A robot for applying adhesive for laying bricks

Abstract

The present invention relates to the technical field of construction machinery, and in particular to a robot for applying adhesive for laying bricks. The robot includes a movable chassis, a brick supply device, a coating device and a destacking device. The brick supply device has an inclined brick support frame, which is arranged below the destacking device. The destacking device can be adjusted in pitch and rotation to cooperate with the brick supply device to facilitate brick removal. At the same time, the brick is turned over to a state of applying adhesive after taking the brick, and support is provided for the brick during the entire application process. The entire process has a high degree of automation, which reduces manual participation and reduces dependence on manual labor. The inclined surface of the brick supply device and the movable design of the brick support frame can retract the brick stack during the discharge and application process of the material outlet, so as to avoid the adhesive from dripping onto the front of the laying brick on the brick supply device, thereby avoiding the failure of brick removal due to contamination of the adhesive. In addition, compared with conveying structures such as conveyor belts, the brick supply device design of the present invention can reduce the overall size of the equipment.

Description

Technical Field

[0001] The invention relates to the technical field of construction machinery, and in particular to an adhesive applying robot for paving tiles. Background Art

[0002] As a subdivision of the construction industry, the laying of floor or wall tiles (cement tiles, stone tiles, curtain wall tiles, etc.) requires the application of adhesive (cement oil, tile adhesive, etc.) on the back of the tiles, and then flipping them 180 degrees before laying. The working environment is relatively poor, the workload is large, the time is relatively long, and the efficiency is relatively low. With the increasing requirements of workers for the working environment, the aging population, the pursuit of construction efficiency by business operators, and the development of automation equipment technology in the construction field, construction in the construction field has also begun to be gradually automated, such as brick-laying robots, but generally the adhesive needs to be applied manually before the brick-laying robots lay the tiles.

[0003] At present, there are some devices in the prior art that can apply adhesive to paving tiles, but generally require manual delivery of bricks, that is, delivering the bricks to be applied to a conveyor belt or a similar conveying structure. The conveyor belt drives the bricks to move through the discharge port to achieve the application of the adhesive. Although this type of equipment has achieved automatic application of adhesive to a certain extent, it is necessary to manually deliver the bricks in sequence according to the application speed (one brick at a time), and the dependence on manual labor is still relatively large. In addition, since it is difficult to absolutely intercept the flow at the discharge port after applying a tile, a small amount of adhesive will fall on the conveyor belt or the adhesive on the brick will fall on the conveyor belt, polluting the conveyor belt and the front side (non-applied side) of the subsequent bricks. After the suction cup absorbs the contaminated brick, it will contaminate the suction cup, resulting in weak adsorption or even failure. At the same time, it will reduce the friction coefficient between the conveyor belt and the brick, causing the conveyor belt to fail. In addition, the setting of a conveyor belt or a similar conveying structure generally occupies a relatively large volume, and is limited by the access channel (doorway width) / elevator door width, and may not be suitable for home decoration scenes. Summary of the invention

[0004] The object of the present invention is to provide an adhesive applying robot for laying tiles, so as to solve at least one technical problem in the background technology.

[0005] In order to achieve the above object, the present invention provides an adhesive applying robot for laying bricks, comprising:

[0006] Movable chassis, capable of moving on the ground;

[0007] The brick supply device comprises a mounting frame and a brick-bearing frame, wherein the mounting frame is movably mounted on a chassis via a first mounting portion and can horizontally move along a first direction on the chassis, the mounting surface of the mounting frame is an inclined surface, and the inclination angle of the inclined surface is an acute angle, the brick-bearing frame is movably mounted on the mounting surface via a second mounting portion and can reciprocate along the inclination direction of the inclined surface, the brick-bearing frame comprises a brick-bearing surface and a brick-bearing bottom surface perpendicular to the brick-bearing surface, and the brick-bearing surface is parallel to the inclined surface;

[0008] The coating and scraping device comprises a base, a support arm, a cloth moving part and a scraper, wherein the support arm is mounted on the base, and its length direction is arranged along a first direction, and can reciprocate horizontally in a second direction, and the second direction is perpendicular to the first direction, the cloth moving part is used to fix the discharge port of the discharge pipe, and is movably mounted on the support arm, and can drive the discharge port of the discharge pipe to move along the first direction on the support arm, and the scraper is mounted on the lower side of the support arm; and

[0009] The destacking device is arranged below the floor coating scraper device, and includes a two-axis adjustment mechanism and a suction cup part. The suction cup part includes a suction cup seat and a plurality of suction cups arranged at intervals on the suction cup seat. The two-axis adjustment mechanism includes an adjustment seat, a first adjustment axis and a second adjustment axis. The two-axis adjustment mechanism is arranged below the base. The first adjustment axis is fixed relative to the base, one end of the first adjustment axis is connected to the adjustment seat, one end of the second adjustment axis is connected to the adjustment seat, and the other end is connected to the suction cup part. The axial direction of the first adjustment axis is parallel to the second direction, and the axial direction of the second adjustment axis is parallel to the first direction. The adjustment seat and the second adjustment axis can rotate around the first adjustment axis so that the suction surface of the suction cup is parallel to the paving bricks to be taken placed on the brick supporting frame. The suction cup part can rotate circumferentially around the second adjustment axis for flipping the sucked paving bricks.

