The preset size data can be derived from BIM data, the preset size data can be a range value, and as long as the actual size data is in the range, the size of the area to be paved is matched with the block of non-integral bricks, the gap between the wall bricks and the side wall surface after paving accords with the preset range, and the block of non-integral bricks can be used for paving.
In the step of driving the wall brick 200 to be laid to move to the area to be laid by the mechanical arm:
the controller obtains the inclination angle of the wall brick 200 to be paved and the wall surface, obtains the distance between the wall brick 200 to be paved and the wall brick 300 to be paved in the front-back direction, and controls the mechanical arm to drive the wall brick 200 to be paved to adjust the posture so that the wall brick 200 to be paved and the wall brick 300 to be paved are parallel. By adjusting the attitude before paving, the paved wall bricks and other paved wall bricks 300 can be kept neat, and reworking is avoided.
The principle of this embodiment is:
in the prior art, a robot capable of paving tiles can only pave tiles of full size, and for tiles of incomplete size or called incomplete tiles with a length of less than 600mm, the paving work still needs to be completed manually. In addition, robots that can accommodate tiles of 300 x 600 size often cannot be used for smaller tile placement, and still require manual work to place smaller tiles. Therefore, the application range of the general robot is small, obvious economic benefit cannot be brought, market competitiveness cannot be improved, and a large amount of paving work still needs to be carried out manually. In particular, when a wall is to be laid, for example, from left to right, a general robot interferes with the right wall surface in space when the wall is laid to the right, and the robot cannot be used for laying the edge wall bricks. In view of the above, the present application provides a paving mechanism 100, which is mounted on a mechanical arm of a paving robot, and is assisted by a paving method compatible with wall bricks of different sizes, so as to improve the corresponding problems.
Referring to fig. 4 and 5, when the paving robot of the present application uses the paving mechanism 100, the paving mechanism 100 is eccentrically disposed with respect to the wall tile (i.e., the center line of the base 10 is offset from the center line of the wall tile), so that the movement range of the first image detection module 50 can cover the corner position of the wall tile 200 to be paved, which is fixed by the vacuum chuck, to obtain the information of the corner of the wall tile 200 to be paved. When the eccentricity is fixed, the amount of the eccentricity is reduced as much as possible on the premise that the movement range of the first image detection module 50 can be ensured to cover the corner position of the wall brick 200 to be paved, which is fixed by the vacuum chuck, so that the stress of the wall brick 200 to be paved during paving is more uniform.
After the first image detection module 50 is moved to the corner, the mechanical arm drives the wall brick 200 to be paved to move to the area to be paved, and can drive the wall brick 200 to be paved to rotate around the Z axis shown in fig. 4, so that the left corner of the wall brick 200 to be paved and the corner of the paved wall brick can form a cross joint. Meanwhile, the second image detection module 60 may recognize information between the lower side of the wall brick 200 to be laid and the upper side of the underlying wall brick 300 to be laid and confirm whether a transverse seam is formed. When the cross joint and the transverse joint are both formed, the movement of the wall brick 200 to be paved can be confirmed, and at the moment, the wall brick 200 to be paved can be directly pushed forward by means of the mechanical arm so as to complete the paving work.
Further, in order to make the stress of the wall brick 200 to be paved more uniform during paving, namely, the wall brick 200 to be paved and the wall surface can be kept parallel, the application is also provided with the inclination sensor 80, the pitching angle of the wall brick 200 to be paved relative to the wall surface can be detected, and the wall brick 200 to be paved can be driven by the mechanical arm to rotate around the X axis shown in fig. 4, so that the wall brick 200 to be paved is adjusted to be parallel to the wall surface.
In order to make the wall bricks after being paved flush with the top surface of the wall brick already paved below (i.e. the upper surface of the wall brick 200 to be paved in fig. 4 can be flush with the upper surface of the wall brick 300 already paved in fig. 5), the embodiment is provided with two displacement sensors 90, the displacement sensors 90 can respectively detect the displacement of two detection points relative to the wall brick 300 already paved, determine whether the posture before being paved is in place, and if the displacement data detected by the two displacement sensors 90 do not correspond, the wall brick 200 to be paved can be driven to rotate around the Y axis shown in fig. 4 by a mechanical arm so that the displacement data detected by the two displacement sensors 90 can correspond to each other to further adjust the posture of the wall brick 200 to be paved so that the wall brick 200 to be paved can be parallel to the wall brick 300 already paved below.
