Gripping and Forward Shifting Pushing Mechanism of a Mobile Robot

Abstract

The present invention provides a clamping, forward moving and pushing mechanism for a mobile robot. The clamping, forward moving and pushing mechanism includes a forward moving guide rail and a clamping device slidably mounted on the forward moving guide rail. The forward moving guide rail is provided with a first slide rail, and the clamping device slides back and forth on the first slide rail, and the height of the clamping device is increased during the forward sliding process. The clamping device includes a clamping frame, and the clamping frame is provided with a second slide rail and a multi-link linkage mechanism. Two oppositely slidable clamping plates are arranged on the second slide rail. The multi-link linkage mechanism is composed of a swing rod in the middle and two clamping linkages hinged at both ends of the swing rod. The center of the swing rod is rotatably connected to the clamping frame through a swing rod center pin, and the other ends of the two clamping linkages are respectively hinged to the opposite surfaces of the two clamping plates. The height of the clamping device will be increased during the forward sliding process, avoiding scratching between the lower surface of the clamped floor tile and the upper surface of the lower floor tile, thereby ensuring the beauty of the floor tile during the transfer process.

Description

Technical Field

[0001] The present invention relates to municipal construction equipment, and particularly to a clamping, forward moving and pushing mechanism for a mobile robot. Background Art

[0002] With the development of the current urban construction level, the requirements for municipal road surfaces are getting higher and higher. Large areas of flat floor tiles usually need to be laid in places such as sidewalks and squares. At present, the laying of floor tiles generally adopts pure manual operation or a combination of machinery and manual labor. The construction method of the combination of machinery and manual labor is as follows: the bricks are lifted by a rope through a crane, then the falling point position is manually controlled and the bricks are unloaded, and finally the pressing operation is carried out. This laying method is time-consuming and laborious. The laying effect depends on the technical level of the construction workers. At the same time, the labor intensity of the workers is high, and more construction workers are required, which increases the laying cost.

[0003] During the laying process of a brick-laying machine, usually the bricks at the rear side are transferred to the front side, and then the laying mechanism at the front side of the vehicle frame lays the bricks on the ground. However, in order to improve the laying efficiency, a pile of bricks is usually stored at the rear side of the brick-laying machine. If the topmost brick is directly translated forward and conveyed, the lower surface of the translated brick is likely to be scratched with the upper surface of the lower layer of bricks, thus affecting the appearance of the bricks. Summary of the Invention

[0004] The present invention aims to provide a clamping, forward moving and pushing mechanism for a mobile robot for laying bricks. Let the length of the mobile robot be in the X direction and the width be in the Y direction. The clamping, forward moving and pushing mechanism includes a forward moving guide rail and a clamping device slidably mounted on the forward moving guide rail.

[0005] The forward moving guide rail is provided with a first slide rail in the X direction. The clamping device slides back and forth in the X direction on the first slide rail, and the height of the clamping device is increased during the forward sliding process.

[0006] The clamping device includes a clamping frame, which is provided with a second slide rail in the Y direction and a multi-link linkage mechanism. Two relatively slidable clamping plates are arranged on the second slide rail. The multi-link linkage mechanism is composed of a middle swing rod and two clamping linkages hinged at both ends of the swing rod. The center of the swing rod is rotationally connected to the clamping frame through a swing rod center pin. The other ends of the two clamping linkages are respectively hinged to the opposite surfaces of the two clamping plates.

[0007] Furthermore, one end of the swing rod is hinged to a clamping driving cylinder in the Y direction. The multi-link linkage mechanism is driven by the clamping driving cylinder to drive the two clamping plates to slide relatively or towards each other on the second slide rail to clamp or loosen the floor tiles.

[0008] Further, an upper track is provided on the relative inner sides of the two first slide rails, and a lower lifting track located below the upper track is provided on the first slide rails. The lower lifting track is provided with two front and rear inlets facing downward.

[0009] A pair of front and rear first rollers are installed in the upper track. Second rollers are respectively fixed to the front and rear ends on both sides of the clamping device. The corresponding first rollers and second rollers are connected by connecting rods.

[0010] When the clamping device is at the starting position at the rear end of the forward movement stroke of the forward movement guide rail, the first transverse movement propulsion cylinder drives the first rollers to slide forward in the upper track to drive the clamping device to move forward transversely. During the forward sliding process of the first rollers, the two second rollers are respectively driven by the connecting rods to enter the lower lifting track through the inlets to lift the height of the clamping device.

[0011] Further, a pair of front and rear first rollers in the upper track are both installed on a side push plate. The side push plate is fixedly connected to the ejector rod of the first transverse movement propulsion cylinder in the X direction. The first transverse movement propulsion cylinder pushes the side push plate to drive the first rollers to roll back and forth in the upper track.

[0012] Further, the first slide rails are inclined rails with the front end higher than the rear end. Rollers slidably arranged in the inclined rails are installed on both sides of the clamping device. The height of the clamping device is increased during the forward sliding process along the inclined rails.

[0013] Further, a detachable rubber plate is installed on the contact end surface between the clamping plate and the floor tile.