[0010] Optionally, the first mounting portion includes two first guide rails, two first sliders respectively matched with the two first guide rails, a first rack and a first gear matched with the first rack, the two first guide rails are arranged in parallel and spaced apart on the upper side of the chassis, the two first sliders are arranged on the lower side of the mounting frame, the first rack is installed on the upper side of the chassis and arranged along the length direction of the first guide rails, and is located between the two first guide rails, the first motor is fixed on the mounting frame, the first gear is connected to the first motor, and when the first motor is working, the first gear rotates and drives the mounting frame to move along the first guide rail;

[0011] The second mounting part includes two second guide rails, two second sliders respectively matched with the two second guide rails, a second rack and a second gear matched with the second rack. The two second guide rails are arranged in parallel and spaced apart on the mounting surface. The two second sliders are arranged on the brick supporting frame. The second rack is installed on the brick supporting frame and is arranged along the length direction of the second guide rails and is located between the two second guide rails. The second motor is fixed on the mounting frame. The second gear is connected to the second motor. When the second motor is working, the second gear rotates and drives the brick supporting frame to move along the second guide rail.

[0012] Optionally, three distance measuring sensors are provided on the suction cup part, and the three distance measuring sensors are distributed in a triangle, and are used to detect whether the paving brick to be taken is parallel to the suction surface of the suction cup;

[0013] The robot for applying adhesive to paving tiles also includes a controller, and a distance sensor, a two-axis adjustment mechanism, a first motor and a second motor are connected to the controller signal. When it is detected that the paving tile to be taken and the suction surface of the suction cup are not parallel, the controller adjusts the position of the suction cup part through the two-axis adjustment mechanism according to the measured distance difference and / or controls the movement of the mounting frame through the first motor and the second motor to make the suction surface of the suction cup parallel to the paving tile to be taken.

[0014] Optionally, an electric control cabinet is also provided on the upper side of the chassis for integrating and installing electric control equipment;

[0015] There is also a gas cabinet above the electric control cabinet, which is used to install the gas control device of the suction cup;

[0016] A pumping device is also provided on the chassis for providing adhesive material to the outlet of the discharge pipe. A accommodating space is provided on one side of the electric control cabinet, or the electric control cabinet is divided into two parts arranged at intervals, and an accommodating space is formed between the two electric control cabinets arranged at intervals, and the pumping device is arranged in the accommodating space.

[0017] Optionally, there is a pipe rack plate above the gas cabinet, and the discharge pipe is mounted on the pipe rack plate and one end of the discharge pipe is connected to the pumping device, and the other end is fixed to the discharge moving part.

[0018] Optionally, the pipe rack plate is divided into two parts, one part of which is fixed on the gas cabinet, and the other part is located above the base, and the part of the pipe rack plate located above the base and the part fixed to the gas cabinet are connected by a hinge, so that the part of the pipe rack plate located above the base can be folded toward one side of the gas cabinet; and / or

[0019] A plurality of pipe-blocking parts higher than the pipe rack plate are arranged around the pipe rack plate.

[0020] Optionally, the base includes a first base portion, a second base portion, a first sliding portion, a second sliding portion, and a third sliding portion;

[0021] The upper side of the first base is provided with a first screw and two first slide rails located on both sides of the first screw, the two first slide rails are arranged parallel to the first screw and spaced apart, the first sliding part is slidably matched with the two first slide rails and is provided with a threaded part matched with the thread of the first screw, the first screw is connected to the first drive motor, and when the first screw rotates, the first sliding part moves along the axial direction of the first screw;

[0022] A second screw and two second slide rails located on both sides of the second screw are provided at the lower side of the second base, the two second slide rails are arranged parallel to the second screw and spaced apart, the second sliding part is fixedly arranged on the upper side of the first sliding part, and is slidably matched with the two second slide rails, and is provided with a threaded part that is matched with the thread of the second screw;

[0023] The upper side of the second base is provided with a third screw and two third slide rails located on both sides of the third screw, the two third slide rails are arranged in parallel with the third screw and spaced apart, the third sliding part is slidably matched with the two third slide rails and is provided with a threaded part matched with the thread of the third screw, the second screw and the third screw are arranged in the same direction and have opposite thread directions and are connected to the second driving motor through a synchronization mechanism, the second driving motor drives the second screw and the third screw to rotate in the same direction, so that when the third sliding part moves along the axial direction of the third screw, the second base moves in the same direction with the third sliding part at the same time, and when the third sliding part moves to a maximum stroke, the second base moves to a maximum stroke in the same direction;

[0024] The supporting arm is installed on the third sliding part and moves along with the third sliding part.

[0025] Optionally, a brick blocking block is provided on one side of the brick supporting frame, and the brick blocking block is installed on the brick supporting frame through an adjusting rod, and the distance between the brick blocking block and the brick supporting frame is adjusted by adjusting the length of the adjusting rod extending out of the brick supporting frame.

[0026] Optionally, the suction cup seat is two long arms arranged at intervals, each long arm is provided with multiple suction cups, the two long arms are movably mounted on the mounting seat for adjusting the distance between the two long arms, and the mounting seat is connected to the second adjustment shaft.

[0027] Optionally, the scraper is detachably mounted on the support arm; and / or

[0028] Baffles are provided at both ends of the scraper, which are installed vertically to the scraper. A plurality of mounting holes are provided on the scraper at intervals along the width direction of the scraper. The baffles are installed on the scraper through different mounting holes to adjust the distance between the two baffles.

