Method and device for laying tiles using double robots

Abstract

The present invention discloses a method and device for laying ceramic tiles using dual robots, and relates to the technical field of ceramic tile laying. The positioning robot obtains laying information, and the laying robot is wirelessly connected to the positioning robot; the positioning robot accurately places its positioning template on the laying ground, and the laying robot grabs the ceramic tile; the laying robot approaches the positioning robot and lays the ceramic tile in the positioning template; the laying robot separates from the positioning robot; and the above steps are repeated until the ceramic tile laying task is completed. The beneficial effect of the present invention is that ceramic tiles are laid using a combination of two robots. When the laying robot takes the ceramic tile, the positioning robot completes the positioning, and then the laying robot places the ceramic tile through the positioning template of the positioning robot, dividing the original single computing system into two parts, greatly improving the computing speed, and avoiding the frequent walking of the single robot, realizing the automation of ceramic tile laying, and improving the overall laying efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of tile laying, in particular to a method and device for laying tiles by using double robots. Background Art

[0002] The existing tile laying work is mainly completed manually, using manual methods to carry and lay tiles one by one. During the laying process, the laying position of the tiles needs to be located. During the laying process, attention should also be paid to whether the tiles are laid horizontally. The specific labor intensity is high, the accuracy is low, and the workers' experience requirements are high. It is unable to meet the growing laying tasks, so tile laying robots have emerged. The existing tile laying robots use the following method: the robot grabs the tiles, and then after calculation and analysis, the robot moves to the laying position and then lays the tiles. This process requires the robot to use a lot of calculation and analysis, and considering factors such as uneven ground, the robot needs to adjust the angle of the tiles in the vertical direction, which often requires a six-axis robot, which is quite expensive. Summary of the invention

[0003] The technical problem to be solved by the present invention is to increase the speed of laying tiles and reduce the laying cost, and a method for laying tiles using double robots is designed.

[0004] The technical solution adopted by the present invention to solve the technical problem is: a method for laying tiles using dual robots, including a positioning robot and a laying robot, using the following steps:

[0005] A. The positioning robot obtains laying information, and the laying robot is wirelessly connected to the positioning robot;

[0006] B. The positioning robot accurately places its positioning template on the paving ground, and the laying robot grabs the tiles;

[0007] C. The laying robot approaches the positioning robot and lays the tiles in the positioning mold;

[0008] D. The placing robot is separated from the positioning robot;

[0009] E. Repeat steps B to D above until the tile laying task is completed.

[0010] A device for implementing the above method comprises a positioning robot and a laying robot, wherein the positioning robot comprises: a walking positioning chassis, the walking positioning chassis is configured to drive the positioning robot to move; a lifting positioner, the lifting positioner is arranged on the walking positioning chassis; a horizontal positioner, used for horizontal positioning; a positioning connecting frame, the positioning connecting frame is arranged below the horizontal positioner; a positioning mold tray, the positioning mold tray is arranged below the positioning connecting frame and used for positioning tiles before laying the floor; a positioning measuring device, the positioning measuring device is arranged on the walking positioning chassis or the horizontal positioner or the positioning mold tray, the positioning measuring device is used to measure information of the floor to be laid; a positioning control processor, the positioning control processor is arranged on the walking positioning chassis or the lifting positioner, after receiving the measurement information of the positioning measuring device, the positioning control processor controls the walking positioning chassis to move after processing, so that the positioning mold tray reaches above the specified position, and controls the lifting positioner to make the positioning mold tray descend to the periphery of the tile laying position;

[0011] The laying robot includes: a walking laying chassis, which is configured to drive the laying robot to move; a lifting laying device, which is arranged on the walking laying chassis; a gripper, which is arranged on the lifting laying device and is used to grab tiles and lay them on the ground to be laid positioned by the positioning template; a laying control processor, which is arranged on the walking laying chassis or the lifting laying device, and the laying control processor is wirelessly connected to the positioning control processor, and controls the movement of the walking laying chassis to make the gripper with tiles reach the top of the positioning template through the positioning connecting frame, and then controls the lifting laying device to make the tiles reach the laying position.

