A kind of colored tile mounting system and method based on multi-section combined arc frame body

Abstract

The application discloses a kind of based on multi-section combined arc frame body's colored tile installation system and method, system includes multi-section combined mobile arc frame body, mobile robot, chain belt screw gun and electric control trolley;Multi-section combined mobile arc frame body includes several arc frame bodies;Mobile robot includes mobile trolley and is located on the multi-axis robot of mobile trolley;Arc frame body includes arc support body, track, frame body driving motor, mobile trolley traction motor;The top center of multi-section combined mobile arc frame body is equipped with colored tile traction steel wire rope traction motor;Colored tile traction steel wire rope traction motor is connected with colored tile traction steel wire rope;Through colored tile traction steel wire rope traction motor control colored tile traction steel wire rope left and right movement executes colored tile traction work, through mobile trolley traction motor drive mobile trolley and multi-axis robot to and fro movement and through multi-axis robot operation chain belt screw gun executes colored tile nailing work, realizes the automation of colored tile installation operation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of building construction, and more particularly to a multi-section combined arc-shaped frame body-based colored tile installation system and method. BACKGROUND

[0002] Arc-shaped steel structure grid structures are applied more and more widely due to their many advantages. The grid structures of some buildings are getting larger and larger, with some even reaching 50-60 meters in diameter, and even larger. These grid structures have large spans, high heights, and large areas, and the installation of colored tiles is a time-consuming and labor-intensive work. Due to the special arc-shaped structure, the use of mechanical equipment is greatly limited, and it is difficult to meet the needs of construction. Generally, the most primitive manual method is used for construction, that is, many people climb onto the structure frame to pull the colored tile laying, and after the colored tile is pulled into place, manual nailing fixing work is performed. This construction method is very slow in progress, has a long construction period, is high in construction cost, high in risk, and difficult to guarantee construction quality, and is difficult to meet the needs of modern construction. Therefore, there is a great need for some fast, safe, economical, and efficient construction equipment. SUMMARY

[0003] In view of the above defects or improvement needs of the prior art, the present application provides a multi-section combined arc-shaped frame body-based colored tile installation system and method, which can replace full manual operation, realize the automation of colored tile installation, has a short overall construction period, and is high in construction quality. In the working process of the present application, construction personnel do not need to pull the colored tile laying on the structure frame, and manual nailing fixing work is not needed, which guarantees the safety of construction personnel and can solve the problems of slow progress, long construction period, high cost, high risk, and difficult to guarantee construction quality in the manual construction of large arc-shaped frame body colored tile installation.

[0004] In order to achieve the above-mentioned purpose, one aspect of the present application provides a multi-section combined arc-shaped frame body-based colored tile installation system, which comprises a multi-section combined movable arc-shaped frame body, a mobile robot, a chain belt screw gun provided on the multi-section combined movable arc-shaped frame body, and an electric control trolley connected with the multi-section combined movable arc-shaped frame body and the mobile robot, respectively.

[0005] The multi-section combined movable arc-shaped frame body comprises a plurality of arc-shaped frame bodies connected in sequence from left to right to form an arc-shaped frame body structure; the mobile robot comprises a mobile trolley and a multi-axis robot arranged on the mobile trolley; each arc-shaped frame body comprises an arc-shaped frame body, a track arranged at both ends of the bottom of the arc-shaped frame body, a frame body driving motor arranged on the arc-shaped frame body and connected with the track, a mobile trolley traction motor connected with the mobile trolley, and a mobile trolley stroke switch; a top central part of the multi-section combined movable arc-shaped frame body is provided with a colored tile traction steel wire rope traction motor; a drum of the colored tile traction steel wire rope traction motor is connected with a colored tile traction steel wire rope; a tail end of a tail end arc-shaped frame body at the end is respectively provided with a colored tile traction steel wire rope turning pulley and a colored tile steel wire rope moving stroke switch;

[0006] The left and right movement of the colored tile traction steel wire rope is controlled by the colored tile traction steel wire rope traction motor, the colored tile traction work is performed, and after the colored tile is pulled to the position, the colored tile steel wire rope moving stroke switch is triggered to send a signal to the electric control trolley, the electric control trolley controls the colored tile traction steel wire rope traction motor to pull the colored tile traction steel wire rope back to the starting point to start new traction work; the back and forth movement of the mobile trolley is driven by the mobile trolley traction motor, the colored tile nailing work is performed by the multi-axis robot operating chain screw gun, and the automation of the colored tile installation operation is realized.

[0007] Further, both ends of the mobile trolley are provided with mobile trolley traction steel wire ropes;

[0008] Both ends of each arc-shaped frame body are respectively provided with a mobile trolley traction steel wire rope support pulley and a colored tile traction steel wire rope support pulley; the colored tile traction steel wire rope turning pulley and the colored tile traction steel wire rope support pulley form a support channel of the colored tile traction steel wire rope;

[0009] The mobile trolley traction steel wire ropes at both ends of the mobile trolley are respectively connected with the mobile trolley traction motor through the mobile trolley traction steel wire rope support pulleys on the corresponding sides;

[0010] The back and forth movement of the mobile trolley is driven by the mobile trolley traction motor, and when the mobile trolley moves to the end, the corresponding stroke switch is triggered to send a signal to the electric control trolley, and the mobile trolley traction motor is controlled by the electric control trolley to stop running.

