Floor tile laying pose adjusting device and adjusting method

Abstract

The invention discloses a floor tile laying pose adjusting device and adjusting method.The adjusting device comprises a gripper terminal used for being connected with the driving end of a floor tile laying robot, a suction cup assembly used for adsorbing and fixing floor tiles is arranged on the gripper terminal, and the suction cup assembly and the gripper terminal are connected through a universal joint assembly; vibration leveling mechanisms used for adjusting the poses of the sucked floor tiles are arranged on the periphery of the suction cup assembly; according to the vibration leveling mechanism, leveling and vibration paving of the floor tiles are conducted through the four vibrators driven by the independent single-shaft modules in cooperation with the laser range finder, and the paving efficiency can be improved while the paving height precision is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of floor tile laying, and in particular to a floor tile laying posture adjustment device and an adjustment method. Background Art

[0002] The existing laying process for automated floor tile laying operations is as follows: the gripper terminal grabs the floor tiles through four suction cups and descends, and the PSD located therein receives the laser beam emitted by the laser level in front and guides it to descend to a predetermined height and combine and extrude with the laid tile adhesive. At the same time, the vibrating components located on the upper part of the four gripper suction cups are powered on to vibrate and break up the tile adhesive on the serrated surface and press it down, so that the tile adhesive and floor tiles can be better combined to avoid defects such as hollowing. The tilt sensor and PSD located at the gripper terminal control the posture information of the floor tiles. The accuracy of the PSD is 0.3 mm, and the accuracy of the tilt sensor is 0.1 degrees. Then two sets of electric cylinder modules are used to control the two rotation angles of pitch and roll of the floor tiles to adjust the posture. This control method can control the height difference of the floor tiles from front to back, left to right to within 2 mm. Therefore, there are three problems with the current control method: 1. The accuracy of this control method is not enough to meet the acceptance standard for floor tile laying. The acceptance standard is that the height difference between two adjacent tile edges of the floor tile must be less than 0.5 mm, while the existing control method can only achieve a control accuracy of 2 mm height difference.

[0003] 2. The actuators of this control method are two sets of electric cylinder modules, which control the pitch and roll angles of the inclination sensor installed on the suction cup chassis to achieve control of the position of the floor tiles. The floor tiles and the suction cup chassis are connected by suction cups, which are made of rubber and have a certain degree of elasticity. Therefore, when the electric cylinder module performs position control, in addition to the accuracy error of the sensor itself, there is also the elastic error that occurs when the suction cup is stretched or squeezed.

[0004] 3. Since the electric cylinder module adjusts the position of floor tiles through pitching, rolling and tumbling movements, when the floor tiles have reached the predetermined height, overpressure may easily occur on one or both sides, causing a large amount of adhesive to overflow from the tile joints, affecting subsequent automated paving processes such as visual alignment. Summary of the invention

[0005] Technical purpose: In view of the shortcomings of existing floor tile paving, the present invention discloses a floor tile paving posture adjustment device and adjustment method that can ensure the floor tile paving accuracy.

[0006] Technical solution: To achieve the above technical objectives, the present invention adopts the following technical solution: A floor tile laying posture adjustment device comprises a gripper terminal connected to a driving end of a floor tile laying robot, a suction cup assembly for adsorbing and fixing floor tiles is arranged on the gripper terminal, the suction cup assembly is connected to the gripper terminal via a universal joint assembly, and a vibrating and leveling mechanism for adjusting the posture of the sucked floor tiles is arranged around the suction cup assembly.

[0007] Preferably, the vibration and leveling mechanism of the present invention includes a vibration bracket, on which a dual-axis angle sensor for detecting the pitch and roll angles of floor tiles is arranged, and vibrators corresponding to the four corners of the floor tiles are arranged along the circumferential direction of the vibration bracket. The vibrators are used to level the floor tiles according to the floor tile inclination data detected by the dual-axis angle sensor.