[0029] Optionally, the synchronization mechanism includes a first drive wheel, a first transmission wheel, a second transmission wheel, a tensioning wheel and a synchronous belt. The first drive wheel is connected to the second drive motor, the first transmission wheel is connected to the second screw rod, the second transmission wheel is connected to the third screw rod, the first drive wheel, the first transmission wheel, the second transmission wheel and the tensioning wheel are distributed in a rectangular shape, and the synchronous belt is sleeved on the outside of the first drive wheel, the first transmission wheel, the second transmission wheel and the tensioning wheel.

[0030] Optionally, the support arm is rotatably mounted on the third sliding portion via a rotating mechanism, so that the support arm can be switched between a state of being arranged in the first direction and a state of being arranged in the second direction.

[0031] Optionally, the inclination angle of the inclined surface is 60° to 80°.

[0032] The above technical solution of the present invention has the following advantages:

[0033] The adhesive coating robot for laying bricks provided by the present invention comprises a movable chassis, a brick supply device, a coating and scraping device, and a destacking device. The brick supply device has an inclined brick support frame, which is arranged below the destacking device. The destacking device can be adjusted in pitch and rotation, and cooperates with the brick supply device to realize automatic and convenient brick taking. At the same time, after taking the brick, the brick is turned over to a state of applying adhesive (with the back facing up), and support is provided for the brick during the entire coating process. The whole process has a high degree of automation, which reduces manual participation and reduces dependence on manual labor. The inclined surface of the brick supply device and the movable brick support frame can be designed so that the brick stack can be retracted during the discharge and coating process of the discharge port, and restored to its original position when supplying bricks, so as to avoid the adhesive dripping on the front of the laying bricks on the brick supply device, thereby avoiding the failure of brick taking due to contamination of the adhesive. In addition, compared with conveying structures such as conveyor belts, the brick supply device design of the present invention can reduce the overall size of the equipment to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings of the present invention are provided for illustrative purposes only, and the proportions and quantities of the components in the drawings may not necessarily be consistent with the actual products.

[0035] Figure 1 It is a side view structural schematic diagram of a brick-laying adhesive applying robot in an embodiment of the present invention in a brick-laying state (the material supply pipe and the air supply pipe are omitted);

[0036] Figure 2 yes Figure 1 A schematic diagram of the structure of the adhesive applying robot for laying bricks in the applying state;

[0037] Figure 3 yes Figure 2 A schematic diagram of the structure of the robot applying adhesive for laying bricks from another angle;

[0038] Figure 4 is a schematic structural diagram of a chassis in an embodiment of the present invention;

[0039] Figure 5 It is a structural schematic diagram of a brick supply device in an embodiment of the present invention;

[0040] Figure 6 yes Figure 5 A schematic diagram of the side structure of the central brick supply device;

[0041] Figure 7 1 is a schematic structural diagram of a coating and scraping device according to an embodiment of the present invention;

[0042] Figure 8 is a schematic structural diagram of a state of a base in an embodiment of the present invention;

[0043] Fig. 9 yes Figure 8 A magnified schematic diagram of the middle part;

[0044] Fig.10 yes Figure 8 A schematic diagram of the side structure of the middle base;

[0045] Fig.11 yes Figure 8 A structural schematic diagram of another state of the middle base;

[0046] Fig.12 It is a structural schematic diagram of a depalletizing device in an embodiment of the present invention.

[0047] In the figure:

[0048] 100: paving bricks;

[0049] 1: Chassis;

[0050] 2: Brick supply device;

[0051] 21: Mounting frame;

[0052] 22: Brick frame;

[0053] 221: Brick bottom surface;

[0054] 222: Brick block;

[0055] 223: Adjustment rod;

[0056] 23: first mounting portion;

[0057] 231: first rail;

[0058] 232: first slider;

[0059] 233: first rack;

[0060] 234: First gear;

[0061] 24: first motor;

[0062] 25: second mounting portion;

[0063] 251: Second guide rail;

[0064] 252: second slider;

[0065] 253: second rack;

[0066] 26: Second motor;

[0067] 3: Scraping device;

[0068] 31: base;

[0069] 311: first base;

[0070] 3111: first screw rod;

[0071] 3112: first slide rail;

[0072] 312: second base;

[0073] 3121: second screw rod;

[0074] 3122: the third screw rod;

[0075] 3123: Second slide rail;

[0076] 3124: The third slide rail;

[0077] 313: first sliding part;

[0078] 314: second sliding portion;

[0079] 315: third sliding portion;

[0080] 316: first driving motor;

[0081] 317: second driving motor;

[0082] 318: Synchronous mechanism;

[0083] 3181: first driving wheel;

[0084] 3182: first transmission wheel;

[0085] 3183: second transmission wheel;

[0086] 3184: tensioner;

[0087] 3185: Timing belt;

[0088] 319: Rotation mechanism;

[0089] 32: support arm;

[0090] 33: cloth moving part;

[0091] 34: Scraper;

[0092] 341: baffle;

[0093] 35: material tube rack;

[0094] 36: Quick release buckle;

[0095] 4: Destacking device;

[0096] 41: Two-axis adjustment mechanism;

[0097] 411: Adjustment seat;

[0098] 412: Connecting seat;

[0099] 413: first adjustment axis;

[0100] 414: second adjustment axis;

[0101] 42: Suction cup;

[0102] 421: long arms;

[0103] 422: Suction cup;

[0104] 423: Mounting seat;

[0105] 5: Electric control cabinet;

[0106] 6: Gas cabinet;

[0107] 7: Pumping device;

[0108] 71: discharge port;

[0109] 8: Pipe rack plate;

[0110] 81: hinge;

[0111] 82: Pipe blocking part. DETAILED DESCRIPTION

[0112] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0113] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0114] Furthermore, the terms “first”, “second”, and “third” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0115] The first direction and the second direction in the present invention are artificially defined directions, mainly for the convenience of describing the relative motion orientation relationship of related components. Figure 1 The left-right direction in the figure is the first direction, and the direction perpendicular to the first direction in the horizontal direction is the second direction, that is, Figure 1 In the direction perpendicular to the paper surface.