[0012] Furthermore, the horizontal positioner includes a fixed plate, a connecting positioning rod, a positioning plate and at least two positioning telescopes, the fixed plate is arranged on the lifting positioner, the top end of the connecting positioning rod is connected to the fixed plate ball, the positioning plate is arranged at the bottom end of the connecting positioning rod, the positioning telescope is arranged on the positioning plate, and the telescopic end of the positioning telescope corresponds to the bottom surface of the fixed plate, so as to maintain the stability of the relative position of the fixed plate and the positioning plate; the positioning connecting frame is arranged below the positioning plate.

[0013] Furthermore, the positioning mold plate includes four positioning frames, a positioning clamp and a lock. The positioning frames are arranged in a ring shape. The sides of the positioning frames are provided with sliding grooves. The positioning clamps are slidably arranged in the sliding grooves of the positioning frames and fixed by the locks.

[0014] Furthermore, two adjacent positioning frames are respectively connected to each other and are detachably arranged.

[0015] Furthermore, the positioning mold plate includes two positioning frames, a positioning clamp and a lock, the two positioning frames are vertically arranged, and the sides of the positioning frames are provided with sliding grooves, and the positioning clamp is slidably arranged in the sliding grooves of the positioning frames and fixed by the lock.

[0016] Furthermore, the top end of the positioning clamp is turned outward.

[0017] Furthermore, a groove is provided at the bottom end of the positioning clamp plate, a compression spring is fixedly arranged in the groove of the positioning clamp plate, and the bottom end of the compression spring is fixedly connected to a pad.

[0018] Furthermore, a soft striking piece is provided on the lifting and placing device, and the soft striking piece is used to vertically strike the tiles laid on the ground.

[0019] Furthermore, a horizontal positioner is provided between the lifting and placing device and the grabber, or the lifting and placing device and the grabber are connected by a ball.

[0020] The beneficial effects of the present invention are: two robots are combined to lay tiles. When the laying robot takes the tiles, the positioning robot completes the positioning. Then the laying robot places the tiles through the positioning template of the positioning robot, and the original single computing system is divided into two parts, which greatly improves the computing speed and avoids the frequent walking and positioning of a single robot, thereby realizing the automation of tile laying and improving the overall laying efficiency. The design of the horizontal positioner can avoid the influence of uneven ground. Even if the positioning robot walks on uneven ground, it can ensure that the positioning template is placed vertically downward, thereby ensuring the quality of tile laying. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0022] Figure 1 It is a schematic diagram of the structure of the positioning robot;

[0023] Figure 2 It is a schematic diagram of the structure of the laying robot;

[0024] Figure 3 It is a structural diagram of a horizontal positioner;

[0025] Figure 4 It is a top view of the structure of the positioning die plate, and there are four positioning frames;

[0026] Figure 5 yes Figure 4 Schematic diagram of the cross-sectional structure at AA in the middle;

[0027] Figure 6 It is a top view of the structure of the positioning die plate, and there are two positioning frames;

[0028] Figure 7 It is a schematic diagram of the laying status of the tile laying robot system.

[0029] In the above figures,

[0030] 1. Positioning robot;

[0031] 101. Walking and positioning chassis;

[0032] 102. Lifting positioner;

[0033] 103, horizontal positioner; 1031, fixing plate; 1032, connecting positioning rod; 1033, positioning plate; 1034, positioning telescope; 104, positioning connecting frame;

[0034] 105, positioning die plate; 1051, positioning frame; 1052, positioning clamp; 1053, lock; 1054, compression spring; 1055, pad;

[0035] 106. Positioning measuring device;

[0036] 107. Positioning control processor;

[0037] 2. Laying robots;

[0038] 201. Walking laying chassis; 202. Lifting laying device; 203. Grabber; 204. Laying control processor;. DETAILED DESCRIPTION

[0039] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments:

[0040] Can be explained

[0041] A method for laying tiles using dual robots, comprising a positioning robot 1 and a laying robot 2, using the following steps:

[0042] A. The positioning robot 1 obtains laying information, and the laying robot 2 is wirelessly connected to the positioning robot 1.