[0008] Preferably, the vibrating bracket of the present invention is also provided with a laser ranging auxiliary mechanism, which includes a laser ranging auxiliary mechanism at the edge brick height difference detection point laser ranging meter corresponding to the position of the vibrator and a laser ranging meter at the floor tile height difference detection point laser ranging meter, the edge brick height difference detection point laser ranging meter is located on the outside of the floor tile height difference detection point laser ranging meter, the height between the position of the floor tile and the edge brick is determined by the edge brick height difference detection point laser ranging meter, and the vibration descent distance of the floor tile is determined by the floor tile height difference detection point laser ranging meter.

[0009] Preferably, a visual camera is provided on the vibrating bracket of the present invention, and the visual camera is used to align the brick joints of the side bricks when laying the floor tiles.

[0010] Preferably, the vibrator of the present invention is connected to a single-axis module arranged on a vibrating bracket through a vibrating mounting piece, and the lifting and lowering movement of the vibrator is controlled by the single-axis module.

[0011] Preferably, the end of the vibrator of the present invention that contacts the floor tiles is made of hard rubber.

[0012] The present invention also discloses a method for adjusting the posture of floor tiles during laying, using the above-mentioned device for adjusting the posture of floor tiles during laying, comprising the steps of: S01, using at least one laid floor tile as a side tile to perform basic positioning for subsequent floor tile laying; S02, driving the gripper terminal to move by the manipulator, sucking the floor tiles and moving them to the position where the floor tiles are to be laid; S03, after the floor tiles to be laid are moved to the top of the laying area, the floor tiles are moved and adjusted horizontally by a vibrator according to the pitch and flip angles of the floor tiles detected by the dual-axis angle sensor, so that the floor tiles remain horizontal; S04. Align the edge of the floor tile with the brick seam of the side tile through a visual camera; determine the vibration downward distance of the floor tile paving through the side tile height difference detection point laser rangefinder and the floor tile height difference detection point laser rangefinder on the vibrating bracket, and during the paving process, continue to control the paving process through the floor tile height difference detection point laser rangefinder until the edge of the floor tile is consistent with the edge of the side tile in height.

[0013] Preferably, in step S03 of the present invention, the process of adjusting the level of floor tiles by a vibrator includes: the suction cup assembly maintains a suction state on the floor tiles, and according to the tilt state of the floor tiles detected by the dual-axis angle sensor, the vibrator is moved so that the end of the vibrator abuts against the surface of the floor tiles, and a force is applied to the floor tiles to rotate them around the universal joint assembly for angle adjustment, the floor tiles are kept in a horizontal position by controlling the moving distance of the vibrator, and in the subsequent process of driving the floor tiles to move for position adjustment by the gripper terminal, the vibrator is used to keep the position of the floor tiles stable.

[0014] Preferably, before laying floor tiles by vibrating in step S04, the present invention first calibrates the vibrator on a reference plane to determine the movement distance deviation of the vibrator when reaching the same reference plane; when laying floor tiles, the movement strategy of the vibrator on the side where the edge tiles are located is adjusted according to the calibration results based on the vibration movement strategy of the vibrator on the side where the edge tiles are not located, so as to ensure the synchronization of the movement of the four corners of the floor tiles during the vibration process.

[0015] Beneficial effects: The floor tile laying posture adjustment device and adjustment method disclosed in the present invention have the following beneficial effects: 1. The present invention uses a suction cup assembly to suck up floor tiles. At the same time, the suction cup assembly and the gripper terminal are rotationally connected through a universal joint assembly. The inclination angle of the floor tiles can be adjusted by a vibrator and the position can be kept stable. It is not affected by the elastic error of the suction cup rubber, and the height difference accuracy of the floor tiles can be guaranteed to be controlled within 0.3mm.

