Automatic indoor floor tile paving robot based on IRB mechanical arm and control method thereof

Abstract

The invention discloses an automatic indoor floor tile paving robot based on an IRB mechanical arm and a control method, the automatic indoor floor tile paving robot comprises a moving mechanism, the top of the moving mechanism is provided with a shell structure, and the shell structure is provided with an IRB mechanical arm mechanism used for sucking and releasing floor tiles and a mortar conveying mechanism used for slowly and uniformly conveying mortar to the ground; the mortar conveying mechanism is located on one side of the IRB mechanical arm mechanism, and a floor tile containing area used for containing floor tiles is arranged on the portion, located on the other side of the IRB mechanical arm mechanism, of the shell structure. According to the floor tile paving robot, by integrating the moving mechanism, the IRB mechanical arm mechanism, the mortar conveying mechanism and the floor tile placement area, floor tile paving automation is achieved, the paving efficiency and quality are remarkably improved, the labor cost is reduced, and meanwhile the mortar conveying uniformity and the floor tile placement accuracy are ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of building decoration, and in particular to an automatic indoor floor tile paving robot based on an IRB mechanical arm and a control method thereof. Background Art

[0002] In house construction, floor decoration is a crucial link, which not only affects the aesthetics of the interior, but also is directly related to the comfort and safety of the residents. The traditional floor decoration method is mainly to lay floor tiles by manual laying, that is, the workers manually pour the mortar, and then use a scraper to spread the mortar evenly. After the mortar is laid and spread evenly, the workers carefully measure the position of each floor tile according to the design drawings, and then gently place the floor tile on the mortar, and make it tightly combined with the mortar by knocking or pressing. Although manual laying of indoor floor tiles can be completed, due to human factors, Due to the uncontrollability of labor operations, during the process of laying floor tiles, workers manually press them to make them tightly combined with the mortar. If they are careless, when workers use too much force or press to the corners, the tiles are easily broken, causing injuries to the workers, thereby extending the construction period and increasing labor costs. At the same time, the floor tiles are placed manually on the evenly spread mortar. After placement, the workers are required to correct the position of the tiles by knocking to avoid excessive gaps between adjacent tiles, which affects the appearance and stability. Therefore, the existing manual laying of floor tiles is time-consuming and labor-intensive, and the workers are very strong. Summary of the invention

[0003] In order to solve the problem that the existing manual laying of floor tiles is time-consuming and labor-intensive and the workers have high strength, the present invention provides an automatic indoor floor tile laying robot based on an IRB mechanical arm and a control method thereof.

[0004] To achieve the above object, the present invention provides the following technical solutions: The present invention proposes an automatic indoor floor tile paving robot based on an IRB robotic arm, comprising a moving mechanism, a shell structure installed on the top of the moving mechanism, an IRB robotic arm mechanism for sucking and placing floor tiles and a mortar conveying mechanism for slowly and evenly conveying mortar to the ground installed on the shell structure, the mortar conveying mechanism is located on one side of the IRB robotic arm mechanism, and a floor tile placement area for placing floor tiles is provided on the shell structure on the other side of the IRB robotic arm mechanism.

[0005] Preferably, the IRB mechanical arm mechanism comprises a fixed part, the fixed part is mounted on the housing structure, a rotating part is mounted on the fixed part, and a BC straight rod is rotatably connected to the top of the rotating part; The rotating part is connected to a C-axis rocker, the C-axis rocker is rotatably connected to a BC connecting rod, the top end of the BC connecting rod is connected to a CD rod, the CD rod is rotatably connected to the top end of the BC straight rod, and the end of the CD rod away from the BC straight rod is connected to a vacuum suction cup for sucking floor tiles.

[0006] Preferably, the fixed part includes a fixed base shell, the fixed base shell is installed on the shell structure, the top of the fixed base shell is connected to the bottom of the rotating part, and a synchronous pulley is rotatably connected to the position corresponding to the rotating part in the fixed base shell, the synchronous pulley is connected to the bottom of the rotating part, the synchronous pulley is connected to a small pulley through a transmission belt, the small pulley is connected to the output shaft of the motor, and the motor is installed in the fixed base shell.

