CN113882635B - Fluidized body laying device, floor tile laying robot and slurry laying method - Google Patents

Abstract

The invention discloses a fluid laying device, a floor tile paving robot and a slurry paving method, wherein the fluid laying device comprises: a chassis; the translation deviation rectifying mechanism is arranged on the chassis and comprises a moving seat moving along the direction vertical to the laying direction of the fluid and a deviation rectifying detection piece arranged on the moving seat; the slurry spreading mechanism is connected to the moving seat; the slurry supply mechanism is arranged on the chassis and used for supplying fluid bodies to the slurry spreading mechanism; when the fluid laying device works, the deviation rectifying detection piece controls the movable seat according to the received laser line, so that the slurry laying mechanism linearly lays slurry along the laying direction. The invention can ensure that the paved pulp surface is paved along a straight line, can replace manual work to finish the paving work of the adhesive fluid body, avoids the quality problem caused by the non-standard manual work, reduces the labor intensity of workers and improves the pulp paving efficiency.

Description

Translated fromChinese

流质体铺设装置、地砖铺贴机器人、铺浆方法Fluid laying device, floor tile laying robot, and slurry laying method

技术领域technical field

本发明涉及建筑施工设备技术领域，尤其涉及一种流质体铺设装置、地砖铺贴机器人、铺浆方法。The invention relates to the technical field of construction equipment, in particular to a fluid body laying device, a floor tile laying robot and a slurry laying method.

背景技术Background technique

目前，地面瓷砖铺贴时，需要在铺贴面铺设一层粘合流质体让瓷砖和铺贴面的有效粘接在一起。一般采用人工把粘合流质体摊铺在铺贴面上，然后利用刮板把流质体刮成平直的面，由于受工人的熟练程度因数的影响，容易导致铺设的浆面不成直线，在瓷砖铺贴后易造成瓷砖下面缺浆，从而导致瓷砖空鼓的质量问题。此外，人工刮平直的方法对工人技术要求高，劳动强度大，不利于提高铺浆作业的效率。At present, when laying floor tiles, it is necessary to lay a layer of adhesive fluid on the paving surface to effectively bond the tiles and the paving surface together. Generally, the adhesive fluid is artificially spread on the paving surface, and then the fluid is scraped into a straight surface with a scraper. Due to the influence of the worker's proficiency factor, it is easy to cause the paved slurry surface to be out of line. After the tiles are laid, it is easy to cause the lack of grout under the tiles, which leads to the quality problem of hollow tiles. In addition, the method of manual scraping and straightening has high technical requirements and high labor intensity, which is not conducive to improving the efficiency of the slurry spreading operation.

发明内容SUMMARY OF THE INVENTION

本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明提出一种流质体铺设装置，以解决人工铺设浆面不成直线的问题，导致铺设浆面质量低，工作效率低的问题。The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present invention proposes a fluid body laying device to solve the problem that the artificially laid slurry surface is not straight, resulting in low quality of the laid slurry surface and low work efficiency.

本发明还旨在提出一种应用上述流质体铺设装置的地砖铺贴机器人。The present invention also aims to provide a floor tile laying robot using the above fluid body laying device.

本发明还旨在提出一种应用上述流质体铺设装置的铺浆方法。The present invention also aims to provide a slurry laying method using the above-mentioned fluid body laying device.

根据本发明实施例的一种流质体铺设装置，包括：底盘；平移纠偏机构，所述平移纠偏机构设在底盘上，所述平移纠偏机构包括沿垂直于流质体铺设方向移动的移动座和设在所述移动座上的纠偏检测件；铺浆机构，所述铺浆机构连接在所述移动座上；供浆机构，所述供浆机构设在所述底盘上，以向所述铺浆机构供给流质体；其中，所述流质体铺设装置工作时，所述纠偏检测件根据接收到的激光线控制所述移动座，以使所述铺浆机构沿铺设方向直线铺浆。A fluid body laying device according to an embodiment of the present invention includes: a chassis; a translation rectification mechanism, the translation rectification mechanism is provided on the chassis, and the translation rectification mechanism includes a movable seat that moves perpendicular to the laying direction of the fluid body and a device A deviation correction detection piece on the moving base; a slurry spreading mechanism, the slurry spreading mechanism is connected to the moving base; a slurry supply mechanism, the slurry supply mechanism is arranged on the chassis to spread the slurry to the The mechanism supplies the fluid body; wherein, when the fluid body laying device is working, the deviation correction detecting element controls the moving seat according to the received laser line, so that the slurry spreading mechanism spreads the slurry straight along the laying direction.

根据本发明实施例的流质体铺设铺浆装置，利用垂直激光线作为平行地砖边线基准，纠偏检测件接受平行地砖边线激光线的信号来控制平移纠偏机构，对铺浆机构进行水平方向纠偏。由于现有铺浆机器人因地面平整度、砂砾等杂物的原因，导致机器人行走过程中无法走直线，铺浆无法铺直线，而本发明可保证铺设的浆面沿直线铺设，能替代人工完成粘结流质体的铺设工作，避免因人工作业不规范造成的质量问题，降低工人劳动强度，提高铺浆效率。According to the liquid body laying and slurrying device according to the embodiment of the present invention, the vertical laser line is used as the reference of the parallel floor tile edge line, and the deviation correction detector receives the signal of the parallel floor tile edge line laser line to control the translation deviation correction mechanism, and the slurry laying mechanism is corrected in the horizontal direction. Due to the ground flatness, gravel and other debris, the existing slurry-laying robot cannot walk in a straight line during the walking process, and the slurry cannot be laid in a straight line. The laying of the bonding fluid can avoid quality problems caused by irregular manual operations, reduce the labor intensity of workers, and improve the efficiency of slurry laying.