[0016] 2. The present invention uses a laser rangefinder in conjunction with an independently-acting vibrator to effectively control the position of floor tiles during the paving process, thereby avoiding overpressure on one or both sides, causing a large amount of adhesive to overflow from the tile joints, affecting subsequent automated paving processes such as visual alignment, and thereby improving the efficiency of floor tile paving. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0018] Figure 1 The overall structure diagram of the adjusting device of the present invention is shown; Figure 2 This is a structural diagram of the gripper terminal of the present invention; Figure 3 This is a structural diagram of the vibrating and leveling mechanism of the present invention; Figure 4 It is a schematic diagram of the connection between the vibrator and the vibrating support of the present invention; Figure 5 This is a schematic diagram of laying floor tiles when there are two side tiles in the present invention; Figure 6 This is a schematic diagram of the calibration of the posture adjustment device of the present invention; Figure 7 This is a schematic diagram of the laying state of the floor tiles of the present invention with only one side of the edge tiles; Figure 8 This is a schematic diagram of the floor tiles of the present invention being laid on the ground; Among them, 1-gripper terminal, 2-floor tile, 3-suction cup assembly, 4-universal joint assembly, 5-vibrator bracket, 6-vibrator, 7-edge brick height difference detection point laser rangefinder, 8-floor tile height difference detection point laser rangefinder, 9-visual camera, 10-vibrator mounting part, 11-single-axis module. DETAILED DESCRIPTION

[0019] Reference will now be made in detail to embodiments of the present disclosure, one or more examples of which are set forth herein below. Each embodiment and example is provided by way of explanation of the apparatus, composition and materials of the present disclosure, rather than limitation. On the contrary, the following description provides a convenient illustration of an exemplary embodiment for implementing the present disclosure. In fact, it will be clear to those skilled in the art that various modifications and variations may be made in the teachings of the present disclosure without departing from the scope or spirit of the present disclosure.

[0020] like Figure 1-Figure 4 As shown, the present invention discloses a floor tile laying posture adjustment device, including a gripper terminal 1 used to be connected to a driving end of a floor tile laying robot, a suction cup assembly 3 for adsorbing and fixing floor tiles 2 is arranged on the gripper terminal 1, the suction cup assembly 3 is connected to the gripper terminal 1 via a universal joint assembly 4, and a vibrating and leveling mechanism for adjusting the posture of the sucked floor tiles 2 is arranged around the suction cup assembly 3.

[0021] The present invention relies on the force of the vibrating and leveling mechanism to adjust the position of the floor tiles, which is not affected by the expansion and contraction of the suction cup of the suction cup assembly 3. The universal joint assembly 4 can be used to rotate and adjust the floor tiles 2 in any direction, so that the floor tiles can be accurately leveled, which is beneficial to ensure the subsequent paving accuracy. Figure 2 As shown, in an embodiment of the present invention, the suction cup assembly 3 adopts a single suction cup structure coaxial with the gripper terminal. When sucking the floor tiles, the adsorption area can be in the central area of ​​the floor tiles, thereby reducing the difficulty of leveling the floor tiles and reducing the influence of gravity on the floor tiles.

[0022] like Figure 3 and Figure 4 As shown, the vibration and leveling mechanism of the present invention includes a vibration bracket 5, on which a dual-axis angle sensor for detecting the pitch and roll angles of floor tiles is arranged, and vibrators 6 corresponding to the four corners of the floor tiles are arranged along the circumferential direction of the vibration bracket 5. The vibrators 6 are used to level the floor tiles according to the floor tile inclination data detected by the dual-axis angle sensor.

