A paving crawler for automatic laying of different color tiles

Abstract

The utility model discloses a kind of brick-laying crawler vehicles for automatically laying different color color bricks.The utility model moves in mobile chassis drive rotating device, rotating device drives translational device to rotate, the guide rail of lifting device is driven to translate by translational device, main body square tube and guide rail constitute vertical direction's sliding pair, and by lifting driving piece drive lifting, the rotating shaft of end effector and main body square tube constitute rotating pair, and by drive motor drive rotation, and rotating shaft both ends are fixed with the two end grippers of symmetrical arrangement, the middle part of each end gripper is hinged with the one end of a connecting rod, the other end of each connecting rod is hinged with a horizontally arranged slide rod, and each slide rod passes through the hole of baffle opening, and the corresponding hole constitutes sliding pair;Camera is fixed on baffle;The end of each end gripper is provided with right-angle notch.The utility model can replace manual realization to the laying work of different color color brick, reduce manual labor and artificial cost.

Description

Technical Field

[0001] This utility model belongs to the field of construction machinery, specifically relating to a brick-laying tracked vehicle for automatically laying colored bricks of different colors. Background Technology

[0002] In recent years, with the continuous improvement of mechanization, a large number of automated equipment have begun to appear in the construction field, and there are also many machines that can automatically lay paving tiles in the paving field. However, in areas such as parks and amusement parks where paving tiles of specific colors need to be laid, manual labor is still required, resulting in high labor costs. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technology and propose a tracked paving vehicle for automatically laying colored bricks of different colors.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This utility model relates to a tracked paving vehicle for automatically laying colored bricks of different colors, comprising a mobile chassis, a rotating device, a translating device, a lifting device, and an end effector.

[0006] The mobile chassis drives the rotating device to move; the rotating device drives the translation device to rotate; the lifting device includes a main square tube, a guide rail, and a lifting drive component. The vertically arranged guide rail is driven to translate by the translation device. The main square tube and the guide rail form a vertical sliding pair and are driven to lift by the lifting drive component; the end effector includes a baffle, a rotating shaft, an end gripper, a camera, a connecting rod, and a sliding rod. The rotating shaft and the main square tube form a rotating pair, and a vertically arranged baffle is fixed on the main square tube below the rotating shaft. A worm gear is fixed in the middle of the rotating shaft. A vertically arranged worm and the main square tube form a rotating pair and are driven to rotate by a drive motor. The worm gear meshes with the threaded section on the worm. Two symmetrically arranged end grippers are fixed at both ends of the rotating shaft. The middle of each end gripper is hinged to one end of a connecting rod, and the other end of each connecting rod is hinged to a horizontally arranged sliding rod. Each sliding rod passes through a hole in the baffle and forms a sliding pair with the corresponding hole. The camera is fixed on the baffle. Each end gripper has a right-angle slot at its end.

[0007] Preferably, the mobile chassis includes tracked actuators and a frame, the frame being driven to translate by two symmetrically arranged tracked actuators.

[0008] More preferably, the rotating device includes a support bracket, a motor bracket, a rotary motor, and a driven rod; the support bracket and the motor bracket are both fixed on the frame and are respectively hinged to a driven rod and a driving gear. A driven gear arranged coaxially is fixed on the driven rod, the driven gear meshes with the driving gear, and the driving gear is driven to rotate by the rotary motor.

[0009] More preferably, the drive gear is fixed on a vertically arranged mounting shaft, and the mounting shaft and the motor bracket form a rotating pair, which is driven to rotate by a rotary motor.

[0010] More preferably, the translation device includes a base, a front end plate, and a sliding plate; the horizontally arranged base is fixed to the driven rod; the sliding plate and the base form a horizontal sliding pair and are driven to translate by a translation drive component; the front end plate is fixed to the sliding plate; and the guide rail is fixed to the front end plate.

[0011] More preferably, the base is fixed with two horizontally parallel slide rails arranged at intervals, and both ends of the sliding plate are fixed with a number of sliders arranged at intervals. Each slide rail and the number of sliders at one end of the sliding plate form a sliding pair.

[0012] More preferably, the two ends of the slide rail are fixed to the base by two support brackets.

[0013] More preferably, the translation drive component includes a second motor bracket, a translation motor, a belt drive mechanism, a fixed bracket, and a connecting block. The distance between the second motor bracket and the fixed bracket is fixed on the base. The housing of the translation motor is fixed on the second motor bracket. One pulley of the belt drive mechanism is fixed on the output shaft of the translation motor, and the other pulley forms a rotating pair with the fixed bracket. The connecting block is fixed on the sliding plate and is fixed to the transmission belt of the belt drive mechanism.