[0014] The advantages of the present invention are as follows:

[0015] 1) After clamping the floor tile, the clamping device slides towards the head of the vehicle. During the forward sliding process, the height of the clamping device is increased, thereby raising the height of the clamped brick, avoiding scratches between the lower surface of the clamped brick and the upper surface of the lower floor tile, and thus ensuring the beauty of the floor tile during the transfer process.

[0016] 2) The clamping mechanism adopts a multi-link linkage mechanism to enable the two clamping plates to move simultaneously. On the one hand, the structure is more compact. On the other hand, it ensures that the two clamping plates are always synchronized and the movement is more linear. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 Overall external view of a mobile robot for laying flat bricks provided by the present invention;

[0019] Figure 2 Top view of the overall mobile robot for laying flat bricks;

[0020] Figure 3a Stereogram of the lifting mechanism;

[0021] Figure 3b Stereogram of the lifting plate of the lifting mechanism rising to mid-air;

[0022] Figure 3c Side view of the storage bracket of the lifting mechanism after unfolding;

[0023] Figure 3d Side view of the storage bracket after folding;

[0024] Figure 4a In the first embodiment, side view of the clamping, forward-moving and pushing mechanism in the X direction;

[0025] Figure 4b Stereogram of the clamping, forward-moving and pushing mechanism;

[0026] Figure 4c Bottom view of the clamping, forward-moving and pushing mechanism;

[0027] Figure 4d For Figure 4a Schematic diagram after hiding the side plate of the forward-moving guide rail, showing the schematic diagram of the forward-moving guide rail having upper and lower tracks (i.e., the upper track and the lower lifting track), where the clamping device is the starting section of the stroke of the forward-moving guide rail;

[0028] Figure 4e Side view of the clamping, forward-moving and pushing mechanism sliding to the end of the stroke of the forward-moving guide rail

[0029] Figure 4f Side view of the clamping, forward-moving and pushing mechanism in the Y direction;

[0030] Figure 4g In the second embodiment, side view of the clamping, forward-moving and pushing mechanism in the X direction, and the side plate of the forward-moving guide rail is hidden in this view;

[0031] Figure 5a Stereogram of the mechanical boom;

[0032] Figure 5b Side view of the mechanical boom;

[0033] Figure 6a Top view of the laying mechanism;

[0034] Figure 6bSide view of the laying mechanism;

[0035] Figure 6c Stereogram of the main frame of the laying mechanism;

[0036] Figure 6d Installation position diagram of the positioning mechanism at the front end of the laying mechanism;

[0037] Figure 6e Stereogram of the laying mechanism. In this state, the placing device of the flipping mechanism is used to receive bricks from the conveying mechanism;

[0038] Figure 6f Stereogram of the flipping mechanism;

[0039] Figure 6g Schematic diagram of the leveling mechanism of the flipping mechanism performing the leveling operation;

[0040] Figure 6h Schematic diagram of the placing device of the flipping mechanism clamping the bricks conveyed by the conveying mechanism (in the same state as Figure 6e );

[0041] Figure 6i Schematic diagram of the placing device of the flipping mechanism flipping forward and laying the bricks on the ground;

[0042] Figure 6j Schematic diagram of the rolling mechanism of the flipping mechanism performing the rolling operation. Detailed implementation mode

[0043] In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some well-known technical features in the art are not described.

[0044] In order to thoroughly understand the present invention, detailed steps and detailed structures will be presented in the following description to explain the technical solution of the present invention. The preferred embodiments of the present invention are described in detail as follows. However, in addition to these detailed descriptions, the present invention can also have other implementation manners.

[0045] Referring to Figure 1 as shown, the present invention provides a floor tile laying mobile robot 10. As Figure 1 shown, a traveling device 12 is installed on the chassis of the frame 11 of the floor tile laying mobile robot. The traveling device 12 is provided with 4 steerable traveling wheels 13, and the traveling device 12 can drive the floor tile laying mobile robot 10 to travel. For the convenience of the following description, we set the length direction of the frame 11 as the X direction and the width direction as the Y direction.

[0046] A lifting mechanism 100 and a clamping, forward - shifting and pushing mechanism 200 are installed at the tail of the vehicle frame 11. A multi - axis mechanical boom 500 is installed at the front of the vehicle frame 11. A laying mechanism 400 is installed on the mechanical boom 500. And a conveying mechanism 300 located between the laying mechanism 400 and the clamping, forward - shifting and pushing mechanism 200 is installed on the vehicle frame 11;

[0047] The lifting mechanism 100 is provided with a first transmission mechanism 104, a lifting plate 103 and a lifting device 120. The first transmission mechanism 104 transfers the floor tiles stacked up and down to the lifting plate 103 and drives the lifting plate 103 to lift upward by the lifting device 120;

[0048] The clamping, forward - shifting and pushing mechanism 200 includes a forward - shifting guide rail 210 and a clamping device 220 slidably installed on the forward - shifting guide rail 210. The clamping device 220 clamps the two ends of the length of the floor tile after it is lifted to the top, conveys it forward in the X - direction, then releases it and lies it flat on the conveying mechanism 300. The conveying mechanism 300 conveys the floor tile forward in the X - direction to the laying mechanism 400;