一些实施例中，所述平移纠偏机构还包括：驱动件，所述驱动件设在所述移动座上；运动组件，所述运动组件包括运动件和连接所述运动件的导向支撑件，所述运动件连接所述驱动件，所述导向支撑件连接所述底盘。In some embodiments, the translation correction mechanism further includes: a driving member, the driving member is arranged on the moving base; a moving component, the moving component includes a moving member and a guide support connecting the moving The moving part is connected to the driving part, and the guide support part is connected to the chassis.

一些实施例中，所述驱动件为第一驱动电机；所述运动件为丝杠，所述丝杠连接在所述第一驱动电机的输出端上；所述导向支撑件为螺母，所述螺母配合在所述丝杠上，且所述螺母连接所述底盘。In some embodiments, the driving member is a first driving motor; the moving member is a lead screw, and the lead screw is connected to the output end of the first driving motor; the guiding support member is a nut, and the A nut is fitted on the lead screw, and the nut is connected to the chassis.

一些实施例中，所述流质体铺设铺浆装置还包括上下调平机构，所述上下调平机构设在所述移动座和所述铺浆机构之间，所述上下调平机构包括升降件和调平检测件，所述升降件设在所述移动座上，所述升降件的输出端连接所述铺浆机构，所述调平检测件设在所述移动座上；其中，所述流质体铺设装置工作时，所述调平检测件根据接收到的激光线控制所述升降件，以使所述铺浆机构的底部与施工面保持平行。In some embodiments, the fluid-body laying and slurry-laying device further includes an up-down leveling mechanism, the up-down leveling mechanism is arranged between the moving base and the slurry-laying mechanism, and the up-down leveling mechanism includes a lifting member. and a leveling detection piece, the lifting piece is arranged on the moving base, the output end of the lifting piece is connected to the pulping mechanism, and the leveling detection piece is arranged on the moving base; wherein, the When the fluid laying device is in operation, the leveling detection piece controls the lifting piece according to the received laser line, so as to keep the bottom of the slurry spreading mechanism parallel to the construction surface.

可选的，所述上下调平机构还包括旋转件，所述旋转件设在所述移动座上且可绕竖直轴线转动，所述旋转件的输出端连接所述调平检测件，所述旋转件可调整所述调平检测件的检测方向。Optionally, the up-down leveling mechanism further includes a rotating member, the rotating member is arranged on the moving base and can rotate around a vertical axis, and the output end of the rotating member is connected to the leveling detection member, so The rotating member can adjust the detection direction of the leveling detection member.

可选的，所述上下调平机构为两个，两个所述上下调平机构对应设在所述铺浆机构的长度方向的两端，以分别调整所述铺浆机构的两端的高度。Optionally, there are two up-and-down leveling mechanisms, and the two up-down leveling mechanisms are correspondingly disposed at both ends of the slurry spreading mechanism in the length direction, so as to adjust the heights of the two ends of the slurry spreading mechanism respectively.

一些实施例中，所述铺浆机构包括：浆料箱，所述浆料箱的下方设有出浆口；齿形刮板，所述齿形刮板设在所述出浆口上，且沿所述浆料箱的长度方向延伸。In some embodiments, the slurry spreading mechanism includes: a slurry box, and a slurry outlet is provided below the slurry box; a toothed scraper is provided on the slurry outlet and extends along the slurry outlet. The slurry box extends lengthwise.

可选的，所述供浆机构包括：浆料斗，所述浆料斗设在所述底盘上；螺旋输送杆，所述螺旋输出杆可枢转地设在所述浆料斗内；输送管道，所述输送管道设在所述浆料斗上，所述输送管道的一端连通所述螺旋输送杆的输送端且另一端连通所述浆料箱；第二驱动电机，所述第二驱动电机的输出端连接所述螺旋输送杆。Optionally, the slurry feeding mechanism includes: a slurry hopper, which is arranged on the chassis; a screw conveying rod, the screw output rod is pivotally arranged in the slurry hopper; conveying A pipeline, the conveying pipeline is arranged on the slurry hopper, one end of the conveying pipeline is connected to the conveying end of the screw conveying rod and the other end is connected to the slurry tank; the second driving motor, the second driving The output end of the motor is connected to the screw conveying rod.

一些实施例中，所述底盘包括：底盘主体，所述供浆机构设在所述底盘主体的上方且位于所述底盘主体的宽度方向的一侧；电力供给系统，所述电力供给系统设在所述底盘主体的上方且位于所述底盘主体的宽度方向的另一侧，所述电力供给系统沿所述底盘主体的长度方向设置；行走轮，所述行走轮设在所述底盘主体的下方；控制柜，所述控制柜设在所述底盘主体的下方。In some embodiments, the chassis includes: a chassis main body, the slurry feeding mechanism is provided above the chassis main body and is located on one side of the chassis main body in the width direction; a power supply system, the power supply system is provided on Above the chassis body and on the other side of the width direction of the chassis body, the power supply system is arranged along the length direction of the chassis body; traveling wheels, the traveling wheels are arranged below the chassis body ; Control cabinet, the control cabinet is arranged below the chassis main body.

根据本发明实施例的一种地砖铺贴机器人，包括：根据前文中任一项所述的流质体铺设装置。A floor tile laying robot according to an embodiment of the present invention includes: the liquid body laying device according to any one of the foregoing.

根据本发明实施例的地砖铺贴机器人，通过流质体铺设铺浆装置，利用垂直激光线作为平行地砖边线基准，纠偏检测件接受平行地砖边线激光线的信号来控制平移纠偏机构，对铺浆机构进行水平方向纠偏，可保证铺设的浆面沿直线铺设，能替代人工完成粘结流质体的铺设工作，避免因人工作业不规范造成的质量问题，降低工人劳动强度，提高铺浆效率。According to the floor tile laying robot according to the embodiment of the present invention, the liquid body is used to lay the slurry device, and the vertical laser line is used as the reference of the parallel floor tile edge line. Correcting the deviation in the horizontal direction can ensure that the laid slurry surface is laid in a straight line, which can replace the manual laying of the bonding fluid, avoid quality problems caused by irregular manual operations, reduce the labor intensity of workers, and improve the efficiency of slurry laying.