[0014] Preferably, the lifting drive component includes a drive gear, a rack, a connecting shaft, a motor bracket three, a support bracket two, and a lifting motor. The motor bracket three is fixed to the sliding plate, the support bracket two is fixed to the front end plate, the housing of the lifting motor is fixed to the motor bracket three, the middle part of the horizontally arranged connecting shaft is supported on the support bracket two by a bearing two, one end of the connecting shaft is fixed to the output shaft of the lifting motor, and the other end is fixed to the drive gear. The rack is vertically fixed to the main body square tube and meshes with the drive gear.

[0015] This utility model has the following beneficial effects:

[0016] This invention can replace manual labor in laying colored bricks of different colors, reducing labor costs. Specifically, this invention uses a mobile chassis to drive a rotating device, a translating device, a lifting device, and an end effector to move between the brick laying position and the brick picking position. A camera identifies the color of the colored brick and the position of a specified colored brick. The rotating device drives the translating device to rotate, and the translating device drives the lifting device to rise and fall, thus adjusting the position of the end effector. When the end effector is at the brick picking position for the specified colored brick, the drive motor drives the worm gear to rotate. The worm gear, through a worm wheel and a rotating shaft, drives two end grippers to rotate towards the baffle. The two end grippers, through two connecting rods, drive two sliding rods to translate away from the end grippers, causing the right-angle slots of the two end grippers to... The device clamps the right-angled edge of a designated-color brick, with a baffle and two end grippers holding the brick in place. When the end effector is positioned at the designated-color brick laying location, the drive motor rotates the worm gear. The worm gear, through a worm wheel and a rotating shaft, drives the two end grippers to rotate away from the baffle. The two end grippers, through two connecting rods, drive two sliding rods to move closer to the end grippers, causing the right-angled slots of the two end grippers to release the right-angled edge of the designated-color brick. Simultaneously, the two sliding rods push the designated-color brick to the corresponding laying position, thus completing the laying of the designated-color brick. This fully automates the process, reducing manual labor and costs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the mobile chassis in this utility model;

[0019] Figure 3 This is a schematic diagram of the rotating device in this utility model;

[0020] Figure 4 This is a schematic diagram of the translation device in this utility model. Figure 1 ;

[0021] Figure 5 This is a schematic diagram of the translation device in this utility model. Figure 2 ;

[0022] Figure 6 This is a schematic diagram of the lifting device in this utility model;

[0023] Figure 7 This is a schematic diagram of the end effector in this utility model. Figure 1 ;

[0024] Figure 8 This is a schematic diagram of the end effector in this utility model. Figure 2 . Detailed Implementation

[0025] The present invention will now be further described with reference to the accompanying drawings.

[0026] like Figure 1 As shown, this utility model discloses a tracked paving vehicle for automatically laying colored bricks of different colors, comprising a mobile chassis 1, a rotating device 2, a translating device 3, a lifting device 4, and an end effector 5. Figure 2 As shown, the mobile chassis 1 includes tracked actuators 6 and a frame 7, which is driven to translate by two symmetrically arranged tracked actuators 6.

[0027] like Figure 3 As shown, the rotating device 2 includes a support bracket 8, a motor bracket 9, a rotary motor 10, and a driven rod 13. The support bracket 8 and the motor bracket 9 are both fixed to the frame 7 and are respectively hinged to the driven rod 13 and the driving gear 11. A coaxially arranged driven gear is fixed on the driven rod 13, meshing with the driving gear 11, which is driven by the rotary motor 10. Figure 4 As shown, the translation device 3 includes a base 15, a front end plate 16, and a sliding plate 17; the horizontally arranged base 15 is fixed to the driven rod 13; the sliding plate 17 and the base 15 form a horizontal sliding pair, and are driven to translate by a translation drive component; the front end plate 16 is fixed to the sliding plate 17. Figure 6 As shown, the lifting device 4 includes a main square tube 23, a guide rail 25, and a lifting drive component; the vertically arranged guide rail 25 is fixed on the front end plate 16, the main square tube 23 and the guide rail 25 form a vertical sliding pair, and the lifting is driven by the lifting drive component.

[0028] like Figure 7 and Figure 8 As shown, the end effector 5 includes a baffle 26, a rotating shaft, end grippers 28, a camera 29, a connecting rod, and a sliding rod. The rotating shaft and the main square tube 23 form a rotating pair, and the main square tube 23 is fixed with a vertically arranged baffle 26 below the rotating shaft. A worm gear is fixed in the middle of the rotating shaft, and a vertically arranged worm 27 forms a rotating pair with the main square tube 23 and is driven to rotate by a drive motor. The worm gear meshes with the threaded section on the worm 27. Two symmetrically arranged end grippers 28 are fixed at both ends of the rotating shaft. The middle of each end gripper 28 is hinged to one end of a connecting rod, and the other end of each connecting rod is hinged to a horizontally arranged sliding rod. Each sliding rod passes through a hole opened in the baffle 26 and forms a sliding pair with the corresponding hole. The camera 29 is fixed on the baffle 26. Each end gripper 28 has a right-angled slot at its end to cooperate with the right-angled side of the brick and improve the stability when gripping the colored brick.