[0116] like Figure 1 to Figure 3 As shown, an adhesive coating robot for paving tiles provided in an embodiment of the present invention comprises a movable chassis 1, a tile supply device 2, a coating and scraping device 3, and a destacking device 4. The movable chassis 1 is a chassis that can be moved on the ground as needed, and can adopt a commonly used chassis in the prior art, preferably, a movable wheeled chassis is selected.

[0117] See also Figure 1 to Figure 3 , Figure 5 and Figure 6 As shown, the brick supply device 2 includes a mounting frame 21 and a brick support frame 22. The mounting frame 21 is movably mounted on the chassis 1 through a first mounting portion 23, and can move horizontally along a first direction on the chassis 1, and is used to adjust the distance of the mounting frame 21 from the chassis 1 in the horizontal direction. The mounting surface of the mounting frame 21 is an inclined surface, and the inclination angle of the inclined surface is an acute angle. The brick support frame 22 is movably mounted on the mounting surface through a second mounting portion 25, and can move back and forth along the inclination direction of the inclined surface, and is used to adjust the height of the mounting frame 21 and the distance from the chassis 1 in the horizontal direction. The brick support frame 22 includes a brick support surface and a brick support bottom surface 221 perpendicular to the brick support surface, and the brick support surface is parallel to the inclined surface.

[0118] See also Figure 7 As shown, the coating and scraping device 3 includes a base 31, a support arm 32, a cloth moving part 33 and a scraper 34. The support arm 32 is installed on the base 31. The length direction of the support arm 32 is arranged along the first direction, and the support arm 32 can be horizontally reciprocated in the second direction through the base 31. The second direction is perpendicular to the first direction. The cloth moving part 33 is used to fix the discharge port 71 of the discharge pipe, and is movably installed on the support arm 32, and can drive the discharge port 71 of the discharge pipe to move along the first direction on the support arm 32. The scraper 34 is installed on the lower side of the support arm 32.

[0119] See also Figure 1 to Figure 3 and see Fig.12As shown, the destacking device 4 is arranged below the floor coating and scraping device 3, and includes a two-axis adjustment mechanism 41 and a suction cup part 42. The suction cup part 42 includes a suction cup seat and a plurality of suction cups 422 arranged at intervals on the suction cup seat. The two-axis adjustment mechanism 41 includes an adjustment seat 411, a first adjustment shaft 413 and a second adjustment shaft 414. The two-axis adjustment mechanism 41 is arranged below the base 31. The first adjustment shaft 413 is installed on the base 31 through the connecting seat 412 and is fixed relative to the base 31. One end of the first adjustment shaft 413 is connected to the adjustment seat. 411 is connected, one end of the second adjusting shaft 414 is connected to the adjusting seat 411, and the other end is connected to the suction cup part 42, the axial direction of the first adjusting shaft 413 is parallel to the second direction, the axial direction of the second adjusting shaft 414 is parallel to the first direction, the adjusting seat 411 and the second adjusting shaft 414 can rotate around the first adjusting shaft 413, so that the suction surface of the suction cup 422 is parallel to the paving brick 100 to be taken placed on the brick supporting frame 22, and the suction cup part 42 can rotate circumferentially around the second adjusting shaft 414, so as to flip the sucked paving brick 100.

[0120] See also Figure 1 to Figure 3 As shown, when in use, a plurality of paving bricks 100 are placed on the brick support frame 22 to form a brick pile. Since the brick support surface is an inclined surface, the stability of the placement of the paving bricks 100 can be better ensured. Under the action of the first adjustment shaft 413, the suction cup part 42 rotates downward to the paving brick 100 to be taken, and the suction surface of the suction cup 422 is parallel to the surface of the paving brick 100 to be taken. After the paving brick 100 to be taken is adsorbed to the suction cup 422, the suction cup part 42 rotates and places the taken paving brick 100 0 is turned 180° so that the back of the taken paving tile 100 faces upward and reaches the bottom of the scraping device 3. The adhesive is discharged from the discharge port to the back of the paving tile 100, and under the action of the cloth moving part 33, the adhesive is piled on the width direction of the paving tile 100. Then the scraper 34 moves along the length direction of the paving tile 100 to evenly scrape the adhesive to the entire back of the paving tile 100. The paving tile with the scraped adhesive is handed over to the automatic tiling equipment or manually for tiling operation. Then the mounting frame 21 is moved leftward ( Figure 1 The robot is capable of placing multiple paving bricks at a time, with a high degree of automation, reducing manual involvement and dependence on manual labor. In addition, compared with conveying structures such as conveyor belts, the design of the brick supply device of the present invention can reduce the overall size of the equipment to a certain extent, and is suitable for more scenarios. In addition, due to the inclination of the brick support frame and the ability to drive the brick stack to move in the height direction and the horizontal direction, the brick stack can be retracted (no longer located below the coating position) during the discharge and coating process of the discharge port, and restored to its original position when the bricks are supplied, so as to avoid the adhesive from dripping onto the front of the paving bricks on the brick supply device, thereby avoiding the failure of brick retrieval due to contamination of the adhesive.