[0049] The laying mechanism 400 is provided with a laying frame. A flipping mechanism 430 that slides back and forth in the X - direction is installed on the laying frame. The flipping mechanism 430 is provided with a Y - direction flipping shaft. The flipping mechanism 430 is provided with a placing device 431 that rotates around the flipping shaft. After the placing device 431 clamps a floor tile conveyed by the conveying mechanism 300, the placing device 431 flips forward to lay the clamped floor tile on the ground;

[0050] Positioning mechanisms are respectively installed on the laying frame and the flipping mechanism 430. The two sets of positioning mechanisms cooperate to provide positioning for floor tile laying.

[0051] The floor tile laying mobile robot 10 provided by the present invention lifts the stacked floor tiles as a whole through the lifting mechanism 100. Then the clamping, forward - shifting and pushing mechanism 200 clamps the floor tiles one by one and transfers them to lie flat on the conveying mechanism 300. The conveying mechanism 300 transports the floor tiles lying flat to the laying mechanism 400, and the laying mechanism 400 lays the floor tiles flat on the ground. The whole process is completely mechanized, greatly improving the laying efficiency and reducing the required labor cost at the same time. At the same time, when laying floor tiles, this device does not require manual assistance, and the operator does not need to participate in heavy work, reducing people's labor intensity.

[0052] The structure of the lifting mechanism 100 will be further described below:

[0053] The lifting mechanism 100 is provided with a longitudinal lifting bracket 102 installed at the tail of the vehicle frame 11. The first transmission mechanism 104 is fixedly installed at the bottom of the longitudinal lifting bracket 102. The lifting plate 103 is driven by a lifting device 120 on the longitudinal lifting bracket 102 to move up and down in the vertical direction of the first transmission mechanism 104. The lifting plate 103 is provided with an opening groove corresponding to the position of the first transmission mechanism 104 so that the lifting plate 103 can be lowered below the upper surface of the first transmission mechanism 104. A storage bracket 130 is installed at the bottom of the rear side of the lifting bracket. The front end of the storage bracket 130 is rotatably connected to the bottom of the rear side of the longitudinal lifting bracket 102. The storage bracket 130 can be turned up and down with the front end as the rotation point and folded for storage, as Figure 3b and 3c shown. A second transmission mechanism 132 is provided on the storage bracket 130. The storage bracket 130 conveys the floor tiles stacked up and down forward in the X direction to the first transmission mechanism 104, and the first transmission mechanism 104 continues to convey the floor tiles forward onto the lifting plate 103. A guard plate 101 is provided on the upper part of the longitudinal lifting bracket 102.

[0054] In an alternative embodiment, lifting devices 120 are installed on the longitudinal lifting bracket 102 and are located on both sides of the lifting plate 103 in the Y direction. Each lifting device 120 includes a lifting cylinder 121 and a lifting chain 122. The lifting cylinder 121 is vertically fixed on the longitudinal lifting bracket 102. The two ends of the lifting chain 122 are respectively fixedly connected to the lifting plate 103 and the top rod of the lifting cylinder 121, or the two ends of the lifting chain 122 are respectively located on both sides of the lifting cylinder 121 and straddle the top rod of the lifting cylinder 121. One end of the lifting chain 122 is fixedly connected to the lifting plate 103, and the other end is fixed to the longitudinal lifting bracket 102 on one side of the lifting cylinder 121. The upward sliding of the top rod of the lifting cylinder 121 drives the end of the lifting chain 122 to move upward, and the two groups of lifting chains 122 drive the middle lifting plate 103 to be steadily lifted.

[0055] In an alternative embodiment, vertical guide channel steel rails 105 are provided on the longitudinal lifting bracket 102 and are located on both sides of the lifting plate 103. Lifting webs 106 are slidably installed up and down on each vertical guide channel steel rail 105. One end of the lifting chain 122 and the lifting plate 103 are both fixedly connected to the lifting web 106.

[0056] In an alternative embodiment, the storage bracket 130 is installed at the bottom of the longitudinal lifting bracket 102 through a self-resetting flipping bracket 131, and a spring support 135 is installed at the bottom of the longitudinal lifting bracket 102;

[0057] A limiting steel pipe 138 and a reset spring 137 are installed at the bottom of the self-resetting flipping bracket 131,

[0058] The limiting steel pipe 138 sequentially passes through two baffle plates 136 on the back of the self-resetting flipping bracket 131 and is rotatably connected to the spring support 135. The reset spring 137 is sleeved on the limiting steel pipe 138 between the two baffle plates 136;

[0059] The horizontal width of the storage bracket 130 is smaller than the horizontal width of the longitudinal lifting bracket 102, and the storage bracket 130 is rotatably connected to the center of the bottom of the longitudinal lifting bracket 102.