[0007] Preferably, the rotating part comprises a rotating base shell, and the bottom of the rotating base shell is connected to the synchronous pulley; A central screw is provided in the rotating base housing, and a second bearing is installed between the central screw and the rotating base housing; The central screw is connected to the bottom of the BC straight rod, and a shuttle-shaped steering disc is installed on the BC straight rod at the position of one end of the central screw, and the shuttle-shaped steering disc is connected to a right motor; A left motor is installed on the rotating base shell at a position symmetrical to the right motor, and an output shaft of the left motor is connected to a circular steering wheel, which is mounted on the C-axis rocker.

[0008] Preferably, the moving mechanism comprises a vehicle body frame, a McDonnell Douglas wheel mechanism is mounted on the vehicle body frame, a driving motor is connected to the McDonnell Douglas wheel mechanism, and the driving motor is mounted in the vehicle body frame.

[0009] Preferably, the wheat wheel mechanism includes a transmission shaft, one end of the transmission shaft is connected to the output shaft of the drive motor, and two hubs are installed on the end head of the other end of the transmission shaft, the hubs are connected to spokes, a core shaft is installed between the two spokes, and a roller is installed on the core shaft.

[0010] Preferably, the mortar conveying mechanism includes a pressure plate, which is installed in the shell structure. A telescopic part is installed on the pressure plate. The top of the telescopic part is connected to a fixed cap shell, which is installed on the shell structure above the pressure plate. A special-shaped pipe for conveying mortar to the ground is connected to the side of the pressure plate on the shell structure.

[0011] Preferably, the shell structure includes a shell mounting plate, an IRB robotic arm mechanism mounting frame is installed on the shell mounting plate, a mortar conveying mechanism mounting frame for placing mortar is provided on one side of the shell mounting plate located on the IRB robotic arm mechanism mounting frame, the pressure plate is installed in the mortar conveying mechanism mounting frame, and one end of the special-shaped pipe is connected to the side of the mortar conveying mechanism mounting frame away from the IRB robotic arm mechanism mounting frame, and the infrared identifier is installed on the side of the shell mounting plate located on the other side of the IRB robotic arm mechanism mounting frame.

[0012] Preferably, the telescopic member is one or both of a hydraulic cylinder and an electric telescopic rod.

[0013] The present invention proposes an automatic indoor floor tile paving robot control method based on an IRB mechanical arm, which is used to implement the above method, comprising the following steps: Step 1, move the local brick paving robot indoors, and control the mobile mechanism to move to the revealing position for indoor floor tile paving; Step 2, inputting mortar into the position directly below the mortar conveying mechanism in the shell structure, and placing the floor tiles to be laid in the floor tile placement area on the shell structure; Step 3, controlling the mortar conveying mechanism to squeeze the mortar while controlling the moving mechanism to move so as to evenly spread the mortar on the ground; Step 4, start the IRB mechanical arm mechanism to suck the floor tiles placed on the shell structure, move them to the area recognized by the infrared identifier, and lay the floor tiles in the area recognized by the infrared identifier; Step 5, repeat steps 3 to 4 to complete the laying of the indoor floor.

[0014] Compared with the prior art, the present invention has the following beneficial technical effects: The present invention proposes an automatic indoor floor tile paving robot based on an IRB mechanical arm. The local floor tile paving robot can flexibly and accurately move in the indoor space through an integrated moving mechanism, without manual handling and positioning, greatly reducing labor intensity and improving work efficiency. The shell structure, as the main support of the robot, is not only stable and reliable, but also provides a suitable installation platform for the IRB mechanical arm mechanism and the mortar conveying mechanism, ensuring the stability and accuracy of the coordinated work of various components. The IRB mechanical arm mechanism, as a core component, has the characteristics of high precision and high flexibility, and can accurately absorb and place floor tiles, avoiding errors and unevenness that may occur in traditional manual paving, and improving the overall aesthetics and durability of floor tile paving. At the same time, the automated operation of the mechanical arm also reduces manual intervention, further improving work efficiency and safety; the design of the mortar conveying mechanism realizes the slow and uniform delivery of mortar, ensuring that the bonding between the floor tiles and the ground is firm and uniform, improving the quality of floor tile paving, avoiding the problems of uneven thickness and waste of materials that may occur in traditional manual mortar application, and realizing the rational use of resources and cost reduction.