After finishing each position adjustment and posture adjustment, the mechanical arm can drive the wall brick 200 to be paved to move towards the wall surface so as to finish paving. Since the second image detection module 60 and the base 10 do not exceed the right edge of the wall brick 200 to be laid, the second image detection module will not interfere with the right wall surface, and the installation can be normally completed without manually laying the wall bricks at the edges. And because the wall brick 200 to be paved is eccentrically fixed, the second image detection module 60 can acquire information without moving to the right corner of the wall brick 200 to be paved, compared with a common robot, the positioning step which needs to be performed for ensuring non-eccentricity during grabbing and the detection step for the right corner are reduced, unnecessary steps are reduced for the whole paving step, paving time is shortened, and efficiency is higher. In addition, under the premise of ensuring eccentricity and reducing the eccentric amount as much as possible, the embodiment adopts a double camera to observe the alignment of the left and right corner brick angles and the adjacent bricks, so that when the upper and lower bricks have deviation, the attractive influence caused by the fact that the errors are averaged to two sides can not be reduced, the brick joint is more attractive, and the brick joint is basically kept at 1.5mm.
Referring to fig. 6 and 7, when the wall bricks of incomplete size are laid, the process is identical to the above process, and the main difference is that the second telescopic module 42 on the right side makes the extension length of the second image detection module 60 different so as to avoid interference with the right side wall surface. The specific length of movement of the second image detection module 60 may be specifically determined based on the specific length dimension of the incompletely sized wall tiles.
When the wall brick to be laid is a small-sized wall brick, the left side of the base 10 may protrude from the left side of the wall brick as in fig. 7, so that the fixing of the small-sized wall brick can be completed. And repeating the above-described paving process to become a paving, the length of the base 10 may be designed to be about 300mm, so that the paving mechanism 100 may cover wall tiles substantially below 300mm, satisfying the wall tile paving work of most projects.
It will be appreciated that the above-mentioned full-size, incomplete-size and small-size wall tiles are applied from left to right by way of example, with the left-side image detection module as the first image detection module 50 and the right-side image detection module as the second image detection module 60. When the wall bricks are paved from right to left, the paving process of the leftmost wall bricks can refer to the above process, the image detection module on the right side is the first image detection module 50, and the image detection module on the left side is the second image detection module 60, and the paving process is in a symmetrical relationship, so that the description is omitted.
In summary, according to the paving mechanism 100 of the present application, through the cooperation of the driving module, the first image detection module 50 and the second image detection module 60, the corner information and the side information of the wall brick 200 to be paved, which is eccentrically fixed by the pick-up unit 20, can be obtained, and by comparing the corner information and the side information of the wall brick 300 to be paved, the accurate positioning of the wall brick 200 to be paved can be completed, so that the paving robot applying the paving mechanism 100, after combining the corresponding paving methods compatible with wall bricks of different sizes, can perform paving on the wall bricks of full size, and also can perform paving on the wall bricks of incomplete size and small size, thereby expanding the coverage rate of automatic paving, and having higher economic benefit and stronger competitiveness.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (14)
1. A paving mechanism, comprising:
the base is used for connecting the mechanical arm;
the pick-up unit is arranged on the front side of the base and is used for taking and placing the wall bricks to be paved;
the mobile detection unit comprises a driving module, a first image detection module and a second image detection module, wherein the driving module is arranged on the base, the driving module can respectively drive the first image detection module and the second image detection module to move in a preset direction, the preset direction is the extending direction of one side edge of the wall brick to be paved, the first image detection module is used for detecting the information of the corner of the wall brick to be paved, and the second image detection module is used for detecting the information of the edge of the wall brick to be paved extending along the preset direction;
when the driving module works, the first image detection module identifies the information of the corners of the wall bricks to be paved and the corners of the wall bricks to be paved, and the second image detection module identifies the information of one side of the wall bricks to be paved and one side of the wall bricks to be paved.