[0043] The positioning robot 1 can calculate the information of the ground to be paved by measuring the ground to be paved according to the actual situation, or obtain it through manual input. The positioning robot 1 and the laying robot 2 are both equipped with receiving and transmitting modules. The laying robot 2 receives the position information and laying information of the positioning robot 1.

[0044] B. The positioning robot 1 places its positioning template accurately on the paving ground, and the laying robot 2 grabs the tiles.

[0045] The positioning robot 1 lays the positioning mold according to the laying information; the positioning robot 1 and the laying robot 2 act synchronously to save time.

[0046] C. The laying robot 2 approaches the positioning robot 1 and lays the tiles in the positioning mold.

[0047] This step requires the positioning robot 1 and the placement robot 2 to work together.

[0048] D. The placing robot 2 is separated from the positioning robot 1.

[0049] Separation means that the placement robot 2 is withdrawn from the positioning template of the positioning robot 1, and the positioning robot 1 and the placement robot 2 act simultaneously without any obstacles.

[0050] E. Repeat steps B to D above until the tile laying task is completed.

[0051] In view of the above method, the present application provides a device, such as Figure 1 and Figure 2 As shown, the system includes a positioning robot 1 and a laying robot 2. The system is used in combination of the two robots, neither of which is indispensable.

[0052] The positioning robot 1 includes a walking positioning chassis 101, a lifting positioner 102, a horizontal positioner 103, a positioning connecting frame 104, a positioning mold plate 105, a positioning measuring device 106 and a positioning control processor 107. The walking positioning chassis 101 is configured to drive the positioning robot 1 to move, and the walking positioning chassis 101 drives the driving positioning robot 1 to move as a whole to reach the working station.

[0053] The lifting positioner 102 is arranged on the walking positioning chassis 101, the horizontal positioner 103 is arranged on the lifting positioner 102, and the positioning connecting frame 104 is arranged below the horizontal positioner 103. The horizontal positioner 103 connects the lifting positioner 102 and the positioning connecting frame 104, and the horizontal positioner 103 is used for horizontal positioning, that is, to keep the positioning connecting frame 104 always in a balanced position. Figure 1 and Figure 3The horizontal positioner 103 includes a fixed plate 1031, a connecting positioning rod 1032, a positioning plate 1033 and at least two positioning telescopes 1034. The fixed plate 1031 is arranged on the lifting positioner 102, the top end of the connecting positioning rod 1032 is ball-connected with the fixed plate 1031, the positioning plate 1033 is arranged at the bottom end of the connecting positioning rod 1032, the positioning telescope 1034 is arranged on the positioning plate 1033, and the telescopic end of the positioning telescope 1034 corresponds to the bottom surface of the fixed plate 1031, which is used to maintain the stability of the relative position of the fixed plate 1031 and the positioning plate 1033. Since the top end of the connecting positioning rod 1032 is spherically connected to the fixed plate 1031, and a plurality of gravity components are connected to the bottom of the connecting positioning rod 1032, under the action of gravity, the connecting positioning rod 1032 will move vertically downward, and then control the positioning telescope 1034 to extend so that its end hits the lower bottom surface of the fixed plate 1031, thereby fixing the position between the fixed plate 1031 and the positioning telescope 1034, thereby avoiding the horizontal state of the positioning connecting frame 104 being affected by the non-horizontal state of the walking positioning chassis 101.