[0121] In this embodiment, the cloth moving part 33 only needs to be able to move in a specified direction and have a structure with a fixed discharge port. For example, the cloth moving part 33 is in the shape of a block and is provided with a fixed hole matching the size of the discharge pipe, and the discharge pipe can be inserted. The cloth moving part 33 can be driven by a motor, and the specific movement can be connected to a transmission belt to achieve transmission. In order to maintain stable movement, a slide rail can be provided at the same time. After being driven, the cloth moving part 33 slides along the slide rail, which will not be repeated here.

[0122] Since the cloth moving part 33 and the coating device 3 will move during the coating process, in order to meet the movement requirements of the discharge pipe and provide better fixation, in one example, see Figure 7 As shown, a material pipe rack 35 is provided above the support arm 32 for fixing the material discharge pipe (the material pipe rack 35 is not shown in the figure). The material pipe rack is provided with a through hole, and the material discharge pipe passes through the through hole and is then fixed to the cloth moving part 33.

[0123] See also Figures 4 to 6 As shown, in one example, the first mounting portion 23 includes two first guide rails 231, two first sliders 232 respectively matched with the two first guide rails 231, a first rack 233 and a first gear 234 matched with the first rack 233. The two first guide rails 231 are arranged in parallel and spaced apart on the upper side of the chassis 1, the two first sliders 232 are arranged on the lower side of the mounting frame 21, the first rack 233 is installed on the upper side of the chassis 1 and arranged along the length direction of the first guide rails 231, and is located between the two first guide rails 231. The first motor 24 is fixed on the mounting frame 21, and the first gear 234 is connected to the first motor 24. When the first motor 24 is working, the first gear 234 rotates and drives the mounting frame 21 to move along the first guide rails 231.

[0124] The second mounting portion 25 includes two second guide rails 251, two second sliders 252 respectively matched with the two second guide rails 251, a second rack 253 and a second gear (not shown in the figure) matched with the second rack 253. The two second guide rails 251 are arranged in parallel and spaced apart on the mounting surface, the two second sliders 252 are arranged on the brick supporting frame 22, the second rack 253 is installed on the brick supporting frame 22, and is arranged along the length direction of the second guide rails 251 and is located between the two second guide rails 251. The second motor 26 is fixed on the mounting frame 21, and the second gear is connected to the second motor 26. When the second motor 26 is working, the second gear rotates and drives the brick supporting frame 22 to move along the second guide rails 251.

[0125] In order to avoid that some paving bricks 100 are not stacked properly (for example, the angle changes due to being too close) or the brick stacking rack 22 fails to move into place, resulting in the suction surface of the suction cup 422 and the surface of the paving brick 100 to be taken not meeting the parallel deviation requirements and causing the brick taking to fail, in one example, three ranging sensors are provided on the suction cup part 42. The three ranging sensors are distributed in a triangle and are used to detect whether the paving brick 100 to be taken is parallel to the suction surface of the suction cup 422. In order to further improve the level of automation, in this example, the adhesive applying robot for paving tiles 100 also includes a controller (not shown in the figure), and the ranging sensor, the two-axis adjustment mechanism 41, the first motor 24 and the second motor 26 are connected to the controller signal. When it is detected that the paving tile 100 to be taken and the suction surface of the suction cup 422 are not parallel, the controller adjusts the position of the suction cup part 42 through the two-axis adjustment mechanism 41 according to the measured distance difference and / or controls the movement of the mounting frame 21 through the first motor 24 and the second motor 26, so that the suction surface of the suction cup 422 is parallel to the paving tile 100 to be taken.

[0126] In this embodiment, the adhesive material can be fed outside the robot, for example, by placing a barrel on site for feeding. Similarly, the air supply can be realized by using a tube and a vacuum pump or similar structure outside the robot to pick up the object with a suction cup. The above are all existing technologies and will not be described in detail here. This embodiment provides a preferred solution, see Figure 1 to Figure 3 As shown, an electric control cabinet 5 is also provided on the upper side of the chassis 1 for integrated installation of electric control equipment. Further preferably, a gas cabinet 6 is also provided above the electric control cabinet 5 for installing the gas control device of the suction cup 422. A pumping device 7 is also provided on the chassis 1 for providing adhesive material to the nozzle 71 of the discharge pipe. A accommodating space is provided on one side of the electric control cabinet 5, or the electric control cabinet 5 is divided into two parts arranged at intervals, and an accommodating space is formed between the two electric control cabinets arranged at intervals. The pumping device 7 is arranged in the accommodating space, which can more conveniently supply materials and perform gas control, and the layout is more suitable, so that the size of the entire robot is relatively smaller. In addition, this structure can make the discharge pipe ( Figure 1 to Figure 3 The discharge pipe is omitted and only Figure 7 The example in the figure shows a section of the discharge port of the discharge pipe) arranged outside the robot for easy cleaning. It should be noted that the pumping device 7 generally includes a silo and a pump, which is a prior art and will not be described in detail here.

[0127] In order to facilitate the fixation of the discharge pipe and avoid the possible leakage of the discharge pipe and contamination of the robot, in an example, see Figure 1 to Figure 3 As shown, there is a pipe rack plate 8 above the gas cabinet 6, and a discharge pipe (not shown in the figure) is mounted on the pipe rack plate 8 and one end of the pipe is connected to the pump device 7, and the other end is fixed to the discharge moving part 33.

[0128] In order to allow the discharge pipe to move a certain amount without falling during the movement, in one example, see Figure 1 and Figure 3 As shown, a plurality of pipe-blocking portions 82 protruding from the pipe rack plate 8 are provided around the pipe rack plate 8. The pipe-blocking portions 82 may be protrusions protruding from the surface of the pipe rack plate 8, or may be pins or screws, etc. Preferably, a plurality of pipe-blocking portions 82 are distributed around the pipe rack plate 8 at intervals, for example, a pipe-blocking portion 82 is provided at each of the four corners.

[0129] In order to avoid possible leakage from the discharge pipe and contamination of the robot and facilitate maintenance and cleaning of the base 31, in one example, the pipe rack plate 8 is divided into two parts, one part of which is fixed on the gas cabinet 6, and the other part is located above the base 31. The part of the pipe rack plate 8 located above the base 31 and the part fixed to the gas cabinet 6 are connected by a hinge 81, so that the part of the pipe rack plate 8 located above the base 31 can be folded toward the side of the gas cabinet 6.

[0130] In order to enable the robot to match paving tiles of different sizes, in one example, see Figure 8 and Fig.11 As shown, the base 31 is a multi-stage moving mechanism, including a first base 311, a second base 312, a first sliding part 313, a second sliding part 314 and a third sliding part 315. Among them, a first screw rod 3111 and two first slide rails 3112 located on both sides of the first screw rod 3111 are provided on the upper side of the first base 311, and the two first slide rails 3112 are arranged parallel to the first screw rod 3111 and spaced apart, the first sliding part 313 is slidably matched with the two first slide rails 3112 and is provided with a threaded part (nut or threaded hole) threadedly matched with the first screw rod 3111, the first screw rod 3111 is connected to the first drive motor 316, and when the first screw rod 3111 rotates, the first sliding part 313 moves along the axial direction of the first screw rod 3111.

[0131] A second screw rod 3121 and two second slide rails 3123 located on both sides of the second screw rod 3121 are provided on the lower side of the second base 312. The two second slide rails 3123 are arranged parallel to and spaced apart from the second screw rod 3121. The second sliding portion 314 is fixedly arranged on the upper side of the first sliding portion 313 and slidingly cooperates with the two second slide rails 3123, and is provided with a threaded portion that threadably cooperates with the second screw rod 3121.

[0132] A third screw rod 3122 and two third slide rails 3124 located on both sides of the third screw rod 3122 are provided on the upper side of the second base 312, the two third slide rails 3124 are arranged parallel to the third screw rod 3122 and spaced apart, the third sliding portion 315 is slidably matched with the two third slide rails 3124 and is provided with a threaded portion that is threadedly matched with the third screw rod 3122, the second screw rod 3121 and the third screw rod 3122 are arranged in the same direction and have opposite thread directions and are connected to the second drive motor 317 through a synchronization mechanism 318, the second drive motor 317 drives the second screw rod 3121 and the third screw rod 3122 to rotate in the same direction, so that when the third sliding portion 315 moves along the axial direction of the third screw rod 3122, the second base 312 moves in the same direction with the third sliding portion 315 at the same time, and when the third sliding portion 315 moves to the maximum stroke, the second base 312 moves to the maximum stroke in the same direction (see Figure 8 and Fig.11 As shown in the figure, the support arm 32 is mounted on the third sliding part 315 and moves with the third sliding part 315. The base 31 can have a larger stroke in a minimum size to be suitable for more and larger sized paving tiles.

[0133] In one example, see Figure 8 and Fig. 9 As shown, the synchronization mechanism 318 includes a first driving wheel 3181, a first transmission wheel 3182, a second transmission wheel 3183, a tensioning wheel 3184 and a synchronous belt 3185. The first driving wheel 3181 is connected to the second driving motor 317, the first transmission wheel 3182 is connected to the second screw rod 3121, the second transmission wheel 3183 is connected to the third screw rod 3122, the first driving wheel 3181, the first transmission wheel 3182, the second transmission wheel 3183 and the tensioning wheel 3184 are distributed in a rectangular shape, and the synchronous belt 3185 is sleeved on the outer sides of the first driving wheel 3181, the first transmission wheel 3182, the second transmission wheel 3183 and the tensioning wheel 3184, so that one motor drives the second screw rod 3121 and the third screw rod 3122 to rotate synchronously.

[0134] In order to stack the tiles more conveniently and neatly, in one example, see Figure 5 and Figure 6 As shown, a brick block 222 is provided on one side of the brick frame 22, and the brick block 222 is mounted on the brick frame 22 via an adjusting rod 223. The distance between the brick block 222 and the brick frame 22 is adjusted by adjusting the length of the adjusting rod 223 extending out of the brick frame 22, so as to be suitable for paving bricks of different sizes. The extending length of the adjusting rod 223 can be adjusted by using existing technology, for example, it can be fixed to the mounting holes at different positions.

[0135] In order to achieve a stable brick removal effect when matching paving bricks of different sizes, in one example, see Fig.12As shown, the suction cup seat is two long arms 421 arranged at intervals, each long arm 421 is provided with a plurality of suction cups 422, and the two long arms 421 are movably mounted on a mounting seat 423 for adjusting the distance between the two long arms 421, and the mounting seat 423 is connected to the second adjustment shaft 414. It should be noted that the two long arms 421 can be movably mounted on the mounting seat 423 using existing technology, for example, sliding along the slide rail, and a plurality of limiting holes are provided at intervals along the direction of the slide rail, and when adjusted in place, a latch or a screw is used to cooperate with the corresponding limiting hole to achieve limiting.

