Automatic tile fixing robot

Abstract

The utility model relates to the technical field of indoor decoration robots, and discloses an automatic tile fixing robot which comprises a chassis mechanism, a lifting mechanism is arranged on the chassis mechanism, a clamping mechanism is installed on the top of the lifting mechanism, a synchronous conveying mechanism is arranged in the center of the clamping mechanism, and the synchronous conveying mechanism is arranged on the chassis mechanism. The synchronous conveying mechanism is provided with a carrying and moving table which moves on the clamping mechanism, the inner walls, close to the two sides, of the clamping mechanism are provided with stretching mechanisms, the front ends of the stretching mechanisms are provided with suction mechanisms, and the bottom, close to the front end, of the clamping mechanism is provided with an image transmission holder mechanism. According to the automatic tile fixing robot, the problems that most of traditional robots grab tiles through mechanical arms and clamping jaws, although the degree of freedom during paving is large, the structure of the clamping jaws is not suitable for clamping thin and smooth objects such as the tiles, and the clamping jaws cannot clamp the tiles due to the limitation of the distance between the mechanical arms and the clamping jaws are solved; and thin ceramic tiles with large areas cannot be effectively clamped and transported.

Description

Technical Field

[0001] The utility model relates to the technical field of indoor decoration robots, in particular to an automatic tile - sticking robot. Background Technique

[0002] With the development of China's building decoration industry and the high - end intelligent robot industry, in order to improve the efficiency of indoor decoration, the demand for improving the working methods of traditional indoor decoration construction has become increasingly urgent. In order to solve problems such as labor shortage and low efficiency of manual decoration construction, the design of tile - sticking robots has filled a gap in China's construction industry.

[0003] The emergence of tile - sticking robots has completely changed the traditional tile - laying method, bringing great changes to the construction industry and injecting new vitality into the construction industry. However, most traditional robots use robotic arms plus grippers to grab tiles. Although there are many degrees of freedom during tiling, the structure of the grippers itself is not suitable for gripping thin and smooth objects such as tiles. Due to the distance limitation between the robotic arm and the gripper, it is impossible to effectively grab large - area thin tiles and transport them. Content of the Utility Model

[0004] Aiming at the deficiencies of the prior art, the utility model provides an automatic tile - sticking robot, which solves the problems mentioned in the above background.

[0005] The utility model provides the following technical solutions: an automatic tile - sticking robot, comprising: a chassis mechanism, on which a lifting mechanism is arranged, a clamping mechanism is installed at the top of the lifting mechanism, a synchronous conveying mechanism is arranged at the center of the clamping mechanism, a carrier platform is arranged on the synchronous conveying mechanism to move on the clamping mechanism, a stretching mechanism is arranged on the inner walls near both sides of the clamping mechanism, a suction mechanism is installed at the front end of the stretching mechanism, and a video transmission pan - tilt mechanism is installed at the bottom near the front end of the clamping mechanism.

[0006] Preferably, the lifting mechanism comprises four guide rails, all four guide rails are installed on the chassis mechanism, sliders are slidably arranged on the surfaces of the guide rails, columns are installed on the sliders, tooth columns are installed inside the two columns behind the chassis mechanism, a first motor is installed on the chassis mechanism, and a gear installed on the output shaft of the first motor meshes with the tooth column.

[0007] Preferably, the chassis mechanism comprises a chassis, a vertical frame is integrally installed on the chassis, Mecanum wheels are arranged at the four corners of the chassis, small armor plates are installed at the middle parts of the four sides of the chassis, a lighting mechanism is installed at the top of the small armor plate behind the chassis, and a main control module is installed at the top of the small armor plate in front of the chassis.

[0008] Preferably, a pump stand is arranged in the middle of the chassis. Protection boxes surrounded by mesh plates are arranged in front of and behind the pump stand. A battery and a power management module are respectively installed in the protection box behind the pump stand. A vacuum pump is arranged inside the protection box. A protection box is arranged at the position of the top of the pump stand on the vertical stand, and a main control board is installed inside the protection box.

[0009] Preferably, the mesh plates in front of and behind the protection box are locked with the top plate by bolts.

[0010] Preferably, the stretching mechanism includes a drawer slide rail, which is installed on the clamping mechanism. A push rod is installed on the slide bar in the drawer slide rail. A rack is installed on the side of the push rod. A second motor is installed on the clamping mechanism. A gear installed on the output shaft of the second motor meshes with the rack. The front end of the push rod is installed with a suction mechanism.

[0011] Preferably, the suction mechanism includes a shaft frame. Side frames are arranged on both sides of the shaft frame. The side frame at the right end of the shaft frame is rotatably arranged therewith. A brushless motor I is installed on the side frame at the left end of the shaft frame. The output shaft of the brushless motor I is connected to the shaft frame. A brushless motor II is installed inside the shaft frame. The output shaft of the brushless motor II penetrates the shaft frame and a holding frame is installed. A suction cup is installed on the holding frame.