[0054] The positioning connection frame 104 is arranged below the positioning plate 1033; the positioning mold plate 105 is arranged below the positioning connection frame 104, and is used for positioning the tiles before laying the floor. Regarding the positioning of the tiles before laying the floor, the present application provides a solution: Figure 4 and Figure 5 As shown, the positioning mold plate 105 includes four positioning frames 1051, positioning clamping plates 1052 and locking buckles 1053. The positioning frames 1051 are arranged in a circular shape. The sides of the positioning frames 1051 are provided with sliding grooves. The positioning clamping plates 1052 are slidably arranged in the sliding grooves of the positioning frames 1051 and fixed by the locking buckles 1053. The assembly and positioning of the positioning mold plate 105 is completed before its specific use. Since the positioning clamping plates 1052 can be adjusted in the positioning frames 1051, the distance between the two relative positioning clamping plates 1052 can be adjusted, so the grooves formed by the multiple positioning clamping plates 1052 can just place tiles of different models. It is easy to think that the positioning mold plate 105 cannot position the tiles at the foot of the wall. Therefore, the positioning frame 1051 is optimized and designed, and two adjacent positioning frames 1051 are respectively connected to the positioning frame 1051 and the positioning frame 1051 is detachably arranged. That is to say, there are two mutually perpendicular positioning frames 1051 left. Through these two positioning frames 1051, one corner of the tile is fitted with the two positioning frames 1051, so that the position of the square tile can be positioned.

[0055] From the above description, it can be found that two positioning frames 1051 can also complete the positioning, so the present application provides another alternative solution: Figure 6As shown, the positioning mold plate 105 includes two positioning frames 1051, a positioning clamping plate 1052 and a lock 1053. The two positioning frames 1051 are vertically arranged, and a sliding groove is provided on the side of the positioning frame 1051. The positioning clamping plate 1052 is slidably arranged in the sliding groove of the positioning frame 1051 and fixed by the lock 1053.

[0056] When laying tiles, there will always be debris such as soil or stones on the ground. If the positioning mold plate 105 directly contacts the debris, the service life of the positioning mold plate 105 will definitely be affected. Preferably, a groove is provided at the bottom end of the positioning clamp plate 1052, and a compression spring 1054 is fixedly arranged in the groove of the positioning clamp plate 1052, and the bottom end of the compression spring 1054 is fixedly connected to the pad 1055. When the positioning mold plate 105 is lowered to the periphery of the tile laying position, even if the positioning mold plate 105 touches the ground, the pad 1055 touches the ground first, thereby preventing the positioning clamp plate 1052 from being subjected to a strong collision force, thereby damaging the positioning mold plate 105. Since the tiles are positioned on the ground to be laid by the groove formed by the positioning clamp plate 1052, there is a possibility that the tiles will collide with the edge of the positioning clamp plate 105, turning the top of the positioning clamp plate 1052 outward.

[0057] The positioning measuring device 106 is arranged on the walking positioning chassis 101 or the horizontal positioning device 103 or the positioning mold plate 105. The positioning measuring device 106 is used to measure the information of the ground to be laid. The positioning control processor 107 is arranged on the walking positioning chassis 101 or the lifting positioning device 102. After receiving the measurement information of the positioning measuring device 106, the positioning control processor 107 controls the walking positioning chassis 101 to move after processing, so that the positioning mold plate 105 reaches the upper part of the designated position, and controls the lifting positioning device 102 to make the positioning mold plate 105 descend to the periphery of the tile laying position. Regarding the periphery of the tile laying position, Figure 6 Taking the example of FIG. 105 , the positioning mold plate 105 is located just outside the actual tile laying position, surrounding the tile laying position. Figure 7 As shown, during the positioning process, the positioning template 105 will block some of the tiles that have been laid or the positions where the tiles have not yet been laid.

[0058] like Figure 2 As shown, the placement robot 2 includes a walking placement chassis 201 , a lifting placement device 202 , a gripper 203 and a placement control processor 204 .

[0059] The walking laying chassis 201 is configured to drive the laying robot 2 to move; the lifting and placing device 202 is arranged on the walking laying chassis 201; the gripper 203 is arranged on the lifting and placing device 202, and is used to grab the tiles and lay them on the ground to be laid positioned by the positioning template 105; the laying control processor 204 is arranged on the walking laying chassis 201 or the lifting and placing device 202, and the laying control processor 204 is wirelessly connected to the positioning control processor 107, and controls the movement of the walking laying chassis 201, so that the gripper 203 with the tiles passes through the positioning connecting frame 104 to reach the top of the positioning template 105, and then controls the lifting and placing device 202 to make the tiles reach the laying position.