[0011] Further, the electric control trolley comprises an electric control trolley body, a second wheel arranged at the bottom of the electric control trolley body, an electric control trolley driving motor arranged on the electric control trolley body, an electric control box, and an operation table arranged at the top of the electric control box; the electric control box is connected with each driving motor on the multi-section combined movable arc-shaped frame body, the mobile robot, and electrical equipment elements.

[0012] Further, the mobile robot and chain screw gun are arranged on each section of the arc-shaped frame body.

[0013] Further, the electric control box is arranged at the top center of the electric control trolley body.

[0014] The electric control trolley driving motor is arranged on one side of the electric control box, and the side of the electric control box is the operator's working position.

[0015] The second wheel is driven to move back and forth by the electric control trolley driving motor.

[0016] Further, the arc-shaped frame body comprises a bottom frame, side supports arranged perpendicularly on both sides of the bottom frame, and an upper frame arranged on the top of the two side supports.

[0017] The frame driving motor is arranged on the upper surface of the bottom frame.

[0018] The track is arranged at the bottom of the bottom frame.

[0019] The top of the upper frame is provided with a channel steel track.

[0020] The colored tile traction steel wire rope support pulley on each arc-shaped frame body is arranged on the side support of the arc-shaped frame body.

[0021] Further, the mobile trolley comprises two first wheels arranged in parallel and at intervals, and an axle arranged between the two first wheels; the two first wheels are arranged in the channel steel track.

[0022] Further, the multi-section combined mobile arc-shaped frame body comprises a top arc-shaped frame body, a first intermediate arc-shaped frame body and a second intermediate arc-shaped frame body arranged on both sides of the top arc-shaped frame body respectively, a first tail arc-shaped frame body arranged on the side of the first intermediate arc-shaped frame body away from the top arc-shaped frame body, and a second tail arc-shaped frame body arranged on the side of the second intermediate arc-shaped frame body away from the top arc-shaped frame body.

[0023] The second aspect of the present application provides a colored tile installation method based on a multi-section combined arc-shaped frame body, which is realized by using the colored tile installation system based on the multi-section combined arc-shaped frame body, and comprises the following steps:

[0024] S100: After the installation and debugging of each component of the colored tile installation system based on the multi-section combined arc-shaped frame body are completed, the traction end of the colored tile traction steel wire rope on the multi-section combined mobile arc-shaped frame body is moved to the starting point, the colored tile is fixed, the colored tile traction steel wire rope traction motor is started to drive the colored tile traction steel wire rope to move and traction the colored tile, the colored tile traction steel wire rope traction motor is controlled to stop running after the colored tile traction movement is laid in place, and the traction end of the colored tile traction steel wire rope is separated from the colored tile.

[0025] S200: controlling the moving trolley traction motor of each arc-shaped frame body through the operation platform on the electric control trolley, moving the moving trolley to the starting point of each arc-shaped frame body, and starting the multi-axis robot to operate the chain screw gun to perform the nailing operation;

[0026] S300: repeating steps S100-S200 to install the next piece of colored tile until all the colored tiles are installed.

[0027] Further, the installation and debugging of each component of the colored tile installation system based on the multi-section combined arc-shaped frame body in step S100 include the following steps:

[0028] S1: installing a moving trolley on each arc-shaped frame body of the multi-section combined moving arc-shaped frame body, and connecting the moving trolley with the moving trolley traction motor through the moving trolley traction steel wire rope;

[0029] S2: hoisting each arc-shaped frame body of the multi-section combined moving arc-shaped frame body in sequence, and timely connecting adjacent arc-shaped frame bodies;

[0030] S3: installing a colored tile traction steel wire rope on the multi-section combined moving arc-shaped frame body after hoisting;

[0031] S4: installing a multi-axis robot and a chain screw gun on each moving trolley;

[0032] S5: electrically connecting the electric control box of the electric control trolley with the electrical equipment on each arc-shaped frame body;

[0033] S6: debugging the electrical equipment; adjusting the frame body driving motor on each arc-shaped frame body to be in the same direction, synchronization, and same speed, to ensure the coordination of the movement of each arc-shaped frame body; debugging the moving trolley traction motor, the multi-axis robot, the chain screw gun, and the colored tile traction steel wire rope traction motor on each arc-shaped frame body respectively, to ensure the normal operation of each device.

[0034] Overall, compared with the prior art, the above technical solutions conceived by the present application can achieve the following beneficial effects:

[0035] 1. A multi-section combined arc-shaped frame-based colored tile installation system and method, which sets an arc-shaped frame structure matched with the arc-shaped frame structure for installing colored tiles, sets a wide soft track between the arc-shaped frame and the arc-shaped frame structure for installing colored tiles to move on the tile surface, and realizes full coverage operation of the colored tile installation system on the surface of the arc-shaped frame structure for installing colored tiles. In addition, since the length of the colored tile is large and the installation and nailing amount is large, a multi-axis robot is installed on each arc-shaped frame of the multi-section combined mobile arc-shaped frame, a chain belt screw gun is installed at the end of the multi-axis robot, the chain belt screw gun is operated by the multi-axis robot to perform sectional nailing, and the problems of slow nailing progress, long construction period, high construction cost, great danger, and difficult to guarantee construction quality of the traditional arc-shaped frame structure (diameter of 50-60 m or even larger span) are solved.