[0015] Furthermore, the local tile-laying robot can easily achieve multi-degree-of-freedom movement through the cooperation of the rotating part and the C-axis rocker, ensuring the precise positioning of the floor tiles during the paving process. The ingenious connection of the BC connecting rod and the CD rod enhances the stability and carrying capacity of the robot arm, making the grabbing and placement of floor tiles smoother and more reliable. The vacuum suction cup, as the direct contact part of the floor tiles, has a strong adsorption ability to ensure the firmness of the floor tiles during the movement, avoiding the risk of floor tiles falling or shifting, thereby improving the quality and efficiency of floor tile paving.

[0016] Furthermore, the local brick paving robot provides a stable and efficient power transmission method for the IRB robotic arm mechanism through a combination of a fixed base shell, synchronous pulley, transmission belt, small pulley and motor. The fixed base shell serves as the supporting basis of the entire robotic arm, ensuring the stability and reliability of the robotic arm. The coordination of the synchronous pulley and the small pulley realizes the smooth transmission of motor power to the rotating part through the transmission belt, ensuring the precise control of the robotic arm in the process of grabbing and placing floor tiles, improving the working efficiency of the robotic arm, and reducing energy consumption and noise, making the entire paving process more environmentally friendly and energy-saving.

[0017] Furthermore, the local brick-laying robot controls the movement of the BC straight rod and the C-axis joystick through a combination of a shuttle-shaped steering wheel and a right motor, as well as a combination of a circular steering wheel and a left motor, respectively. This enables the robotic arm to achieve precise control in multiple directions, improves the flexibility of the robotic arm, and makes the grabbing and placement process of floor tiles more accurate and efficient.

[0018] Furthermore, the local brick-laying robot provides the automatic indoor floor tile-laying robot with efficient and flexible mobility through the combination of a drive motor and a McDonnell Douglas mechanism, realizing the robot's all-round movement in the indoor space, including forward, backward, turning and other actions, greatly improving the robot's flexibility and adaptability; the McDonnell Douglas mechanism realizes the rolling of the roller on the ground through the combination of a transmission shaft, a wheel hub, a wheel spoke, a core shaft and a roller, thereby reducing the friction resistance during the movement and improving the movement efficiency. The all-round mobility of the McDonnell Douglas mechanism also enables the robot to flexibly shuttle in complex environments, avoiding the possible movement restrictions of traditional wheeled robots and improving the mobility flexibility of the local brick-laying robot.

[0019] Furthermore, the mortar conveying mechanism in the local brick paving robot realizes the slow and uniform conveyance of mortar to the ground through the combination of pressure plate, telescopic part, fixed cap shell and special-shaped pipe, which greatly improves the quality and efficiency of floor tile paving. The pressure plate is driven by the telescopic part to realize uniform extrusion of mortar, avoiding the uneven thickness problem that may occur in traditional manual mortar application. The telescopic part adopts one or both of hydraulic cylinder and electric telescopic rod, which not only provides sufficient driving force, but also realizes precise control of the mortar delivery amount, thereby ensuring that the bond between the floor tiles and the ground is firm and uniform. The fixed cap shell serves as the fixed component of the telescopic part, ensuring the stability and reliability of the telescopic part during work. The design of the special-shaped pipe realizes the precise delivery of mortar, avoids the waste and pollution of mortar during the transportation process, and improves the quality and environmental protection of floor tile paving.