[0060] After the laying control processor 204 is connected to the positioning control processor 107, it can receive the position information of the positioning robot 1, the position information of the positioning mold plate 105, and the laying information, etc. The laying control processor 204 controls the walking laying chassis 201 to walk, so that the laying robot 2 and the positioning robot 1 cooperate to lay tiles. Preferably, a soft knocking piece is set on the lifting and laying device 202, and the soft knocking piece is used to vertically knock the tiles laid on the ground. The soft knocking piece 309 knocks the tiles vertically, and will not apply tangential force to the tiles, so that the tiles are displaced in the plane, avoiding the collision of the tiles with the positioning mold plate 105, and improving the laying quality of the tiles. In addition, in order to reduce costs and adapt to the unevenness of the laying ground, a horizontal positioner 103 is set between the lifting and laying device 202 and the gripper 203, or the lifting and laying device 202 and the gripper 203 are connected by a ball (not shown).

[0061] When the device is used, the following steps are included:

[0062] A. The positioning control processor 107 obtains the laying information. The positioning control processor 107 receives the ground information to be laid transmitted by the positioning measurement device 106. The positioning control processor 107 controls the movement of the walking positioning chassis 101 to make the positioning mold plate 105 reach above the laying position, and then controls the lifting positioner 102 to make the positioning mold plate 105 descend to the periphery of the tile laying position.

[0063] B. The laying control processor 204 is wirelessly connected to the positioning control processor 107. The laying control processor 204 controls the gripper 203 to grab the tiles, controls the movement of the walking laying chassis 201, so that the gripper 203 with the tiles passes through the positioning connecting frame 104 to reach the top of the positioning mold plate 105, and then controls the lifting laying device 202 to make the tiles reach the laying position.

[0064] C. The laying robot 2 grabs the next tile again. When the positioning robot 1 separates from the laying robot 2, the positioning template 105 of the positioning robot 1 is positioned to the next tile laying position. The laying robot 2 grabs the next tile and lays it in the positioning template 105. Repeat this step until the tile laying is completed.

[0065] When there are pits on the paving ground or the robot is heavy, before the positioning robot 1 controls the positioning mold plate 105 to descend to the periphery of the tile laying position, it also includes the following steps: let it stand until the horizontal positioner 103 does not shake, and the positioning control processor 107 controls the positioning telescope 1034 to extend so that the ends of the positioning telescope 1034 are in contact with the lower bottom surface of the fixed plate 1031.

[0066] The present invention is described above with reference to the preferred embodiments, but the protection scope of the present invention is not limited thereto. Various improvements can be made to the embodiments and parts thereof can be replaced with equivalents without departing from the scope of the present invention. As long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way, and any figure mark in the claims should not be regarded as limiting the claims involved. No matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. Therefore, all technical solutions falling within the scope of the claims are within the protection scope of the present invention.