[0036] 2. A multi-section combined arc-shaped frame-based colored tile installation system and method, which sets a colored tile traction steel wire rope traction motor on the multi-section combined mobile arc-shaped frame to control the colored tile traction steel wire rope to traction the colored tile, uses a colored tile steel wire rope moving stroke switch to transmit a signal to an electric control trolley, drives the colored tile traction steel wire rope traction motor to traction the colored tile traction steel wire rope, and returns to the starting point in time to start new colored tile traction work after the colored tile is tractioned in place, which can solve the problem of great construction safety risk of the existing construction method of manually climbing the arc-shaped frame structure, stepping on the hollow grid to pull the colored tile for laying.

[0037] 3. A multi-section combined arc-shaped frame-based colored tile installation system and method, which sets a mobile trolley on the multi-section combined mobile arc-shaped frame, sets a multi-axis robot on the mobile trolley, carries a chain belt screw gun on the multi-axis robot, controls the mobile trolley to automatically run on the arc-shaped frame with the multi-axis robot by a mobile trolley traction motor, realizes automatic screwing and sending operation of high-altitude colored tile surface screws, and avoids the problems of long-term bending operation of construction personnel and inconsistent screw spacing.

[0038] 4. A multi-section combined arc-shaped frame-based colored tile installation system and method, which adopts multi-section combined design for the arc-shaped frame, segments the device with a large size for easy manufacturing, hoisting, dismounting, transportation, and storage, and can adapt to different operation requirements and has wide application range. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 FIG. 1 is a structure schematic view of a multi-section combined arc-shaped frame-based colored tile installation system according to an embodiment of the present application;

[0040] Figure 2 FIG. 2 is a structure schematic view of a top arc-shaped frame of a multi-section combined arc-shaped frame-based colored tile installation system according to an embodiment of the present application;

[0041] Figure 3 A top view structural schematic diagram of a top arc-shaped frame body of a colored tile installation system based on a multi-section combined arc-shaped frame body according to an embodiment of the present application;

[0042] Figure 4 An enlarged structural schematic diagram of a first intermediate arc-shaped frame body of a colored tile installation system based on a multi-section combined arc-shaped frame body according to an embodiment of the present application;

[0043] Figure 5 An enlarged structural schematic diagram of a second intermediate arc-shaped frame body of a colored tile installation system based on a multi-section combined arc-shaped frame body according to an embodiment of the present application;

[0044] Figure 6 An enlarged structural schematic diagram of a first tail arc-shaped frame body of a colored tile installation system based on a multi-section combined arc-shaped frame body according to an embodiment of the present application;

[0045] Figure 7 An enlarged structural schematic diagram of a second tail arc-shaped frame body of a colored tile installation system based on a multi-section combined arc-shaped frame body according to an embodiment of the present application;

[0046] Figure 8 A side view structural schematic diagram of a mobile trolley of a colored tile installation system based on a multi-section combined arc-shaped frame body according to an embodiment of the present application (A view in Figure 2 , Figure 4 and Figure 5 );

[0047] Figure 9 A side view structural schematic diagram of a mobile trolley of a colored tile installation system based on a multi-section combined arc-shaped frame body according to an embodiment of the present application (B view in Figure 6 );

[0048] Figure 10 A top view structural schematic diagram of a first tail arc-shaped frame body of a colored tile installation system based on a multi-section combined arc-shaped frame body according to an embodiment of the present application;

[0049] Figure 11 A structural schematic diagram of an electric control trolley of a colored tile installation system based on a multi-section combined arc-shaped frame body according to an embodiment of the present application (view angle one);

[0050] Figure 12 A structural schematic diagram of an electric control trolley of a colored tile installation system based on a multi-section combined arc-shaped frame body according to an embodiment of the present application (view angle two);

[0051] Figure 13 An installation step schematic diagram of a colored tile installation system based on a multi-section combined arc-shaped frame body according to an embodiment of the present application;

[0052] Figure 14A flowchart of a colored tile installation method based on a multi-section combined arc-shaped frame body is provided.

[0053] In all the drawings, the same reference signs refer to the same technical features, specifically: 1-multi-section combined mobile arc-shaped frame body, 11-top arc-shaped frame body, 111-arc-shaped support body, 101-bottom frame, 102-side support, 103-upper frame, 104-slotted steel track, 112-track, 113-frame body driving motor, 114-mobile trolley traction motor, 115-mobile trolley traction steel wire rope support pulley, 116-mobile trolley stroke switch, 117-colored tile traction steel wire rope support pulley, 118-colored tile traction steel wire rope steering pulley, 119-colored tile steel wire rope movement stroke switch, 12-first intermediate arc-shaped frame body, 120-colored tile traction steel wire rope traction motor, 121-colored tile traction steel wire rope, 13-second intermediate arc-shaped frame body, 14-first tail arc-shaped frame body, 15-second tail arc-shaped frame body, 2-mobile robot, 21-mobile trolley, 210-mobile trolley traction steel wire rope, 211-first wheel, 212-axle, 22-multi-axis robot, 3-cable, 4-chain belt screw gun, 5-electric control trolley, 51-electric control trolley body, 52-second wheel, 53-electric control trolley driving motor, 54-electric control box, 55-operation table. DETAILED DESCRIPTION