根据本发明实施例的一种铺浆方法，包括：根据前文中任一项所述的流质体铺设装置；所述铺浆方法包括：所述底盘沿铺浆方向移动，所述供浆机构向所述铺浆机构中输送流质体，所述铺浆机构对施工面铺浆；所述纠偏检测件根据接收到的激光线控制所述平移纠偏机构，以调整所述铺浆机构的水平位置，使流质体保持沿铺设方向直线铺浆。A slurry laying method according to an embodiment of the present invention includes: the fluid body laying device according to any one of the foregoing; the slurry laying method includes: the chassis moves along the slurry laying direction, and the slurry feeding mechanism moves toward the slurry feeding mechanism. The fluid body is transported in the slurry spreading mechanism, and the slurry spreading mechanism spreads slurry on the construction surface; the deviation correction detector controls the translation and deviation correction mechanism according to the received laser line, so as to adjust the horizontal position of the slurry spreading mechanism, Keep the fluid body straight in the laying direction.

根据本发明实施例的铺浆方法，利用垂直激光线作为平行地砖边线基准，纠偏检测件接受平行地砖边线激光线的信号来控制平移纠偏机构，对铺浆机构进行水平方向纠偏。由于地面平整度、砂砾等杂物以及驱动轮打滑等原因，导致机器人行走过程中无法走直线，铺浆无法铺直线，而本发明可保证铺设的浆面沿直线铺设，极大的提高铺浆的笔直性，能替代人工完成粘结流质体的铺设工作，避免因人工作业不规范造成的质量问题，降低工人劳动强度，提高铺浆效率。According to the slurry laying method of the embodiment of the present invention, the vertical laser line is used as the reference of the parallel floor tile edge line, and the deviation correction detector receives the signal of the parallel floor tile edge line laser line to control the translation deviation correction mechanism, and the slurry laying mechanism is corrected in the horizontal direction. Due to the ground flatness, gravel and other debris and the slippage of the driving wheel, the robot cannot walk in a straight line during the walking process, and the slurry cannot be laid in a straight line. The straightness of the machine can replace the manual laying of the bonding fluid, avoid the quality problems caused by the irregular manual operation, reduce the labor intensity of workers, and improve the efficiency of slurry laying.

一些实施例中，所述流质体铺设装置还包括上下调平机构，所述上下调平机构设在所述移动座和所述铺浆机构之间，所述上下调平机构包括调平检测件；所述铺浆方法还包括：所述调平检测件根据激光线控制所述上下调平机构，以调整所述铺浆机构的高度，使所述铺浆机构的底部与施工面保持平行。In some embodiments, the fluid body laying device further includes an up-down leveling mechanism, the up-down leveling mechanism is arranged between the moving base and the slurry laying mechanism, and the up-down leveling mechanism includes a leveling detection piece. The slurry spreading method further comprises: the leveling detector controls the up-down leveling mechanism according to the laser line, so as to adjust the height of the slurry spreading mechanism, so that the bottom of the slurry spreading mechanism is kept parallel to the construction surface.

本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

附图说明Description of drawings

本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

图1为本发明实施例中流质体铺设装置的立体结构示意图；1 is a schematic three-dimensional structure diagram of a fluid body laying device in an embodiment of the present invention;

图2为本发明实施例中流质体铺设装置的局部立体结构示意图；Fig. 2 is the partial three-dimensional structure schematic diagram of the fluid body laying device in the embodiment of the present invention;

图3为本发明实施例中供浆机构的立体结构示意图；3 is a schematic three-dimensional structure diagram of a pulp feeding mechanism in an embodiment of the present invention;

图4为本发明实施例中运动底盘与供浆机构装配的立体结构示意图；FIG. 4 is a schematic three-dimensional structural diagram of the assembly of the moving chassis and the pulp feeding mechanism in the embodiment of the present invention;

图5为本发明实施例中流质体铺设装置配合激光发生器工作的结构示意图；5 is a schematic structural diagram of a fluid body laying device working with a laser generator in an embodiment of the present invention;

图6为本发明实施例中流质体铺设装置的铺浆机构与施工面保持水平的示意图；FIG. 6 is a schematic diagram of maintaining the level of the slurry-laying mechanism and the construction surface of the fluid body laying device in the embodiment of the present invention;

图7为本发明实施例中流质体铺设装置的铺浆机构向左偏斜的示意图一；7 is a schematic diagram 1 of a leftward deflection of the slurry-laying mechanism of the fluid-body-laying device according to the embodiment of the present invention;

图8为本发明实施例中流质体铺设装置的铺浆机构向左偏斜的示意图二；Fig. 8 is a schematic diagram 2 of the leftward deflection of the slurry-laying mechanism of the fluid-body-laying device according to the embodiment of the present invention;

图9为本发明实施例中流质体铺设装置的铺浆机构向右偏斜的示意图一；Fig. 9 is the schematic diagram 1 of the rightward deflection of the slurry-laying mechanism of the fluid-body-laying device in the embodiment of the present invention;

图10为本发明实施例中流质体铺设装置的铺浆机构向左偏斜的示意图二；Fig. 10 is a schematic diagram 2 of the leftward deflection of the slurry laying mechanism of the fluid body laying device in the embodiment of the present invention;

图11为本发明实施例中流质体铺设装置的铺浆机构不跑偏的示意图；11 is a schematic diagram of the slurry laying mechanism of the fluid body laying device not deviating in the embodiment of the present invention;

图12为本发明实施例中流质体铺设装置的铺浆机构向左跑偏的示意图；Fig. 12 is a schematic diagram of the slurry laying mechanism of the fluid body laying device deviating to the left in the embodiment of the present invention;

图13为本发明实施例中流质体铺设装置的铺浆机构向右跑偏的示意图。Fig. 13 is a schematic diagram of the slurry laying mechanism of the fluid body laying device deviating to the right according to the embodiment of the present invention.