[0023] After the leveling is completed, it is necessary to vibrate and pave the floor tiles according to the relative position between the floor tiles and the already pasted edge tiles. For this purpose, the vibrating bracket 5 of the present invention is also provided with a laser distance measuring auxiliary mechanism, which includes a laser distance measuring device 7 for detecting the height difference of the edge tiles corresponding to the position of the vibrator 6 and a laser distance measuring device 8 for detecting the height difference of the floor tiles. The laser distance measuring device 7 for detecting the height difference of the edge tiles is located on the outside of the laser distance measuring device 8 for detecting the height difference of the floor tiles. The height between the position of the floor tiles 2 and the edge tiles is determined by the laser distance measuring device 7 for detecting the height difference of the edge tiles, and the vibration descent distance of the floor tiles is determined by the laser distance measuring device 8 for detecting the height difference of the floor tiles. After the robot drives the floor tiles to move to a certain height above the paving area through the gripper terminal 1, generally about 20 mm, the suction of the suction cup assembly 3 is cancelled and the floor tiles can move down; the position of the vibration leveling mechanism remains unchanged, and the corresponding floor tile height difference detection point laser rangefinder 8 can detect the distance from the floor tile surface bracket in real time to control the paving process; when determining the release position of the floor tiles, the height can be roughly controlled by relying on the coordinates of the robot that drives the gripper terminal 1 to move. The edge alignment of the floor tiles and the side tiles can be achieved through the visual camera 9 set on the vibration bracket 5. The visual camera 9 is used to align the brick seams of the side tiles when the floor tiles are paved.

[0024] The vibrator 6 of the present invention is connected to a single-axis module 11 provided on a vibrating bracket 5 through a vibrating mounting part 10, and the lifting and lowering movement of the vibrator 6 is controlled by the single-axis module 11. Preferably, the end of the vibrator 6 of the present invention that contacts the floor tile 2 is made of hard rubber material and will not deform, thereby further ensuring the accuracy of floor tile leveling and vibration downward movement during floor tile paving, achieving accurate control of the floor tile paving height, and ensuring that the accuracy meets the requirements.

[0025] In addition, the present invention also discloses a method for adjusting the posture of floor tiles during laying, using the above-mentioned device for adjusting the posture of floor tiles during laying, comprising the steps of: S01, using at least one laid floor tile as a side tile to perform basic positioning for subsequent floor tile laying; The side tiles can be positioned manually or by presetting coordinate parameters in the paving robot, and the adjustment device of the present invention can be used to absorb the floor tiles for paving. In this process, the vibration downward movement distance is controlled by the preset parameters. When other floor tiles are subsequently laid, the adjacent side tiles are automatically adjusted. S02, driving the gripper terminal to move by the manipulator, sucking the floor tiles and moving them to the position where the floor tiles are to be laid; During the downward movement, the robot controls the downward movement distance so that the floor tile is about 20 mm above the paving height. This distance does not need to be too precise, which can improve the movement efficiency. After it is in place, the laser rangefinder 7 at the edge tile height difference detection point is used for accurate detection.

[0026] S03, after the floor tiles to be laid are moved above the laying area, the floor tiles are moved and adjusted horizontally by a vibrator according to the pitch and flip angles of the floor tiles detected by the dual-axis angle sensor, so that the floor tiles remain horizontal.

[0027] The process of adjusting the level of floor tiles by a vibrator includes: the suction cup assembly maintains the suction state of the floor tiles, and according to the tilt state of the floor tiles detected by the dual-axis angle sensor, the vibrator is moved so that the end of the vibrator abuts against the surface of the floor tiles, and a force is applied to the floor tiles to rotate them around the universal joint assembly for angle adjustment, and the floor tiles are kept in a horizontal position by controlling the moving distance of the vibrator. In the subsequent process of moving the floor tiles by the gripper terminal for position adjustment, the vibrator is used to keep the position of the floor tiles stable. Due to the hard rubber material of the end of the vibrator, even if it contacts the floor tiles and provides the force required for leveling, it will not be deformed, thereby improving the leveling accuracy.

[0028] S04. Align the edge of the floor tile with the brick seam of the side tile through a visual camera; determine the vibration downward distance of the floor tile paving through the side tile height difference detection point laser rangefinder and the floor tile height difference detection point laser rangefinder on the vibrating bracket, and during the paving process, continue to control the paving process through the floor tile height difference detection point laser rangefinder until the edge of the floor tile is consistent with the edge of the side tile in height.

[0029] Before laying the floor tiles by vibrating in step S04, the vibrator is first calibrated on a reference plane to determine the movement distance deviation of the vibrator when reaching the same reference plane; when laying the floor tiles, the movement strategy of the vibrator on the side where the edge tiles are located is adjusted according to the calibration result to ensure the synchronization of the movement of the four corners of the floor tiles during the vibration process.

[0030] like Figure 5 As shown, in the embodiment shown in the figure, the laser rangefinder 7 at the edge brick height difference detection point corresponding to the vibrator 6 at the lower right corner cannot detect the edge brick height, but in the vibration process, in order to ensure the synchronization of vibration and avoid large deviation, it is necessary to control the movement of the vibrator at the lower right corner according to the detection results of the other three ranges to ensure the overall level of the floor tiles and the synchronization of the laying of the four corners of the floor tiles.

[0031] Specific implementation cases: like Figure 6 As shown, before the operation, the gripping terminal calibrates the control posture of the floor tiles. First, the front tile D, side tile B and side tile C in the calibration process are in the same plane. The gripper terminal grabs the floor tiles and adjusts the floor tile posture to the same plane as the front tile and side tile (zero angle horizontal plane) through the dual-axis angle sensor and four independent vibrators. At this time, the laser ranging data A1, A2, A3, A4 of the four corners of the floor tiles, the laser test data B1, B2 of the side brick points of the two corners of the side brick B, the laser test data C1, C2 of the side brick points of the side brick C, and the laser test data D1, D2 of the side brick points of the two corners of the front brick D are calibrated. At this time, the pitch angle α and the roll axis β of the dual-axis angle sensor are zero. The relationship between the angles α and β and the data of each laser point can be calculated.

[0032] When the operation scene is that there is only one brick and no bricks in other directions, such as Figure 7 The grabbing terminal first sucks up the floor tile and lowers it to a height of one centimeter from the front tile surface. The visual system aligns the distance between the tiles. At this time, the suction cup is released, and the floor tile falls onto the tile adhesive surface. The tile adhesive is a material with peaks and valleys scraped out by the scraping teeth. The state is as follows Figure 8 As shown, there is still 3 to 4 mm away from the predetermined height. At this time, the theoretical laser pressure data of the four points A1, A2, A3, and A4 are calculated based on the real-time data of α and β, D1, and D2, and the pressure is vibrated and pressed at the same time. When there is still 0.5 mm away from the predetermined height, the pressure is stopped, the calculation process is repeated, and then the pressure is driven to the predetermined height, and the operation is completed.

[0033] The floor tile laying method of the present invention can greatly improve the laying efficiency, so that the work efficiency of the floor tile robot is increased from 50 square meters / shift to more than 80 square meters / shift, the economic efficiency is significantly improved, and the height difference accuracy of the floor tiles can be controlled within 0.3mm, meeting the floor tile laying acceptance standards. In addition to being applicable to the floor tile laying process of the floor tile robot, it can also be used in applications such as automated laying of wall tiles and stone.

Claims

1. A floor tile laying posture adjustment device, characterized in that: The invention comprises a gripper terminal (1) for connecting to a driving end of a floor tile paving robot, a suction cup assembly (3) for adsorbing and fixing floor tiles (2) being arranged on the gripper terminal (1), the suction cup assembly (3) and the gripper terminal (1) being connected via a universal joint assembly (4), and a vibrating and leveling mechanism for adjusting the position of the adsorbed floor tiles (2) being arranged around the suction cup assembly (3).