Claims

1. A method for laying tiles using dual robots, characterized in that: The method comprises a positioning robot (1) and a laying robot (2), and the method adopts the following steps: A. The positioning robot (1) obtains laying information, and the laying robot (2) is wirelessly connected to the positioning robot (1); B. The positioning robot (1) accurately places its positioning template on the paving ground, and the laying robot (2) grabs the tiles; C. The laying robot (2) approaches the positioning robot (1) and lays the tiles in the positioning mold; D. The placing robot (2) is separated from the positioning robot (1); E. Repeat steps B to D above until the tile laying task is completed; The positioning robot (1) comprises: A walking and positioning chassis (101), wherein the walking and positioning chassis (101) is configured to drive the positioning robot (1) to move; A lifting positioner (102), wherein the lifting positioner (102) is arranged on the walking and positioning chassis (101); A horizontal positioner (103), used for horizontal positioning; A positioning connection frame (104), wherein the positioning connection frame (104) is arranged below the horizontal positioner (103); A positioning mold plate (105), the positioning mold plate (105) is arranged below the positioning connection frame (104) and is used for positioning tiles before laying the tiles; A positioning measuring device (106), the positioning measuring device (106) being arranged on the walking positioning chassis (101) or the horizontal positioning device (103) or the positioning mold plate (105), and the positioning measuring device (106) being used to measure information of the ground to be paved; A positioning control processor (107), the positioning control processor (107) being arranged on the walking positioning chassis (101) or the lifting positioner (102), the positioning control processor (107) receiving the measurement information of the positioning measuring device (106), and controlling the walking positioning chassis (101) to move after processing, so that the positioning mold plate (105) reaches above the designated position, and controlling the lifting positioner (102) to make the positioning mold plate (105) descend to the periphery of the tile laying position; The laying robot (2) comprises: A walking laying chassis (201), wherein the walking laying chassis (201) is configured to drive the laying robot (2) to move; A lifting and placing device (202), wherein the lifting and placing device (202) is arranged on the walking and placing chassis (201); A gripper (203), the gripper (203) being arranged on the lifting and placing device (202), and being used for grabbing tiles and laying them on the floor to be laid positioned by the positioning mold plate (105); A laying control processor (204), wherein the laying control processor (204) is arranged on the walking laying chassis (201) or the lifting laying device (202), and the laying control processor (204) is wirelessly connected to the positioning control processor (107), and controls the movement of the walking laying chassis (201) so that the gripper (203) with the tiles passes through the positioning connecting frame (104) to reach the top of the positioning mold plate (105), and then controls the lifting laying device (202) so that the tiles reach the laying position.

2. The method according to claim 1, characterized in that The horizontal positioner (103) comprises a fixed plate (1031), a connecting positioning rod (1032), a positioning plate (1033) and at least two positioning telescopes (1034); the fixed plate (1031) is arranged on the lifting positioner (102); the top end of the connecting positioning rod (1032) is ball-connected with the fixed plate (1031); the positioning plate (1033) is arranged at the bottom end of the connecting positioning rod (1032); the positioning telescope (1034) is arranged on the positioning plate (1033); the telescopic end of the positioning telescope (1034) corresponds to the bottom surface of the fixed plate (1031) and is used to maintain the stability of the relative position of the fixed plate (1031) and the positioning plate (1033); The positioning connection frame (104) is arranged below the positioning plate (1033).

3. The method according to claim 1, characterized in that The positioning mold plate (105) comprises four positioning frames (1051), positioning clamps (1052) and locks (1053); the positioning frames (1051) are arranged in a circular shape; a sliding groove is provided on the side of the positioning frame (1051); the positioning clamps (1052) are slidably arranged in the sliding groove of the positioning frame (1051) and fixed by the locks (1053).

4. The method according to claim 3, characterized in that Two adjacent positioning frames (1051) are respectively connected to the positioning frames (1051) therewith and are detachably arranged.

5. The method according to claim 1, characterized in that The positioning mold plate (105) comprises two positioning frames (1051), a positioning clamping plate (1052) and a lock (1053). The two positioning frames (1051) are vertically arranged. A sliding groove is arranged on the side of the positioning frame (1051). The positioning clamping plate (1052) is slidably arranged in the sliding groove of the positioning frame (1051) and is fixed by the lock (1053).

6. The method according to claim 5, characterized in that The top end of the positioning clamp (1052) is turned outward.

7. The method according to claim 5, characterized in that A groove is provided at the bottom end of the positioning clamp plate (1052), a compression spring (1054) is fixedly arranged in the groove of the positioning clamp plate (1052), and the bottom end of the compression spring (1054) is fixedly connected to a pad (1055).

8. The method according to claim 1, characterized in that A soft knocking piece is arranged on the lifting and placing device (202), and the soft knocking piece is used to vertically knock the tiles laid on the ground.

9. The method according to claim 1, characterized in that: A horizontal positioner (103) is provided between the lifting and placing device (202) and the gripper (203), or the lifting and placing device (202) and the gripper (203) are ball-connected.

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