Sheet material paving equipment and paving method

Abstract

The present invention discloses a sheet material paving equipment and a paving method, the sheet material paving equipment comprises: a depth camera, used to obtain construction surface information, first position information of the sheet material to be paved during the paving process, and second position information of the sheet material to be paved after paving; a walking chassis, the walking chassis moves to the starting paving position according to the construction surface information, a paving manipulator, comprising a first mechanical arm and a grasping device, the grasping device is arranged at the end of the first mechanical arm, the grasping device is used to grasp and place the sheet material to be paved, the first mechanical arm controls the grasping device according to the first position information to lay the grasped sheet material to be paved on the construction surface; an adjustment manipulator, comprising a second mechanical arm and an adjustment device, the second mechanical arm controls the adjustment device according to the second position information to adjust the position of the sheet material to be paved after paving. The present invention can adjust the position of the object to be paved in real time during the paving process, thereby improving the paving quality.

Description

Technical Field

[0001] The invention relates to the technical field of building construction equipment, and in particular to a plate paving device and a paving method. Background Art

[0002] At present, in the actual application process of wall tile laying robots, the wall tile laying robots are greatly affected by the on-site environment, and the robots themselves can only ensure the overall flatness and verticality of the finished surface. Limited by the influence of gravity, the wall tile laying process is very dependent on the flatness of the upper edge of each supporting brick, and the robot does not have the ability to adjust in real time, and cannot guarantee the laying quality. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a paving device, which can adjust the position of the object to be paved in real time during the paving process to improve the paving quality.

[0004] The present invention also aims to provide a paving method of a sheet material paving device, so as to apply the sheet material paving device.

[0005] According to an embodiment of the present invention, the sheet material paving equipment includes: a depth camera, which is used to obtain construction surface information, first position information of the sheet material to be laid during the paving process, and second position information of the sheet material to be laid after paving; a walking chassis, which moves to a starting paving position according to the construction surface information; a paving robot, which includes a first robot arm and a gripping device, the first robot arm is arranged on the walking chassis, the gripping device is arranged at the end of the first robot arm, the gripping device is used to grip and release the sheet material to be laid, the first robot arm controls the gripping device to lay the gripped sheet material to be laid on the construction surface according to the first position information; an adjustment robot, which includes a second robot arm and an adjustment device, the second robot arm is arranged on the walking chassis, the adjustment device is arranged at the end of the second robot arm, and the second robot arm controls the adjustment device to adjust the position of the sheet material to be laid after paving according to the second position information.

[0006] According to the sheet material paving equipment of the embodiment of the present invention, by setting a depth camera, it is possible to obtain construction surface information, first position information of the sheet material to be laid during the paving process, and second position information of the sheet material to be laid after paving in real time online. The walking chassis can realize accurate positioning of the starting paving position through the construction surface information. The first robotic arm and the grasping device can realize accurate paving of the sheet material to be laid according to the first position information of the sheet material to be laid during the paving process. The second robotic arm and the adjustment device can adjust the position of the sheet material to be laid after paving according to the second position information of the sheet material to be laid after paving, so as to ensure the paving accuracy and the quality of the paving finished surface. The whole paving equipment has a high degree of automation, which can ensure the paving accuracy and improve the paving quality. At the same time, the paving of the paving robot and the adjustment of the adjustment robot can be carried out at the same time, and the two do not interfere with each other, which can improve the working efficiency of the paving equipment.

[0007] In some embodiments, the walking chassis includes a chassis body and a slewing mechanism, and the slewing mechanism includes: a turntable, which is rotatably disposed on the chassis body, and the paving robot and the adjustment robot are both installed on the turntable; and a slewing drive component, which is used to drive the turntable to rotate relative to the chassis body.

[0008] In some embodiments, the rotating axis of the turntable is arranged vertically, the paving robot and the adjusting robot are installed on opposite sides or on the same side of the turntable, and the depth camera is installed on the top of the turntable.

[0009] In some embodiments, the walking chassis further comprises: a lifting mechanism, the lifting mechanism is installed on the chassis body, and the turntable is installed on the lifting mechanism in a liftable manner.

[0010] In some embodiments, the walking chassis further includes: walking wheels and a ground support mechanism installed on the chassis body, the ground support mechanism having a ground support rod that extends downward, and the bottom end of the ground support rod can be switched between a supporting state and a suspended state, in the supporting state the bottom end of the ground support rod is lower than the bottom end of the walking wheel, and in the suspended state the bottom end of the ground support rod is higher than the bottom end of the walking wheel.

[0011] In some embodiments, the adjustment device includes: an inclination adjustment mechanism, which is installed on the second robotic arm, and is used to push the to-be-laid sheet material to move after paving, so as to adjust the gap width between the to-be-laid sheet material and the adjacent laid sheet material.

[0012] In some embodiments, the inclination adjustment mechanism includes: a seat body member; an adjusting member, which is movably provided on the seat body member along a direction perpendicular to the sheet material to be laid, the opposite sides of the adjusting member are a push surface and a base surface, and the distance between the push surface and the base surface gradually decreases in the extension direction toward the adjusting member, the adjusting member can be inserted into the gap between the sheet material to be laid after paving and the adjacent laid sheet material, and the push surface stops on the side edge of the sheet material to be laid after paving; a driving member, which is provided on the seat body member, and the driving member can push the adjusting member to move and make the adjusting member separate from the seat body member.

[0013] In some embodiments, the push surface includes a plurality of step surfaces, and a connecting slope is provided between any two adjacent step surfaces.

[0014] In some embodiments, the adjustment device also includes: a flatness adjustment mechanism, used to vibrate the board surface of the to-be-laid sheet material after paving; a rotating rod, which is rotatably mounted on the end of the second robotic arm, and the inclination adjustment mechanism and the flatness adjustment mechanism are mounted at the radial ends of the rotating rod.

[0015] In some embodiments, the paving equipment further includes: a coating device, which is disposed on the walking chassis, and is used to apply slurry to the panels to be laid, and the grabbing device is used to grab the panels to be laid that have been coated with slurry and lay them on the construction surface.

[0016] According to an embodiment of the present invention, a paving method for sheet material paving equipment includes the following steps: a depth camera acquires construction surface information of the construction surface, and controls the walking chassis to move to the starting paving position of the construction surface; a first robotic arm controls a grasping device to grasp and lay the sheet material to be laid, the depth camera acquires first position information of the sheet material to be laid during the paving process in real time, and the first robotic arm lays the sheet material to be laid according to the first position information; the depth camera acquires second position information of the sheet material to be laid after paving, and the second robotic arm controls the adjustment device to adjust the position of the sheet material to be laid after paving according to the second position information.

[0017] According to the paving method of the sheet material paving equipment of the embodiment of the present invention, the construction surface information of the construction surface is obtained by a depth camera, and the walking chassis is controlled to move to the starting paving position of the construction surface; the first robotic arm controls the grasping device to grasp and lay the sheet material to be laid, and the depth camera obtains the first position information of the sheet material to be laid during the paving process in real time, and the first robotic arm lays the sheet material to be laid according to the first position information; the depth camera obtains the second position information of the sheet material to be laid after paving, and the second robotic arm controls the adjustment device to adjust the position of the sheet material to be laid after paving according to the second position information, so as to realize the precise positioning of the starting paving position, the accurate paving of the sheet material to be laid, and ensure the paving accuracy and the quality of the paved surface.

[0018] In some embodiments, the adjustment device includes an inclination adjustment mechanism and a flatness adjustment mechanism, the second position information includes height information and inclination information between the sheet to be laid after paving and the adjacent laid sheet, and the second robotic arm controls the adjustment device to adjust the position of the sheet to be laid after paving according to the second position information, including the following steps: the flatness adjustment mechanism vibrates the sheet to be laid after paving so that the surface of the sheet to be laid after paving and the adjacent laid sheet are flush; the inclination adjustment mechanism adjusts the position of the sheet to be laid after paving so that the gap width between the sheet to be laid after paving and the adjacent laid sheet remains uniform.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the paving equipment in the embodiment of the present invention;

[0022] Figure 2 A top view of a paving device in an embodiment of the present invention;

[0023] Figure 3 for Figure 1 A local enlarged schematic diagram of location III;

[0024] Figure 4 It is a partial three-dimensional structural schematic diagram of a coating device in an embodiment of the present invention;

[0025] Figure 5 for Figure 4 A local enlarged schematic diagram of the V portion;

[0026] Figure 6 It is a partial front view of a coating device in an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of the internal structure of the tilt adjustment mechanism in an embodiment of the present invention;

[0028] Figure 8 The process flow chart of the paving method of the embodiment of the present invention is as follows: Figure 1 ;

[0029] Fig. 9 The process flow chart of the paving method of the embodiment of the present invention is as follows: Figure 2 .