[0136] In order to facilitate cleaning and replacement of the scraper 34, in one example, see Figure 7 As shown, the scraper 34 is detachably mounted on the support arm 32, for example, by a quick release buckle 36 to achieve quick release and quick installation. The quick release buckle 36 is a prior art and will not be described in detail here. In order to achieve a good scraping effect when matching paving tiles of different sizes, in one example, baffles 341 are provided at both ends of the scraper 34. The baffles 341 are installed perpendicular to the scraper 34. The scraper 34 is provided with a plurality of mounting holes at intervals along the width direction of the scraper 34. The baffles 341 are installed on the scraper 34 through different mounting holes, and are used to adjust the distance between the two baffles 341 to match the scraping of paving tiles of different sizes.

[0137] In order to further reduce the size of the robot and facilitate transfer and transportation, in one example, see Figure 8 As shown, the support arm 32 is rotatably mounted on the third sliding part 315 through a rotating mechanism 319, so that the support arm 32 can be switched between the state of being arranged in the first direction and the state of being arranged in the second direction, that is, the support arm 32 is in a display state when in use, and the support arm 32 can be folded during transportation. The rotating mechanism 319 adopts existing technology, for example, a bearing structure, the outer ring of the bearing is fixedly connected to the third sliding part 315, and the inner ring is connected to the support arm 32. After being adjusted in place, a latch is used to cooperate with a limiting hole or other existing limiting mechanisms for limiting.

[0138] In this embodiment, preferably, the inclination angle of the inclined surface is 60° to 80°, for example, 60°, 65°, 70°, 75°, etc.

[0139] Parts not described in detail in the present invention are common knowledge or prior art in the art.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that not every embodiment contains only one independent technical solution. In the absence of a conflict of solutions, the various technical features mentioned in each embodiment can be combined in any manner to form other implementation methods that can be understood by those skilled in the art.

[0141] In addition, without departing from the scope of the present invention, the technical solutions described in the aforementioned embodiments may be modified, or some of the technical features may be replaced by equivalents, without causing the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot for applying adhesive for laying bricks, characterized in that: include: Movable chassis, capable of moving on the ground; The brick supply device comprises a mounting frame and a brick-bearing frame, wherein the mounting frame is movably mounted on the chassis via a first mounting portion and can be horizontally moved in a first direction on the chassis, the mounting surface of the mounting frame is an inclined surface, the inclination angle of the inclined surface is an acute angle, the brick-bearing frame is movably mounted on the mounting surface via a second mounting portion and can be reciprocated along the inclination direction of the inclined surface, the brick-bearing frame comprises a brick-bearing surface and a brick-bearing bottom surface perpendicular to the brick-bearing surface, and the brick-bearing surface is parallel to the inclined surface; A coating and scraping device, comprising a base, a support arm, a cloth moving part and a scraper, wherein the support arm is mounted on the base, and its length direction is arranged along the first direction, and can reciprocate horizontally in a second direction, and the second direction is perpendicular to the first direction, the cloth moving part is used to fix the discharge port of the discharge pipe, and is movably mounted on the support arm, and can drive the discharge port of the discharge pipe to move along the first direction on the support arm, and the scraper is mounted on the lower side of the support arm; as well as The destacking device is arranged below the scraping device, and includes a two-axis adjustment mechanism and a suction cup part. The suction cup part includes a suction cup seat and a plurality of suction cups arranged at intervals on the suction cup seat. The two-axis adjustment mechanism includes an adjustment seat, a first adjustment axis and a second adjustment axis. The two-axis adjustment mechanism is arranged below the base. The first adjustment axis is fixed relative to the base, one end of the first adjustment axis is connected to the adjustment seat, one end of the second adjustment axis is connected to the adjustment seat, and the other end is connected to the suction cup part. The axial direction of the first adjustment axis is parallel to the second direction, and the axial direction of the second adjustment axis is parallel to the first direction. The adjustment seat and the second adjustment axis can rotate around the first adjustment axis so that the suction surface of the suction cup is parallel to the paving bricks to be taken placed on the brick supporting frame, and the suction cup part can rotate circumferentially around the second adjustment axis for flipping the sucked paving bricks.

2. The adhesive applying robot for laying tiles according to claim 1 is characterized in that: The first mounting portion includes two first guide rails, two first sliders respectively matched with the two first guide rails, a first rack and a first gear matched with the first rack, the two first guide rails are arranged in parallel and spaced apart on the upper side of the chassis, the two first sliders are arranged on the lower side of the mounting frame, the first rack is installed on the upper side of the chassis and arranged along the length direction of the first guide rails, and is located between the two first guide rails, the first motor is fixed on the mounting frame, the first gear is connected to the first motor, and when the first motor is working, the first gear rotates and drives the mounting frame to move along the first guide rail; The second mounting portion includes two second guide rails, two second sliders respectively matched with the two second guide rails, a second rack and a second gear matched with the second rack. The two second guide rails are arranged on the mounting surface in parallel and at intervals. The two second sliders are arranged on the brick supporting frame. The second rack is installed on the brick supporting frame and is arranged along the length direction of the second guide rails and is located between the two second guide rails. The second motor is fixed on the mounting frame. The second gear is connected to the second motor. When the second motor is working, the second gear rotates and drives the brick supporting frame to move along the second guide rail.