[0020] The present invention proposes an automatic indoor floor tile laying robot control method based on an IRB mechanical arm, which realizes the automation and intelligence of the floor tile laying process. The method realizes the uniform application of mortar and the precise placement of floor tiles by precisely controlling the moving mechanism and the mortar conveying mechanism, greatly improving the quality and efficiency of floor tile laying. At the same time, the infrared identifier is used to monitor the position information of floor tiles and the ground in real time, providing strong support for the precise operation of the IRB mechanical arm mechanism, ensuring the accuracy and consistency of floor tile laying. The method also has high flexibility and adaptability, and can automatically adjust according to different indoor environments and floor tile types, meeting the diverse needs of floor tile laying. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of the automatic indoor floor tile laying robot based on the IRB robotic arm proposed in the present invention; Figure 2 This is a schematic diagram of the structure of the IRB mechanical arm mechanism in the automatic indoor floor tile paving robot based on the IRB mechanical arm proposed by the present invention; Figure 3This is a schematic diagram of the mechanism of the fixed part of the automatic indoor floor tile laying robot based on the IRB mechanical arm proposed by the present invention; Figure 4 This is a schematic diagram of the structure of the rotating part of the automatic indoor floor tile laying robot based on the IRB mechanical arm proposed by the present invention; Figure 5 This is a schematic diagram of the structure of the moving mechanism of the automatic indoor floor tile paving robot based on the IRB mechanical arm proposed by the present invention; Figure 6 This is a schematic diagram of the structure of the wheat wheel mechanism in the automatic indoor floor tile laying robot based on the IRB mechanical arm proposed by the present invention; Figure 7 This is a schematic diagram of the structure of the mortar conveying mechanism in the automatic indoor floor tile paving robot based on the IRB mechanical arm proposed by the present invention; Figure 8 This is a schematic diagram of the connection between the mortar conveying mechanism and the shell structure in the automatic indoor floor tile paving robot based on the IRB mechanical arm proposed by the present invention; Fig. 9 This is a schematic diagram of the structure of the shell structure of the automatic indoor floor tile paving robot based on the IRB mechanical arm proposed by the present invention; In the attached figure: 1, IRB mechanical arm mechanism; 1-1, fixed part; 1-1-1, fixed base housing; 1-1-2, synchronous pulley; 1-1-3, first bearing; 1-1-4, motor; 1-2, rotating part; 1-2-1, rotating base housing; 1-2-2, right motor; 1-2-3, shuttle steering disc; 1-2-4, second bearing; 1-2-5, center screw; 1-2-6, round steering disc; 1-2-7, left motor; 2, moving mechanism; 2- 1. Wheat wheel mechanism; 2-1-1. Wheel hub; 2-1-2. Spoke; 2-1-3. Drive shaft; 2-1-4. Mandrel; 2-1-5. Roller; 2-2. Vehicle frame; 2-3. Drive motor; 3. Mortar conveying mechanism; 3-1. Hydraulic cylinder; 3-2. Pressure plate; 3-3. Fixed cap shell; 3-4. Special-shaped pipe; 4. Shell structure; 4-1. Shell mounting plate; 4-2. IRB robot arm mechanism mounting frame; 4-3. Mortar conveying mechanism mounting frame. DETAILED DESCRIPTION

[0022] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0025] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0027] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0028] See also Figure 1 to Figure 9The present invention proposes an automatic indoor floor tile paving robot based on an IRB mechanical arm, comprising a moving mechanism 2, a shell structure 4 is installed on the top of the moving mechanism 2, an IRB mechanical arm mechanism 1 and a mortar conveying mechanism 3 are installed on the shell structure 4, the mortar conveying mechanism 3 is located on one side of the IRB mechanical arm mechanism 1, and a floor tile placement area for placing floor tiles is arranged on the other side of the shell structure 4 located on the IRB mechanical arm mechanism 1; the IRB mechanical arm mechanism 1 is used to suck and place floor tiles, and the mortar conveying mechanism 3 is used to slowly and evenly convey mortar to the ground; an infrared ray is arranged on the side of the moving mechanism 2 close to the mortar conveying mechanism 3 The identifier is used to identify the area where the floor tiles are to be laid, so that the IRB robot arm mechanism 1 can suck the floor tiles placed in the floor tile placement area and place them in the laying area to complete the laying of the floor tiles; then the local tile laying robot is moved by the moving mechanism 2, and the mortar conveying mechanism 3 conveys mortar to the ground during the movement. When the moving mechanism 3 makes the local tile laying robot move to the next area, the mortar conveying mechanism 3 completes the transportation of mortar on the ground in the laying area, and then controls the IRB robot arm mechanism 1 to suck and place the floor tiles to complete the laying. This is repeated to complete the laying of indoor floor tiles.