[0060] The lifting mechanism 100 adopts the forklift lifting principle. The lifting cylinder 121 and the lifting chain 122 are placed on the left and right sides in combination. One end of the chain is connected to the vehicle frame, and the other end is connected to the brick lifting plate 103. Bearings are installed on the left and right sides of the lifting plate 103 and can roll up and down on the vertical guiding channel steel track 105. A second transmission mechanism 132 is provided on the storage bracket 130. The second transmission mechanism 132 is composed of rollers, a sprocket chain 133, a driving motor 134, etc., to realize the reception and transmission of bricks.

[0061] Combined Figures 3a - 3d As shown, the design highlights of the lifting mechanism 100 are as follows: 1. The design of the storage and lifting parts can ensure the continuous supply of bricks, meet the front-end brick demand, improve efficiency, and the structure is compact. 2. The lifting part design can accurately lift the corresponding height according to the brick thickness. 3. When placing materials with a forklift in the design, the clamping opening formed by the two end plates of the forklift corresponds to the storage vertical plate, and the width of the storage vertical plate is much smaller than the clamping opening width, which can be applied to various types of forklifts, facilitating the placement and transportation of large and small bricks, and the operation is very convenient. 4. When the storage materials complete the operation, the storage vertical plate can be manually pushed and rotated upward by 90° to retract the storage part to the vertical state, reducing the overall vehicle length and facilitating transfer and transportation. And when the storage mechanism is placed flat, its storage outer frame and the vehicle frame can be self-limited to support its flat state, and the spring assembly is used to easily place and retract the storage structure.

[0062] The following refers to Figures 4a - 4e As shown, the structure of the clamping, forward moving and pushing mechanism 200 will be further described:

[0063] As Figure 4cAs shown in the figure, the clamping device 220 includes a clamping frame 223, on which a second slide rail 224 in the Y direction and a multi-link linkage mechanism are installed. On the second slide rail 224, there are two relatively slidable clamping plates 225. The multi-link linkage mechanism consists of a middle swing rod 226 and two clamping link rods 227 hinged at both ends of the swing rod 226. The center of the swing rod 226 is rotationally connected to the clamping frame 223 through a swing rod center pin. The other ends of the two clamping link rods 227 are respectively hinged to the opposite surfaces of the two clamping plates 225. One end of the swing rod 226 is hinged to the clamping drive cylinder 228. The multi-link linkage mechanism is driven by the clamping drive cylinder 228 to drive the two clamping plates 225 to slide relatively or towards each other on the second slide rail 224 to clamp or release the floor tiles.

[0064] With the above multi-link linkage mechanism, only one clamping drive cylinder 228 can be used to achieve the relative or opposite sliding of the two clamping plates 225 on the second slide rail 224 at the same time to clamp or release the floor tiles, which simplifies the drive structure. On the other hand, the movements of the two clamping plates 225 are synchronized, making the clamping and releasing actions more linear. Preferably, detachable rubber plates are installed on the contact end faces of the two clamping plates 225 and the floor tiles to protect the floor tiles when clamping the floor tiles.

[0065] In order to realize the self-height increase of the clamping device 220 during the forward sliding process, the present invention has two sets of technical solutions. Embodiment

[0066] The forward movement guide rail 210 is provided with two first slide rails 211 in the X direction. On the relative inner side surfaces of the first slide rails 211, upper rails 212 are provided. On the first slide rails 211, there is a lower lifting rail 213 below the front section of the stroke of the upper rails 212. The lower side of the lower lifting rail 213 is provided with two downward-opening inlets at the front and rear. In each upper rail 212, a pair of front and rear first rollers 202 are installed. At the front and rear ends on both sides of the clamping device 220, second rollers 221 are respectively fixed. The corresponding first rollers 202 and second rollers 221 are movably connected through a connecting rod 230. The first transverse movement propulsion cylinder 240 drives the first rollers 202 to slide forward in the upper rails 212 to drive the clamping device 220 to move forward transversely. And during the forward transverse movement of the clamping device 220, the two second rollers 221 respectively enter the lower lifting rail 213 through the inlets of the lower lifting rail 213 to increase the height of the clamping device 220.

[0067] In an optional embodiment, a pair of front and rear first rollers 202 in the upper rail 212 are both installed on a side push plate 214. The side push plate 214 is fixedly connected to the ejector rod of the first transverse movement propulsion cylinder 240. The first transverse movement propulsion cylinder 240 pushes the side push plate 214 to drive the pair of front and rear first rollers 202 to roll forward and backward in the upper rail 212.