附图标记：Reference number:

100、流质体铺设装置；100. Liquid body laying device;

10、底盘；10. Chassis;

11、底盘主体；12、行走轮；13、电力供给系统；14、控制柜；15、万向轮；11. Chassis body; 12. Walking wheel; 13. Power supply system; 14. Control cabinet; 15. Universal wheel;

20、平移纠偏机构；20. Translation correction mechanism;

21、第一驱动电机；22、丝杠；23、移动座；231、连接板；24、纠偏检测件；25、螺母；26、丝杠支撑座；27、联轴器；28、第一安装座；29、螺母固定座；21, the first drive motor; 22, the lead screw; 23, the movable seat; 231, the connecting plate; 24, the deviation correction detection part; 25, the nut; 29. Nut fixing seat;

30、铺浆机构；30. Pulp spreading mechanism;

31、浆料箱；32、齿形刮板；31. Slurry box; 32. Tooth scraper;

40、供浆机构；40. Pulp supply mechanism;

41、浆料斗；42、螺旋输送杆；43、输送管道；44、第二驱动电机；45、传动链；46、链轮；47、减速机；41, slurry bucket; 42, screw conveying rod; 43, conveying pipeline; 44, second drive motor; 45, transmission chain; 46, sprocket; 47, reducer;

50、上下调平机构；50. Up and down leveling mechanism;

51、升降件；511、第三电机；512、直线电缸；52、旋转件；53、调平检测件；54、直线导轨；55、销轴；56、连接杆；51. Lifting parts; 511, Third motor; 512, Linear electric cylinder; 52, Rotating parts; 53, Leveling detection parts; 54, Linear guide rails; 55, Pin shaft;

60、导向机构；60. Guiding mechanism;

61、滑轨；62、移动滑块；61. Slide rail; 62. Moving slider;

200、激光发生器；300、施工面；O2、水平激光线；O1、垂直激光线。200, laser generator; 300, construction surface; O2, horizontal laser line; O1, vertical laser line.

具体实施方式Detailed ways

下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present invention, and should not be construed as a limitation of the present invention.

在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征，用于区别描述特征，无顺序之分，无轻重之分。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "upper", "lower", "front", "rear", " "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outer", "axial", "radial", "circumferential", etc. Or the positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. , so it should not be construed as a limitation of the present invention. In addition, the features defined with "first" and "second" may explicitly or implicitly include one or more of the features, which are used to distinguish and describe the features, regardless of order or importance. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

下面结合附图，描述本发明实施例的流质体铺设装置100。The fluidbody laying device 100 according to the embodiment of the present invention will be described below with reference to the accompanying drawings.

如图1所示，根据本发明实施例的一种流质体铺设装置100，配合激光发生器200使用，包括：底盘10、平移纠偏机构20、铺浆机构30、供浆机构40。As shown in FIG. 1 , a fluidbody laying device 100 according to an embodiment of the present invention, used in conjunction with alaser generator 200 , includes: achassis 10 , atranslation correction mechanism 20 , aslurry laying mechanism 30 , and aslurry supply mechanism 40 .

平移纠偏机构20设在底盘10上，平移纠偏机构20包括沿垂直于流质体铺设方向移动的移动座23和设在移动座23上的纠偏检测件24。铺浆机构30连接在移动座23上。供浆机构40设在底盘10上，以向铺浆机构30供给流质体。可以理解为，铺浆机构30设在底盘10的前端，流质体铺设装置100工作时供浆机构40向铺浆机构30中提供流质体，底盘10带动流质体铺设装置100整体沿直线运动，铺浆机构30对施工面300进行铺浆作业。Thetranslation rectification mechanism 20 is arranged on thechassis 10 , and thetranslation rectification mechanism 20 includes a movingbase 23 that moves perpendicular to the laying direction of the fluid body and arectification detecting member 24 arranged on the movingbase 23 . Thepulping mechanism 30 is connected to the movingbase 23 . Thepulping mechanism 40 is provided on thechassis 10 to supply the fluid body to thepulping mechanism 30 . It can be understood that theslurry laying mechanism 30 is provided at the front end of thechassis 10. When thefluid laying device 100 is working, theslurry feeding mechanism 40 provides fluid to theslurry laying mechanism 30. Thechassis 10 drives thefluid laying device 100 to move in a straight line as a whole. Theslurry mechanism 30 performs slurry spreading operation on theconstruction surface 300 .

其中，如图5所示，流质体铺设装置100工作时，纠偏检测件24根据接收到的激光线控制所述移动座23，以使铺浆机构30沿铺设方向直线铺浆。也就是说，铺浆机构30正常工作时，纠偏检测件24接收的激光发生器200发出的垂直激光线O1位置为垂直零点位；移动座23用于带动铺浆机构30移动，以使纠偏检测件24接收的垂直激光线O1位置可回到垂直零点位上。例如，用于瓷砖铺设过程中，铺浆机构30在正常工作下沿直线铺浆，由于操作工人的熟练程度因素的影响，底盘10容易偏离铺浆方向，例如，铺浆机构30相对流质体铺设方向向左跑偏或向右跑偏(如图12和图13所示)，无法保持沿直线铺浆作业。当纠偏检测件24接收的激光发生器200发出的垂直激光线O1位置不在垂直零点位上时，平移纠偏机构20启动，移动座23带动铺浆机构30沿垂直于底盘10的运动方向移动，从而调整铺浆机构30的位置，使纠偏检测件24接收的垂直激光线O1位置回到垂直零点位上，进而保证铺浆机构30铺设的浆面成直线。As shown in FIG. 5 , when the fluidbody laying device 100 is working, thedeviation correction detector 24 controls the movingbase 23 according to the received laser line, so that theslurry spreading mechanism 30 spreads slurry straightly along the laying direction. That is to say, when thepulping mechanism 30 is working normally, the position of the vertical laser line O1 emitted by thelaser generator 200 received by the deviation-correctingdetector 24 is the vertical zero position; The position of the vertical laser line O1 received by theelement 24 can be returned to the vertical zero position. For example, in the process of laying tiles, thegrouting mechanism 30 lays grouting along a straight line under normal operation. Due to the influence of the operator's proficiency, thechassis 10 is easy to deviate from the grouting direction. For example, thegrouting mechanism 30 is laid relative to the fluid body. The direction deviates to the left or to the right (as shown in Figure 12 and Figure 13), and it is impossible to maintain the grouting operation in a straight line. When the position of the vertical laser line O1 emitted by thelaser generator 200 received by thecorrection detection part 24 is not at the vertical zero position, thetranslation correction mechanism 20 is activated, and the movingbase 23 drives thepulping mechanism 30 to move along the movement direction perpendicular to thechassis 10, thereby Adjust the position of theslurry laying mechanism 30 so that the position of the vertical laser line O1 received by thedeviation correction detector 24 returns to the vertical zero position, thereby ensuring that the slurry surface laid by theslurry laying mechanism 30 is in a straight line.