[0012] Preferably, the video transmission pan-tilt mechanism includes a pan-tilt frame. A brushless motor III is installed on the top of the pan-tilt frame. A top mounting plate is arranged on the top of the brushless motor III. A first speed regulator is installed on the top mounting plate, and the top mounting plate is installed on the clamping mechanism. A second speed regulator is installed on the side of the pan-tilt frame. A video transmission frame is rotatably arranged inside the pan-tilt frame near the bottom through a brushless motor IV installed there. A video transmission module is installed on the video transmission frame.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] 1. For this automatic tile pasting robot, by arranging a stretching mechanism on the clamping mechanism, installing a suction mechanism at the front end of the stretching mechanism, and enabling the vacuum suction cup on the suction mechanism to achieve the effect of multi-degree-of-freedom suction of tiles through a mechanical mechanism, and combining the stretching mechanism with the lifting mechanism to endow the robot with stretchability, the purpose of automatic fixed-point tile pasting is achieved. It eliminates the influence on the robot's tile pasting caused by the single degree of freedom of the clamping jaws and the inapplicability to clamping smooth and fragile objects such as tiles, and enables the robot to have the ability to clamp and transport large-area thin tiles, realizing the function of multi-degree-of-freedom and high-adaptability object picking and transferring.

[0015] 2. The automatic tile - pasting robot is equipped with Mecanum wheels on the chassis mechanism and features a gantry - type design of the chassis mechanism. This enables the robot to have stable and reliable tile pasting and transportation, facilitating adjustment and movement. The Mecanum wheels endow the robot with the capabilities of fast movement speed, diverse and precise movement methods, and it can perform tile - pasting operations in various environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the expanded structure of the present utility model;

[0017] Figure 2 of the present utility model Figure 1 is an enlarged schematic diagram of part A in the present utility model;

[0018] Figure 3 is a schematic diagram of the chassis mechanism structure of the present utility model;

[0019] Figure 4 is a schematic diagram of the side - sectional structure of the chassis mechanism of the present utility model;

[0020] Figure 5 is a schematic diagram of the clamping mechanism structure of the present utility model;

[0021] Figure 6 is a schematic diagram of the bottom - view structure of the clamping mechanism of the present utility model;

[0022] Figure 7 is a schematic diagram of the suction mechanism structure of the present utility model;

[0023] Figure 8 is a schematic diagram of the video - transmission pan - tilt mechanism structure of the present utility model;

[0024] Figure 9 is a schematic diagram of the structure for transporting ore of the present utility model.

[0025] In the figures: 1. Chassis mechanism; 11. Underframe; 12. Upright frame; 13. Mecanum wheel; 14. Small armor plate; 15. Lighting mechanism; 16. Main control module; 17. Pump stand; 18. Protection box; 19. Protection box; 2. Lifting mechanism; 21. Guide rail; 22. Support pillar; 23. Tooth column; 24. First motor; 25. Slide block; 3. Clamping mechanism; 4. Extension mechanism; 41. Drawer slide rail; 42. Push rod; 43. Rack; 44. Second motor; 5. Suction mechanism; 51. Axle stand; 52. Side frame; 53. Brushless motor one; 54. Brushless motor two; 55. Retaining frame; 56. Suction cup; 6. Synchronous conveying mechanism; 7. Carrier platform; 8. Video - transmission pan - tilt mechanism; 81. Pan - tilt frame; 82. Brushless motor three; 83. Top mounting plate; 84. First speed regulator; 85. Second speed regulator; 86. Brushless motor four; 87. Video - transmission frame; 88. Video - transmission module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0027] Please refer to Figures 1-9 , an automatic tile - sticking robot, comprising: a chassis mechanism 1, on which a lifting mechanism 2 is arranged. At the top of the lifting mechanism 2, a clamping mechanism 3 is installed. At the center of the clamping mechanism 3, a synchronous conveying mechanism 6 is arranged. On the synchronous conveying mechanism 6, a carrier stage 7 is arranged to move on the clamping mechanism 3. On the inner walls near both sides of the clamping mechanism 3, a stretching mechanism 4 is arranged. At the front end of the stretching mechanism 4, a sucking mechanism 5 is installed. At the bottom near the front end of the clamping mechanism 3, a video - transmission pan - tilt mechanism 8 is installed.