[0068] The upper and lower ends of the connecting rod 230 are respectively hinged to the first roller 202 in the upper first slide rail 211 and the second roller 221 of the clamping device, with a total of four hinge points, thus forming a parallelogram four-bar linkage mechanism (such as the rectangular dotted line frame in Figure 4d ), that is, the four corners of the clamping device are respectively movably connected below the first slide rail 211 through the connecting rod 230; the second roller 221 is rotatably installed on the frame of the clamping device 220. During specific operation, the first transverse translation propulsion cylinder 240 drives the side push plate 214 to drive the first roller 202 to roll forward in the upper track 212, and the lower end of the connecting rod 230 drives the clamping device 220, forming a parallelogram four-bar linkage mechanism to realize the forward pushing of the entire clamping mechanism. Before the clamping device 220 slides forward, the second roller 221 provided on the clamping device 220 first enters the lower lifting track 213 to lift the height of the clamping device 220. Therefore, the height of the bricks clamped by it will also increase, avoiding friction between the clamped brick body and the brick body below it and scratching the surface of the brick body, as shown in Figure 4e . The clamping device 220 first lifts a little height and then moves forward. Preferably, when the clamping device 220 is at the position at the end of the stroke, both second rollers 221 are exactly located at the entrance of the lower lifting track 213, so that the clamping device 220 first lifts the height and then slides forward. Embodiment

[0069] The first slide rail 211 is an inclined rail with a higher front and a lower rear. The two sides of the clamping device 220 are provided with rollers slidably arranged in the inclined rail. The clamping device 220 increases in height during the process of sliding forward along the inclined rail, as shown in Figure 4g . The forward movement guide rail 210 is also provided with two first slide rails 211 with a length in the X direction. The opposite sides of the first slide rail 211 are provided with a lifting track 215 with a higher front and a lower rear. The second roller 221 connected to the clamping device 220 is slidably arranged in the lifting track 215. The first transverse translation propulsion cylinder 240 pushes the second roller 221 to slide forward in the lifting track 215 through a bracket, and gradually increases the height of the clamping device 220 during the sliding process.

[0070] In an alternative embodiment, the conveying mechanism 300 is a conveying mechanism based on rollers or belts.

[0071] Next, with reference to Figures 6a - 6f shown below, the structure of the laying mechanism 400 will be further described:

[0072] The main frame structure of the laying mechanism 400 is as follows: On both sides of the rear part of the laying mechanism 400, there are rear slide rail support plates 401, and on both sides of the front part, there are front slide rail support plates 402. At the bottom of the front slide rail support plates 402, there are support feet 404 and second support universal wheels 405. The support feet 404 can, after the laying mechanism 400 is detached from the mechanical boom 500, together with the second support universal wheels 405, keep the laying mechanism 400 parked and stable. When the placement bracket 431-5 is pulled out after placing floor tiles, the manipulator legs can support the laid bricks to prevent the positioned bricks from moving. The rear slide rail support plates 401 and the front slide rail support plates 402 are fixedly connected by a quick-release connecting plate 403, and the laying mechanism 400 is detachably installed between the quick-release mounting brackets 531 on both sides through this quick-release connecting plate 403.

[0073] On both sides of the flipping mechanism 430, there are side frames 436 that are slidably matched with the front slide rail support plates 402, that is, the side frames 436 can drive the flipping mechanism 430 to slide back and forth, and the flipping mechanism 430 can rotate on the side frames 436. The rear slide rail support plates 401 are connected to the side frames 436 through horizontal telescopic cylinders 406, and the horizontal telescopic cylinders 406 drive the side frames 436 and their flipping mechanisms 430 to move back and forth in the X direction.

[0074] As Figures 6e - 6f shown, on the flipping mechanism 430, there are also a leveling mechanism 432 and a rolling press mechanism 433 that rotate around the rotation axis. The leveling mechanism 432, the rolling press mechanism 433, and the placement device 431 rotate synchronously around the rotation axis, and the rotation axis is the flipping oil cylinder 434. The structures and working principles of the leveling mechanism 432 and the rolling press mechanism 433 will be further described below:

[0075] The leveling mechanism 432 is provided with a serrated scraper. By flipping the leveling mechanism 432, the scraper contacts the ground obliquely, and the horizontal telescopic cylinder 406 drives the entire flipping mechanism 430 to move back and forth to level the ground. Among them, by adjusting or replacing scrapers of different widths, it is suitable for floor tiles of different widths. The leveling mechanism 432 first reaches the predetermined position through the positioning of the positioning mechanism. Through the flipping of the flipping oil cylinder 434, the starting position of the leveling mechanism 432 for leveling is realized, and then the horizontal telescopic cylinder 406 drives the flipping mechanism 430 to move horizontally back and forth in the X direction to achieve the purpose of leveling the ground.

[0076] The rolling press mechanism 433 is provided with a rolling press wheel with convex ribs on its outer diameter. By flipping the rolling press mechanism 433, the rolling press wheel contacts the upper surface of the laid floor tiles, and the horizontal telescopic cylinder 406 drives the flipping mechanism 430 to move back and forth to perform a rolling press operation on the laid bricks. The outer diameter of the rolling press wheel has convex ribs, and the bricks are compacted through rolling and knocking.

[0077] As shown Figure 6d in FIG. 2, a first laser emitter 421 is installed at the front end of the front slide rail support plates 402 on both sides, and a second laser emitter 422 is installed at the front end of the side frames 436 on both sides; each first laser emitter 421 is used to emit a cross-shaped first positioning laser 421-1 to the ground directly below the first laser emitter 421 on the other side, and the second laser emitter 422 is used to emit a cross-shaped second positioning laser 422-1 perpendicular to the ground. The laying position of the floor tiles is determined by the coincidence of the second positioning laser 422-1 and the first positioning laser 421-1. Among them, the first positioning laser 421-1 and the second positioning laser 422-1 have different colors, which is convenient for us to determine whether the first positioning laser 421-1 and the second positioning laser 422-1 on the same side of the ground coincide.

[0078] Preferably, the angles of the two first laser emitters 421 on the front slide rail support plates 402 are adjustable, so that the included angle between the first positioning laser 421-1 and the ground can be changed, and the distance between the two first positioning lasers 421-1 can be adjusted to adapt to the positioning of floor tiles with different widths.

[0079] The laser positioning mechanism controls the laying mechanism 400 to always remain horizontal through a mechanical moving arm, and longitudinally and laterally positions the laying mechanism 400 based on the principle of laser positioning. The positioning principle is as follows:

[0080] Since two sets of laser positioning devices are provided on the left and right sides of the vehicle frame in the present invention, and they are arranged symmetrically left and right. One set is the first laser emitter 421 fixed on the front slide rail support plates 402 at the front ends of both sides of the laying frame, which is fixedly connected to the mechanical moving arm. Its function is to position the whole vehicle. When laying the next brick, the two sets of first laser emitters 421 on the whole vehicle emit cross-shaped first positioning lasers 421-1 to the ground on the opposite side, and use the laid bricks or markings as marks to roughly position the whole machine, ensuring that the position deviation is within the specified range, and preparing for the adjustment of the position of the front laying mechanism 400; the other set is the second laser emitter 422 fixed on the side frame 436 of the flipping mechanism 430, which moves synchronously with the side frame 436. After the whole machine stops, before the leveling, brick laying, and compaction links, the second laser emitter 422 emits two cross-shaped second positioning lasers 422-1 perpendicular to the ground on the left and right. When the second positioning laser 422-1 on the same side is basically coincident with the first positioning laser 421-1, the placement position can be predicted, and only a small amount of position adjustment is required to complete the laying position positioning, so that the laid bricks are more neat.

[0081] As shown Figure 6fAs shown in the figure, the placing device 431 is provided with a clamping and fixing frame 431-1. A support plate 431-4 is arranged on one side of the clamping and fixing frame 431-1. The clamping and fixing frame 431-1 is provided with an adjusting guide rail 431-2 in the Y direction. A bracket 431-5 on the same side as the support plate is arranged on the adjusting guide rail 431-2. The bracket 431-5 is connected to the clamping and fixing frame 431-1 through a fine-tuning cylinder 431-3 to adjust the position of the bracket 431-5 in the Y direction, so as to realize the lateral fine-tuning positioning when the paving mechanism 400 places floor tiles.

[0082] A number of X-direction support plates 407 are installed on the rear slide rail support plate 401, and rollers are arranged on the support plates 407. The support plates 407 play a role in transferring bricks in the middle. The conveying mechanism 300 conveys the floor tiles forward in the X direction and transfers them between the support plate 431-4 and the bracket 431-5 through the support plates 407.

[0083] The paving mechanism 400 of the present invention is an infrared laser positioning paving system integrating leveling, placing, and compaction. When paving road bricks, under the guidance of the positioning mechanism, the paving mechanism 400 first levels the ground, then places the floor tiles, and then compacts the floor tiles. The leveling mechanism 432, the placing device 431, and the roller pressing mechanism 433 are all connected to the tilting oil cylinder 434. The tilting oil cylinder 434 is installed on the side frame 436 through the tilting oil cylinder support plate 435. The tilting oil cylinder 434 enables the leveling mechanism 432, the placing device 431, and the roller pressing mechanism 433 to tilt more than 180° along with the tilting oil cylinder 434.

[0084] The following refers to Figures 5a - 5b As shown in the figure, the structure of the mechanical boom 500 will be further described below:

[0085] A mechanical boom 500 is symmetrically installed on the left and right sides of the front part of the vehicle frame 11. The two mechanical booms 500 are fixedly connected through a connecting rod 540. A vertical guide rail 501 and a horizontal guide rail 503 are fixed on the left and right sides of the front part of the vehicle frame 11. A vertically sliding vertical slider support 502 is installed on the vertical guide rail 501, and a horizontally sliding horizontal slider 504 is installed on the horizontal guide rail 503; the vertical slider support 502 is connected to a vertical lifting mechanism 505 fixed to the front part of the vehicle frame 11, and the horizontal slider 504 is connected to a horizontal pushing mechanism 506 fixed to the front part of the vehicle frame 11. The vertical lifting mechanism 505 and the horizontal pushing mechanism 506 are any one of a cylinder, a hydraulic cylinder, an electric push rod, and a screw pair.

[0086] The mechanical boom 500 includes a longitudinal leg 530, a horizontal upper arm 510, and a horizontal lower arm 520. The front ends of the upper arm 510 and the lower arm 520 are both hinged to the leg 530. The rear end of the upper arm 510 is hinged to the vertical slider support 502. The lower arm 520 is fixedly connected to the horizontal slider 504, and the rear end of the lower arm 520 is movably connected to the upper arm 510 through a connecting rod support arm 521. As Figure 5b described, the upper arm 510, the lower arm 520, the leg 530, and the connecting rod support arm 521 form a parallelogram structure (as shown by the dashed line). The advantage of the parallelogram structure is that the front leg can be better controlled by the rear vertical lifting mechanism 505 and the horizontal pushing mechanism 506. A quick-release mounting bracket 531 is installed at the bottom of the leg 530. A swing cylinder 532 is connected between the quick-release mounting bracket 531 and the leg 530. A quick-release type first support universal wheel 533 is installed at the bottom of the quick-release mounting bracket 531.

[0087] The mechanical boom 500 can realize the longitudinal and vertical positioning of the laying mechanism 400 installed at the front and provide support for it. Through the coordinated operation of the vertical lifting mechanism 505, the horizontal pushing mechanism 506, and the swing cylinder 532 of the mechanical boom 500, it can be ensured that the front laying mechanism 400 always maintains a horizontal state, which is convenient for ground leveling, floor tile placement, floor tile rolling, etc.

[0088] A quick-release mounting bracket 531 is installed at the bottom of the leg 530, which is convenient for quick-release connection with the quick-release connecting plate 403 on the main frame of the laying mechanism 400. By the expansion and contraction of the swing cylinder 532, the angle of the quick-release mounting bracket 531 can be adjusted, which is convenient for quickly positioning and combining with the connection structure of the laying mechanism 400 to realize quick installation and disassembly.

[0089] In some other embodiments, we can also remove the laying mechanism 400 from the mechanical boom 500 and replace it with other mechanisms. For example, replace the laying mechanism 400 for laying floor tiles with a mechanism for laying curbstones, so as to meet different brick laying requirements. At the same time, the structures of the lifting mechanism 100, the clamping and forward pushing mechanism 200, and the conveying mechanism 300 on the vehicle frame do not need to be modified, making the expandability of the present invention stronger.

[0090] The working process of the present invention will be described in detail below:

[0091] First, we stack the floor tiles 01 on the forklift forks, with the front and back of the stacked floor tiles 01 in contact. Subsequently, we lower the storage bracket 130 to a horizontal state and drive the forklift to transfer the stacked floor tiles onto the storage bracket 130. Since the storage bracket 130 is rotatably connected to the center of the bottom of the longitudinal lifting bracket 102, a space is formed on both sides of the storage bracket 130 for the forklift forks to travel. When the forklift approaches the floor tile laying mobile robot 10 for floor tiles close to flat bricks, the storage bracket 130 can extend into the center of the opening of the forklift forks. After the forklift travels to the designated position, it unloads the floor tiles and leaves.

[0092] A second transmission mechanism 132 with rollers or belts is provided on the storage bracket 130, and the second transmission mechanism 132 conveys the stacked floor tiles 01 forward onto the lifting plate 103. The ejector rods of the lifting devices 120 on both sides of the lifting plate 103 slide upward, and the ejector rods drive the lifting chain 122 to move upward, thereby driving the lifting webs 106 on both sides to move upward steadily, and then raising the height of the lifting plate 103 as Figure 3b shown.

[0093] The clamping device 220 of the clamping and forward pushing mechanism 200 slides backward towards the rear of the vehicle, and the clamping plates 225 clamp and fix the left and right ends of the topmost floor tile 01. Subsequently, the clamping device 220 moves towards the front of the vehicle. During the forward sliding process of the clamping device 220, the second roller 221 will slide into the lower lifting track 213 to raise its own height, so that the clamping device 220 slightly raises the height of the floor tile 01 while driving the floor tile 01 forward, avoiding scratching between the clamped floor tile 01 and the floor tile 01 on the lifting plate 103, thereby affecting the appearance of the floor tile 01.

[0094] When the clamping device 220 slides on the forward moving guide rail 210 to above the conveyor mechanism 300, the two clamping plates 225 are released, and the floor tile 01 falls onto the conveyor mechanism 300, and the conveyor mechanism 300 continues to convey the flat floor tile 01 forward.

[0095] After the vehicle frame moves to the designated position in the laying area, the positioning mechanism 320 is used to position the laying mechanism 400. The tilting oil cylinder 434 drives the tilting mechanism 430 to tilt as a whole, so that the serrated scraper of the leveling mechanism 432 contacts the ground obliquely. Subsequently, the horizontal telescopic cylinder 406 drives the tilting mechanism 430 to move back and forth as a whole on the setting frame to level the ground, as Figure 6g shown.

[0096] After the ground is leveled, the floor tiles conveyed by the conveyor mechanism 300 are transferred to between the support plate 407 and the pallet 431-4 and the bracket 431-5 through the support plate 407, so that the bricks are clamped by the placing device 431. Subsequently, the tilting oil cylinder 434 drives the tilting mechanism 430 to tilt as a whole, so that the placing device 431 clamping the bricks at the rear side is tilted to the front side and becomes horizontal, as Figures 6h - 6iAs shown, subsequently, the horizontal telescopic cylinder 406 drives the flipping mechanism 430 to retract, pulling out the bracket 431-5 from the gap between the floor tile 01 and the ground. At this time, the laying of the floor tile 01 on the ground is completed.