[0054] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0055] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, when an element is referred to as being "fixed to", "disposed on" or "provided on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element; the terms "mounting", "connection", "connection", "provided with" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0056] In addition, the terms "first", "second" and the like are used to describe various elements, but are not used to denote or imply relative importance or a number of the elements. Thus, a feature with a "first", "second" designation can include one or more of the features. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0057] As shown in the drawings, Figures 1-12 An aspect of the present application provides a multi-section combined arc-shaped frame-based tile installation system, comprising a multi-section combined movable arc-shaped frame 1, a mobile robot 2, a chain belt screw gun 4 arranged on the multi-section combined movable arc-shaped frame 1, and an electric control trolley 5 connected with the multi-section combined movable arc-shaped frame 1 and the mobile robot 2 respectively; the multi-section combined movable arc-shaped frame 1 comprises a plurality of arc-shaped frame sections connected in sequence to form an arc-shaped frame structure; the mobile robot 2 comprises a mobile trolley 21 and a multi-axis robot 22 arranged on the mobile trolley 21; each arc-shaped frame comprises an arc-shaped support body 111, a track 112 arranged at both ends of the bottom of the arc-shaped support body 111, a frame driving motor 113 arranged on the arc-shaped support body 111 and connected with the track 112, a mobile trolley traction motor 114 connected with the mobile trolley 21, a mobile trolley traction steel wire support pulley 115 arranged at both ends of the arc-shaped support body 111, and a mobile trolley stroke switch 116; a tile traction steel wire traction motor 120 is arranged at the top center of the multi-section combined movable arc-shaped frame 1; a tile traction steel wire 121 is connected to the drum of the tile traction steel wire traction motor 120; a tile traction steel wire turning pulley 118 and a tile steel wire mobile stroke switch 119 are arranged at the end of the tail arc-shaped frame respectively; the tile traction steel wire 121 is controlled to move left and right by the tile traction steel wire traction motor 120 to perform tile traction work, and after the tile is tractioned to the position, the tile steel wire mobile stroke switch 119 is triggered to send a signal to the electric control trolley 5, and the electric control trolley 5 controls the tile traction steel wire traction motor 120 to traction the tile traction steel wire 121 back to the starting point to start new traction work; the mobile robot 2 and the chain belt screw gun 4 are arranged on each arc-shaped frame respectively; the mobile trolley 21 is driven to move back and forth by the mobile trolley traction motor 114, the chain belt screw gun 4 is operated by the multi-axis robot 22 to perform tile nailing work, and the automation of tile installation work is realized.

[0058] Further, as shown in the drawings, Figures 1-12As shown, the two ends of the moving trolley 21 are provided with moving trolley traction steel wire 210; the two ends of each of the arc-shaped support bodies 111 are respectively provided with moving trolley traction steel wire support pulley 115 and colored tile traction steel wire support pulley 117; the moving trolley traction steel wire 210 at the two ends of the moving trolley 21 is connected with the moving trolley traction steel wire support pulley 115 and the moving trolley traction motor 114 on the corresponding side respectively; the moving trolley traction steel wire 210 is driven back and forth by the moving trolley traction motor 114 to drive the moving trolley 21 to move back and forth, when the moving trolley 21 moves to the end, the corresponding travel switch is triggered, and a signal is transmitted to the operation table 55 on the electric control trolley 5, and the moving trolley traction motor 114 is stopped by the operation table 55.

[0059] Further, as shown in the drawings, Figures 1-12 As shown, the electric control trolley 5 includes electric control trolley body 51, second wheel 52 arranged at the bottom of the electric control trolley body 51, electric control trolley drive motor 53 arranged on the electric control trolley body 51, electric control box 54, operation table 55 arranged on the top of the electric control box 54; the electric control box 54 is arranged at the top center of the electric control trolley body 51; the electric control trolley drive motor 53 is arranged on one side of the electric control box 54, and the side of the electric control box 54 is the operator working position 56; the second wheel 52 is driven back and forth by the electric control trolley drive motor 53; the electric control box 54 is the power supply and electrical circuit and electrical element installation box of the entire multi-section combined arc-shaped frame based colored tile installation system; the operation table 55 is a control operation mechanism, on which operation buttons and computer operation systems are installed; the electric control box 54 is connected with each drive motor, multi-axis robot and other electrical equipment elements of the entire multi-section combined arc-shaped frame based colored tile installation system through cable 3.

[0060] Further, as shown in the drawings, Figures 1-12 As shown in the drawings, in the embodiment of the present application, the multi-section combined moving arc-shaped frame 1 includes top arc-shaped frame 11, first intermediate arc-shaped frame 12 and second intermediate arc-shaped frame 13 arranged on the two sides of the top arc-shaped frame 11 respectively, first tail arc-shaped frame 14 arranged on the side of the first intermediate arc-shaped frame 12 away from the top arc-shaped frame 11, and second tail arc-shaped frame 15 arranged on the side of the second intermediate arc-shaped frame 13 away from the top arc-shaped frame 11; the moving robot 2 and the chain belt screw gun 4 are respectively arranged on the top arc-shaped frame 11, the first intermediate arc-shaped frame 12, the second intermediate arc-shaped frame 13, the first tail arc-shaped frame 14 and the second tail arc-shaped frame 15.