2. The paving mechanism of claim 1, wherein the drive module includes a first telescoping module and a second telescoping module;
the first telescopic module is used for driving the first image detection module to move in the preset direction, and the second telescopic module is used for driving the second image detection module to move in the preset direction.
3. The paving mechanism of claim 2, wherein each telescoping module includes a base, a linear drive assembly, a driving member and a connecting arm, the base being disposed on the base, the driving member being disposed on the base and driving the connecting arm to move along the predetermined direction via the linear drive assembly, the connecting arm being configured to connect with a corresponding image detection module.
4. A paving mechanism according to claim 3, wherein the linear drive assembly includes a lead screw and a slider, the lead screw is rotatably disposed on the base, the lead screw is connected to an output end of the driving member, the driving member is configured to drive the lead screw to rotate, the slider is sleeved on the lead screw and slidably disposed on the base, and the connecting arm is fixed on the slider.
5. A tiling mechanism according to any one of claims 1-3, wherein the first image detection module and/or the second image detection module is a light source integrated camera.
6. The placement machine of claim 1, further comprising an inclination sensor disposed in the base for acquiring a pitch angle of the wall tile to be placed relative to a wall surface.
7. The placement machine of claim 1 further comprising two displacement sensors, two of said displacement sensors being secured to said base, two of said displacement sensors being adapted to measure distance from a wall tile being placed, respectively.
8. The tiling mechanism of claim 1, further comprising a stop secured to said base and projecting forwardly from a front side of said base.
9. A paving robot, comprising:
a chassis;
the mechanical arm is arranged on the chassis;
a controller;
a lay-up mechanism according to any one of claims 1-8, said lay-up mechanism being connected to an end of said robotic arm, said controller being adapted to control operation of said robotic arm and said lay-up mechanism.
10. The utility model provides a method of pasting compatible different size wall bricks which characterized in that, used arm, controller, pick up unit and removal detection unit, the arm with pick up unit passes through the pedestal connection, and the removal detection unit includes first image detection module and second image detection module, the method of pasting compatible different size wall bricks includes:
grabbing the wall bricks to be paved through a pick-up unit;
the mechanical arm drives the wall bricks to be paved to move to the area to be paved;
the mobile detection unit works and feeds back the information of the corners of the wall bricks to be paved and the corners of the paved wall bricks to the controller, the information of one side edge of the wall bricks to be paved and one side edge of the paved wall bricks is fed back by the mobile detection unit, and the controller controls the mechanical arm to drive the position of the wall bricks to be paved to adjust according to the information fed back by the mobile detection unit;
when the wall bricks to be paved are adjusted in place, the first image detection module can identify that the corners of the wall bricks to be paved and the corners of the paved wall bricks form cross joints, and the second image detection module can identify that one side of the wall bricks to be paved and one side of the paved wall bricks form transverse joints;
the mechanical arm drives the wall bricks to be paved to move forwards so as to pave and attach the wall bricks to be paved in place.
11. The method of claim 10, wherein in the step of gripping the wall tiles to be tiled by a pick-up unit:
the extending direction of the center line of the base is perpendicular to the preset direction, the preset direction is the extending direction of one side edge of the wall brick to be paved, the center line of the base is parallel to the center line of the wall brick to be paved and has a distance in the preset direction, so that the projection of one side of the base in the preset direction on the wall brick to be paved is not beyond the edge of the wall brick to be paved.
12. The method for laying wall bricks compatible with different sizes according to claim 10, wherein in the steps of operating the movement detection unit and feeding back the information of the corners of the wall bricks to be laid and the corners of the wall bricks already laid to the controller, the controller controls the mechanical arm to drive the position of the wall bricks to be laid according to the information fed back by the movement detection unit, wherein the controller:
the controller controls the driving module to drive the second image detection module to move according to the size of the wall brick to be paved, so that the projection of the second image detection module on the wall brick to be paved does not exceed the edge of the wall brick to be paved.