[0097] Subsequently, the flipping oil cylinder 434 drives the entire flipping mechanism 430 to flip, causing the flipping of the rolling mechanism 433 so that the rolling wheels come into contact with the upper surface of the laid floor tile. Subsequently, the horizontal telescopic cylinder 406 drives the flipping mechanism 430 to move back and forth, and the rolling wheels roll the upper surface of the laid floor tile back and forth for rolling operations, as Figure 6j shown.

[0098] After the rolling is completed, the horizontal telescopic cylinder 406 drives the flipping mechanism 430 to retract to the initial position, and the flipping oil cylinder 434 drives the flipping mechanism 430 to flip to the state where the placing device 431 is connected to the conveying mechanism 300 (i.e., return to Figure 6e the state). Subsequently, the vehicle body moves to the next floor tile laying position, and two sets of positioning mechanisms are used to provide positioning to ensure that the laid floor tiles fall into the designated positions.

[0099] The mechanical boom 500 is used to support the laying mechanism 400. When the flat floor tile laying device is in a non-laying working state, the mechanical boom 500 slides upward along the vertical guide rail 501 to drive the laying mechanism 400 away from the ground and make it suspended, so as to protect the laying mechanism 400; when the flat floor tile laying device moves to the designated position, the mechanical boom 500 descends, and the horizontal pushing mechanism 506 drives the legs 530 to move horizontally back and forth to adjust the position of the laying mechanism 400 at the bottom of the mechanical boom 500.

[0100] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and the devices and structures not described in detail therein should be understood to be implemented in a common manner in the art; any person skilled in the art can make many possible changes and modifications to the technical solution of the present invention, or modify it into an equivalent embodiment with equivalent changes, without departing from the scope of the technical solution of the present invention, which does not affect the essence of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the protection of the technical solution of the present invention.

Claims

1. A clamping, forward-moving and pushing mechanism for a mobile robot. Assume the length of the mobile robot is in the X direction and the width is in the Y direction. It is characterized in that, The clamping and forward pushing mechanism (200) includes a forward moving guide rail (210) and a clamping device (220) slidably mounted on the forward moving guide rail (210); The forward moving guide rail (210) is provided with a first slide rail (211) in the X direction. The clamping device (220) slides back and forth in the X direction on the first slide rail (211), and the height of the clamping device (220) increases during the forward sliding process; The clamping device (220) includes a clamping frame (223). The clamping frame (223) is equipped with a second slide rail (224) in the Y direction and a multi-link linkage mechanism. Two clamping plates (225) that can slide relative to each other are provided on the second slide rail (224). The multi-link linkage mechanism is composed of a middle swing rod (226) and two clamping link rods (227) hinged at both ends of the swing rod (226). The center of the swing rod (226) is rotationally connected to the clamping frame (223) through a swing rod center pin. The other ends of the two clamping link rods (227) are respectively hinged to the opposite surfaces of the two clamping plates (225); Upper rails (212) are provided on the relative inner sides of the two first slide rails (211), and a lower lifting rail (213) located below the upper rail (212) is provided on the first slide rail (211). The lower lifting rail (213) is provided with two downward-opening inlets at the front and back; A pair of front and rear first rollers (202) are installed in the upper rail (212). Second rollers (221) are respectively fixed at the front and rear ends on both sides of the clamping device (220). A connecting rod (230) is connected between the corresponding first roller (202) and the second roller (221). A detachable rubber plate is installed on the contact end face of the clamping plate (225) and the floor tile; When the clamping device (220) is at the starting position at the rear end of the stroke of the forward moving guide rail (210), the first transverse movement and propulsion cylinder (240) drives the first roller (202) to slide forward in the upper rail (212) to drive the clamping device (220) to move forward transversely. During the forward sliding process of the first roller (202), the two second rollers (221) are respectively driven by the connecting rod (230) to enter the lower lifting rail (213) through the inlets to increase the height of the clamping device (220).

2. The clamping and forward pushing mechanism of the mobile robot according to claim 1, wherein One end of the swing rod (226) is hinged to a Y-direction clamping drive cylinder (228). The multi-link linkage mechanism is driven by the clamping drive cylinder (228) to drive the two clamping plates (225) to slide relative to each other or in opposite directions on the second slide rail (224) to clamp or release the floor tile; 3. The clamping, forward moving and pushing mechanism of the mobile robot according to claim 1, wherein A pair of front and rear first rollers (202) in the upper rail (212) are both installed on a side push plate (214). The side push plate (214) is fixedly connected to the ejector rod of the first transverse movement and propulsion cylinder (240) in the X direction. The side push plate (214) is pushed by the first transverse movement and propulsion cylinder (240) to drive the first roller (202) to roll back and forth in the upper rail (212).

4. The clamping, forward moving and pushing mechanism of the mobile robot according to claim 1, wherein, The first slide rail (211) is an inclined rail with a higher front end and a lower rear end. Rollers that are slidably arranged in the inclined rail are installed on both sides of the clamping device (220), and the height of the clamping device (220) increases during the forward sliding along the inclined rail.

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