[0061] Further, in the embodiment of the present application, the first tail arc-shaped frame body 14, the first intermediate arc-shaped frame body 12, the top arc-shaped frame body 11, the second intermediate arc-shaped frame body 13, and the second tail arc-shaped frame body 15 are sequentially arranged from left to right to form a multi-section combined movable arc-shaped frame body 1 in accordance with the arc-shaped structure of the colored tile, with the top arc-shaped frame body 11 as the center; the two adjacent arc-shaped frame bodies are connected by bolts, and the bolt holes are opened when the arc-shaped frame body is manufactured; the multi-section combined movable arc-shaped frame body 1 is manufactured in sections and used in combination; the purpose of manufacturing in sections is to facilitate the manufacturing and installation, and the specific sectioning is determined flexibly according to the size of the arc-shaped structure of the colored tile; the top arc-shaped frame body 11 is generally slightly longer when sectioning, so as to facilitate the bearing of the unbalanced force during installation; the number of the first intermediate arc-shaped frame body 12 and the second intermediate arc-shaped frame body 13 on both sides of the top arc-shaped frame body 11 can be set according to the needs, or not set; when the span of the arc-shaped structure is not very large, the sectioning can be less, or even the top arc-shaped frame body 11 is not set, and the left and right two sections are directly set; more preferably, the arc-shaped device can be directly manufactured without sectioning.

[0062] Further, in the embodiment of the present application, the bottom of the top arc-shaped frame body 11, the first intermediate arc-shaped frame body 12, the second intermediate arc-shaped frame body 13, the first tail arc-shaped frame body 14, and the second tail arc-shaped frame body 15 is a two-track support and movement structure, the track is a wide track, which is used to increase the contact area between the track and the colored tile or structure, and the track is made of soft material such as rubber, so as to increase the contact area between the track and the colored tile or structure, avoid damage to the colored tile, and avoid scratching the colored tile during use.

[0063] Further, as shown in FIG. 1, the top arc-shaped frame body 11 is provided with a plurality of arc-shaped frame bodies, and the arc-shaped frame bodies are connected by bolts. Figures 1-12As shown, the colored tile traction steel wire rope traction motor 120 is arranged at the top center of the top arc-shaped frame body 11; the drum of the colored tile traction steel wire rope traction motor 120 is connected with a colored tile traction steel wire rope 121; one end of the first tail arc-shaped frame body 14 away from the first intermediate arc-shaped frame body 12 and one end of the second tail arc-shaped frame body 15 away from the second intermediate arc-shaped frame body 13 are respectively provided with a colored tile traction steel wire rope reversing pulley 118 and a colored tile steel wire rope moving stroke switch 119; the colored tile is pulled by the colored tile traction steel wire rope 121 to perform the colored tile traction work and pull the colored tile to the position; in order to support the colored tile traction steel wire rope 121, the two ends of each arc-shaped frame body are provided with a colored tile traction steel wire rope supporting pulley 117, and the ends of the first tail arc-shaped frame body 14 and the second tail arc-shaped frame body 15 are respectively provided with a colored tile traction steel wire rope reversing pulley 118; the colored tile traction steel wire rope reversing pulley 118 and the colored tile traction steel wire rope supporting pulley 117 form a support channel of the colored tile traction steel wire rope 121, which is convenient for the back-and-forth movement of the colored tile traction steel wire rope 121; the colored tile traction steel wire rope traction motor 120 realizes the back-and-forth movement of the colored tile traction steel wire rope 121 through forward and reverse rotation; after the colored tile is pulled to the position, the colored tile steel wire rope moving stroke switch 119 on the first tail arc-shaped frame body 14 or the second tail arc-shaped frame body 15 is triggered to send a signal to the operation table 55 on the electric control trolley 5, and the operation table 55 controls the colored tile traction steel wire rope traction motor 120 to stop driving operation; after the installation of one colored tile is completed, the colored tile traction steel wire rope traction motor 120 controls the colored tile traction steel wire rope 121 to return to the starting point to start new colored tile traction work.

[0064] Further, in the embodiment of the present application, one end of the colored tile traction steel wire rope 121 away from the colored tile traction steel wire rope traction motor 120 is sequentially passed through the colored tile traction steel wire rope supporting pulley 117 on the first tail arc-shaped frame body 14, then passed through the colored tile traction steel wire rope reversing pulley 118 on the first tail arc-shaped frame body 14, and then passed back, sequentially passed through the colored tile traction steel wire rope supporting pulley 117 on the first tail arc-shaped frame body 14, the first intermediate arc-shaped frame body 12, the top arc-shaped frame body 11, the second intermediate arc-shaped frame body 13, and the colored tile traction steel wire rope supporting pulley 117 on the second tail arc-shaped frame body 15, then passed through the colored tile traction steel wire rope reversing pulley 118 on the second tail arc-shaped frame body 15, and then passed back sequentially through the colored tile traction steel wire rope supporting pulley 117 on the second tail arc-shaped frame body 15, the second intermediate arc-shaped frame body 13, and the top arc-shaped frame body 11, and finally the end of the colored tile traction steel wire rope 121 is connected to the drum of the colored tile traction steel wire rope traction motor 120 to complete the installation of the colored tile traction steel wire rope 120. The end of the colored tile traction steel wire rope 121 away from the colored tile traction steel wire rope traction motor 120 can also be passed to the right, and the method is the same as above.

[0065] Further, as shown in FIG. 1, Figures 1-12As shown, the arc-shaped support body 111 comprises a base frame 101, side frames 102 vertically connected to both sides of the base frame 101, and an upper frame 103 arranged on the top of the two side frames 102; the frame body driving motor 113 is arranged on the upper surface of the base frame 101; the crawler 112 is arranged on the bottom of the base frame 101; the top of the upper frame 103 is provided with a channel steel track 104;

[0066] Further, as shown in the drawings, Figures 1-12 The moving trolley 21 comprises two first wheels 211 arranged in parallel and spaced apart, and an axle 212 arranged between the two first wheels 211; the two first wheels 211 are arranged in the channel steel track 104; the color tile traction steel wire support pulley 117 on each arc-shaped frame body is arranged on the side frame 102 of the arc-shaped support body 111.

[0067] Further, the color tile installation system based on the multi-section combined arc-shaped frame body needs to be determined whether to be placed on the structure or the color tile before use. If the installation system is selected to be placed on the color tile, the color tile capable of placing the installation system needs to be installed manually. If the installation system is selected to be placed on the structure, it can be directly hoisted.

[0068] Based on the above reasons, as shown in the drawings, Figure 13 The second aspect of the present application provides a method for installing a color tile installation system based on a multi-section combined arc-shaped frame body, comprising the following steps:

[0069] S1: installing a moving trolley 21 on each arc-shaped frame body of the multi-section combined moving arc-shaped frame body 1, and connecting the moving trolley 21 with the moving trolley traction motor 114 through the moving trolley traction steel wire 210; specifically, installing a moving trolley 21 on each arc-shaped frame body of the multi-section combined moving arc-shaped frame body 1, connecting the moving trolley traction steel wire 210 at both ends of each moving trolley 21, and connecting the moving trolley traction steel wire 210 on each arc-shaped frame body to the moving trolley traction motor 114 through the moving trolley traction steel wire support pulley 115;

[0070] S2: hoisting each arc-shaped frame body of the multi-section combined moving arc-shaped frame body 1 in turn, and timely connecting adjacent arc-shaped frame bodies; specifically, hoisting the top arc-shaped frame body first; then hoisting the middle arc-shaped frame bodies close to both sides of the top arc-shaped frame body, and connecting the two middle arc-shaped frame bodies with the top arc-shaped frame body; in order to ensure the stability of the whole system, the left and right middle arc-shaped frame bodies on both sides of the top arc-shaped frame body are hoisted alternately; then alternately hoisting the left and right tail arc-shaped frame bodies on both sides of the left and right middle arc-shaped frame bodies, and connecting the left and right tail arc-shaped frame bodies with adjacent middle arc-shaped frame bodies;

[0071] S3: installing the colored tile traction steel wire rope on the multi-section combined movable arc-shaped frame body 1 after hoisting is completed; specifically, one end of the colored tile traction steel wire rope is connected to the drum of the colored tile traction steel wire rope traction motor, the other end sequentially passes through the colored tile traction steel wire rope support pulley of each arc-shaped frame body in one direction, passes through the colored tile traction steel wire rope turning pulley of the tail section arc-shaped frame body after reaching one side tail section arc-shaped frame body, and then passes back, passes through the colored tile traction steel wire rope support pulley of each arc-shaped frame body, passes through the colored tile traction steel wire rope turning pulley of the tail section arc-shaped frame body after reaching the other end tail section arc-shaped frame body, and then passes back, until returning to the colored tile traction steel wire rope traction motor, the other end of the colored tile traction steel wire rope is connected to the drum of the colored tile traction steel wire rope traction motor, and the installation of the colored tile traction steel wire rope is completed;

[0072] S4: installing the multi-axis robot and the chain belt screw gun on each movable trolley;

[0073] S5: electrically connecting the electric control box of the electric control trolley with the electrical equipment on each arc-shaped frame body through a cable; the electrical equipment includes the frame driving motor 113, the movable trolley traction motor 114, the colored tile traction steel wire rope traction motor 120 and the multi-axis robot 22 arranged on the arc-shaped frame body;

[0074] S6: performing electrical equipment debugging; specifically, after the electrical equipment is connected, electrical debugging is performed; the frame driving motor 113 on each arc-shaped frame body must be adjusted to be in the same direction, synchronized and the same speed, so as to ensure the coordination of the movement of each arc-shaped frame body; the movable trolley traction motor 114 on each arc-shaped frame body is respectively debugged to ensure the normal controllability of the left and right movement of each movable trolley 21; the running program of the multi-axis robot 22 on each arc-shaped frame body is debugged to ensure normal operation; the chain belt screw gun 4 is debugged to operate normally; the operation of the colored tile traction steel wire rope traction motor is debugged to ensure normal operation of the colored tile traction steel wire rope;

[0075] As shown in Figure 14 , a third aspect of the present application provides a colored tile installation method based on a multi-section combined arc-shaped frame body, comprising the following steps:

[0076] S100: After the installation and debugging of each component of the multi-section combined arc-shaped frame-based colored tile installation system are completed, the pulling end of the colored tile pulling steel wire rope 121 on the multi-section combined movable arc-shaped frame body 1 is moved to the starting point, the colored tile is fixed, the colored tile pulling steel wire rope pulling motor 120 is started to drive the colored tile pulling steel wire rope 121 to move, thereby pulling the colored tile to move, and after the colored tile is laid in place, the pulling end of the colored tile pulling steel wire rope 121 is separated from the colored tile; specifically, the pulling end of the colored tile pulling steel wire rope 121 is moved to the starting point, the colored tile is fixed, the colored tile pulling steel wire rope pulling motor 120 is started to drive the colored tile pulling steel wire rope 121 to move, thereby pulling the colored tile to move, the colored tile is laid in place, and after the colored tile steel wire rope moving stroke switch is triggered, a trigger signal is transmitted to the operation table 55 on the electric control trolley 5, and the operation table 55 controls the colored tile pulling steel wire rope pulling motor 120 to stop driving operation;

[0077] S200: The moving trolley pulling motor 114 of each arc-shaped frame body is controlled by the operation table 55 on the electric control trolley 5 to move the moving trolley 21 to the starting point of each arc-shaped frame body, and the multi-axis robot 22 operates the chain belt screw gun 4 to perform nailing work.

[0078] S300: Steps S100-S200 are repeated to install the next colored tile until all the colored tiles are installed; after the installation of a colored tile is completed, the colored tile pulling steel wire rope pulling motor 120 controls the colored tile pulling steel wire rope 121 to return to the starting point to start new colored tile pulling work.

[0079] The application provides a kind of based on multi-section combined arc-shaped frame body's colored tile installation system and method, by the arc-shaped frame body structure of the arc-shaped frame body of setting and installing colored tile is adapted to the arc-shaped frame body of setting and installing colored tile, wide body soft track is set between arc-shaped frame body and the arc-shaped frame body structure of installing colored tile and moves on tile surface, can realize that colored tile installation system is fully covered on the surface of the arc-shaped frame body structure of installing colored tile operation;Multi-axis robot is respectively installed on each arc-shaped frame body of multi-section combined mobile arc-shaped frame body, chain belt screw gun is installed at the end of multi-axis robot, and multi-axis robot is used to operate chain belt screw gun to carry out sectional nailing, the problems of traditional arc-shaped frame structure colored tile nailing slow progress, long construction period and high construction cost are solved;Colored tile traction steel wire rope traction motor is controlled by setting colored tile traction steel wire rope on multi-section combined mobile arc-shaped frame body, and colored tile traction steel wire rope is dragged by using colored tile steel wire rope moving stroke switch to transmit signal to electric control trolley, drives colored tile traction steel wire rope traction motor to drag colored tile traction steel wire rope, after colored tile is dragged in place, promptly returns to starting point and starts new colored tile traction work, without construction personnel to pull colored tile laying on the structure frame in the whole operation process;Chain belt screw gun is carried on multi-axis robot, and automatically runs on arc-shaped frame body, so artificial nailing fixing operation is not needed, the application can realize automatic screwing operation of high-altitude colored tile surface screw, avoid construction personnel long-term bending operation, lead to the problem that screw interval is inconsistent in density and size.The application can replace full manual operation, realize the automation of colored tile installation, short overall construction period, construction quality is excellent;Can solve the problems of large arc-shaped frame body colored tile installation artificial construction, very slow progress, long construction period, high cost, great danger and difficult to guarantee construction quality.

[0080] Those skilled in the art will readily understand that the above description is only preferred embodiments of the present application, and is not intended to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A system for installing colored tiles based on a multi-section combined arc-shaped frame body, characterized in that: The utility model provides a kind of automatic installation system of tile, including multi-section combined mobile arc-shaped frame body (1), mobile robot (2) being equipped in the multi-section combined mobile arc-shaped frame body (1), chain belt screw gun (4) and electric control trolley (5) being connected with the multi-section combined mobile arc-shaped frame body (1) respectively, the mobile robot (2);Wherein, The multi-section combined mobile arc-shaped frame body (1) includes several arc-shaped frame bodies sequentially connected to form arc-shaped frame body structure from left to right;The mobile robot (2) includes mobile trolley (21) and multi-axis robot (22) equipped on the mobile trolley (21);Each arc-shaped frame body includes arc-shaped support body (111), track (112) equipped at the bottom of the arc-shaped support body (111) both ends, frame driving motor (113) equipped on the arc-shaped support body (111) and connected with the track (112), mobile trolley traction motor (114) connected with the mobile trolley (21), and mobile trolley stroke switch (116);The top of the multi-section combined mobile arc-shaped frame body (1) is equipped with tile traction steel wire rope traction motor (120);The reel of the tile traction steel wire rope traction motor (120) is connected with tile traction steel wire rope (121);The tail end of the tail end arc-shaped frame body at the end is respectively equipped with tile traction steel wire rope steering pulley (118) and tile steel wire rope movement stroke switch (119); The left and right movement of tile traction steel wire rope (121) is controlled by tile traction steel wire rope traction motor (120), and tile traction work is executed, after tile is pulled to position, tile steel wire rope movement stroke switch (119) is triggered, signal is transmitted to electric control trolley (5), and electric control trolley (5) controls tile traction steel wire rope traction motor (120) to pull tile traction steel wire rope (121) back to starting point to start new traction work;The back and forth movement of mobile trolley (21) is driven by mobile trolley traction motor (114), and tile nailing work is executed by multi-axis robot (22) operating chain belt screw gun (4), so that the automation of tile installation operation is realized.

2. A multi-section combined arc-shaped frame based colored tile mounting system as claimed in claim 1, wherein: The two ends of the mobile trolley (21) are equipped with mobile trolley traction steel wire rope (210); The two ends of each arc-shaped support body (111) are respectively equipped with mobile trolley traction steel wire rope support pulley (115) and tile traction steel wire rope support pulley (117);Tile traction steel wire rope steering pulley (118) and tile traction steel wire rope support pulley (117) form the support channel of tile traction steel wire rope (121); The mobile trolley traction steel wire rope (210) of the two ends of the mobile trolley (21) is connected with the mobile trolley traction motor (114) through the mobile trolley traction steel wire rope support pulley (115) of corresponding side respectively; The mobile trolley traction motor (114) drives the mobile trolley traction steel wire (210) to move back and forth to move the mobile trolley (21) back and forth, and when the mobile trolley (21) moves to the end, the corresponding mobile trolley travel switch (116) is triggered to send a signal to the electric control trolley (5), and the electric control trolley (5) controls the mobile trolley traction motor (114) to stop running.

3. A system for mounting of colored tiles based on a multi-section combined arc-shaped frame body according to claim 2, characterized in that: The electric control trolley (5) includes an electric control trolley body (51), a second wheel (52) arranged at the bottom of the electric control trolley body (51), an electric control trolley drive motor (53) arranged on the electric control trolley body (51), an electric control box (54), and an operation table (55) arranged at the top of the electric control box (54).

4. A system for mounting of colored tiles based on a multi-section combined arc-shaped frame body according to claim 3, characterized in that: The mobile robot (2) and the chain screw gun (4) are arranged on each of the arc-shaped frame bodies.

5. A multi-section combined arc-shaped frame based colored tile mounting system as claimed in claim 4, wherein: The electric control box (54) is arranged at the top center of the electric control trolley body (51); The electric control trolley drive motor (53) is arranged on one side of the electric control box (54), and the side of the electric control box (54) is the operator working position (56); The electric control trolley drive motor (53) drives the second wheel (52) to move back and forth.

6. A multi-section combined arc-shaped frame based colored tile mounting system as claimed in claim 5, wherein: The arc-shaped support body (111) includes a bottom frame (101), side supports (102) vertically connected to both sides of the bottom frame (101), and an upper frame (103) arranged at the top of the two side supports (102); The frame body drive motor (113) is arranged on the upper surface of the bottom frame (101); The track (112) is arranged at the bottom of the bottom frame (101); The top of the upper frame (103) is provided with a channel steel track (104); The colored tile traction steel wire support pulley (117) on each arc-shaped frame body is arranged on the side support (102) of the arc-shaped support body (111).

7. A multi-section combined arc-shaped frame based colored tile mounting system as claimed in claim 6, wherein: The mobile trolley (21) includes two first wheels (211) arranged in parallel and spaced apart, and an axle (212) arranged between the two first wheels (211); the two first wheels (211) are arranged in the channel steel track (104).

8. A system for mounting of colored tiles based on a multi-section combined arc-shaped frame body according to claim 7, characterized in that: The multi-section combined moving arc-shaped frame body (1) includes a top arc-shaped frame body (11), a first intermediate arc-shaped frame body (12) and a second intermediate arc-shaped frame body (13) arranged on both sides of the top arc-shaped frame body (11), a first tail arc-shaped frame body (14) arranged on the side of the first intermediate arc-shaped frame body (12) away from the top arc-shaped frame body (11), and a second tail arc-shaped frame body (15) arranged on the side of the second intermediate arc-shaped frame body (13) away from the top arc-shaped frame body (11).

9. A method for installing colored tiles based on a multi-section combined arc-shaped frame body, characterized in that, The application of the colored tile installation system based on the multi-section combined arc-shaped frame body according to any one of claims 1-8 comprises the following steps: The application of the colored tile installation system based on the multi-section combined arc-shaped frame body according to any one of claims 1-8 comprises the following steps: S100: After the installation and debugging of each component of the multi-section combined arc-shaped frame-based colored tile installation system are completed, the pulling end of the colored tile pulling steel wire rope (121) on the multi-section combined movable arc-shaped frame (1) is moved to the starting point, the colored tile is fixed, the colored tile pulling steel wire rope pulling motor (120) is started to drive the colored tile pulling steel wire rope (121) to move and pull the colored tile, and after the colored tile is moved and laid in place, the colored tile pulling steel wire rope pulling motor (120) is controlled to stop running, and the pulling end of the colored tile pulling steel wire rope (121) is separated from the colored tile; S200: The operation table (55) on the electric control trolley (5) is controlled to control the movement trolley pulling motor (114) of each arc-shaped frame, the movement trolley (21) is moved to the starting point of each arc-shaped frame, and the multi-axis robot (22) is started to operate the chain belt screw gun (4) to perform nailing work; S300: Repeat steps S100-S200 to install the next colored tile until all the colored tiles are installed.

10. The method of claim 9, wherein the plurality of arc-shaped frames are combined to form a frame body. The installation and debugging of each component of the multi-section combined arc-shaped frame-based colored tile installation system in step S100 includes the following steps: S1: Install a movement trolley (21) on each arc-shaped frame of the multi-section combined movable arc-shaped frame (1), and connect the movement trolley (21) with the movement trolley pulling motor (114) through the movement trolley pulling steel wire rope (210); S2: Hoist each arc-shaped frame of the multi-section combined movable arc-shaped frame (1) in turn, and timely connect adjacent arc-shaped frames; S3: Install a colored tile pulling steel wire rope on the multi-section combined movable arc-shaped frame (1) after hoisting is completed; S4: Install a multi-axis robot and a chain belt screw gun on each movement trolley; S5: Electrically connect the electric control box (54) of the electric control trolley with the electrical equipment on each arc-shaped frame; S6: Debug the electrical equipment; adjust the frame driving motor (113) on each arc-shaped frame to be in the same direction, synchronized, and the same speed to ensure the coordination of the movement of each arc-shaped frame; debug the movement trolley pulling motor (114), the multi-axis robot (22), the chain belt screw gun (4), and the colored tile pulling steel wire rope pulling motor (120) on each arc-shaped frame respectively to ensure normal operation of each device.

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