[0030] Reference numerals:

[0031] 100. Paving equipment;

[0032] 10. Walking chassis;

[0033] 110, chassis body;

[0034] 120. Rotating mechanism;

[0035] 130. Lifting mechanism;

[0036] 140, traveling wheel;

[0037] 150. ground support mechanism; 1501. ground support rod;

[0038] 20. Depth camera;

[0039] 30. Paving robot;

[0040] 310, first robotic arm;

[0041] 320. Grasping device;

[0042] 40. Adjust the manipulator;

[0043] 410, second robotic arm;

[0044] 420. Adjustment device;

[0045] 4201, tilt adjustment mechanism;

[0046] 42011, push surface; 401, step surface; 402, connecting slope; 42022, base surface;

[0047] 421, seat body; 4211, accommodating chamber; 4212, slideway; 422, adjusting member; 423, driving member; 4231, driving motor; 4232, driving nut; 4233, driving screw; 4234, flexible transmission member; 4235, supporting nut;

[0048] 4202, flatness adjustment mechanism;

[0049] 4203, rotating rod;

[0050] 50. Coating device;

[0051] 510. Positioning mechanism;

[0052] 5101, support frame; 5102, rack; 5103, guide rail;

[0053] 520, coating mechanism;

[0054] 530, scraping mechanism;

[0055] 5301, scraping member; 5302, thickness adjustment member; 5303, mounting seat;

[0056] 540. Transfer institution;

[0057] 5401, transfer seat; 54011, guide groove;

[0058] 5402, driving assembly; 54021, flexible transmission assembly; 501, flexible member; 502, transmission wheel; 54022, push member; 54023, driving motor;

[0059] 5403, sliding shaft; 54031, supporting member;

[0060] 550. Storage mechanism;

[0061] 560, lifting mechanism;

[0062] 5601, lead screw; 5602, lead screw nut; 5603, lifting motor;

[0063] 60. Multi-degree-of-freedom robotic arm; 300. Sheet materials to be laid. DETAILED DESCRIPTION

[0064] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0065] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0066] In addition, features defined as “first” or “second” may explicitly or implicitly include one or more such features, and are used to distinguish and describe features, without any distinction in order or importance.

[0067] In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0068] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] The following describes the plate paving equipment 100 according to an embodiment of the present invention in conjunction with the accompanying drawings.

[0070] like Figure 1 As shown, the sheet material paving equipment 100 according to an embodiment of the present invention includes: a walking chassis 10, a depth camera 20, a paving robot 30, and an adjustment robot 40.

[0071] The depth camera 20 may be a depth vision camera, which is used to obtain construction surface information, first position information of the slab 300 to be laid during the paving process, and second position information of the slab 300 to be laid after paving. It can be understood that the sheet paving equipment 100 can pre-set a finished surface, and the visual camera 20 can calculate the global depth of the finished surface and the construction surface based on the global three-dimensional measurement of the construction surface to obtain the construction surface information, and then control the walking chassis 10 to move to the starting position of paving. The depth camera 20 can also detect the deviation of the position and preset posture of the slab 300 to be laid and the construction surface or the positioning plate during the paving process to obtain the first position information. After the slab 300 to be laid is laid, it finally forms a finished surface. After the slab 300 to be laid is laid, the visual camera 20 can detect whether the height difference and the width of the brick joints between the paved slab 300 and the adjacent paved slab are consistent to obtain the second position information, thereby realizing the quality inspection of the finished surface.

[0072] The walking chassis 10 moves to the starting paving position according to the construction surface information. That is to say, after the walking chassis 10 enters the construction area, it moves to the vicinity of the construction surface through its own navigation positioning, and then the construction surface information obtained by the visual camera 20 can realize the precise positioning of the walking chassis 10, thereby ensuring the accurate paving of the first piece of slab material 300 to be laid.

[0073] The paving robot 30 includes a first robot arm 310 and a gripping device 320. The first robot arm 310 is arranged on the walking chassis 10, and the gripping device 320 is arranged at the end of the first robot arm 310. The gripping device 320 is used to grip and place the sheet material 300 to be laid. The first robot arm 310 controls the gripping device 320 to lay the gripped sheet material 300 on the construction surface according to the construction surface information and the first position information. After the depth camera 20 acquires the construction surface information and the first position information of the sheet material 300 to be laid in real time, the first robot arm 310 can drive the gripping device 320 to accurately lay the sheet material 300 to be laid on the construction surface. Referring to the above, after the visual camera 20 acquires the first position information of the sheet material 300 to be laid, it can control the degree of freedom of the first robot arm 310 to adjust the position of the gripping device 320 to ensure that the laying position of the sheet material 300 to be laid is very straight and will not be deflected. Furthermore, since the depth camera 20 can obtain information online in real time, it can ensure that the laying position of each slab 300 to be laid is very accurate.

[0074] The adjustment manipulator 40 includes a second manipulator arm 410 and an adjustment device 420. The second manipulator arm 410 is arranged on the walking chassis 10, and the adjustment device 420 is arranged at the end of the second manipulator arm 410. The second manipulator arm 410 controls the adjustment device 420 to adjust the position of the laid sheet material according to the second position information. After the second position information of the sheet material 300 to be laid after paving is obtained in real time online by the depth camera 20, the height difference and inclination deviation between the sheet material 300 to be laid after paving and the adjacent laid sheet material can be known. The second manipulator arm 410 can drive the adjustment device 420 to adjust the position of the sheet material 300 to be laid after paving, and a higher level of position accuracy adjustment can be achieved to ensure that the installation position of the two adjacent sheets can meet the quality requirements of the finished surface. Moreover, since the depth camera 20 can obtain information online in real time, it can be ensured that the two adjacent sheets can meet the quality requirements.

[0075] According to the paving equipment 100 of the embodiment of the present invention, by setting the depth camera 20, the construction surface information, the first position information of the paving sheet 300 to be laid during the paving process, and the second position information of the paving sheet 300 to be laid after paving can be obtained online in real time. The walking chassis 10 can realize the precise positioning of the starting paving position through the construction surface information. The first mechanical arm 310 and the grasping device 320 can realize the accurate paving of the paving sheet 300 according to the first position information of the paving sheet 300 to be laid during the paving process. The second mechanical arm 410 and the adjustment device 420 can adjust the position of the paving sheet 300 to be laid after paving according to the second position information of the paving sheet 300 to be laid after paving, so as to ensure the paving accuracy and the quality of the paving finished surface. The whole paving equipment 100 has a high degree of automation, which can ensure the paving accuracy and improve the paving quality. At the same time, the paving of the paving robot 30 and the adjustment of the adjustment robot 40 can be carried out at the same time, and the two do not interfere with each other, which can improve the working efficiency of the paving equipment 100.

[0076] In some embodiments, Figure 1 As shown, the walking chassis 10 may include a chassis body 110 and a slewing mechanism 120, and the slewing mechanism 120 includes a turntable (not shown) and a slewing drive member (not shown). The turntable is rotatably arranged on the chassis body 110, and the paving manipulator 30 and the adjusting manipulator 40 are both mounted on the turntable. The slewing drive member is used to drive the turntable to rotate relative to the chassis body 110. It can be understood that when the paving equipment 100 is paving in a certain direction, the paving manipulator 30 first paves the sheet material 300 to be laid, and then the adjusting manipulator 40 adjusts the position of the sheet material 300 to be laid; and when the paving equipment 100 moves in the reverse direction for paving, the slewing drive member can drive the turntable to rotate, thereby ensuring that the paving manipulator 30 first paves the sheet material 300 to be laid, and then the adjusting manipulator 40 adjusts the position of the sheet material 300 to be laid.

[0077] That is to say, by providing the rotating mechanism 120 and configuring the rotating mechanism 120 to include a turntable and a rotating drive member, the overall adaptability of the paving equipment 100 can be improved to meet the use requirements of different working conditions.

[0078] Optionally, the rotary drive member may be any one of a rotary air cylinder, a rotary hydraulic cylinder, and a rotary motor. The use of such a rotary drive member has a simple structure and is convenient to control.

[0079] In some embodiments, Figure 1 As shown, the rotating shaft of the turntable is arranged vertically, and the paving robot 30 and the adjusting robot 40 are installed on opposite sides or the same side of the turntable. For example, the paving robot 30 is arranged on the left side of the turntable, and the adjusting robot 40 is arranged on the right side of the turntable. When the paving equipment 100 is paving from right to left, the paving robot 30 is used to pave the sheet material 300 to be laid first, and then the adjusting robot 40 is used to adjust the laid object. By arranging the paving robot 30 and the adjusting robot 40 on opposite sides of the turntable, interference between the two robots can be avoided during operation. For another example, the paving robot 30 and the adjusting robot 40 are jointly arranged on the left or right side of the turntable, which can also avoid interference between the two robots during operation.

[0080] The depth camera 20 can be installed on the top of the turntable, so that the depth camera 20 is closer to the construction surface, and can better obtain the construction surface information, the first position information of the slab 300 to be laid during the paving process, and the second position information of the slab 300 to be laid after paving.

[0081] In some embodiments, Figure 1 As shown, the walking chassis 10 also includes a lifting mechanism 130, which is mounted on the chassis body 110, and the turntable is mounted on the lifting mechanism 130 in a liftable manner. The lifting mechanism 130 can lift or lower the paving manipulator 30 and the adjustment manipulator 40 to a specified height to better adapt to the paving of the panels 300 to be laid at different heights.

[0082] In some embodiments, Figure 1As shown, the walking chassis 10 may also include walking wheels 140 and a ground support mechanism 150 installed on the chassis body 110. The ground support mechanism 150 has a downwardly telescopic ground support rod 1501. The bottom end of the ground support rod 1501 can be switched between a supporting state and a suspended state. In the supporting state, the bottom end of the ground support rod 1501 is lower than the bottom end of the walking wheel 140, and in the suspended state, the bottom end of the ground support rod 1501 is higher than the bottom end of the walking wheel 140. That is to say, after the paving equipment 100 enters the construction area, when the walking chassis 10 finds the starting paving position, the ground support rod 1501 is in a supporting state, supported downward on the ground to avoid displacement during the paving process; when the construction surface of the current area has been paved, the ground support rod 1501 is in a suspended state, and the walking chassis 10 moves to the next target construction area through the walking wheels 140.

[0083] It can be understood that by arranging the ground support mechanism 150 on the chassis body 110, the ground support rod 1501 of the ground support mechanism 150 can be switched between a supporting state and a suspended state, thereby improving the overall stability of the equipment during the paving process.

[0084] Optionally, the ground support mechanism 150 can be any one of a cylinder, a hydraulic cylinder, and an electric push rod, and correspondingly, the ground support rod 1501 is a telescopic rod of the cylinder, the hydraulic cylinder, and the electric push rod. The ground support mechanism 150 has a simple structure and is easy to control.

[0085] In some embodiments, the walking chassis 10 also includes a depth sensor. After the walking chassis 10 enters the construction area, the depth sensor detects the first depth information of the chassis body 110 relative to the construction surface. The walking chassis 10 adjusts its position relative to the construction surface according to the first depth information to complete the rough positioning. After the depth sensor detection is completed, the depth camera 20 obtains the construction surface information to obtain the second depth information. The walking chassis 10 further adjusts its position relative to the construction surface according to the second depth information. In other words, the walking chassis 10 can make the first position adjustment through its own depth sensor, and the walking chassis 10 can make the second position adjustment through the detection of the depth camera 20. Since the depth camera 20 has a higher detection accuracy than the depth sensor, it can ensure that the walking chassis 10 is accurately positioned at the starting position of the construction area, and the position accuracy of the first sheet material 300 to be laid can be guaranteed.

[0086] In some embodiments, Figure 1 and Figure 2As shown, the adjustment device 420 may include an inclination adjustment mechanism 4201, and the pushing mechanism 4201 is installed on the second mechanical arm 410. The inclination adjustment mechanism 4201 is used to push the paved sheet material 300 to move after paving, so as to adjust the gap width between the paved sheet material 300 and the adjacent paved sheet material. In other words, after paving, there may be an inclination between the paved sheet material 300 and the adjacent paved sheet material, resulting in inconsistent gap width. For example, when the construction surface is a vertical wall, there may be an inclination between the paved sheet material 300 and the paved sheet material on the vertical surface, resulting in a situation where one end of the gap is wider and the other end is narrower. At this time, the inclination problem can be eliminated by pushing the paved sheet material 300 to move after paving through the inclination adjustment mechanism 4201, thereby ensuring the quality of the completed construction surface.

[0087] In some embodiments, the tilt adjustment mechanism 4201 includes a seat member 421 , an adjustment member 422 , and a driving member 423 .

[0088] like Figure 3 and Figure 7 As shown, the adjusting member 422 is movably arranged on the seat member 421 in a direction perpendicular to the sheet material 300 to be laid, and the opposite sides of the adjusting member 422 are the push surface 42011 and the base surface 42022, and the distance between the push surface 42011 and the base surface 42022 gradually decreases in the extension direction toward the adjusting member 422, and the adjusting member 422 can be inserted into the gap between the sheet material 300 to be laid after laying and the adjacent laid sheet material, and the push surface 42011 stops on the side of the sheet material 300 to be laid after laying. It can be understood that the push surface 42011 is inclined, and is inclined obliquely upward and backward along the laying feeding direction, and the base surface 42022 is a plane. When the gap width between the sheet material 300 to be laid after laying and the adjacent laid sheet material is uneven, as the depth of the adjusting member 422 inserted into the gap increases, the width of the gap can be adjusted to make it uniform. For example, when the width of the gap between the sheet material 300 to be laid and the adjacent laid sheet material is inconsistent after laying, one side is larger and the other side is smaller, for example, the left side width of the gap is smaller and the right side width is larger, then the push surface 42011 stops at the left side edge of the sheet material 300 to be laid, and the base surface 42022 stops at the left side edge of the laid sheet material. As the depth of the adjustment member 422 inserted into the gap gradually increases, the push surface 42011 pushes the sheet material 300 to be laid to move, so that the left and right widths of the gap remain consistent.

[0089] like Figure 7As shown, the driving member 423 is arranged on the seat member 421, and the driving member 423 can push the adjusting member 422 to move and make the adjusting member 422 separate from the seat member 421. In other words, the driving member 423 is used to drive the adjusting member 422 to move, so as to realize the automatic operation, and at the same time, the driving member 423 pushes the adjusting member 422 to separate from the seat member 421, so that the adjusting member 422 is retained in the gap, plays a role in supporting the sheet material 300 to be laid, and prevents the sheet material 300 to be laid from being displaced again when the next sheet material is laid.

[0090] Alternatively, if Figure 7 As shown, the seat member 421 has a receiving cavity 4211 and a slideway 4212 connected to the receiving cavity 4211, one end of the slideway 4212 extends out of the seat member 421, the driving member 423 is disposed in the receiving cavity 4211, and the adjusting member 422 is slidably disposed in the slideway 4212. The slideway 4212 can provide an installation position and a stable and reliable guiding function for the adjusting member 422, and the driving member 423 can separate the adjusting member 422 from the seat member 421 by only pushing the adjusting member 422 out of the slideway 4212, and the structure is simple.

[0091] Optionally, there is only one adjusting member 422 , and after the driving member 423 pushes the adjusting member 422 out of the slideway 4212 , it is only necessary to replace the new adjusting member 422 and install it in the slideway 4212 .

[0092] Optionally, the adjusting member 422 is a housing member, and the adjusting members 422 are multiple and are sequentially sleeved and connected. That is, after each adjusting member 422 is moved out of the slideway 4212 and inserted into the gap, there is no need to replace a new adjusting member 422, which can reduce labor intensity and improve work efficiency.

[0093] In some embodiments, Figure 7 As shown, the driving member 423 includes a driving motor 4231, a driving nut 4232, a driving screw 4233, and a flexible transmission member 4234. The driving motor 4231 is disposed on the seat member 421, the driving nut 4232 is rotatably disposed on the seat member 421, the driving screw 4233 is matched with the driving nut 4232, and one end of the driving screw 4233 is stopped on the adjusting member 422, and one end of the flexible transmission member 4234 is connected to the driving screw 4233 and the other end is connected to the output shaft of the driving motor 4231. When the driving motor 4231 is started, the driving motor 4231 drives the flexible transmission assembly 4234 to move, thereby rotating the driving nut 4232, and the driving nut 4232 drives the driving screw 4233 to move axially, and finally pushes the adjusting member 422 out of the seat member 421. The driving method using this method is simple, stable and reliable.

[0094] Alternatively, if Figure 7As shown, the driving member 423 also includes a supporting nut 4235 , which is rotatably disposed on the seat member 421 , and the supporting nut 4235 is spaced apart from the driving nut 4232 to better support the lead screw 4233 .

[0095] Specifically, referring to the foregoing, the support nut 4235 is disposed in the slideway 4212, and the driving screw 4233 is partially disposed in the slideway 4212, so as to facilitate pushing the adjustment member 422 to move.

[0096] Optionally, the flexible transmission member 4234 is any one of a synchronous belt transmission member, a chain transmission member, and a rope transmission member. For example, when the flexible transmission member 4234 is a synchronous belt transmission member, one synchronous belt is sleeved on the output shaft of the driving motor 4231, and the other synchronous belt is sleeved on the output shaft of the driving motor 4231.

[0097] In some embodiments, Figure 3 As shown, the push surface 42011 includes a plurality of step surfaces 401, and the plurality of step surfaces 401 can better adjust the gap between the panels. For example, the gap width deviation between each panel material 300 to be laid and the adjacent laid panels after laying may be different. The plurality of step surfaces 401 can adapt to different panels 300 to be laid, so that different step surfaces 401 can be selected according to needs to stop at the side of the panel material 300 to be laid. For example, when the width of one end of the gap between the sheet material 300 to be laid and the adjacent already laid sheet material is smaller than the standard gap width, the depth of the adjustment member 422 inserted into the gap is smaller, and the gap width can be adjusted through the front step surface 401 (for example, the first step surface 401 or the second step surface 401); when the width of one end of the gap between the sheet material 300 to be laid and the adjacent already laid sheet material is larger than the standard gap width, the depth of the adjustment member 422 inserted into the gap is larger, and the gap width can be adjusted through the front step surface 401 (for example, the third step surface 401 or the fourth step surface 401).

[0098] Furthermore, if Figure 3 As shown, there is a connecting bevel 402 between any two adjacent step surfaces 401. When the adjusting member 422 is inserted into the gap, the connecting bevel 402 between the two adjacent step surfaces 401 can ensure that the latter step surface 401 can smoothly stop on the side of the paved sheet material 300, which is conducive to the use of the adjusting member 422.

[0099] In some embodiments, Figure 1 and Figure 2 As shown, the adjustment device 420 may further include: a flatness adjustment mechanism 4202 and a rotating rod 4203 .

[0100] The flatness adjustment mechanism 4202 is used to vibrate the surface of the sheet material 300 to be laid after paving. The depth camera 20 can be used to detect the second position information of the sheet material 300 to be laid after paving. It can detect whether the sheet material 300 to be laid after paving protrudes outward relative to the adjacent laid sheet material, or it can determine whether one end of the sheet material 300 to be laid after paving protrudes outward relative to the adjacent laid sheet material. At this time, by vibrating the surface of the sheet material 300 to be laid with the vibrating mechanism 4202, the surface of the sheet material 300 to be laid can be kept flush with the surface of the adjacent laid sheet material.

[0101] The rotating rod 4203 is rotatably mounted at the end of the second mechanical arm 410, and the inclination adjustment mechanism 4201 and the flatness adjustment mechanism 4202 are mounted at both ends of the rotating rod 4203. The second mechanical arm 410 can move the adjustment device 420 to the position of the paved sheet material 300, and then rotate the rotating rod 4203 to adjust the inclination adjustment mechanism 4201 and the flatness adjustment mechanism 4202 to the position to be adjusted on the paved sheet material 300, thereby improving the positional accuracy between the inclination adjustment mechanism 4201 and the flatness adjustment mechanism 4202 and the paved sheet material 300.

[0102] Optionally, the flatness adjustment mechanism 4202 may include a vibrating motor and a vibrating plate, wherein the output end of the vibrating motor is connected to the vibrating plate, and the vibrating plate is stopped on the paved sheet material 300 to transmit vibration force, thereby vibrating the paved sheet material 300 to be flat.

[0103] In some embodiments, Figure 1 As shown, the paving equipment 100 may also include a coating device 50, which is arranged on the walking chassis 10. The coating device 50 is used to apply slurry to the slab material 300 to be laid. For example, the slab material 300 to be laid may be a ceramic tile, and the slurry may be any one of tile glue and adhesive. The coating device 50 applies the slurry on the back of the ceramic tile, and the paving robot 30 can lay the ceramic tile on the construction surface after grabbing the front of the ceramic tile.

[0104] Optionally, the gripping device 320 is used to grip the edge of the sheet material 300 to be laid and / or to absorb the front of the sheet material 300 to be laid. That is, the gripping device 320 can be a pneumatic gripper, which can grab the edge of the sheet material 300 to be laid and take away the sheet material 300. The gripping device 320 can also be a suction cup, which can absorb the front of the sheet material 300 to take away the sheet material 300 to be laid.

[0105] In some embodiments, Figure 1 As shown, the coating device 50 may include: a positioning mechanism 510 , a coating mechanism 520 , and a scraping mechanism 530 .

[0106] The positioning mechanism 510 has a support frame 5101 for supporting the front of the sheet material 300 to be laid; the coating mechanism 520 is used to apply slurry to the back of the sheet material 300 to be laid; the scraping mechanism 530 includes a scraping member 5301 arranged corresponding to the support frame 5101, and the scraping member 5301 is spaced apart from the support frame 5101 and is movable relative to the support frame 5101. The sheet material 300 to be laid is placed on the support frame 5101 in advance. When the paving operation is performed, the coating mechanism 520 first applies slurry to the back of the sheet material 300 to be laid, and then the scraping member 5301 moves relative to the support frame 5101 to scrape off the excess slurry on the back of the sheet material 300 to achieve the fine finishing of the slurry. Among them, the scraper 5301 can be movably arranged on the positioning mechanism 510, and the scraper 5301 is moved to scrape off the slurry on the back side of the sheet material 300 to be laid, or the support frame 5101 can be movably driven to move the sheet material 300 to be laid by the support frame 5101, so that the scraper 5301 scrapes off the slurry on the back side of the sheet material 300 to be laid.

[0107] Optionally, the depth camera 20 can calculate the required slurry thickness on the slab material 300 to be laid based on the acquired construction surface information, and the scraping mechanism 530 scrapes off excess slurry on the slab material 300 to be laid based on the slurry thickness to achieve automatic fine correction of the slurry thickness.

[0108] In some embodiments, Figure 4 As shown, the positioning mechanism 510 further includes a frame 5102, a support frame 5101 is disposed on the frame 5102, a scraping mechanism 530 is disposed on the frame 5102, and a coating mechanism 520 is disposed on the frame 5102 or the chassis body 110. The frame 5102 is used to provide installation positions for various components.

[0109] Alternatively, if Figure 4 As shown, the scraper mechanism 530 is movably disposed on the frame 5102, so that it can move relative to the support frame 5101 to scrape off the slurry on the back side of the sheet material 300 to be laid and adjust the thickness of the sheet material.

[0110] Optionally, the support frame 5101 is movably disposed on the frame 5102, and the scraper mechanism 530 is fixed on the frame 5102, so that the support frame 5101 can be moved relative to the scraper mechanism 530 to scrape off the slurry on the back side of the paving material 300 and adjust the thickness of the slurry.

[0111] In some embodiments, Figure 4As shown, the coating device 50 also includes a transfer mechanism 540, which is arranged on the positioning mechanism 510. The transfer mechanism 540 is used to move the sheet material 300 to be laid from the support frame 5101 to the waiting position, and adjust the sheet material 300 to be laid from the horizontal state on the support frame 5101 to the inclined state of the waiting position. Since the back of the sheet material 300 to be laid is facing upward, and the back of the sheet material 300 to be laid has been coated with slurry, the sheet material 300 to be laid is moved from the support frame 5101 to the waiting position by the transfer mechanism 540, and the sheet material 300 to be laid can be adjusted from the horizontal state on the support frame 5101 to the inclined state of the waiting position, so that the front of the sheet material 300 to be laid can be exposed, which greatly facilitates the grasping device 320 to grasp the sheet material 300 to be laid.

[0112] Alternatively, if Figure 4 and Figure 6 As shown, the transfer mechanism 540 includes a transfer seat 5401 and a driving assembly 5402. The driving assembly 5402 can drive the sheet material 300 to be laid to move along the transfer seat 5401 to adjust the sheet material 300 to be laid from a horizontal state to an inclined state of a waiting position. For example, the transfer seat 5401 has a guide surface (not shown in the figure), and the distance between the guide surface and the other side surface of the transfer seat 5401 away from the guide surface gradually decreases from bottom to top. In this way, after the driving assembly 5402 drives the sheet material 300 to be laid to move along the guide surface, it can be adjusted from a horizontal state to an inclined state of a waiting position. The structure is simple and the operation is convenient.

[0113] Furthermore, if Figure 6 As shown, the guide surface can be a curved surface, and the sheet material 300 to be laid along the curved surface is conducive to ensuring smooth turning.

[0114] Furthermore, if Figure 5 and Figure 6 As shown, the transfer seat 5401 has a guide groove 54011, and the groove surface of the guide groove 54011 forms a guide surface. The transfer mechanism 540 also includes a sliding shaft 5403, which is slidably arranged in the guide groove 54011. The sliding shaft 5403 is provided with a support member 54031, and the support member 54031 is used to stop the sheet material 300 to be laid. In other words, the edge of the sheet material 300 to be laid stops on the support member 54031. When the driving component 5402 drives the sheet material 300 to be laid to move, the sliding shaft 5403 slides along the groove surface of the guide groove 54011, and the sheet material 300 to be laid is turned into an inclined state. The sliding shaft 5403 and the support member 54031 can provide a good support effect for the sheet material 300 to be laid, thereby ensuring the safety of the sheet material 300 to be laid.

[0115] Optionally, the transfer mechanism 540 also includes an elastic member (not shown), one end of the elastic member is connected to the sliding shaft 5403 and the other end is connected to the transfer seat 5401. When the sheet material 300 to be laid is removed and detached from the sliding shaft 5403, the elastic member can quickly reset the sliding shaft 5403 downward.

[0116] Specifically, the elastic member is a spring, one end of the spring is hooked on the sliding shaft 5403, and the other end of the spring is hooked on the transfer seat 5401. This method has a simple structure and can provide a stable and reliable reset force.

[0117] Alternatively, if Figure 5 As shown, the support member 54031 is a strip plate with a groove formed thereon. The edge of the sheet material 300 to be laid is placed in the groove. The strip plate is arranged along the axial direction of the sliding shaft 5403 so that it can fully contact the sheet material 300 to be laid, providing a better support effect.

[0118] Optionally, the support member 54031 is a plurality of support blocks, each of which has a groove formed thereon, and the edge of the sheet material 300 to be laid is placed in the groove. The plurality of support blocks are arranged on the sliding shaft 5403 at intervals along the axial direction of the sliding shaft 5403, thereby saving materials and reducing costs while ensuring reliable support.

[0119] Optionally, the end of the sliding shaft 5403 is installed in the guide groove 54011 through a sliding bearing to play a limiting role and prevent the sliding shaft 5403 from escaping from the guide groove 54011.

[0120] In some embodiments, Figure 4 As shown, two groups of transfer seats 5401 are spaced apart on the frame 5102, and two sliding shafts 5403 are provided. The two sliding shafts 5403 are respectively arranged in the guide grooves 54011 of the two groups of transfer seats 5401. The two sliding shafts 5403 can support the two ends of the sheet material 300 to be laid, and when the paving robot 30 grabs the sheet material 300 to be laid, the paving robot 30 only needs to move toward the side of the sliding shaft 5403 away from the paving robot 30 to make the sheet material 300 to be laid separate from the sliding shaft 5403.

[0121] In some embodiments, Figure 4 As shown, the driving component 5402 may include: a flexible transmission component 54021, a thrust member 54022, and a driving motor 54023.

[0122] The flexible transmission assembly 54021 is arranged along the moving direction of the sheet material 300 to be laid; the push piece 54022 is arranged on the flexible piece 501 of the flexible transmission assembly 54021; the output shaft of the driving motor 54023 moves in conjunction with the transmission wheel 502 of the flexible transmission assembly 54021. In other words, the driving motor 54023 can drive the transmission wheel 502 to rotate, so that the flexible piece 501 rotates, and the push piece 54022 can push the sheet material 300 to be laid to move along the movement of the flexible piece 501, so that the sheet material 300 to be laid is turned over along the transfer seat 5401 to be in an inclined state. The use of this type of driving assembly 5402 is simple, the driving is stable and reliable, and it is conducive to reducing costs.

[0123] In some embodiments, Figure 6 As shown, the scraper mechanism 530 includes a thickness adjustment member 5302 connected to the scraper member 5301, and the thickness adjustment member 5302 is used to adjust the distance between the scraper member 5301 and the support frame 5101 to adjust the thickness of the slurry. During the paving process, the construction surface may not be a flat surface, resulting in inconsistent depths between the construction surface and the set paving completion surface. The depth camera 20 can obtain the depth information of the construction surface relative to the paving completion surface, and the thickness of the slurry required on the current slab 300 to be paved can be calculated through the depth information. By adjusting the distance between the scraper member 5301 and the support frame 5101 through the thickness adjustment member 5302, the thickness of the slurry on different slabs 300 to be paved can be adjusted to obtain a paving completion surface that meets the quality requirements.

[0124] Optionally, the thickness adjustment member 5302 is a servo electric cylinder, which can drive the scraper member 5301 to move, so as to achieve high-precision control of the thickness of the slurry on the sheet material 300 to be laid.

[0125] In other examples, the thickness adjustment member 5302 is a lifting member, which is any one of a pneumatic cylinder and a hydraulic cylinder. The lifting member can adjust the distance between the scraper member 5301 and the back side of the sheet material 300 to be laid by driving the scraper member 5301 to rise and fall, thereby adjusting the thickness of the slurry.

[0126] Alternatively, if Figure 4 and Figure 6 As shown, the scraper mechanism 530 also includes a mounting seat 5303, which is movably disposed on the frame 5102, and a thickness adjustment member 5302 is disposed on the mounting seat 5303. The mounting seat 5303 moves on the frame 5102, thereby driving the scraper mechanism 530 to be relatively displaced relative to the support frame 5101 to scrape off excess slurry.

[0127] In some embodiments, a scraper drive mechanism is provided on the frame 5102, and the scraper drive mechanism is connected to the mounting seat 5303 to drive the scraper mechanism 530 to move. For example, the scraper drive mechanism can be any drive structure such as a linear module, a telescopic cylinder, an electric push rod, etc., so as to provide a stable driving effect. Of course, other structures of the drive mounting seat 5303 can all be the scraper drive mechanism of the present application, which will not be described here.

[0128] Specifically, Figure 4 As shown, a guide rail 5103 is provided on the frame 5102 , and the mounting seat 5303 is movably provided on the guide rail 5103 , and the guide rail 5103 can provide a guide for the movement of the mounting seat 5303 .

[0129] Specifically, Figure 4 As shown, there are two groups of guide rails 5103, and the two groups of guide rails 5103 are respectively slidably matched with the two ends of the mounting seat 5303, that is, the movement stability of the mounting seat 5303 can be improved by providing two groups of guide rails 5103. Among them, at least one group of guide rails 5103 extends out of the frame 5102, and the scraper mechanism 530 has an avoidance position. When the scraper mechanism 530 is in the avoidance position, the scraper mechanism 530 is located on the extended end of the guide rail 5103 and on the outside of the frame 5102, so as to play an avoidance role, ensuring that the sheet material 300 to be laid can be turned over from the top of the frame 5102 along the transfer seat 5401 to an inclined state.

[0130] More specifically, in the flexible transmission assembly 54021 corresponding to the guide rail 5103 extending out of the frame 5102, the push member 54022 extends along the length direction of the guide rail 5103 toward the side close to the frame 5102, so that when the scraper mechanism 530 is in the avoidance position, the push member 54022 can pass through the scraper mechanism 530 to push the board material 300 to be laid.

[0131] In some embodiments, Figure 6 As shown, there are multiple scraping members 5301 and multiple thickness adjusting members 5302, and the multiple scraping members 5301 and the multiple thickness adjusting members 5302 are arranged one by one. Each thickness adjusting member 5302 can drive the corresponding scraping member 5301 to adjust the same or different thicknesses.

[0132] It can be understood that after the depth camera 20 obtains the depth information of the construction surface relative to the paving completion surface, when it detects that the surface of the construction surface is uneven, in order to obtain a paving completion surface with consistent flatness, it is necessary to adjust the thickness of the slurry on the slab material 300 to be laid according to the paving position of the construction surface. At this time, multiple thickness adjustment parts 5302 can drive multiple scraping parts 5301 to rise and fall to different heights according to the depth information obtained by the depth camera 20, so that the slurry on the slab material 300 to be laid can be scraped into different thicknesses, and the slurry thickness can be finely trimmed to adapt to the current uneven construction surface. When the depth camera 20 detects that the surface of the construction surface is flat, multiple thickness adjustment parts 5302 can drive multiple scraping parts 5301 to rise and fall to the same height, so that the slurry on the slab material 300 to be laid can be scraped into a consistent thickness to adapt to the current flat construction surface.

[0133] Alternatively, if Figure 1 As shown, the coating mechanism 520 is disposed on the chassis body 110 via a multi-degree-of-freedom robotic arm 60, and the multi-degree-of-freedom robotic arm 60 is used to drive the coating mechanism 520 to perform coating operations.

[0134] Specifically, the multi-degree-of-freedom robot 60 can be a four-degree-of-freedom robot, which can drive the coating mechanism 520 to move horizontally, vertically, rotate around a vertical axis, and lift and lower, and the four-degree-of-freedom robot is a scara robot, which can perform coating with high posture accuracy, so that the coating amount of the slurry can basically meet the thickness of the slurry calculated by the depth camera 20. Of course, the multi-degree-of-freedom robot 60 can also be a robot with more than four degrees of freedom, which will not be repeated here.

[0135] In some embodiments, Figure 1 and Figure 2 As shown, the coating device 50 also includes a storage mechanism 550, which is arranged on the walking chassis 10 and is used to supply material to the coating mechanism 520. A certain amount of slurry can be stored in the storage mechanism 550, and the slurry is pumped into the coating mechanism 520, and then sprayed on the back of the to-be-laid board material 300 through the nozzle of the coating mechanism 520. The scraping mechanism 530 can also bring the scraped slurry back to the storage mechanism 550 to avoid slurry waste. By setting the storage mechanism 550, a certain amount of slurry can be carried, ensuring that the paving device 100 can operate flexibly.

[0136] Specifically, the structure of the material storage mechanism 550 can refer to the tile adhesive storage device in the prior art. For example, the material storage mechanism 550 may include a barrel, a pump, and a feed pipe connecting the pump and the barrel. The feed pipe is connected to the nozzle of the coating mechanism 520, and the slurry can be continuously pumped into the nozzle, thereby coating the slurry on the back of the slab material 300 to be laid.

[0137] In some embodiments, Figure 4As shown, the coating device 50 further includes a lifting mechanism 560, which is connected to the support frame 5101 and is used to push the support frame 5101 up or down. That is, when the sheet material 300 to be laid is transferred to the transfer seat 5401, the lifting mechanism 560 can lift another sheet material 300 to be laid upward to replace the position of the transferred sheet material 300 to be laid, and the sheet material 300 to be laid is coated, scraped and transferred again.

[0138] Specifically, Figure 4 As shown, the lifting mechanism 560 includes a lead screw 5601, a lead screw nut 5602, and a lifting motor 5603. The lead screw nut 5602 is arranged on the supporting member 20, one end of the lead screw 5601 is rotatably connected to the frame 5102, the lead screw 5601 is arranged on the lead screw nut 5602 and penetrates the supporting member 20, and the lifting motor 5603 moves the lead screw 5601 to drive the lead screw 5601 to rotate. When lifting, the lifting motor 5603 drives the lead screw 5601 to rotate, and the lead screw 5601 can push the lead screw nut 5602 to rise and fall, thereby lifting the supporting member 20. By configuring the lifting mechanism 60 to include the lead screw 5601, the lead screw nut 5602, and the lifting motor 5603, a smooth lifting movement can be provided.

[0139] Specifically, the lifting motor 5603 and the screw 5601 can achieve motion transmission through any one of a belt transmission mechanism, a gear set, and a chain transmission. For example, a belt transmission mechanism is set between the lifting motor 5603 and the screw 5601, and one end of the belt transmission mechanism is connected to the lifting motor 5603 and the other end is connected to the screw 5601.

[0140] In some embodiments of the present invention, the first robot arm 310 and the second robot arm 410 are scara robots, which can ensure that the paving and adjustment of the sheet material 300 to be laid are performed with high posture accuracy.

[0141] A specific embodiment of the board paving equipment 100 of the present invention is described below in conjunction with the accompanying drawings.

[0142] like Figures 1 to 6 As shown, a plate paving device 100 includes: a walking chassis 10, a depth camera 20, a paving robot 30, an adjustment robot 40, and a coating device 50.

[0143] The plate material 300 to be laid is a ceramic tile, and the slurry applied on the plate material 300 to be laid is a ceramic tile adhesive.

[0144] The walking chassis 10 includes a chassis body 110, a slewing mechanism 120, a lifting mechanism 130, walking wheels 140, and a ground support mechanism 150. The slewing mechanism 120 includes a turntable and a slewing drive. The turntable is rotatably disposed on the chassis body 110, and the paving robot 30 and the adjustment robot 40 are both mounted on the turntable. The slewing drive is used to drive the turntable to rotate relative to the chassis body 110. The rotating shaft of the turntable is vertically arranged, and the paving robot 30 and the adjustment robot 40 are mounted on opposite sides of the turntable. The lifting mechanism 130 is mounted on the chassis body 110, and the turntable is liftably mounted on the lifting mechanism 130. The walking wheel 140 and the ground support mechanism 150 are installed on the chassis body 110. The ground support mechanism 150 has a downwardly telescopic ground support rod 1501. The bottom end of the ground support rod 1501 can be switched between a supporting state and a suspended state. In the supporting state, the bottom end of the ground support rod 1501 is lower than the bottom end of the walking wheel 140, and in the suspended state, the bottom end of the ground support rod 1501 is higher than the bottom end of the walking wheel 140.

[0145] The depth camera 20 is installed on the top of the turntable and is used to obtain construction surface information, first position information of the slab 300 to be laid during the laying process, and second position information of the slab 300 to be laid after laying.

[0146] The construction surface information is the global depth information of the finished surface and the construction surface calculated by the visual camera 20 based on the global three-dimensional measurement of the construction surface. The first position information is the deviation of the position and preset posture of the slab 300 to be laid and the construction surface or the positioning plate during the paving process detected by the depth camera 20. The second position information is the height difference information between the slab 300 to be laid and the adjacent slab after paving and the width information of the brick joints detected by the visual camera 20.

[0147] The paving robot 30 includes a first robot arm 310 and a gripping device 320. The first robot arm 310 is a scara robot arm, which is arranged on the walking chassis 10, and the gripping device 320 is arranged at the end of the first robot arm 310. The gripping device 320 is a suction cup, which is used to absorb the front of the sheet material 300 to be laid. The first robot arm 310 adjusts the position of the gripping device 320 according to the first position information of the sheet material 300 to be laid, so that the gripping device 320 lays the gripped sheet material 300 to be laid on the construction surface.

[0148] The adjustment robot 40 includes a second robot arm 410 and an adjustment device 420. The second robot arm 410 is a scara robot arm, which is arranged on the walking chassis 10, and the adjustment device 420 is arranged at the end of the second robot arm 410. The second robot arm 410 controls the position of the adjustment device 420 to adjust the position of the laid sheet material 300 according to the second position information of the sheet material 300 to be laid after laying.

[0149] The adjustment device 420 includes: an inclination adjustment mechanism 4201, a flatness adjustment mechanism 4202, and a rotating rod 4203. The rotating rod 4203 is rotatably mounted at the end of the second mechanical arm 410, and the inclination adjustment mechanism 4201 and the flatness adjustment mechanism 4202 are mounted at both ends of the rotating rod 4203. The inclination adjustment mechanism 4201 is mounted on the second mechanical arm 410, and the inclination adjustment mechanism 4201 is used to push the paved sheet material 300.

[0150] The tilt adjustment mechanism 4201 includes a seat member 421 , an adjustment member 422 , and a driving member 423 .

[0151] The adjusting member 422 is movably arranged on the seat member 421 in a direction perpendicular to the sheet material 300 to be laid, and the opposite sides of the adjusting member 422 are the push surface 42011 and the base surface 42022, and the distance between the push surface 42011 and the base surface 42022 gradually decreases in the extending direction toward the adjusting member 422, and the adjusting member 422 can be inserted into the gap between the sheet material 300 to be laid after laying and the adjacent laid sheet material, and the push surface 42011 stops at the side of the sheet material 300 to be laid after laying. The driving member 423 is arranged on the seat member 421, and the driving member 423 can push the adjusting member 422 to move and make the adjusting member 422 separate from the seat member 421.

[0152] The push surface 42011 includes a plurality of step surfaces 401 , and a connecting inclined surface 402 is provided between any two adjacent step surfaces 401 .

[0153] The seat body 421 has a receiving cavity 4211 and a slideway 4212 communicating with the receiving cavity 4211 . One end of the slideway 4212 extends out of the seat body 421 . The driving member 423 is disposed in the receiving cavity 4211 . The adjusting member 422 is slidably disposed in the slideway 4212 .

[0154] The driving member 423 includes a driving motor 4231, a driving nut 4232, a driving screw 4233, and a flexible transmission member 4234. The driving motor 4231 is disposed on the seat member 421, the driving nut 4232 is rotatably disposed on the seat member 421, the driving screw 4233 is fitted on the driving nut 4232, and one end of the driving screw 4233 is stopped on the adjusting member 422, and one end of the flexible transmission member 4234 is connected to the driving screw 4233 and the other end is connected to the output shaft of the driving motor 4231.

[0155] The driving member 423 further includes a supporting nut 4235 rotatably disposed on the seat member 421 . The supporting nut 4235 is spaced apart from the driving nut 4232 to better support the lead screw 4233 .

[0156] The flexible transmission member 4234 is a synchronous belt transmission member.

[0157] The flatness adjustment mechanism 4202 is used to vibrate the surface of the paved sheet material 300. The flatness adjustment mechanism 4202 includes a vibrating motor and a vibrating plate. The output end of the vibrating motor is connected to the vibrating plate. The vibrating plate stops on the paved sheet material 300 and transmits vibration force to level the paved sheet material 300.

[0158] The coating device 50 is arranged on the walking chassis 10, and the coating device 50 is used to cover the back side of the sheet material 300 to be laid with slurry.

[0159] The coating device 50 includes: a positioning mechanism 510 , a coating mechanism 520 , a scraping mechanism 530 , a transfer mechanism 540 , a storage mechanism 550 , and a lifting mechanism 560 .

[0160] The positioning mechanism 510 has a support frame 5101 for supporting the front side of the sheet material 300 to be laid; the positioning mechanism 510 also includes a frame 5102, the support frame 5101 is arranged on the frame 5102, the scraper mechanism 530 is arranged on the frame 5102, and the coating mechanism 520 is arranged on the frame 5102 or the chassis body 110.

[0161] The coating mechanism 520 is used to apply slurry to the back of the sheet material 300 to be laid; the coating mechanism 520 is arranged on the chassis body 110 through a multi-degree-of-freedom robot arm 60, and the multi-degree-of-freedom robot arm 60 is a scara robot arm, which is used to drive the coating mechanism 520 to perform coating operations.

[0162] The scraping mechanism 530 includes a scraping member 5301 , a thickness adjusting member 5302 , and a mounting seat 5303 .

[0163] The scraper 5301 is a scraper and is arranged corresponding to the support frame 5101. The scraper 5301 is spaced apart from the support frame 5101 and is movable relative to the support frame 5101. The thickness adjustment member 5302 is used to adjust the distance between the scraper 5301 and the support frame 5101 to adjust the thickness of the slurry. The thickness adjustment member 5302 is a servo electric cylinder. The mounting seat 5303 is movably arranged on the frame 5102, and the thickness adjustment member 5302 is arranged on the mounting seat 5303. The frame 5102 is provided with a guide rail 5103, and the mounting seat 5303 is movably arranged on the guide rail 5103.

[0164] The transfer mechanism 540 is arranged on the positioning mechanism 510, and is used to move the sheet material 300 to be laid from the support frame 5101 to the waiting position, and to adjust the sheet material 300 to be laid from the horizontal state on the support frame 5101 to the inclined state at the waiting position.

[0165] The transfer mechanism 540 includes: two transfer seats 5401 , a driving assembly 5402 , and two sliding shafts 5403 .

[0166] Each transfer seat 5401 has a guide surface, and the distance between the guide surface and the other side surface of the transfer seat 5401 away from the guide surface gradually decreases from bottom to top. The transfer seat 5401 has a guide groove 54011, and the groove surface of the guide groove 54011 forms the guide surface.

[0167] The two sliding shafts 5403 are slidably disposed in the guide grooves 54011 of the two transfer seats 5401, respectively. The sliding shafts 5403 are provided with support members 54031, which are used to stop the sheet material 300 to be laid. The support member 54031 is a strip plate, and a groove is formed on the strip plate, and the edge of the sheet material 300 to be laid is placed in the groove.

[0168] The driving assembly 5402 includes: a flexible transmission assembly 54021 , a push member 54022 , and a driving motor 54023 .

[0169] The flexible transmission component 54021 is arranged along the moving direction of the sheet material 300 to be laid; the push member 54022 is arranged on the flexible member 501 of the flexible transmission component 54021; the output shaft of the driving motor 54023 moves to link the transmission wheel 502 of the flexible transmission component 54021.

[0170] The material storage mechanism 550 is arranged on the walking chassis 10, and is used to supply material to the coating mechanism 520. The material storage mechanism 550 includes a barrel, a pump, and a delivery pipe connecting the pump and the barrel. The delivery pipe is connected to the nozzle of the coating mechanism 520, and the slurry can be continuously pumped into the nozzle to apply the slurry on the back of the board material 300 to be laid.

[0171] The lifting mechanism 560 is connected to the support frame 5101 and is used to push the support frame 5101 to rise or fall.

[0172] The lifting mechanism 560 includes a lead screw 5601, a lead screw nut 5602, and a lifting motor 5603. The lead screw nut 5602 is disposed on the supporting member 20, one end of the lead screw 5601 is rotatably connected to the frame 5102, the lead screw 5601 is disposed on the lead screw nut 5602 and penetrates the supporting member 20, and the lifting motor 5603 moves in conjunction with the lead screw 5601 to drive the lead screw 5601 to rotate.

[0173] The following description is made by taking the plate material 300 to be laid as a tile to describe the working process of the laying device 100 of the present invention:

[0174] First, the walking chassis 10 moves to the designated paving area. Every time it arrives at a positioning station, the walking chassis 10 stops once, and the depth camera 20 starts to collect the depth information of the construction surface through the pan-tilt head connected below, and models the entire house. After the modeling is completed, the wall is segmented according to the layout diagram of the tile paving. During the calculation process, the walking chassis 10 moves to the designated paving point, and the ground support rod 1501 is lifted to stabilize the entire fuselage on the ground.

[0175] After the depth camera 20 adjusts its angle, it measures the heading angle error of the stopped walking chassis 10 and the depth error from the wall; synchronously, the lifting mechanism 130 and the support frame 5101 lift the tiles to be laid to the glue coating station.

[0176] The storage mechanism 550 pumps the tile glue to the nozzle of the coating mechanism 520, and then the tile glue is evenly sprayed and applied to the back of the tile through the continuous trajectory movement of the multi-degree-of-freedom robot 60; while applying the glue, the scraper mechanism 530 follows the movement of the multi-degree-of-freedom robot 60, calculates the control amount of the tile glue according to the depth information provided by the depth camera 20, accurately shapes the tile glue, takes away excess tile glue during the movement, and brings the excess tile glue back to the storage mechanism 550, thereby completing the recycling of the tile glue.

[0177] After the gluing is completed, the driving assembly 5402 mounted on the frame 5102 of the positioning mechanism 510 will pull the tiles and transport them to the waiting grabbing station along the arc-shaped groove surface of the transfer mechanism 540; at this time, the paving robot 30 will wait at the station, grab the tiles that have been glued, and lay them at the designated position on the wall according to the layout diagram. At this time, the depth camera 20 starts and guides the paving robot 30 online to adjust the position and posture of the tile laying, and then press the tiles tightly.

[0178] During this process, the support frame 5101, the transfer mechanism 540, the scraper mechanism 530, and the storage mechanism 550 continue to provide new tiles coated with glue to the paving robot 30; after the tiles are pressed, the depth camera 20 performs a finished surface inspection. When a local height difference is found, or the overall width error of the tile joint exceeds the tolerance, the high point will be vibrated and leveled by the vibration mechanism 4202, and the tile joint will be adjusted by the inclination adjustment mechanism 4201; when adjusting the tile joint, the paving robot 30 will lay the next tile to ensure the continuity and parallelism of the entire process.

[0179] The paving equipment 100 of the present invention solves the problem that the local error amplification and the out-of-tolerance of some brick joints are caused by the relative positioning method used in the paving process of the robot. It also solves the problem of offline collection of wall depth information and actual measurement to establish a map. At the same time, the entire device can fully realize the functions of parallel execution and parallel solution, and achieve the purpose of meeting the paving quality standards without manual access while ensuring the composite acceptance requirements of the finished surface. In summary, the present invention mainly relates to a highly flexible automatic wall tile paving equipment, which integrates wall data collection, quantitative coating and finishing of tile adhesive, and automatic adjustment of the finished surface flatness and height difference on a robot by combining global depth vision detection + multi-arm collaboration, thereby ensuring the quality of the finished surface.

[0180] The solution mainly solves the following five problems:

[0181] 1. The depth camera 20 integrated on the rotating mechanism 120 can collect the depth information of the wall relative to the paving finished surface online, and the high precision of the structured light camera also ensures the accuracy of data collection.

[0182] 2. Use the posture accuracy of the scara robotic arm to apply glue so that the amount of glue applied basically meets the control amount given by the wall depth data.

[0183] 3. The scraping system composed of high-precision servo electric cylinders ensures that the finished surface after tile glue trimming is basically consistent with the depth information given.

[0184] 4. The tiles coated with glue will be pushed to the designated waiting position through the transfer mechanism 540, so as to ensure that the gluing continues while the tiles are being laid, thus ensuring the parallel operation of the two processes.

[0185] 5. After the tiling is completed, the adjustment robot 40 will complete the adjustment of the tile joints and the height difference without affecting the tile taking and tiling of the paving robot 30, ensuring that the gluing, tiling and adjustment are all parallel processes, greatly improving the working efficiency of the entire robot.

[0186] The paving equipment 100 of the present invention mainly solves the complex phenomenon that in the current construction system, the robot needs manual participation to adjust the tile joints. By adjusting the manipulator 40+tilt adjustment mechanism 4201+vibration mechanism 4202, the tile finished surface adjustment synchronized with the tile laying can be achieved; at the same time, the online measurement method is used to replace the offline global measurement form, and the measurement accuracy is improved by reducing the coverage area of ​​a single measurement to ensure the accuracy of the wall information (the global measurement accuracy is ±1mm, and the local depth visual measurement accuracy is ±0.2mm); through the combination of a more accurate glue coating arm + scraping glue system, the degree of fit between the glue coating finished surface and the wall is effectively guaranteed; through the rotating mechanism 120 on the lifting mechanism 130, it is guaranteed that the workspace accessibility of the paving robot 30 can cover the entire work surface.

[0187] It can be understood that the patent of this invention proposes a new highly flexible wall tile paving robot design, which mainly uses structured light layout absolute measurement technology + submillimeter relative position measurement technology + flexible dual-arm collaborative robot to achieve wall tile paving. The present invention intends to use the robot to perform autonomous walking, autonomous positioning, online measurement, real-time compensation, online guidance, and integrate tiling and leveling on the same robot. By improving the flexibility of the robot, it can make up for the problem that the current robot cannot ensure the consistency of brick seams during the tiling process, and effectively solve the problem of relying on support to achieve flatness. At the same time, in the upgrade of the glue coating system, we use the characteristics that glue coating only requires three plane position accuracy and one posture accuracy. We have designed a 4-degree-of-freedom glue coating system, combined with a 2-degree-of-freedom scraping system, which can achieve precise scraping while ensuring the accuracy of the glue coating thickness, ensuring that the thickness of the tile backing glue is completely consistent with the measured value, thereby improving the flatness of the tile paving and reducing the hollowing rate.

[0188] The following describes a paving method of a sheet material paving device according to an embodiment of the present invention.

[0189] like Figure 8 As shown, a paving method of a sheet material paving device according to an embodiment of the present invention comprises the following steps:

[0190] Step S1: The depth camera 20 obtains the construction surface information of the construction surface and controls the walking chassis 10 to move to the starting paving position of the construction surface. It can be understood that the sheet material paving equipment 100 can pre-set a finished surface, and the visual camera 20 can calculate the global depth of the finished surface and the construction surface based on the global three-dimensional measurement of the construction surface to obtain the construction surface information, and then control the walking chassis 10 to move to the starting position of paving to achieve precise positioning.

[0191] Step S2: the first robot arm 310 controls the grasping device 320 to grasp and lay the sheet material 300 to be laid, the depth camera 20 obtains the first position information of the sheet material 300 to be laid during the laying process in real time, and the first robot arm 310 lays the sheet material 300 to be laid according to the first position information.

[0192] That is to say, the depth camera 20 can also detect the deviation between the position and preset posture of the sheet material 300 to be laid and the construction surface or the positioning plate during the paving process to obtain the first position information. The first robotic arm 310 can ensure the paving position accuracy of the sheet material 300 to be laid by paving the sheet material 300 according to the first position information.

[0193] Step S3: the depth camera 20 obtains the second position information of the sheet material 300 to be laid after laying, and the second robot arm 410 controls the adjustment device 420 to adjust the position of the sheet material 300 to be laid after laying according to the second position information.

[0194] That is to say, after the slabs 300 to be laid are laid, they finally form a finished surface. After the slabs 300 to be laid are laid, the visual camera 20 can detect whether the height difference and the width of the brick joints between the slabs 300 to be laid and the adjacent laid slabs are consistent, so as to obtain the second position information and realize the quality inspection of the finished surface.

[0195] According to the paving method of the sheet material paving equipment of the embodiment of the present invention, the construction surface information of the construction surface is obtained through the depth camera 20, and the walking chassis 10 is controlled to move to the starting paving position of the construction surface; the first robot arm 310 controls the grasping device 320 to grasp and pave the sheet material 300 to be laid, and the depth camera 20 obtains the first position information of the sheet material 300 to be laid during the paving process in real time, and the first robot arm 310 paves the sheet material 300 to be laid according to the first position information; the depth camera 20 obtains the second position information of the sheet material 300 to be laid after paving, and the second robot arm 410 controls the adjustment device 420 to adjust the position of the sheet material 300 to be laid after paving according to the second position information, so as to realize the precise positioning of the starting paving position, the accurate paving of the sheet material 300 to be laid, and ensure the paving accuracy and the quality of the paving finished surface.

[0196] like Fig. 9 As shown, in some embodiments, the adjustment device 420 includes an inclination adjustment mechanism 4201 and a flatness adjustment mechanism 4202, the second position information includes height information and inclination information between the paved sheet material 300 and the adjacent paved sheet material, and step S3 includes the following steps:

[0197] Step S301: the flatness adjustment mechanism 4202 vibrates the paved sheet material 300 to make the paved sheet material 300 and the adjacent paved sheet material to be laid flush.

[0198] Step S302: The inclination adjustment mechanism adjusts the position of the paved sheet material 300 to make the gap width between the paved sheet material 300 and the adjacent paved sheet material uniform.

[0199] Other structures and operations of the paving device 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0200] In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0201] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A sheet material paving equipment, characterized in that: include: A depth camera, wherein the depth camera is used to obtain construction surface information, first position information of the slab to be laid during the paving process, and second position information of the slab to be laid after paving; A walking chassis, wherein the walking chassis moves to a starting paving position according to the construction surface information; A paving robot, the paving robot comprising a first robot arm and a grabbing device, the first robot arm is arranged on the walking chassis, the grabbing device is arranged at the end of the first robot arm, the grabbing device is used to grab and place the sheet material to be paved, and the first robot arm controls the grabbing device to lay the grabbed sheet material to be paved on the construction surface according to the first position information; The adjusting manipulator comprises a second manipulator arm and an adjusting device, wherein the second manipulator arm is arranged on the walking chassis, the adjusting device is arranged at the end of the second manipulator arm, and the second manipulator arm controls the adjusting device to adjust the position of the sheet material to be laid after laying according to the second position information; wherein, The adjustment device comprises an inclination adjustment mechanism, which is installed on the second mechanical arm and is used to push the paved sheet material to be displaced after paving, so as to adjust the gap width between the paved sheet material and the adjacent paved sheet material; The inclination adjustment mechanism includes a seat body, an adjustment member and a driving member. The adjustment member is movably arranged on the seat body along a direction perpendicular to the sheet material to be laid. The opposite sides of the adjustment member are a push surface and a base surface, and the distance between the push surface and the base surface gradually decreases in the extension direction toward the adjustment member. The adjustment member can be inserted into the gap between the sheet material to be laid and the adjacent laid sheet material after laying, and the push surface stops on the side edge of the sheet material to be laid after laying. The driving member is arranged on the seat body, and the driving member can push the adjusting member to move and make the adjusting member separate from the seat body.

2. The sheet material paving equipment according to claim 1, characterized in that: The walking chassis includes a chassis body and a slewing mechanism, and the slewing mechanism includes: A turntable, the turntable is rotatably arranged on the chassis body, and the paving robot and the adjustment robot are both installed on the turntable; A rotary drive member is used to drive the turntable to rotate relative to the chassis body.

3. The sheet material paving equipment according to claim 2, characterized in that: The rotating shaft of the turntable is arranged vertically, the paving robot and the adjusting robot are installed on opposite sides or on the same side of the turntable, and the depth camera is installed on the top of the turntable.

4. The sheet material paving equipment according to claim 2, characterized in that: The walking chassis also includes: A lifting mechanism is installed on the chassis body, and the turntable is installed on the lifting mechanism in a liftable manner.

5. The sheet material paving equipment according to claim 2, characterized in that: The walking chassis also includes: The ground support mechanism is provided with a ground support rod which is telescopic downward, and the bottom end of the ground support rod can be switched between a supporting state and a suspended state. In the supporting state, the bottom end of the ground support rod is lower than the bottom end of the ground support wheel, and in the suspended state, the bottom end of the ground support rod is higher than the bottom end of the ground support wheel.

6. The sheet material paving equipment according to claim 1, characterized in that: The push surface includes a plurality of step surfaces, and a connecting inclined surface is provided between any two adjacent step surfaces.

7. The sheet material paving equipment according to claim 1, characterized in that: The adjusting device also includes: A flatness adjustment mechanism, used for vibrating the surface of the slab to be laid after laying; A rotating rod is rotatably mounted on the end of the second mechanical arm, and the inclination adjustment mechanism and the flatness adjustment mechanism are mounted on two radial ends of the rotating rod.

8. The sheet material paving equipment according to any one of claims 1 to 5, characterized in that: Also includes: A coating device is arranged on the walking chassis, and the coating device is used to apply slurry to the sheet material to be laid. The grabbing device is used to grab the sheet material to be laid that has been coated with slurry and lay it on the construction surface.

9. A paving method for sheet material paving equipment, characterized in that: The method comprises the sheet material paving device according to any one of claims 1 to 8, wherein the method comprises the following steps: The depth camera obtains the construction surface information of the construction surface and controls the walking chassis to move to the starting paving position of the construction surface; The first robotic arm controls the grasping device to grasp and lay the sheet material to be laid, the depth camera acquires first position information of the sheet material to be laid during the laying process in real time, and the first robotic arm lays the sheet material to be laid according to the first position information; The depth camera obtains second position information of the sheet to be laid after paving, and the second robotic arm controls the adjustment device to adjust the position of the sheet to be laid after paving according to the second position information, including: the inclination adjustment mechanism adjusts the position of the sheet to be laid after paving so that the gap width between the sheet to be laid after paving and the adjacent laid sheet remains uniform.

10. The paving method of the sheet material paving equipment according to claim 9, characterized in that: The adjustment device includes a flatness adjustment mechanism, the second position information includes height information and inclination information between the sheet material to be laid and the adjacent laid sheet material after laying, and the second mechanical arm controls the adjustment device to adjust the position of the sheet material to be laid after laying according to the second position information, including the following steps: The flatness adjustment mechanism vibrates the sheet material to be laid after laying, so that the sheet material to be laid after laying is flush with the surface of the adjacent laid sheet material.

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