[0029] See also Figure 1~Figure 3 The IRB robot arm mechanism 1 includes a fixed part 1-1, which is fixedly installed on the shell structure 4. A rotating part 1-2 is installed on the top end surface of the fixed part 1-1. The top of the rotating part 1-2 is rotatably connected to a BC straight rod 1-3. One end of a C-axis rocker 1-4 is connected to the rotating part 1-2. The other end of the C-axis rocker 1-4 is rotatably connected to one end of a BC connecting rod 1-5. The top end of the BC connecting rod 1-5 is connected to one end of a CD rod 1-6. The CD rod 1-6 is rotatably connected to the top end of the BC straight rod 1-3. The other end of the CD rod 1-6 is connected to a vacuum suction cup 1-8, which is used to suck floor tiles. Preferably, in this embodiment, one end of an extension rod 1-7 is rotatably connected to the end of the CD rod 1-6 away from one end of the BC connecting rod 1-5, and the other end of the extension rod 1-7 is connected to the vacuum suction cup 1-8. The extension rod 1-7 increases the arm length of the IRB robot arm mechanism 1, so that the IRB robot arm mechanism can grab the floor tiles more conveniently, complete the suction and laying actions of the floor tiles, and improve the efficiency of floor tile laying.

[0030] The fixed part 1-1 includes a fixed base shell 1-1-1, which is installed on the shell structure 4, and the fixed base shell 1-1-1 and the shell structure 4 are connected by bolts, so that the fixed base shell 1-1-1 can be stably fixed on the shell structure 4, and a mounting hole is provided on the top end surface of the fixed base shell 1-1-1, and the bottom end of the rotating part 1-2 is installed in the mounting hole. A synchronous pulley 1-1-2 is rotatably connected to the fixed base shell 1-1-1 at a position directly below the mounting hole, and the synchronous pulley 1-1-2 is synchronously connected to the fixed base shell 1-1-1. The rotating part 1-2 is connected to the pulley 1-1-2 by screws, and the synchronous pulley 1-1-2 is connected to a small pulley by a transmission belt. The small pulley is installed on the output shaft of the motor 1-1-4. The motor 1-1-4 is vertically installed in the fixed base shell 1-1-1, and the output shaft of the motor 1-1-4 is vertically upward; the small pulley is driven by the motor 1-1-4 to rotate the synchronous pulley 1-1-2, and then the rotating part 1-2 is horizontally rotated at the mounting hole on the fixed base shell 1-1-1 through the synchronous pulley 1-1-2.

[0031] In this embodiment, a positioning shaft installed for vertical rotation is provided in the fixed base shell 1-1-1 at a position directly below the mounting hole, a limiting sleeve is provided at a position near the bottom end of the positioning shaft, and a first bearing 1-1-3 is provided on the positioning shaft at a position above the limiting sleeve. The outer ring of the first bearing 1-1-3 fits tightly with the inner wall of the fixed base shell 1-1-1, so that the positioning shaft can rotate horizontally in the fixed base shell 1-1-1, and a synchronous pulley 1-1-2 is provided on the positioning shaft near its upper end. The synchronous pulley 1-1-2 is connected to the fixed base shell 1-1-1 through the first bearing 1-1-3, and a connecting hole is provided on the upper end face of the positioning shaft, which is connected to the rotating part 1-2. The stability of the connection between the fixed part 1-1 and the rotating part 1-2 is increased by the positioning shaft.