[0029] In a preferred embodiment, the drive gear 11 is fixed on the vertically arranged mounting shaft 12, and the mounting shaft 12 and the motor bracket 9 form a rotating pair and are driven to rotate by the rotary motor 10.

[0030] In a preferred embodiment, the driven rod 13 is supported on the sleeve 14 by a bearing, and the sleeve 14 is fixed on the support bracket 8. The sleeve 14 provides horizontal support to the driven rod 13, which improves the bending resistance of the driven rod 13 and makes the transmission smoother.

[0031] In a preferred embodiment, two horizontally parallel slide rails 21 are fixed on the base 15 and spaced apart. Several sliders are fixed at both ends of the sliding plate 17 and spaced apart. Each slide rail 21 and several sliders at one end of the sliding plate 17 form a sliding pair.

[0032] More preferably, the two ends of the slide rail 21 are fixed to the base 15 by two support brackets 18.

[0033] As a preferred embodiment, such as Figure 4 and Figure 5 As shown, the translation drive includes a second motor bracket, a translation motor 19, a belt drive mechanism 20, a fixed bracket 22, and a connecting block. The distance between the second motor bracket and the fixed bracket 22 is fixed on the base 15. The housing of the translation motor 19 is fixed on the second motor bracket. One pulley of the belt drive mechanism 20 is fixed on the output shaft of the translation motor 19, and the other pulley forms a rotating pair with the fixed bracket 22. The connecting block is fixed on the sliding plate 17 and is fixed to the transmission belt of the belt drive mechanism.

[0034] In a preferred embodiment, the lifting drive includes a drive gear, a rack 24, a connecting shaft, a motor bracket three, a support bracket two, and a lifting motor. The motor bracket three is fixed to the sliding plate 17, the support bracket two is fixed to the front end plate 16, the housing of the lifting motor is fixed to the motor bracket three, the middle part of the horizontally arranged connecting shaft is supported on the support bracket two by a bearing two, one end of the connecting shaft is fixed to the output shaft of the lifting motor, and the other end is fixed to the drive gear. The rack 24 is vertically fixed to the main body square tube 23 and meshes with the drive gear.

[0035] Among them, the rotary motor 10, drive motor, translation motor 19, lifting motor and each track actuator 6 are all controlled by the controller, and the signal output terminal of the camera 29 is connected to the controller.

[0036] The working principle of this utility model, a tracked paving vehicle for automatically laying colored bricks of different colors, is as follows:

[0037] According to the set brick-laying sequence, the two tracked actuators 6 synchronously drive the frame 7 to move the rotating device 2, the translating device 3, the lifting device 4, and the end effector 5 to the brick-picking position. The camera 29 identifies the position of the designated color brick at the brick-picking position. The controller adjusts the position of the end effector 5 so that it moves to the position of the designated color brick, with the baffle 26 facing one long side of the designated color brick. Then, the controller controls the drive motor to drive the worm gear 27 to rotate. The worm gear 27 drives the two end grippers 28 to rotate downwards towards the baffle 26 through the worm wheel and the rotating shaft. The two end grippers 28 drive the two sliding rods to translate away from the end grippers 28 through the two connecting rods. At the same time, the translation drive drives the sliding plate 17 to drive the lifting device 4 and the end effector 5 to translate towards the designated color brick through the front plate 16, until the baffle 26 is in contact with one long side of the designated color brick. The two end grippers 28 are engaged with the right-angled edges of the designated color brick by the right-angled slots of the baffle 26 and the two end grippers 28. Then, the two tracked actuators 6 synchronously drive the frame 7 to move the rotating device 2, the translation device 3, the lifting device 4, the end actuator 5 and the designated color brick to the paving position. The position of the end actuator 5 is adjusted so that the end actuator 5 moves the designated color brick to the paving position. The controller controls the drive motor to drive the worm 27 to rotate. The worm 27 drives the two end grippers 28 to rotate upward away from the baffle 26 through the worm wheel and the rotating shaft, releasing the grip on the designated color brick. At the same time, the two end grippers 28 drive the two slide bars through the two connecting rods to push the designated color brick to translate towards the end grippers 28, so that the designated color brick is translated to its paving position, thereby realizing the paving of the designated color brick.

[0038] The process of adjusting the position of the end effector 5 is as follows: the controller controls the rotary motor 10 to drive the drive gear 11 to rotate, and the driven gear drives the base 15 to rotate through the driven rod 13, which in turn drives the entire translation device 3, lifting device 4 and end effector 5 to rotate. The translation drive drives the sliding plate 17 to move the front plate 16, and the front plate 16 moves the lifting device 4 and end effector 5. At the same time, the lifting drive drives the main square tube 23 to move the entire end effector 5 up and down.

Claims

1. A tracked paving vehicle for automatically laying colored bricks of different colors, comprising a mobile chassis, a rotating device, a translating device, and a lifting device, characterized in that: It also includes an end effector; the mobile chassis drives the rotating device to move, and the rotating device drives the translation device to rotate; the lifting device includes a main square tube, a guide rail, and a lifting drive component, the vertically arranged guide rail is driven to translate by the translation device, the main square tube and the guide rail form a vertical sliding pair, and the lifting is driven by the lifting drive component; the end effector includes a baffle, a rotating shaft, an end gripper, a camera, a connecting rod, and a sliding rod, the rotating shaft and the main square tube form a rotating pair, and a vertically arranged baffle is fixed on the main square tube below the rotating shaft. The plate has a worm gear fixed in the middle of the rotating shaft. The vertically arranged worm and the main square tube form a rotating pair and are driven to rotate by a drive motor. The worm gear meshes with the threaded section on the worm. Two symmetrically arranged end grippers are fixed at both ends of the rotating shaft. The middle of each end gripper is hinged to one end of a connecting rod, and the other end of each connecting rod is hinged to a horizontally arranged sliding rod. Each sliding rod passes through a hole opened in the baffle and forms a sliding pair with the corresponding hole. The camera is fixed on the baffle. Each end gripper has a right-angle slot at its end.

2. A tracked paving vehicle for automatically laying colored bricks of different colors according to claim 1, characterized in that: The mobile chassis includes tracked actuators and a frame, with the frame driven to translate by two symmetrically arranged tracked actuators.

3. A tracked paving vehicle for automatically laying colored bricks of different colors according to claim 2, characterized in that: The rotating device includes a support bracket, a motor bracket, a rotary motor, and a driven rod. The support bracket and the motor bracket are both fixed on the frame and are respectively hinged to the driven rod and the driving gear. The driven gear is fixed on the driven rod and is arranged coaxially. The driven gear meshes with the driving gear and is driven by the rotary motor.

4. A tracked paving vehicle for automatically laying colored bricks of different colors according to claim 3, characterized in that: The drive gear is fixed on a vertically arranged mounting shaft. The mounting shaft and the motor bracket form a rotating pair and are driven to rotate by a rotary motor.

5. A tracked paving vehicle for automatically laying colored bricks of different colors according to claim 3, characterized in that: The translation device includes a base, a front end plate, and a sliding plate; the horizontally arranged base is fixed to the driven rod; the sliding plate and the base form a horizontal sliding pair and are driven to translate by a translation drive component; the front end plate is fixed to the sliding plate; and the guide rail is fixed to the front end plate.

6. A tracked paving vehicle for automatically laying colored bricks of different colors according to claim 5, characterized in that: The base is fixed with two horizontally parallel slide rails arranged at intervals. Both ends of the sliding plate are fixed with several sliders arranged at intervals. Each slide rail and several sliders at one end of the sliding plate form a sliding pair.

7. A tracked paving vehicle for automatically laying colored bricks of different colors according to claim 6, characterized in that: The slide rail is fixed to the base at both ends by two support brackets.

8. A tracked paving vehicle for automatically laying colored bricks of different colors according to claim 5, characterized in that: The translation drive component includes a second motor bracket, a translation motor, a belt drive mechanism, a fixed bracket, and a connecting block. The distance between the second motor bracket and the fixed bracket is fixed on the base. The housing of the translation motor is fixed on the second motor bracket. One pulley of the belt drive mechanism is fixed on the output shaft of the translation motor, and the other pulley forms a rotating pair with the fixed bracket. The connecting block is fixed on the sliding plate and is fixed to the transmission belt of the belt drive mechanism.

9. A tracked paving vehicle for automatically laying colored bricks of different colors according to claim 1, characterized in that: The lifting drive component includes a drive gear, a rack, a connecting shaft, a motor bracket three, a support bracket two, and a lifting motor. The motor bracket is fixed to the sliding plate, the support bracket two is fixed to the front end plate, and the housing of the lifting motor is fixed to the motor bracket three. The horizontally arranged connecting shaft is supported on the support bracket two by a bearing two in the middle. One end of the connecting shaft is fixed to the output shaft of the lifting motor, and the other end is fixed to the drive gear. The rack is vertically fixed to the main body square tube and meshes with the drive gear.

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