2. A floor tile laying posture adjustment device according to claim 1, characterized in that: The vibrating and leveling mechanism comprises a vibrating bracket (5), a dual-axis angle sensor for detecting the pitch and roll angles of floor tiles is arranged on the vibrating bracket (5), and vibrators (6) corresponding to the four corners of the floor tiles are arranged along the circumferential direction of the vibrating bracket (5); the floor tiles are leveled using the vibrators (6) according to floor tile inclination data detected by the dual-axis angle sensor.

3. A floor tile laying posture adjustment device according to claim 2, characterized in that: The vibrating bracket (5) is also provided with a laser distance measuring auxiliary mechanism, the laser distance measuring auxiliary mechanism comprising a laser distance measuring device (7) at a height difference detection point of an edge brick corresponding to the position of the vibrator (6) and a laser distance measuring device (8) at a height difference detection point of a floor tile, the laser distance measuring device (7) at the height difference detection point of an edge brick being located outside the laser distance measuring device (8) at the height difference detection point of a floor tile, the height between the position of the floor tile (2) and the edge brick being determined by the laser distance measuring device (7) at the height difference detection point of the edge brick, and the vibration descending distance of the floor tile being determined by the laser distance measuring device (8) at the height difference detection point of the floor tile.

4. A floor tile laying posture adjustment device according to claim 2, characterized in that: A visual camera (9) is arranged on the vibrating bracket (5), and the visual camera (9) is used to align the brick joints of the side bricks when laying the floor tiles.

5. A floor tile laying posture adjustment device according to claim 2, characterized in that: The vibrator (6) is connected to a single-axis module (11) arranged on a vibrating bracket (5) via a vibrating mounting member (10), and the lifting and lowering movement of the vibrator (6) is controlled via the single-axis module (11).

6. A floor tile laying posture adjustment device according to claim 2, characterized in that: The end of the vibrator (6) in contact with the floor tile (2) is made of hard rubber.

7. A method for adjusting the position and posture of floor tiles, using the device for adjusting the position and posture of floor tiles according to any one of claims 1 to 5, characterized in that: Includes steps: S01, using at least one laid floor tile as a side tile to perform basic positioning for subsequent floor tile laying; S02, driving the gripper terminal to move by the manipulator, sucking the floor tiles and moving them to the position where the floor tiles are to be laid; S03, after the floor tiles to be laid are moved to the top of the laying area, the floor tiles are moved and adjusted horizontally by a vibrator according to the pitch and flip angles of the floor tiles detected by the dual-axis angle sensor, so that the floor tiles remain horizontal; S04. Align the edge of the floor tile with the brick seam of the side tile through a visual camera; determine the vibration downward distance of the floor tile paving through the side tile height difference detection point laser rangefinder and the floor tile height difference detection point laser rangefinder on the vibrating bracket, and during the paving process, continue to control the paving process through the floor tile height difference detection point laser rangefinder until the edge of the floor tile is consistent with the edge of the side tile in height.

8. A method for adjusting the posture of floor tiles according to claim 7, characterized in that: In step S03, the process of adjusting the level of floor tiles by a vibrator includes: the suction cup assembly maintains the suction state of the floor tiles, and according to the tilt state of the floor tiles detected by the dual-axis angle sensor, the vibrator is moved so that the end of the vibrator abuts against the surface of the floor tiles, and a force is applied to the floor tiles to rotate them around the universal joint assembly for angle adjustment, and the floor tiles are kept in a horizontal position by controlling the moving distance of the vibrator, and in the subsequent process of driving the floor tiles to move for position adjustment by the gripper terminal, the vibrator is used to keep the position of the floor tiles stable.

9. A method for adjusting the posture of floor tiles according to claim 7, characterized in that: Before laying the floor tiles by vibrating in step S04, the vibrator is first calibrated on a reference plane to determine the movement distance deviation of the vibrator when reaching the same reference plane; when laying the floor tiles, the movement strategy of the vibrator on the side where the edge tiles are located is adjusted according to the calibration result to ensure the synchronization of the movement of the four corners of the floor tiles during the vibration process.

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