[0032] See also Figure 1 and Figure 4The rotating part 1-2 includes a rotating base shell 1-2-1, a connecting platform arranged at the bottom of the rotating base shell 1-2-1 is installed in the mounting hole, and a square hole is arranged at a position corresponding to the connecting hole on the connecting platform, and a square shaft is installed in the square hole and the connecting hole. The rotating base shell 1-2-1 and the positioning shaft can rotate synchronously through the square shaft, thereby increasing the stability of the transmission between the fixed part 1-1 and the rotating part 1-2, and a limiting hole is arranged on the side of the square hole on the connecting platform, and a bolt for connecting the connecting platform with the synchronous pulley 1-1-2 is installed in the limiting hole. A center screw 1-2-5 is provided near the top end face of the rotating base shell 1-2-1. The center screw 1-2-5 is connected to the rotating base shell 1-2-1 through a second bearing 1-2-4. The center screw 1-2-5 is connected to the bottom of the BC straight rod 1-3. A shuttle steering wheel 1-2-3 is installed on the BC straight rod 1-3 at the right end of the center screw 1-2-5. The shuttle steering wheel 1-2-3 is connected to a right motor 1-2-2. The right motor 1-2-2 is installed on the rotating base shell 1-2-1. -2 drives the shuttle steering wheel 1-2-3 to make the BC straight rod 1-3 swing around the center screw 1-2-5 in the vertical plane; the left motor 1-2-7 is installed on the rotating base shell 1-2-1 at a position symmetrical to the right motor 1-2-2, and the output shaft of the left motor 1-2-7 is connected to the circular steering wheel 1-2-6, and the circular steering wheel 1-2-6 is installed on the bottom head of the C-axis rocker 1-4. The circular steering wheel 1-2-6 is driven by the left motor 1-2-7 to make the C-axis rocker 1-4 swing, and then the C-axis rocker 1-4 drives the CD rod 1-6 to rotate on the BC straight rod.

[0033] See also Figure 1 and Figure 5 The mobile mechanism 2 includes a vehicle frame 2-2, on which a plurality of wheat wheel mechanisms 2-1 are symmetrically mounted, each of which is connected to a drive motor 2-3, which is mounted in the vehicle frame 2-2, and through which the drive motor 2-3 provides power for the rotation of the wheat wheel mechanism 2-1, thereby enabling the mobile mechanism 2 to move; See also Figure 1 , Figure 5 and Figure 6 The Mecanum wheel mechanism 2-1 is a Mecanum wheel, that is, the Mecanum wheel mechanism 2-1 includes a transmission shaft 2-1-3, one end of the transmission shaft 2-1-3 is connected to the output shaft of the driving motor 2-3, and two hubs 2-1-1 are installed on the end of the other end of the transmission shaft 2-1-3, and the hubs 2-1-1 are connected to the spokes 2-1-2, and multiple core shafts 2-1-4 are installed between the two spokes 2-1-2, and each core shaft 2-1-4 is installed with a roller 2-1-5.

[0034] See also Figure 1 and Figure 7 The mortar conveying mechanism 3 includes a pressure plate 3-2, which is installed in the shell structure 4. The size of the pressure plate 3-2 is 600mm×450mm×15mm. A telescopic member is vertically installed on the top end surface of the pressure plate 3-2. The top of the telescopic member is connected to a fixed cap shell 3-3. The fixed cap shell 3-3 is installed on the shell structure 4 just above the pressure plate 3-2. Then, the pressure plate 3-2 moves vertically in the shell structure 4 through the operation of the telescopic member to squeeze out the mortar placed in the shell structure 4. The side of the pressure plate 3-2 on the shell structure 4 is connected to a special-shaped pipe 3-4. The pipe diameter of the special-shaped pipe 3-4 at one end of the shell structure 4 is large, and the pipe diameter at the other end is small. The telescopic member is one or both of a hydraulic cylinder and an electric telescopic rod.

[0035] See also Figure 1 , Figure 8 river Fig. 9 The shell structure 4 includes a shell mounting plate 4-1, an IRB mechanical arm mechanism mounting frame 4-2 is installed at the center position on the upper end surface of the shell mounting plate 4-1, and the fixing part 1-1 is installed on the IRB mechanical arm mechanism mounting frame 4-2. A mortar conveying mechanism mounting frame 4-3 is arranged on the upper end surface of the shell mounting plate 4-1 at one side of the IRB mechanical arm mechanism mounting frame 4-2. The mortar conveying mechanism mounting frame 4-3 is used to place mortar, and the pressure plate 3-2 is installed on the mortar conveying mechanism mounting frame 4-3 The mortar conveying mechanism mounting frame 4-3 is provided with a fixed cap shell 3-3 on its upper end face; the side of the mortar conveying mechanism mounting frame 4-3 away from the IRB mechanical arm mechanism mounting frame 4-2 is connected to the port with the largest pipe diameter on the special-shaped pipe 3-4; an infrared identifier is installed on one side of the special-shaped pipe 3-4 on the mortar conveying mechanism mounting frame 4-3; the upper end face of the shell mounting plate 4-1 on the other side of the IRB mechanical arm mechanism mounting frame 4-2 is planned as a floor tile placement area for placing floor tiles to be laid.