[0028] Among them, the lifting mechanism 2 includes four guide rails 21, all four guide rails 21 are installed on the chassis mechanism 1. On the surface of the guide rails 21, sliders 25 are slidably arranged. On the sliders 25, columns 22 are installed. Inside the two columns 22 located behind the chassis mechanism 1, a toothed column 23 is installed. On the chassis mechanism 1, a first motor 24 is installed. The gear installed on the output shaft of the first motor 24 meshes with the toothed column 23. The height of the clamping mechanism 3 is controlled by the lifting mechanism 2, so that after the clamping mechanism 3 completes clamping, it can directly rise to separate the clamped object from the placement surface.

[0029] Among them, the chassis mechanism 1 includes a chassis frame 11, on which a vertical frame 12 is integrally installed. At the four corners of the chassis frame 11, Mecanum wheels 13 are arranged. In the middle of the four sides of the chassis frame 11, small armor plates 14 are installed. On the top of the small armor plate 14 located behind the chassis frame 11, a lighting mechanism 15 is installed. On the top of the small armor plate 14 located in front of the chassis frame 11, a main control module 16 is installed. The Mecanum wheels 13 endow the chassis mechanism 1 with the ability of fast moving speed, diverse and precise moving modes, and can perform tile - sticking operations in various environments.

[0030] Among them, a pump frame 17 is arranged in the middle of the chassis frame 11. Front and rear of the pump frame 17, protective boxes 18 surrounded by mesh plates are arranged. Inside the protective box 18 located behind the pump frame 17, a battery and a power management module are respectively installed. A vacuum pump is arranged inside the protective box 18. At the position of the pump frame 17 on the top of the vertical frame 12, a protective box 19 is arranged. Inside the protective box 19, a main control board is installed. By arranging the pump frame 17, the protective boxes 18 and the protective box 19, the electronic control devices set in the chassis mechanism 1 are protected, preventing the electronic control devices in the chassis mechanism 1 from being directly exposed outside, resulting in bumping during movement.

[0031] Among them, the mesh plates before and after the protective box 18 are locked with the top plate by pins. The use of pins enables the protective box 18 to be quickly opened, allowing the electrical control equipment installed in the protective box 18 to be quickly maintained. At the same time, some items for maintaining the equipment, such as lubricating oil, can be placed in the protective box 18 located in front of the pump stand 17.

[0032] Among them, the stretching mechanism 4 includes a drawer slide rail 41. The drawer slide rail 41 is installed on the clamping mechanism 3. A push rod 42 is installed on the slide bar inside the drawer slide rail 41. A rack 43 is installed on the side of the push rod 42. A second motor 44 is installed on the clamping mechanism 3. The gear installed on the output shaft of the second motor 44 meshes with the rack 43. The front end of the push rod 42 is installed with the suction mechanism 5. The stretching mechanism 4 endows the suction mechanism 5 with the ability to stretch, achieving the longest stretching range of the suction mechanism 5 to the greatest extent, ensuring the feasibility of the operation. At the same time, the control of the motor ensures the accuracy of tile pasting.

[0033] Among them, the suction mechanism 5 includes an axle frame 51. Side frames 52 are arranged on both sides of the axle frame 51. The side frame 52 located at the right end of the axle frame 51 is rotatably arranged therewith. A brushless motor one 53 is installed on the side frame 52 located at the left end of the axle frame 51. The output shaft of the brushless motor one 53 is connected to the axle frame 51. A brushless motor two 54 is installed inside the axle frame 51. The output shaft of the brushless motor two 54 penetrates the axle frame 51 and is installed with a cage 55. A suction cup 56 is installed on the cage 55. The suction mechanism 5 replaces the traditional jaw structure. The suction cup 56 on the suction mechanism 5 achieves the effect of multi-degree-of-freedom suction of tiles through a mechanical mechanism. Combining with the stretching mechanism 4 and the lifting mechanism 2, the robot is endowed with stretchability, achieving the purpose of automatic fixed-point tile pasting.

[0034] Among them, the video transmission pan-tilt mechanism 8 includes a pan-tilt frame 81. A brushless motor three 82 is installed on the top of the pan-tilt frame 81. A top mounting plate 83 is arranged on the top of the brushless motor three 82. A first speed regulator 84 is installed on the top mounting plate 83. And the top mounting plate 83 is installed on the clamping mechanism 3. A second speed regulator 85 is installed on the side of the pan-tilt frame 81. A video transmission frame 87 is rotatably arranged inside the pan-tilt frame 81 near the bottom through a brushless motor four 86 installed. A video transmission module 88 is installed on the video transmission frame 87. By setting the video transmission pan-tilt mechanism 8, the clamping step of the suction mechanism 5 is directly and real-time recognized. Then, the tile and the tiling area are photographed or scanned through the video transmission module 88. By recognizing the features such as the color, texture, and shape of the tile, the recognition and positioning of the tile are realized, achieving the effect of automatically judging the position and direction of the tile.

