Automatic wall surface felt pasting machine

Abstract

The utility model relates to an automatic wall surface felt pasting machine, which comprises a mobile platform and a control cabinet, the mobile platform is provided with a movable platform and a feeding mechanism, the movable platform can be lifted in the vertical direction through a lifting mechanism, the movable platform is provided with at least two sets of multi-shaft mechanical arms, and the tail ends of the mechanical arms can be replaced with clamping heads or rollers. An adhesive spray gun is arranged on one side of the mechanical arm, and the control cabinet is used for controlling the moving platform, the lifting mechanism, the telescopic mechanical arm, the clamping head, the adhesive spray gun, the roller and the feeding mechanism. According to the automatic wall surface felt pasting machine, wall surface felt pasting or laying and attaching work of other wall body decoration materials can be automatically carried out without manual work, the construction efficiency is improved, and the attaching effect is guaranteed. The device can reach a high place, does not need an additional crane basket or a worker to erect a ladder, and guarantees the safety and convenience of construction.

Description

Technical Field

[0001] The utility model belongs to the technical field of felt pasting machines, in particular to an automatic wall felt pasting machine. Background Art

[0002] Decorative materials refer to materials used to decorate the interior and exterior walls of buildings, make interior walls, and realize some functions on the basis of decoration. With the continuous development of science and technology and the continuous improvement of human living standards, architectural decoration is developing towards new decorative materials that are environmentally friendly, multifunctional, high-strength and lightweight, finished, standardized in installation, and intelligent in control. Among them, commonly used wall decoration materials include wallpaper, wall cloth, wall felt, etc.

[0003] Most existing wall decoration materials are pasted by workers, and require the cooperation of multiple people, which is troublesome. In particular, the attachment of wall felt and the use of chemical adhesives may affect the hands of workers. It is not suitable to paste directly with bare hands, which further reduces the construction efficiency and pasting effect. At the same time, if the wall area is large and the total height is high, workers need to climb up with ladders or use tools such as crane baskets to go to high places to attach wall decoration materials. There are great risks in high-altitude operations. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide an automatic wall felt pasting machine, which is convenient for automatically pasting decorative materials on the wall surface and prevents the danger of artificial high-altitude operations.

[0005] The utility model solves the technical problem by adopting the following technical solution: an automatic wall felt pasting machine is provided, comprising a mobile platform and a control cabinet, the mobile platform is provided with a movable platform which can be lifted and lowered in the vertical direction by a lifting mechanism and a set of feeding mechanisms, the movable platform is provided with at least two sets of multi-axis mechanical arms, the ends of the mechanical arms can replace clamping heads or rollers, one side of the mechanical arms is provided with an adhesive spray gun, and the control cabinet is used to control the mobile platform, the lifting mechanism, the retractable mechanical arm, the clamping head, the adhesive spray gun, the roller and the feeding mechanism.

[0006] Preferably, the feeding mechanism includes a bottom felt supply device for outputting the bottom felt, a surface felt supply device for outputting the surface felt matching the bottom felt, and a glue output cylinder capable of outputting adhesive.

[0007] Preferably, the feeding mechanism is a set of wall cloth supply equipment that outputs outward and a set of glue discharge cylinders that can output outward adhesive suitable for wall cloth, or a set of wallpaper paper supply equipment that outputs outward wallpaper and a set of glue discharge cylinders that can output outward adhesive suitable for wallpaper.

[0008] Preferably, the bottom felt supply device comprises a bottom felt electric roller covered with a bottom felt roll, and a bottom felt cutter is provided on one side of the bottom felt electric roller; the surface felt supply device comprises a surface felt electric roller covered with a surface felt roll, and a surface felt cutter is provided on one side of the surface felt electric roller.

[0009] Preferably, the adhesive spray gun is connected to a glue discharge cylinder through a pipeline, and the glue discharge cylinder contains glue mud, resin, water-soluble adhesive or emulsion adhesive.

[0010] Preferably, a terminal quick-change tool is provided at the end of the robotic arm, and the robotic arm can replace the clamping head, adhesive spray gun or roller as needed through the terminal quick-change tool.

[0011] Preferably, the mobile platform is driven by a plurality of AGV steering wheels arranged at the bottom.

[0012] Preferably, a distance sensor is provided at the end of the robotic arm.

[0013] Beneficial Effects

[0014] The automatic wall felt pasting machine provided by the utility model can automatically lay and paste wall felt or other wall decoration materials without manual work, thereby improving construction efficiency and ensuring pasting effect. In addition, the utility model can reach high places without the need for additional crane baskets or workers' ladders, thereby ensuring safe and convenient construction.