[0036] In this embodiment, the size of the shell structure 4 is 1600mm×750mm×600mm, the size of the floor tile placement area is 400mm×600mm, and the thickness of the shell mounting plate 4-1 is 5mm, and it is cast from Q235 steel; the specifications of the IRB robot arm mechanism mounting frame 4-2 are 600mm×750mm; the specifications of the mortar conveying mechanism mounting frame 4-3 are 600mm×750mm.

[0037] The present invention also discloses a control method for an automatic indoor floor tile paving robot based on an IRB mechanical arm, which is used to control the above-mentioned floor tile paving robot, and specifically comprises the following steps: Step 1, move the local brick paving robot indoors, and control the mobile mechanism to move to the revealing position for indoor floor tile paving; Step 2, inputting mortar into the position directly below the mortar conveying mechanism in the shell structure, and placing the floor tiles to be laid in the floor tile placement area on the shell structure; Step 3, controlling the mortar conveying mechanism to squeeze the mortar while controlling the moving mechanism to move so as to evenly spread the mortar on the ground; Step 4, start the IRB mechanical arm mechanism to suck the floor tiles placed on the shell structure, move them to the area recognized by the infrared identifier, and lay the floor tiles in the area recognized by the infrared identifier; Step 5. Repeat steps 3 and 4 to complete the laying of the indoor floor.

[0038] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0039] In addition, it should be understood that although this specification is described in accordance with the implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art. The above content is only to illustrate the technical idea of ​​the present invention, and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution according to the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. Automatic indoor floor tile laying robot based on IRB robotic arm, characterized by: The invention comprises a moving mechanism (2), a shell structure (4) being installed on the top of the moving mechanism (2), an IRB mechanical arm mechanism (1) for sucking and placing floor tiles and a mortar conveying mechanism (3) for slowly and evenly conveying mortar to the ground being installed on the shell structure (4), the mortar conveying mechanism (3) being located on one side of the IRB mechanical arm mechanism (1), and a floor tile placement area for placing floor tiles being provided on the shell structure (4) and located on the other side of the IRB mechanical arm mechanism (1).

2. The automatic indoor floor tile paving robot based on IRB mechanical arm according to claim 1, characterized in that: The IRB mechanical arm mechanism (1) comprises a fixed part (1-1), the fixed part (1-1) being mounted on the housing structure (4), a rotating part (1-2) being mounted on the fixed part (1-1), and a BC straight rod (1-3) being rotatably connected to the top of the rotating part (1-2); The rotating part (1-2) is connected to a C-axis rocker (1-4), the C-axis rocker (1-4) is rotatably connected to a BC connecting rod (1-5), the top end of the BC connecting rod (1-5) is connected to a CD rod (1-6), the CD rod (1-6) is rotatably connected to the top end of the BC straight rod (1-3), and the end of the CD rod (1-6) away from the BC straight rod (1-3) is connected to a vacuum suction cup (1-8) for sucking floor tiles.

3. The automatic indoor floor tile paving robot based on IRB mechanical arm according to claim 2, characterized in that: The fixed part (1-1) comprises a fixed base shell (1-1-1), the fixed base shell (1-1-1) is installed on the shell structure (4), the top of the fixed base shell (1-1-1) is connected to the bottom of the rotating part (1-2), a synchronous pulley (1-1-2) is rotatably connected in the fixed base shell (1-1-1) corresponding to the position of the rotating part (1-2), the synchronous pulley (1-1-2) is connected to the bottom of the rotating part (1-2), the synchronous pulley (1-1-2) is connected to a small pulley via a transmission belt, the small pulley is connected to the output shaft of a motor (1-1-4), and the motor (1-1-4) is installed in the fixed base shell (1-1-1).