13. The method for laying wall bricks compatible with different sizes according to claim 12, wherein in the step of controlling the driving module to drive the second image detection module to move by the controller according to the size of the wall bricks to be laid:
the controller is preset with preset size data of the wall bricks to be paved, the movement detection unit can acquire actual size data of the wall bricks to be paved, the controller compares the actual size data with the preset size data for analysis, the brick paving is directly controlled when the actual size data accords with the preset size data, and the brick paving stopping and the alarm is controlled when the actual size data does not accord with the preset size data.
14. The method for laying wall bricks compatible with different sizes according to claim 10, wherein in the step of the mechanical arm driving the wall bricks to be laid to move to an area to be laid:
the controller obtains the inclination angle of the wall brick to be paved and the wall surface, obtains the distance between the wall brick to be paved and the paved wall brick in the front-back direction, and controls the mechanical arm to drive the wall brick to be paved to adjust the posture so that the wall brick to be paved and the paved wall brick are parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210086635.2A CN114351991B (en) | 2022-01-25 | 2022-01-25 | Paving mechanism, paving robot and paving method compatible with wall bricks of different sizes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210086635.2A CN114351991B (en) | 2022-01-25 | 2022-01-25 | Paving mechanism, paving robot and paving method compatible with wall bricks of different sizes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114351991A CN114351991A (en) | 2022-04-15 |
| CN114351991B true CN114351991B (en) | 2023-09-15 |
Family
ID=81094217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210086635.2A Active CN114351991B (en) | 2022-01-25 | 2022-01-25 | Paving mechanism, paving robot and paving method compatible with wall bricks of different sizes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114351991B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000118288A (en) * | 1998-10-09 | 2000-04-25 | Hitachi Constr Mach Co Ltd | Interior execution machine |
| WO2011058247A1 (en) * | 2009-11-13 | 2011-05-19 | Jean-Christophe Boissy | Optical device for tracing predetermined cutting patterns of any shape on surface coating elements |
| US9074381B1 (en) * | 2014-04-25 | 2015-07-07 | Gary Lee Drew | Tile laying machine and a method of use |
| JP2019011666A (en) * | 2017-06-30 | 2019-01-24 | 株式会社フジタ | Wall surface board sticking method, wall surface board sticking device and computer program |
| CN110259067A (en) * | 2019-06-11 | 2019-09-20 | 清华大学 | The tile loading position recognition methods of robot and system |
| CN110295728A (en) * | 2019-07-03 | 2019-10-01 | 广东博智林机器人有限公司 | Handling system and its control method, floor tile paving system |
| CN110397256A (en) * | 2019-08-19 | 2019-11-01 | 广东博智林机器人有限公司 | A kind of paving robot |
| CN110405773A (en) * | 2019-08-19 | 2019-11-05 | 广东博智林机器人有限公司 | A kind of floor mounting method and robot |
| CN110552491A (en) * | 2019-09-23 | 2019-12-10 | 广东博智林机器人有限公司 | Tile paving device and tile paving robot |
| CN112276934A (en) * | 2019-07-25 | 2021-01-29 | 广东博智林机器人有限公司 | Control method, control device, tile paving system, storage medium and processor |
| CN113445709A (en) * | 2021-07-02 | 2021-09-28 | 北京建筑大学 | Ceramic tile positioning and paving method and automatic ceramic tile paving equipment |
| WO2021191662A1 (en) * | 2020-03-26 | 2021-09-30 | Tavakolian Amirhossein | Smart robot for preparation and painting buildings walls |
| CN113494167A (en) * | 2020-03-19 | 2021-10-12 | 广东博智林机器人有限公司 | Spread and paste device and spread and paste robot |
| CN113530176A (en) * | 2020-04-16 | 2021-10-22 | 广东博智林机器人有限公司 | Ceramic tile plastering device and ceramic tile paving machine |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9995047B2 (en) * | 2015-06-09 | 2018-06-12 | Integrated Construction Enterprises, Inc. | Construction board installation robot |
| US11124977B2 (en) * | 2018-12-04 | 2021-09-21 | The Chinese University Of Hong Kong | System and method for constructing a brick structure with a cable-driven robot |