根据本发明实施例的流质体铺设铺浆装置100，利用垂直激光线O1作为平行地砖边线基准，纠偏检测件24接受平行地砖边线激光线的信号来控制平移纠偏机构20，对铺浆机构30进行水平方向纠偏，由于现有铺浆机器人因地面平整度、砂砾等杂物的原因，导致机器人行走过程中无法走直线，铺浆无法铺直线，而本发明可保证铺设的浆面沿直线铺设，能替代人工完成粘结流质体的铺设工作，避免因人工作业不规范造成的质量问题，降低工人劳动强度，提高铺浆效率。According to the fluid body laying andslurrying device 100 according to the embodiment of the present invention, the vertical laser line O1 is used as the reference of the parallel floor tile edge line, and the deviationcorrection detection member 24 receives the signal of the parallel floor tile edge line laser line to control the translation anddeviation correction mechanism 20, and theslurry laying mechanism 30 is performed. In the horizontal direction correction, due to the ground flatness, gravel and other debris, the existing slurry-laying robot cannot walk in a straight line during the walking process, and the slurry cannot be laid in a straight line. It can replace the manual laying of the bonding fluid, avoid the quality problems caused by the irregular manual operation, reduce the labor intensity of workers, and improve the efficiency of slurry laying.

一些实施例中，纠偏检测件24为光电位置敏感传感器。In some embodiments, thedeviation correction detector 24 is a photoelectric position sensitive sensor.

一些实施例中，如图2所示，平移纠偏机构20包括驱动件，驱动件设在移动座23上；运动组件，运动组件包括运动件和连接运动件的导向支撑件，运动件连接驱动件，导向支撑件连接底盘10。In some embodiments, as shown in FIG. 2 , thetranslation correction mechanism 20 includes a driving member, and the driving member is arranged on the movingbase 23; , the guide support is connected to thechassis 10 .

具体地，驱动件为第一驱动电机21；运动件为丝杠22，丝杠22连接在第一驱动电机21的输出端上；导向支撑件为螺母25，螺母25配合在丝杠22上，且螺母25连接底盘10。平移纠偏机构20工作时，第一驱动电机21启动带动丝杠22转动，丝杠22对螺母25产生推力，螺母25对丝杠22的反作用力带动移动座23做平移运动，从而带动铺浆机构30水平移动实现平移纠偏。由于纠偏检测件24和铺浆机构30都设在移动座23上，纠偏检测件24通过接受激光发生器200发出的垂直激光线O1可直观反映出铺浆机构30的位置，且纠偏检测件24随铺浆机构30在移动座23上移动，可实时检测出铺浆机构30是否纠偏到位。Specifically, the driving member is thefirst driving motor 21; the moving member is thelead screw 22, and thelead screw 22 is connected to the output end of thefirst driving motor 21; the guiding support member is thenut 25, and thenut 25 is matched with thelead screw 22, And thenut 25 is connected to thechassis 10 . When thetranslation correction mechanism 20 is working, thefirst drive motor 21 starts to drive thelead screw 22 to rotate, thelead screw 22 generates a thrust to thenut 25, and the reaction force of thenut 25 to thelead screw 22 drives themovable seat 23 to perform translational movement, thereby driving the slurry spreading mechanism. 30 horizontal movement to achieve translation correction. Since both the deviation-correctingdetector 24 and thepulping mechanism 30 are located on the movingbase 23, the deviation-correctingdetection member 24 can intuitively reflect the position of thepulping mechanism 30 by receiving the vertical laser line O1 emitted by thelaser generator 200, and the deviation-correctingdetection member 24 can directly reflect the position of thepulping mechanism 30. With theslurry spreading mechanism 30 moving on the movingbase 23, it can be detected in real time whether theslurry spreading mechanism 30 is corrected in place.

可选的，如图2所示，丝杠22的另一端可枢转地设有丝杠支撑座26，丝杠支撑座26连接在移动座23上，这样丝杠22和移动座23的连接可靠性增强，丝杠22带动移动座23运动的过程更稳定。丝杠22的一端通过联轴器27连接第一驱动电机21的输出轴，方便丝杠22和第一驱动电机21的安装。Optionally, as shown in FIG. 2 , the other end of thelead screw 22 is pivotally provided with a leadscrew support base 26 , and the leadscrew support base 26 is connected to the movingbase 23 , so that thelead screw 22 and the movingbase 23 are connected. The reliability is enhanced, and the process in which thelead screw 22 drives the movingseat 23 to move is more stable. One end of thelead screw 22 is connected to the output shaft of thefirst drive motor 21 through acoupling 27 , which facilitates the installation of thelead screw 22 and thefirst drive motor 21 .

可选的，丝杠22为滚珠丝杠，当然，本发明中的丝杠22不限于此，这里不再赘述。Optionally, thelead screw 22 is a ball screw. Of course, thelead screw 22 in the present invention is not limited to this, and details are not described here.

可选的，如图2所示，第一驱动电机21为伺服电机，第一驱动电机21连接有第一安装座28，第一安装座28设在移动座23上，以方便安装第一驱动电机21。Optionally, as shown in FIG. 2 , thefirst drive motor 21 is a servo motor, thefirst drive motor 21 is connected with a first mounting seat 28 , and the first mounting seat 28 is arranged on the movingseat 23 to facilitate the installation of thefirst drive Motor 21.

可选的，如图2所示，螺母25连接有螺母固定座29，螺母固定座29连接在运动底盘10上，用于方便安装螺母25，提高螺母25与运动底盘10的连接可靠性。Optionally, as shown in FIG. 2 , thenut 25 is connected with anut fixing seat 29 , which is connected to the movingchassis 10 to facilitate the installation of thenut 25 and improve the connection reliability between thenut 25 and the movingchassis 10 .

可选的，如图2所示，移动座23上设有连接板231，纠偏检测件24设在连接板231上。Optionally, as shown in FIG. 2 , the movingbase 23 is provided with a connectingplate 231 , and the deviationcorrection detecting member 24 is disposed on the connectingplate 231 .

一些实施例中，平移纠偏机构20包括齿轮(图未示出)驱动齿条(图未示出)作直线运动的平移机构，例如，第一驱动电机21带动齿轮转动，齿轮啮合齿条带动齿条运动，铺浆机构30连接在齿条上，同样可起到水平移动纠偏的作用。In some embodiments, thetranslation correction mechanism 20 includes a translation mechanism for driving a rack (not shown) to perform linear motion by a gear (not shown in the figure). For example, thefirst driving motor 21 drives the gear to rotate, and the gear meshes with the rack to drive the tooth When the bar moves, thepulping mechanism 30 is connected to the rack, which can also play the role of horizontal movement correction.

一些实施例中，如图4所示，移动座23与运动底盘10之间设有导向机构60，导向机构60包括滑轨61和移动滑块62，滑轨61设在运动底盘10上且沿运动底盘10的宽度方向设置，移动滑块62配合在滑轨61上且与移动座23相连。移动座23水平移动时，通过滑轨61和移动滑块62的作用，可保证移动座23在运动底盘10上稳定平移，提高运动可靠性。In some embodiments, as shown in FIG. 4 , aguide mechanism 60 is provided between the movingbase 23 and the movingchassis 10 , and theguide mechanism 60 includes a slidingrail 61 and a movingslider 62 . The width direction of the movingchassis 10 is provided, and the movingslider 62 is matched with the slidingrail 61 and is connected with the movingbase 23 . When themovable seat 23 moves horizontally, the slidingrail 61 and the movable slidingblock 62 can ensure the stable translation of themovable seat 23 on the movingchassis 10 and improve the reliability of movement.

一些实施例中，如图4所示，移动滑块62在滑轨61间隔开地设有多个，例如，移动滑块62为两个。In some embodiments, as shown in FIG. 4 , a plurality of movingsliders 62 are provided on theslide rail 61 at intervals, for example, there are two movingsliders 62 .

一些实施例中，如图1和图2所示，流质体铺设铺浆装置100还包括上下调平机构50，上下调平机构50设在移动座23和铺浆机构30之间，以调整铺浆机构30的长度方向两端的高度，上下调平机构50包括升降件51和调平检测件53，升降件51设在移动座23上，升降件51的输出端连接铺浆机构30，调平检测件53设在移动座23上。进行上下调平时，升降件51上升使铺浆机构30的端部位置相对施工面300的高度增加，升降件51下降使铺浆机构30的端部位置相对施工面300的高度减小。In some embodiments, as shown in FIG. 1 and FIG. 2 , the fluid body laying andpulping device 100 further includes an up-downleveling mechanism 50 , and the up-downleveling mechanism 50 is arranged between the movingbase 23 and thepulping mechanism 30 to adjust the paving. The height of the two ends in the longitudinal direction of thepulping mechanism 30. The up-and-downleveling mechanism 50 includes a liftingmember 51 and a levelingdetection member 53. The liftingmember 51 is arranged on the movingbase 23, and the output end of the liftingmember 51 is connected to thepulping mechanism 30. Leveling Thedetection member 53 is provided on themovable base 23 . When performing up and down adjustment, the liftingmember 51 rises to increase the height of the end of theslurry spreading mechanism 30 relative to theconstruction surface 300 , and the liftingmember 51 descends to decrease the height of the end of theslurry spreading mechanism 30 relative to theconstruction surface 300 .

其中，流质体铺设装置100工作时，调平检测件53根据接收到的激光线控制升降件51升降，以使铺浆机构30的底部与施工面保持平行。也就是说，流质体铺设装置100正常工作时，调平检测件53接收的激光发生器200发出的水平激光线O2位置为水平零点位；上下调平机构50用于带动铺浆机构30升降，以使调平检测件53接收的水平激光线O2位置可回到水平零点位上。瓷砖铺设过程中，铺浆机构30在正常工作下铺浆机构30的底部与施工面300保持水平，由于受到铺设面高低不平的影响，导致铺设的浆面高度不平。当调平检测件53接收的激光发生器200发出的水平激光线O2位置不在水平零点位时，上下调平机构50启动，调整铺浆机构30两端的高度，以使铺浆机构30的底部与施工面300保持平行，进而保证铺浆面高度齐平。利用激光发生器200发出的水平激光线O2作为水平面标高基准，调平检测件53接受水平面标高基准的信号来控制上下调平机构50，以解决因施工面300高低不平而导致铺浆面高低不平的质量问题。Wherein, when thefluid laying device 100 is in operation, theleveling detecting member 53 controls the liftingmember 51 to ascend and descend according to the received laser line, so as to keep the bottom of theslurry laying mechanism 30 parallel to the construction surface. That is to say, when thefluid laying device 100 is working normally, the position of the horizontal laser line O2 emitted by thelaser generator 200 received by the levelingdetector 53 is the horizontal zero position; So that the position of the horizontal laser line O2 received by the levelingdetector 53 can be returned to the horizontal zero position. During the tile laying process, the bottom of thegrouting mechanism 30 is kept level with theconstruction surface 300 under normal operation. Due to the influence of the unevenness of the laying surface, the height of the laying grouting surface is uneven. When the position of the horizontal laser line O2 emitted by thelaser generator 200 received by the levelingdetector 53 is not at the horizontal zero point, the up-and-downleveling mechanism 50 is activated to adjust the heights at both ends of thepulping mechanism 30 so that the bottom of thepulping mechanism 30 is close to the horizontal zero point. Theconstruction surface 300 is kept parallel, thereby ensuring that the height of the grouting surface is flush. The horizontal laser line O2 emitted by thelaser generator 200 is used as the horizontal plane elevation reference, and the levelingdetector 53 receives the signal of the horizontal plane elevation reference to control the up-and-downleveling mechanism 50, so as to solve the unevenness of the plastering surface caused by the unevenness of theconstruction surface 300 quality issues.

可选的，调平检测件53为光电位置敏感传感器。Optionally, the levelingdetector 53 is a photoelectric position sensitive sensor.

可选的，如图2所示，上下调平机构50为两个，两个上下调平机构50对应设在铺浆机构30的长度方向的两端，以分别调整铺浆机构30的两端的高度。也就是说，两个上下调平机构50可单独调节铺浆机构30两端的高度，例如，如图7和图8所示，当铺浆机构30左端的施工面300较高时，左端的上下调平机构50向上抬升铺浆机构30；当铺浆机构30左端的施工面300较低时，左端的上下调平机构50向下降低调整铺浆机构30。如图9和图10所示，当铺浆机构30右端的施工面300较高时，右端的上下调平机构50向上抬升铺浆机构30；当铺浆机构30右端的施工面300较低时，右端的上下调平机构50向下降低铺浆机构30。Optionally, as shown in FIG. 2 , there are two up-and-downleveling mechanisms 50 , and the two up-downleveling mechanisms 50 are correspondingly arranged at both ends of the lengthwise direction of thepulping mechanism 30 to adjust the two ends of thepulping mechanism 30 respectively. high. That is to say, the two up and down levelingmechanisms 50 can independently adjust the heights of both ends of thepulping mechanism 30. For example, as shown in FIGS. 7 and 8, when theconstruction surface 300 at the left end of thepulping mechanism 30 is higher, the upper and lower Theleveling mechanism 50 lifts theslurry spreading mechanism 30 upward; when theconstruction surface 300 at the left end of theslurry spreading mechanism 30 is lower, the up-downleveling mechanism 50 at the left end lowers and adjusts theslurry spreading mechanism 30 . As shown in FIGS. 9 and 10 , when theconstruction surface 300 at the right end of thepulping mechanism 30 is relatively high, the up-and-downleveling mechanism 50 at the right end lifts thepulping mechanism 30 upward; when theconstruction surface 300 at the right end of thepulping mechanism 30 is lower, the The up-and-downleveling mechanism 50 lowers thepulping mechanism 30 downward.

一些实施例中，如图2所示，升降件51包括第三电机511和直线电缸512，第三电机511与直线电缸512相连以驱动直线电缸512伸缩，直线电缸512的伸缩杆连接在铺浆机构30上。In some embodiments, as shown in FIG. 2 , the liftingmember 51 includes a third motor 511 and a linearelectric cylinder 512 . The third motor 511 is connected with the linearelectric cylinder 512 to drive the linearelectric cylinder 512 to expand and contract. Connected to thepulping mechanism 30 .

可选的，如图2所示，上下调平机构50还包括旋转件52，旋转件52设在移动座23上且可绕竖直轴线转动，旋转件52的输出端连接调平检测件53，旋转件52可调整调平检测件53的检测方向。旋转件52通过带动调平检测件53转动，使得调平检测件53转动到最佳角度来对准激光发生器200发出的水平激光线O2。Optionally, as shown in FIG. 2 , the up-downleveling mechanism 50 further includes a rotatingmember 52 . The rotatingmember 52 is arranged on the movingbase 23 and can rotate around the vertical axis. The output end of the rotatingmember 52 is connected to the levelingdetection member 53 . , the rotatingmember 52 can adjust the detection direction of the levelingdetection member 53 . The rotatingmember 52 drives the levelingdetection member 53 to rotate, so that the levelingdetection member 53 rotates to an optimal angle to align the horizontal laser line O2 emitted by thelaser generator 200 .

可选的，旋转件52为舵机，舵机的输出端连接调平检测件53，采用舵机方便精准控制调平检测件53的转动角度。当然，旋转件52还可以是步进电机或旋转气缸，这里不再赘述。Optionally, the rotatingmember 52 is a steering gear, the output end of the steering gear is connected to the levelingdetection member 53 , and the steering gear is used to conveniently and accurately control the rotation angle of the levelingdetection member 53 . Of course, the rotatingmember 52 may also be a stepper motor or a rotating cylinder, which will not be repeated here.

一些实施例中，如图2所示，上下调平机构50还包括直线导轨54，直线导轨54与升降件51的输出端相连，直线导轨54的滑块连接移动座23，直线导轨54通过销轴55连接铺浆机构30。也就是说，通过直线导轨54可起到导向作用，升降件51带动铺浆机构30升降时稳定性更好。In some embodiments, as shown in FIG. 2 , the up-downleveling mechanism 50 further includes alinear guide 54 , thelinear guide 54 is connected to the output end of the liftingmember 51 , the slider of thelinear guide 54 is connected to the movingbase 23 , and thelinear guide 54 passes through a pin. Theshaft 55 is connected to thelaying mechanism 30 . That is to say, thelinear guide rail 54 can play a guiding role, and the elevatingmember 51 has better stability when driving thepulping mechanism 30 to elevate.