4. The automatic indoor floor tile paving robot based on IRB mechanical arm according to claim 3 is characterized in that: The rotating part (1-2) comprises a rotating base shell (1-2-1), and the bottom of the rotating base shell (1-2-1) is connected to the synchronous pulley (1-1-2); A central screw (1-2-5) is provided in the rotating base housing (1-2-1), and a second bearing (1-2-4) is installed between the central screw (1-2-5) and the rotating base housing (1-2-1); The central screw (1-2-5) is connected to the bottom of the BC straight rod (1-3), and a shuttle-shaped steering disc (1-2-3) is installed on the BC straight rod (1-3) at the position of one end of the central screw (1-2-5), and the shuttle-shaped steering disc (1-2-3) is connected to a right motor (1-2-2); A left motor (1-2-7) is installed on the rotating base shell (1-2-1) at a position symmetrical to the right motor (1-2-2); an output shaft of the left motor (1-2-7) is connected to a circular steering wheel (1-2-6); and the circular steering wheel (1-2-6) is mounted on the C-axis rocker (1-4).

5. The automatic indoor floor tile paving robot based on IRB mechanical arm according to claim 1, characterized in that: The moving mechanism (2) comprises a vehicle body frame (2-2), a McDonnell Douglas mechanism (2-1) is mounted on the vehicle body frame (2-2), a driving motor (2-3) is connected to the McDonnell Douglas mechanism (2-1), and the driving motor (2-3) is mounted in the vehicle body frame (2-2).

6. The automatic indoor floor tile paving robot based on IRB mechanical arm according to claim 5, characterized in that: The wheat wheel mechanism (2-1) comprises a transmission shaft (2-1-3), one end of the transmission shaft (2-1-3) is connected to the output shaft of the drive motor (2-3), two hubs (2-1-1) are installed on the end of the other end of the transmission shaft (2-1-3), the hubs (2-1-1) are connected to spokes (2-1-2), a core shaft (2-1-4) is installed between the two spokes (2-1-2), and a roller (2-1-5) is installed on the core shaft (2-1-4).

7. The automatic indoor floor tile paving robot based on IRB mechanical arm according to claim 1, characterized in that: The mortar conveying mechanism (3) comprises a pressure plate (3-2), the pressure plate (3-2) being installed in the shell structure (4), a telescopic member being installed on the pressure plate 3-2, the top of the telescopic member being connected to a fixed cap shell (3-3), the fixed cap shell (3-3) being installed on the shell structure (4) at a position above the pressure plate (3-2), and a special-shaped pipe (3-4) for conveying mortar to the ground being connected to the side of the pressure plate (3-2) on the shell structure (4).

8. The automatic indoor floor tile paving robot based on IRB mechanical arm according to claim 7, characterized in that: The shell structure (4) comprises a shell mounting plate (4-1), an IRB mechanical arm mechanism mounting frame (4-2) is mounted on the shell mounting plate (4-1), a mortar conveying mechanism mounting frame (4-3) for placing mortar is arranged on one side of the shell mounting plate (4-1) located on the IRB mechanical arm mechanism mounting frame (4-2), the pressure plate (3-2) is mounted in the mortar conveying mechanism mounting frame (4-3), and a side of the mortar conveying mechanism mounting frame (4-3) away from the IRB mechanical arm mechanism mounting frame (4-2) is connected to one end of the special-shaped pipe (3-4) and is mounted with the infrared identifier, and the floor tile is placed on the other side of the shell mounting plate (4-1) located on the IRB mechanical arm mechanism mounting frame (4-2).

9. The automatic indoor floor tile paving robot based on IRB mechanical arm according to claim 7, characterized in that: The telescopic member is one or both of a hydraulic cylinder and an electric telescopic rod.

10. An automatic indoor floor tile paving robot control method based on an IRB robot arm, used to control the floor tile paving robot as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1, move the local brick paving robot indoors, and control the mobile mechanism to move to the revealing position for indoor floor tile paving; Step 2, inputting mortar into the position directly below the mortar conveying mechanism in the shell structure, and placing the floor tiles to be laid in the floor tile placement area on the shell structure; Step 3, controlling the mortar conveying mechanism to squeeze the mortar while controlling the moving mechanism to move so as to evenly spread the mortar on the ground; Step 4, start the IRB mechanical arm mechanism to suck the floor tiles placed on the shell structure, move them to the area recognized by the infrared identifier, and lay the floor tiles in the area recognized by the infrared identifier; Step 5, repeat steps 3 to 4 to complete the laying of the indoor floor.

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