[0035] Working principle: When using the robot for tile pasting, the chassis mechanism 1 is used to control the direction of the robot so that it travels to the tile placement position. Then, the lifting mechanism 2 is controlled to lower the height of the clamping mechanism 3. The extension mechanism 4 is used to control the elongation of the suction mechanism 5, and at the same time, the direction of the suction mechanism 5 is controlled so that the suction mechanism 5 can be attached to the placed tile for suction. After the suction mechanism 5 sucks the tile, the lifting mechanism 2 and the extension mechanism 4 are controlled simultaneously so that the tile is driven by the suction mechanism 5 and placed on the transfer platform 7 for transportation. After arriving at the tile pasting position, the tile placed on the transfer platform 7 can be sucked to carry out pasting.

[0036] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic tile - sticking robot, characterized in that, Comprising: A chassis mechanism (1), on which a lifting mechanism (2) is provided. At the top of the lifting mechanism (2), a clamping mechanism (3) is installed. At the center of the clamping mechanism (3), a synchronous conveying mechanism (6) is provided. On the synchronous conveying mechanism (6), a load transfer table (7) is arranged to move on the clamping mechanism (3). On the inner walls of the clamping mechanism (3) near both sides, an extension mechanism (4) is provided. At the front end of the extension mechanism (4), a suction mechanism (5) is installed. At the bottom near the front end of the clamping mechanism (3), an image transmission pan-tilt mechanism (8) is installed.

2. The automatic tile - pasting robot according to claim 1, wherein, The lifting mechanism (2) includes four guide rails (21), all of which are installed on the chassis mechanism (1). A slider (25) is slidably arranged on the surface of the guide rail (21). A support column (22) is installed on the slider (25). Inside the two support columns (22) behind the chassis mechanism (1), a toothed column (23) is installed. A first motor (24) is installed on the chassis mechanism (1). The gear installed on the output shaft of the first motor (24) meshes with the toothed column (23).

3. The automatic tile - pasting robot according to claim 1, wherein The chassis mechanism (1) includes a chassis frame (11), on which an upright frame (12) is integrally installed. At the four corners of the chassis frame (11), Mecanum wheels (13) are provided. At the middle parts of the four sides of the chassis frame (11), small armor plates (14) are installed. At the top of the small armor plate (14) behind the chassis frame (11), a lighting mechanism (15) is installed. At the top of the small armor plate (14) in front of the chassis frame (11), a main control module (16) is installed.

4. The automatic tile - pasting robot according to claim 3, characterized in that, In the middle of the chassis frame (11), a pump frame (17) is provided. On the front and rear of the pump frame (17), protective boxes (18) surrounded by mesh plates are provided. Inside the protective box (18) behind the pump frame (17), a battery and a power management module are respectively installed. A vacuum pump is provided inside the protective box (18). At the position of the upright frame (12) on the top of the pump frame (17), a protective box (19) is provided. Inside the protective box (19), a main control board is installed.

5. The automatic tile - pasting robot according to claim 4, wherein, The mesh plates in front and rear of the protective box (18) are locked with the top plate by bolts.

6. The automatic tile - sticking robot according to claim 1, characterized in that, The extension mechanism (4) includes a drawer slide rail (41), which is installed on the clamping mechanism (3). A push rod (42) is installed on the slide bar inside the drawer slide rail (41). A rack (43) is installed on the side of the push rod (42). A second motor (44) is installed on the clamping mechanism (3). The gear installed on the output shaft of the second motor (44) meshes with the rack (43). The front end of the push rod (42) is installed with the suction mechanism (5).

7. An automatic tile - pasting robot according to claim 1, characterized in that, The suction mechanism (5) includes a shaft frame (51), side frames (52) are provided on both sides of the shaft frame (51), and the side frame (52) at the right end of the shaft frame (51) is rotatably arranged therewith. A brushless motor one (53) is installed on the side frame (52) at the left end of the shaft frame (51). The output shaft of the brushless motor one (53) is connected to the shaft frame (51). A brushless motor two (54) is installed inside the shaft frame (51). The output shaft of the brushless motor two (54) penetrates through the shaft frame (51) and a cage (55) is installed thereon. A suction cup (56) is installed on the cage (55).

8. An automatic tile - pasting robot according to claim 1, characterized in that, The video transmission pan-tilt mechanism (8) includes a pan-tilt frame (81). A brushless motor three (82) is installed on the top of the pan-tilt frame (81). A top mounting plate (83) is provided on the top of the brushless motor three (82). A first speed regulator (84) is installed on the top mounting plate (83), and the top mounting plate (83) is installed on the clamping mechanism (3). A second speed regulator (85) is installed on the side of the pan-tilt frame (81). A video transmission frame (87) is rotatably arranged near the inner side of the bottom of the pan-tilt frame (81) through a brushless motor four (86) installed thereon. A video transmission module (88) is installed on the video transmission frame (87).

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