3. The adhesive applying robot for laying tiles according to claim 2, characterized in that: The suction cup part is provided with three distance measuring sensors, which are distributed in a triangle and are used to detect whether the paving brick to be taken is parallel to the suction surface of the suction cup; The adhesive applying robot for paving tiles also includes a controller, and the distance measuring sensor, the two-axis adjustment mechanism, the first motor and the second motor are connected to the controller signal. When it is detected that the paving tile to be taken and the suction surface of the suction cup are not parallel, the controller adjusts the position of the suction cup part through the two-axis adjustment mechanism according to the measured distance difference and / or controls the movement of the mounting frame through the first motor and the second motor, so that the suction surface of the suction cup is parallel to the paving tile to be taken.

4. The adhesive applying robot for laying tiles according to claim 1, characterized in that: An electric control cabinet is also provided on the upper side of the chassis for integrating and installing electric control equipment; A gas cabinet is also provided above the electric control cabinet for installing the gas control device of the suction cup; The chassis is also provided with a pumping device for providing adhesive material to the pipe mouth of the discharge pipe. A accommodating space is provided on one side of the electric control cabinet, or the electric control cabinet is divided into two parts arranged at an interval, and an accommodating space is formed between the two electric control cabinets arranged at an interval, and the pumping device is arranged in the accommodating space.

5. The adhesive applying robot for laying tiles according to claim 4, characterized in that: There is also a pipe rack plate above the gas cabinet, and the discharge pipe is mounted on the pipe rack plate with one end connected to the pumping device and the other end fixed to the discharge moving part.

6. The adhesive applying robot for laying tiles according to claim 5, characterized in that: The pipe rack plate is divided into two parts, one of which is fixed on the gas cabinet, and the other is located above the base. The part of the pipe rack plate located above the base and the part fixed to the gas cabinet are connected by hinges, so that the part of the pipe rack plate located above the base can be folded toward one side of the gas cabinet; and / or A plurality of pipe-blocking parts higher than the pipe rack plate are arranged around the pipe rack plate.

7. The adhesive applying robot for laying tiles according to claim 1, characterized in that: The base includes a first base, a second base, a first sliding portion, a second sliding portion and a third sliding portion; A first screw and two first slide rails located on both sides of the first screw are provided on the upper side of the first base, the two first slide rails are arranged parallel to the first screw and spaced apart, the first sliding portion is slidably matched with the two first slide rails and is provided with a threaded portion that is matched with the thread of the first screw, the first screw is connected to a first driving motor, and when the first screw rotates, the first sliding portion moves along the axial direction of the first screw; A second screw and two second slide rails located on both sides of the second screw are provided at the lower side of the second base, the two second slide rails are arranged parallel to the second screw and spaced apart, the second sliding portion is fixedly arranged on the upper side of the first sliding portion, and is slidably matched with the two second slide rails, and is provided with a threaded portion that is threadedly matched with the second screw; A third screw and two third slide rails located on both sides of the third screw are provided on the upper side of the second base, the two third slide rails are arranged in parallel with the third screw and spaced apart, the third sliding part is slidably matched with the two third slide rails and is provided with a threaded part that matches the thread of the third screw, the second screw and the third screw are arranged in the same direction and have opposite thread directions and are connected to the second driving motor through a synchronization mechanism, the second driving motor drives the second screw and the third screw to rotate in the same direction, so that when the third sliding part moves along the axial direction of the third screw, the second base moves in the same direction with the third sliding part at the same time, and when the third sliding part moves to a maximum stroke, the second base moves to a maximum stroke in the same direction; The support arm is installed on the third sliding part and moves with the third sliding part.

8. The adhesive applying robot for laying tiles according to claim 7, characterized in that: A brick blocking block is provided on one side of the brick supporting frame. The brick blocking block is installed on the brick supporting frame through an adjusting rod. The distance between the brick blocking block and the brick supporting frame is adjusted by adjusting the length of the adjusting rod extending out of the brick supporting frame.

9. The adhesive applying robot for laying tiles according to claim 7, characterized in that: The suction cup seat is two long arms arranged at intervals, each of the long arms is provided with a plurality of suction cups, and the two long arms are movably mounted on a mounting seat for adjusting the distance between the two long arms, and the mounting seat is connected to the second adjustment shaft.

10. The robot for applying adhesive for laying tiles according to claim 7, characterized in that: The scraper is detachably mounted on the support arm; and / or Baffles are provided at both ends of the scraper, and the baffles are installed perpendicular to the scraper. A plurality of mounting holes are provided on the scraper at intervals along the width direction of the scraper. The baffles are installed on the scraper through different mounting holes to adjust the distance between the two baffles.

11. The adhesive applying robot for laying tiles according to claim 7, characterized in that: The synchronization mechanism includes a first driving wheel, a first transmission wheel, a second transmission wheel, a tensioning wheel and a synchronous belt. The first driving wheel is connected to the second driving motor, the first transmission wheel is connected to the second screw rod, the second transmission wheel is connected to the third screw rod, the first driving wheel, the first transmission wheel, the second transmission wheel and the tensioning wheel are distributed in a rectangular shape, and the synchronous belt is sleeved on the outside of the first driving wheel, the first transmission wheel, the second transmission wheel and the tensioning wheel.

12. The robot for applying adhesive for laying tiles according to claim 7, characterized in that: The support arm is rotatably mounted on the third sliding portion via a rotation mechanism, so that the support arm can be switched between a state of being arranged along the first direction and a state of being arranged along the second direction.

13. The robot for applying adhesive for laying tiles according to claim 1, characterized in that: The inclination angle of the inclined surface is 60° to 80°.

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