-
2022
- 2022-01-25 CN CN202210086635.2A patent/CN114351991B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000118288A (en) * | 1998-10-09 | 2000-04-25 | Hitachi Constr Mach Co Ltd | Interior execution machine |
| WO2011058247A1 (en) * | 2009-11-13 | 2011-05-19 | Jean-Christophe Boissy | Optical device for tracing predetermined cutting patterns of any shape on surface coating elements |
| US9074381B1 (en) * | 2014-04-25 | 2015-07-07 | Gary Lee Drew | Tile laying machine and a method of use |
| JP2019011666A (en) * | 2017-06-30 | 2019-01-24 | 株式会社フジタ | Wall surface board sticking method, wall surface board sticking device and computer program |
| CN110259067A (en) * | 2019-06-11 | 2019-09-20 | 清华大学 | The tile loading position recognition methods of robot and system |
| CN110295728A (en) * | 2019-07-03 | 2019-10-01 | 广东博智林机器人有限公司 | Handling system and its control method, floor tile paving system |
| CN112276934A (en) * | 2019-07-25 | 2021-01-29 | 广东博智林机器人有限公司 | Control method, control device, tile paving system, storage medium and processor |
| CN110405773A (en) * | 2019-08-19 | 2019-11-05 | 广东博智林机器人有限公司 | A kind of floor mounting method and robot |
| CN110397256A (en) * | 2019-08-19 | 2019-11-01 | 广东博智林机器人有限公司 | A kind of paving robot |
| CN110552491A (en) * | 2019-09-23 | 2019-12-10 | 广东博智林机器人有限公司 | Tile paving device and tile paving robot |
| CN113494167A (en) * | 2020-03-19 | 2021-10-12 | 广东博智林机器人有限公司 | Spread and paste device and spread and paste robot |
| WO2021191662A1 (en) * | 2020-03-26 | 2021-09-30 | Tavakolian Amirhossein | Smart robot for preparation and painting buildings walls |
| CN113530176A (en) * | 2020-04-16 | 2021-10-22 | 广东博智林机器人有限公司 | Ceramic tile plastering device and ceramic tile paving machine |
| CN113445709A (en) * | 2021-07-02 | 2021-09-28 | 北京建筑大学 | Ceramic tile positioning and paving method and automatic ceramic tile paving equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114351991A (en) | 2022-04-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110394745B (en) | Clamping platform, folding angle calibration method, folding angle detection method and flatness detection method | |
| JP4793884B2 (en) | Printing device | |
| JPH084272A (en) | Ceiling and wall interior finish executing device, and attachment therefor | |
| CN115450447B (en) | Interactive system, brickwork device, brickwork manipulator and brickwork positioning method | |
| JP5014417B2 (en) | Work handling device | |
| CA3189907A1 (en) | Solar panel handling system | |
| CN111112981A (en) | Equipment and method for automatically installing license plate by robot | |
| KR20140125728A (en) | Method and apparatus for mounting electronic or optical components on a substrate | |
| CN114351991B (en) | Paving mechanism, paving robot and paving method compatible with wall bricks of different sizes | |
| CN115701472A (en) | Wall brick paving equipment and wall brick paving method | |
| JPH11142139A (en) | Measurement error correction method for automatic three-dimensional measurement device | |
| CN117047815A (en) | Frameless car door assembly system and frameless car door assembly method | |
| CN117605249A (en) | Construction robot suitable for multi-size floor tile pasting operation | |
| JP2011077334A (en) | Support structure for conveying device | |
| WO2023206991A1 (en) | Brick supply assembly, brick laying system and brick laying method | |
| WO2022262505A1 (en) | Sheet paving device, paving method, plate coating apparatus, and sheet paving apparatus | |
| WO2021060227A1 (en) | Height correction system | |
| JP2023532340A (en) | AUTOMATIC TEACHING DEVICE FOR ROBOT SYSTEM AND METHOD THEREOF | |
| CN113597139A (en) | Automatic insert FPC device | |
| US9919423B2 (en) | Positioning device | |
| CN107369845B (en) | Automatic battery charging system | |
| CN219161259U (en) | Calibrating tool | |
| TW201103631A (en) | Paste coating apparatus and coating method | |
| CN112692798B (en) | High-precision 13-degree-of-freedom automatic butt joint device and method | |
| CN116147503B (en) | Method and system for testing accuracy of master-slave distance of robot by laser displacement sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |