Brick picking robot

Abstract

A brick picking robot comprises a frame (1) which is mounted on traveling wheels (2), and is characterized in that a stand column (3) is mounted at one end of the frame (2), a guide rail (4) is mounted on the stand column (3), a sliding block (5) capable of moving up and down is mounted on the guide rail (4), the sliding block (5) is connected with a mechanical arm mounting platform (6), one end of a mechanical arm (7) is fixedly mounted on the mechanical arm mounting platform (6), and the other end of the mechanical arm (7) is fixedly mounted on the mechanical arm mounting platform (6). A horizontal rotating mechanism (8) is installed at the other end of the mechanical arm (7), a suction cup frame (9) is installed on the lower portion of the horizontal rotating mechanism (8), a suction cup used for sucking tiles is installed on the suction cup frame (9), and a camera (10) is installed on the suction cup frame (9). The device is simple in structure and high in automation degree.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building, in particular to the automatic paving technology of large floor tiles or wall tiles, and more particularly to a tile picking and conveying robot. BACKGROUND

[0002] At present, the cost of global human capital is increasing, so using a mechanical hand to replace manual labor to pave large-area floor tiles has become a current research and development trend. With the continuous invention of technology, the paving robot technology has also experienced a rapid development and growth process. For example, Chinese patent 2022107827467 solves the problem of automatic paving of ceramic tiles. In the actual paving process, there are often phenomena such as broken corners, damage, and non-compliance with specifications of ceramic tiles. The existing robot system cannot effectively identify, resulting in defective ceramic tiles and irregular specification ceramic tiles affecting the overall decoration effect, which requires rework, affects reputation, and a series of problems occur. There is no good solution to this, so a corresponding tile picking robot must be designed to be used in conjunction. SUMMARY

[0003] The purpose of the present application is to solve the problem that the existing paving robot cannot identify the performance state of the ceramic tiles placed on the paving machine. A tile picking robot is developed and designed to transfer qualified ceramic tiles to the paving robot and reject unqualified ceramic tiles.

[0004] The technical solution of the present application is: A tile picking robot, comprising a frame 1 installed on a walking wheel 2, characterized in that: one end of the frame 2 is provided with a stand 3, the stand 3 is provided with a guide rail 4, the guide rail 4 is provided with a sliding block 5 capable of moving up and down, the sliding block 5 is connected with a mechanical arm mounting platform 6, one end of a mechanical arm 7 is fixedly installed on the mechanical arm mounting platform 6, the other end of the mechanical arm 7 is provided with a horizontal rotary mechanism 8, the lower part of the horizontal rotary mechanism 8 is provided with a suction disc rack 9, the suction disc rack 9 is provided with a suction disc for sucking ceramic tiles, and a camera 10 is installed on the suction disc rack 9.

[0005] The sliding block 5 is driven by a lead screw, the lead screw is driven by a lead screw motor, and the lead screw motor is installed on the stand.

[0006] The suction disc rack 9 is provided with at least two suction discs.

[0007] The horizontal rotation mechanism 8 comprises a first rotation motor 12, a small rotation arm 13, a second rotation motor 13, a third rotation motor 14 and a fourth rotation motor 15, the first rotation motor 12 is installed on the cantilever end of the mechanical arm 7, one end of the small rotation arm 13 is connected with the first rotation motor 12 and rotates under the driving of the first rotation motor 12, the second rotation motor 13 is installed on the other end of the small rotation arm 13, the second rotation motor 13 is connected with the first rotation seat 16 and drives the rotation of the first rotation seat 16, the third rotation motor 14 is installed on the first rotation seat 16, the output shaft of the third rotation motor 14 is provided with the second rotation seat 17 and drives the rotation of the second rotation seat 17 around the axis of the third rotation motor 14, the fourth rotation motor 15 is installed on the second rotation seat 17, the output shaft of the fourth rotation motor 15 is provided with the connecting plate 18, the connecting plate 18 is connected with the suction cup frame 9 and drives the rotation of the suction cup frame 9 around the axis of the fourth rotation motor 15.

[0008] The camera 10 is installed on the suction cup frame 9 through the support 11.

[0009] The driving battery 19 is installed on the stand 3.

[0010] The walking wheel 2 is directly or indirectly driven by the walking motor 20 installed on the vehicle frame 1.

[0011] The present application has the advantages of simple structure, convenient manufacturing and solving the urgent need of the matching of the large brick paving robot. The present application has the advantages of simple structure, convenient manufacturing and solving the urgent need of the matching of the large brick paving robot.

[0012] The present application processes the qualified and unqualified ceramic tiles respectively through video recognition, and ensures that only the qualified ceramic tiles can be placed on the working platform of the brick paving robot. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is the perspective structural schematic diagram of the present application. DETAILED DESCRIPTION

[0014] The present application will be further described below in combination with the drawings and embodiments.

[0015] As Figure 1 shown.