[0015] Furthermore, the utility model adopts a dual robotic arm design, and the two robotic arms can perform different tasks of wall felt pasting simultaneously or successively, reducing waiting time and quickly completing the attachment of large areas of wall felt or other wall decoration materials before the chemical adhesive dries, further improving construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a three-dimensional diagram of an automatic wall felt pasting machine.

[0017] Figure 2 An automatic wall felt machine is shown in the following figure. Figure 1 .

[0018] Figure 3 An automatic wall felt machine is shown in the following figure. Figure 2 .

[0019] Among them, 1-mobile platform; 2-movable platform; 3-control cabinet; 4-lifting mechanism; 5-adhesive spray gun; 6-first mechanical arm; 7-clamping head; 8-roller; 9-bottom felt cutter; 10-surface felt cutter; 11-surface felt electric roller; 12-bottom felt electric roller; 13-surface felt roll; 14-bottom felt roll; 15-second mechanical arm; 16-AGV steering wheel. DETAILED DESCRIPTION

[0020] The present invention is further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the claims attached to this application.

[0021] like Figure 1 As shown, the utility model provides an automatic wall felt pasting machine, including a mobile platform 1 and a control cabinet 3, the mobile platform 1 is provided with a movable platform 2 which can be lifted and lowered in the vertical direction by a lifting mechanism 4 and a set of feeding mechanisms, the movable platform is provided with at least two sets of multi-axis mechanical arms, the ends of the mechanical arms can replace the clamping heads 7 or the rollers 8, one side of the mechanical arms is provided with an adhesive spray gun 5, the control cabinet 3 is provided with a controller with a built-in program, for controlling the mobile platform 1, the lifting mechanism 4, the retractable mechanical arms, the clamping heads 7, the adhesive spray guns 5, the rollers 8 and the feeding mechanism.

[0022] In a specific embodiment in which the wall decoration material is wall felt, the feeding mechanism includes a bottom felt supply device for outputting the bottom felt to the outside, a surface felt supply device for outputting the surface felt matching the bottom felt to the outside, and a glue discharge cylinder capable of outputting adhesive to the outside, wherein the glue discharge cylinder can be placed on a movable platform to save pipeline length.

[0023] The bottom felt supply device includes a bottom felt electric roller 12 which is covered with a bottom felt roll 14, and a bottom felt cutter 9 is provided on one side of the bottom felt electric roller 12. Specifically, the bottom felt electric roller 12 is fixed to the platform on the top of the mobile platform 1 through a bracket. The bottom felt electric roller 12 can be rotated by electric drive and drive the bottom felt roll 14 thereon to rotate and output. The head section of the bottom felt is placed on the tool holder of the bottom felt cutter 9. After the clamping head 7 outputs a length matching the wall height, the bottom felt cutter 9 is automatically started to cut.

[0024] The surface felt supply equipment includes a surface felt electric roller 11 which is covered with a surface felt roll 13, and a surface felt cutter 10 is provided on one side of the surface felt electric roller 11. Specifically, the surface felt electric roller 11 is fixed to the platform on the top of the mobile platform 1 through a bracket. The surface felt electric roller 11 can be rotated by electric drive and drive the surface felt roll 13 thereon to rotate and output. The head section of the surface felt is placed on the tool holder of the surface felt cutter 10. After the clamping head 7 outputs a length matching the wall height, the surface felt cutter 10 is automatically started to cut.

[0025] The clamping head 7 includes a cross bar, and electric control clamps are provided at both ends of the cross bar; the roller 8 is a wool pressure roller; the adhesive spray gun 5 is connected to the glue discharge cylinder through a pipeline, the glue discharge cylinder is provided with a glue supply valve, and the pipeline is provided with a glue supply pump. The glue discharge cylinder contains glue mud, resin, water-soluble adhesive or emulsion adhesive, and different adhesives are selected according to the wall decoration materials.

[0026] In other embodiments, the feeding mechanism is a set of wall cloth feeding equipment for outputting outwards and a set of glue discharging cylinders for outputting outwards adhesive suitable for wall cloth, or a set of wallpaper feeding equipment for outputting outwards and a set of glue discharging cylinders for outputting outwards adhesive suitable for wallpaper. The structure of the feeding mechanism is substantially the same as that of the feeding mechanism suitable for wall felt.

[0027] In the present application, the robot arm is a multi-axis robot arm in the prior art. Under normal circumstances, it is only required that the execution end thereof can reach the wall after being extended and can still move in the Z axis within a certain range. The Z axis movement is mainly performed by the lifting mechanism 4, and the XY axis movement is performed by the AGV steering wheel 16. The end of the robot arm is provided with an end quick-change tool, and the robot arm can replace the clamping head 7 or the roller 8 as needed through the end quick-change tool. The end quick-change tool is a prior art. In a specific embodiment, an electromagnet adsorption tool can be used. The clamping head 7 or the roller 8 is provided with a magnetic block corresponding thereto, and the execution end tool is replaced by turning the electromagnet adsorption tool on and off. When not in use, the clamping head 7 and the roller 8 are placed on a bracket fixed on the top platform of the mobile platform 1, and the position of the bracket is set within the reachable range of the end quick-change tool.

[0028] The mobile platform 1 is driven by a plurality of AGV steering wheels 16 arranged at the bottom. Each set of AGV steering wheels 16 includes a plurality of driving wheels and a steering drive mechanism, the driving wheels are 48v 0.75kw reduction servo motors with brakes, the steering drive mechanism is a 48v0.2KW reduction servo motor, and also includes 2 NPN proximity switches for determining the position of the mobile platform 1 relative to the wall.

[0029] A distance sensor is provided at the end of the mechanical arm, which is used to provide distance information of the execution end tool relative to the wall when the mechanical arm is automatically manipulated.

[0030] The following is a detailed description of the operating steps of the utility model in a felt pasting operation:

[0031] The adhesive spray gun 5 on the first robot arm 6 side is connected to the glue cylinder containing glue mud, and the adhesive spray gun 5 on the second robot arm 15 side is connected to the glue cylinder containing resin. Figure 1 .

[0032] S1. When the machine is turned on, all mechanisms are automatically reset. Then, the X-axis and Y-axis are manually moved to the designated position close to the wall by remote control. If the distance sensor is triggered during the movement of the X-axis and Y-axis, the X-axis and Y-axis cannot move in the corresponding direction.

[0033] S2, call the glue spraying program, start the operation, the equipment and the wall are automatically adjusted to be parallel and maintain a distance of about 1.2 meters;

[0034] S3, first glue spraying, the first robot arm 6 adjusts the posture so that the nozzle of the adhesive spray gun 5 is kept about 200mm-300mm away from the wall, and at the same time opens the glue supply pump, glue supply valve and glue discharge cylinder, and starts to spray glue from bottom to top;

[0035] S4, shift the first robot arm 6 along the Y axis by 350 mm, and spray glue from top to bottom;

[0036] S5. After the primer coating is completed, the robot arm automatically returns to its initial position;

[0037] S6. Call the carpet laying program, start the operation, and the equipment and the wall are automatically adjusted to be parallel and maintain a distance of about 1.2 meters;

[0038] S7, the first robot arm 6 is connected to the clamping head 7 through the end quick-change tool, and at the same time the bottom felt electric roller 12 is started to push the bottom felt outward by 120 mm;

[0039] S8, the first robot arm 6 controls the clamping head 7 to adjust its posture and move to the exit of the bottom felt cutter 9 and clamp the bottom felt;

[0040] S9, the first mechanical arm 6 adjusts the maximum arm span so that the distance between the clamping head 7 and the wall is kept at 30 mm;

[0041] S10, the Z axis of the lifting mechanism 4 is lifted, and at the same time, the bottom felt electric roller 12 outputs the bottom felt at the same speed until the clamping head 7 reaches the starting point of the wall felt to be pasted position;

[0042] S11, the second robot arm 15 is connected to the roller 8 through the end quick-change tool, adjusts its posture, and moves horizontally from the nearest position of the clamping head 7 to attach the top of the bottom felt to the wall. The bottom felt electric roller 12 starts the bottom felt cutter 9 to cut the bottom felt after the output bottom felt length matches the wall height;

[0043] S12, the first mechanical arm 6 switches the clamping head 7 to another roller 8 through the end quick change tool, and adjusts the posture so that the wool roller slides up and down parallel to the wall. At the same time, the second mechanical arm 15 is also adjusted, each occupying half of the width of the bottom felt;

[0044] S13, the Z axis of the lifting mechanism 4 descends, and the first mechanical arm 6 and the second mechanical arm 15 move parallel to the bottom felt at a speed higher than the Z axis descending speed, until the roller 8 is driven to descend to the bottom of the bottom felt to complete compaction;

[0045] S14, the second glue spraying, the second mechanical arm 15 adjusts the posture so that the nozzle of the adhesive spray gun 5 is kept about 200mm-300mm away from the bottom felt, and at the same time opens the glue supply pump, glue supply valve and glue discharge cylinder, and starts to spray glue from bottom to top;

[0046] S15, shift the robot arm along the Y axis by 350 mm and spray glue from top to bottom;

[0047] S16, after the resin is coated on the surface of the bottom felt, the robot arm automatically returns to its initial position;

[0048] S17, calling the carpet laying program, starting the operation, the equipment and the wall are automatically adjusted to be parallel and maintain a distance of about 1.2 meters;

[0049] S18, the first robot arm 6 is connected to the clamping head 7 through the end quick-change tool, and at the same time the surface felt electric roller 11 is started to push the surface felt outward by 120 mm;

[0050] S19, such as Figure 2 As shown, the first mechanical arm 6 controls the clamping head 7 to adjust its posture and move to the exit of the surface felt cutter 10 and clamp the surface felt;

[0051] S20, the first mechanical arm 6 adjusts the maximum arm span so that the distance between the clamping head 7 and the wall is maintained at 30 mm;

[0052] S21, such as Figure 3 As shown, the Z axis of the lifting mechanism 4 is lifted, and at the same time, the surface felt electric roller 11 outputs the surface felt at the same speed until the clamping head 7 reaches the starting point of the wall felt to be pasted. After the output surface felt length matches the wall height, the surface felt electric roller 11 starts the surface felt cutter 10 to cut the surface felt;

[0053] S22, the second robot arm 15 is connected to the roller 8 through the end quick-change tool, adjusts the posture, and moves horizontally from the nearest position of the clamping head 7 to attach the top of the surface felt to the bottom felt;

[0054] S23, the first robot arm 6 switches the clamping head 7 to another roller 8 through the end quick change tool, and adjusts the posture so that the wool roller slides up and down parallel to the surface felt. At the same time, the second robot arm 15 is also adjusted, each occupying half of the width of the surface felt;

[0055] S24, the Z axis of the lifting mechanism 4 descends, and the first robot arm 6 and the second robot arm 15 move parallel to the surface felt at a speed higher than the Z axis descending speed, until the roller 8 is driven to descend to the bottom of the surface felt, completing the wall felt attachment to the wall.

[0056] Among them, in the above S3, S4, S14, S15, the glue spraying height is determined according to the height of the wall to be covered with felt. Generally, the adhesive spray gun 5 sprays glue with a width of about 350 mm at a time. The steps S3, S4, S14, and S15 are repeated according to the total width of the wall. Generally, the total width of one round of glue spraying should not exceed 1050 mm.

Claims

1. An automatic wall felt pasting machine, comprising a mobile platform (1) and a control cabinet (3), characterized in that: The mobile platform (1) is provided with a movable platform (2) that can be lifted and lowered in a vertical direction by means of a lifting mechanism (4) and a set of feeding mechanisms. The movable platform is provided with at least two sets of multi-axis mechanical arms. The ends of the mechanical arms are provided with replaceable clamping heads (7) or rollers (8). One side of the mechanical arms is provided with an adhesive spray gun (5). The control cabinet (3) is used to control the mobile platform (1), the lifting mechanism (4), the telescopic mechanical arms, the clamping heads (7), the adhesive spray guns (5), the rollers (8) and the feeding mechanisms.

2. The automatic wall felt pasting machine according to claim 1, characterized in that: The feeding mechanism comprises a bottom felt supply device for outputting the bottom felt, a surface felt supply device for outputting the surface felt matching the bottom felt, and a glue output cylinder for outputting the adhesive.

3. The automatic wall felt pasting machine according to claim 1, characterized in that: The feeding mechanism is a set of wall cloth supply equipment for outputting outward and a set of glue discharge cylinders for outputting outward adhesive suitable for wall cloth, or a set of wallpaper paper supply equipment for outputting outward wallpaper and a set of glue discharge cylinders for outputting outward adhesive suitable for wallpaper.

4. The automatic wall felt pasting machine according to claim 2, characterized in that: The bottom felt supply device comprises a bottom felt electric roller (12) covered with a bottom felt roll (14), and a bottom felt cutter (9) is provided on one side of the bottom felt electric roller (12); the surface felt supply device comprises a surface felt electric roller (11) covered with a surface felt roll (13), and a surface felt cutter (10) is provided on one side of the surface felt electric roller (11).

5. An automatic wall felt pasting machine according to claim 2 or 3, characterized in that: The adhesive spray gun (5) is connected to a glue discharge cylinder through a pipeline, and the glue discharge cylinder contains glue mud, resin, water-soluble adhesive or emulsion adhesive.

6. The automatic wall felt pasting machine according to claim 1, characterized in that: The end of the mechanical arm is provided with an end quick-change tool, and the mechanical arm can replace the clamping head (7), the adhesive spray gun (5) or the roller as required through the end quick-change tool.

7. The automatic wall felt pasting machine according to claim 1, characterized in that: The mobile platform (1) is driven by a plurality of AGV steering wheels (16) arranged at the bottom.

8. The automatic wall felt pasting machine according to claim 1, characterized in that: A distance sensor is provided at the end of the mechanical arm.

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