[0016] A brick picking robot, which comprises a vehicle frame 1, the vehicle frame 1 is installed on the walking wheel 2, the walking wheel 2 is directly or indirectly driven by the walking motor 20 installed on the vehicle frame 1, and the walking wheel 2 can be driven by a single wheel or multiple wheels, as Figure 1The character is: one end of the frame 2 is installed with a column 3, the column 3 is installed with a guide rail 4, the guide rail 4 is installed with a slider 5 that can move up and down, the slider 5 is mainly driven by a screw rod, the screw rod is driven by a screw rod motor, the screw rod motor is installed on the column 3, the screw rod motor drives the screw rod to rotate, the screw rod drives the nut to move up and down, and the nut drives the slider to move on the guide rail 4. The slider 5 is connected with a mechanical arm mounting platform 6, one end of a mechanical arm 7 is fixedly installed on the mechanical arm mounting platform 6, the other end of the mechanical arm 7 is installed with a horizontal rotary mechanism 8, the lower part of the horizontal rotary mechanism 8 is installed with a suction disc rack 9, the suction disc rack 9 is installed with a suction disc 21 for sucking the ceramic tile (in order to improve the suction force, two suction discs can be designed, the suction disc is a vacuum negative pressure suction disc, driven by a vacuum pump, not shown in the figure), a camera 10 is installed on the suction disc rack 9, the camera 10 is mounted on a support 11, and the support 11 is installed on the suction disc rack 9. The horizontal rotary mechanism 8 comprises a first rotary motor 12, a small rotary arm 13, a second rotary motor 13, a third rotary motor 14 and a fourth rotary motor 15, the first rotary motor 12 is installed on the cantilever end of the mechanical arm 7, one end of the small rotary arm 13 is connected with the first rotary motor 12 and rotates under the drive of the first rotary motor 12, the second rotary motor 13 is installed on the other end of the small rotary arm 13, the second rotary motor 13 is connected with the first rotary seat 16 and drives it to rotate, the third rotary motor 14 is installed on the first rotary seat 16, the output shaft of the third rotary motor 14 is installed with the second rotary seat 17 and drives it to rotate around the axis of the third rotary motor 14, the fourth rotary motor 15 is installed on the second rotary seat 17, the output shaft of the fourth rotary motor 15 is installed with a connecting plate 18, and the connecting plate 18 is connected with the suction disc rack 9 and drives the suction disc rack 9 to rotate around the axis of the fourth rotary motor 15.

[0017] The motors, cameras and the like of the present application can be powered by a battery, and the battery 19 is installed on one side of the column 3.

[0018] The working process of the present application is: When a pile of ceramic tiles is placed on the frame by the tile conveying machine, the height of the mechanical arm 7 is adjusted first, so that the camera 10 is aligned with the ceramic tile, and the state of the uppermost ceramic tile is sent to the background for image processing to determine whether the size and appearance of the ceramic tile match the set, if it is a qualified ceramic tile, the rotary mechanism acts, the suction disc is aligned with the ceramic tile, the mechanical arm is lowered to completely suck the ceramic tile, then the mechanical arm is raised, the walking wheel is driven and transported to the working platform of the tile laying robot according to the regulation, the ceramic tile is placed and the tile laying robot is driven away. The next ceramic tile is sucked again, and if it is determined that the ceramic tile is unqualified, it is sent to the waste box or the recycling frame for separate treatment.

[0019] The parts not involved in the present application are the same as or can be realized by the prior art.

Claims

1. A brick-carrying robot, comprising a frame (1) mounted on wheels (2), characterized in that: A column (3) is installed at one end of the frame (2), a guide rail (4) is installed on the column (3), a slider (5) that can move up and down is installed on the guide rail (4), the slider (5) is connected to the robotic arm mounting platform (6), one end of the robotic arm (7) is fixedly installed on the robotic arm mounting platform (6), the other end of the robotic arm (7) is installed with a horizontal rotation mechanism (8), a suction cup frame (9) is installed at the lower part of the horizontal rotation mechanism (8), a suction cup for picking up tiles is installed on the suction cup frame (9), and a camera (10) is installed on the suction cup frame (9).

2. The brick-picking robot according to claim 1, characterized in that: The slider (5) is driven by a lead screw, which is driven by a lead screw motor, which is mounted on a column.

3. The brick-picking robot according to claim 1, characterized in that: The suction cup holder (9) is equipped with at least two suction cups.

4. The brick-picking robot according to claim 1, characterized in that: The horizontal rotary mechanism (8) includes a first rotary motor (12), a small rotary arm (13), a second rotary motor (13), a third rotary motor (14), and a fourth rotary motor (15). The first rotary motor (12) is mounted on the cantilever end of the robotic arm (7). One end of the small rotary arm (13) is connected to the first rotary motor (12) and rotates under its drive. The second rotary motor (13) is mounted on the other end of the small rotary arm (13). The second rotary motor (13) is connected to the first rotary base (16). The third rotary motor (14) is mounted on the first rotary seat (16). The output shaft of the third rotary motor (14) is mounted on the second rotary seat (17) and drives it to rotate around the axis of the third rotary motor (14). The fourth rotary motor (15) is mounted on the second rotary seat (17). The output shaft of the fourth rotary motor (15) is mounted on the connecting plate (18). The connecting plate (18) is connected to the suction cup frame (9) and drives the suction cup frame (9) to rotate around the axis of the fourth rotary motor (15).

5. The brick-picking robot according to claim 1, characterized in that: The camera (10) is mounted on the suction cup holder (9) via a bracket (11).

6. The brick-picking robot according to claim 1, characterized in that: A drive battery (19) is installed on the column (3).

7. The brick-picking robot according to claim 1, characterized in that: The walking wheels (2) are driven directly or indirectly by the walking motor (20) mounted on the frame (1).

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