一些实施例中，如图2所示，直线导轨54的上端通过连接杆56连接升降件51的输出端。In some embodiments, as shown in FIG. 2 , the upper end of thelinear guide rail 54 is connected to the output end of the liftingmember 51 through the connectingrod 56 .

一些实施例中，如图2所示，铺浆机构30包括：浆料箱31，浆料箱31的下方设有出浆口(图未示出)；齿形刮板32，齿形刮板32设在出浆口上，且沿浆料箱31的长度方向延伸。也就是说，浆料箱31内的浆料经出浆口到达齿形刮板32上，并通过齿形刮板32把浆料刮成平直的带齿形的面。In some embodiments, as shown in FIG. 2 , theslurry spreading mechanism 30 includes: a slurry box 31 , a slurry outlet (not shown in the figure) is arranged below the slurry box 31 ; a toothed scraper 32 , a toothed scraper 32 is provided on the pulp outlet, and extends along the length direction of the pulp box 31 . That is, the slurry in the slurry box 31 reaches the toothed scraper 32 through the slurry outlet, and the slurry is scraped into a straight toothed surface by the toothed scraper 32 .

可选的，如图3所示，供浆机构40包括：浆料斗41，浆料斗41设在底盘10上；螺旋输送杆42，螺旋输送杆42可枢转地设在浆料斗41内；输送管道43，输送管道43设在浆料斗41上，输送管道43的一端连通螺旋输送杆42的输送端且另一端连通浆料箱31；第二驱动电机44，第二驱动电机44的输出端连接螺旋输送杆42。可以理解为，螺旋输送杆42设置在浆料斗41的底部，第二驱动电机44带动螺旋输送杆42旋转，浆料斗41内的浆料随螺旋输送杆42向输送端排出，接着浆料经输送管道43到达浆料箱31，实现对铺浆机构30的供料。Optionally, as shown in FIG. 3 , theslurry supply mechanism 40 includes: aslurry hopper 41 , which is arranged on thechassis 10 ; and ascrew conveying rod 42 , which is pivotally arranged on theslurry hopper 41 . Inside; conveyingpipe 43, the conveyingpipe 43 is set on theslurry hopper 41, one end of the conveyingpipe 43 is connected to the conveying end of thescrew conveying rod 42 and the other end is connected to the slurry tank 31; thesecond driving motor 44, thesecond driving motor 44 The output end is connected to thescrew conveying rod 42 . It can be understood that thescrew conveying rod 42 is arranged at the bottom of theslurry hopper 41, thesecond driving motor 44 drives thescrew conveying rod 42 to rotate, and the slurry in theslurry hopper 41 is discharged to the conveying end along with thescrew conveying rod 42, and then the slurry is discharged. It reaches the slurry box 31 through the conveyingpipeline 43 to realize the feeding of theslurry spreading mechanism 30 .

可选的，如图3所示，第二驱动电机44与螺旋输送杆42之间设有链传动机构，链传动机构包括传动链45和两个链轮46，两个链轮46分别连接第二驱动电机44的输出轴和螺旋输送杆42的轴上，传动链45套设在两个链轮46上。第二驱动电机44启动，带动其上的链轮46转动，经传动链45带动另一链轮46转动，从而驱动螺旋输送杆42旋转。Optionally, as shown in FIG. 3, a chain transmission mechanism is provided between thesecond driving motor 44 and thescrew conveying rod 42. The chain transmission mechanism includes atransmission chain 45 and twosprockets 46, and the twosprockets 46 are respectively connected to the first On the output shafts of the two drivingmotors 44 and the shafts of thescrew conveying rods 42 , thetransmission chain 45 is sleeved on the twosprockets 46 . Thesecond driving motor 44 is activated to drive thesprocket 46 on it to rotate, and thetransmission chain 45 drives theother sprocket 46 to rotate, thereby driving thescrew conveying rod 42 to rotate.

可选的，如图3所示，第二驱动电机44为伺服电机，第二驱动电机44和链轮46之间设有减速机47。Optionally, as shown in FIG. 3 , thesecond drive motor 44 is a servo motor, and areducer 47 is provided between thesecond drive motor 44 and thesprocket 46 .

一些实施例中，如图4所示，底盘10包括：底盘主体11，供浆机构40设在底盘主体11的上方且位于底盘主体11的宽度方向的一侧；电力供给系统13，电力供给系统13设在底盘主体11的上方且位于底盘主体11的宽度方向的另一侧，电力供给系统13沿底盘主体11的长度方向设置。采用该方式，供浆机构40与电力供给系统13在底盘主体11布局紧凑，有利于缩小整个底盘主体11上部空间的体积。行走轮12，行走轮12设在底盘主体11的下方，电力供给系统13提供行走轮12的电力以带动底盘主体11行走。控制柜14，控制柜14设在底盘主体11的下方，可节省底盘11的上部空间。In some embodiments, as shown in FIG. 4 , thechassis 10 includes: a chassismain body 11 , aslurry feeding mechanism 40 is provided above the chassismain body 11 and located on one side in the width direction of the chassismain body 11 ; apower supply system 13 , apower supply system 13 is provided above the chassismain body 11 and on the other side in the width direction of the chassismain body 11 , and thepower supply system 13 is provided along the longitudinal direction of the chassismain body 11 . In this way, the layout of thepulp supply mechanism 40 and thepower supply system 13 in the chassismain body 11 is compact, which is beneficial to reduce the volume of the upper space of the entire chassismain body 11 . The travelingwheel 12 is arranged below the chassismain body 11 , and thepower supply system 13 provides the electric power of the travelingwheel 12 to drive the chassismain body 11 to walk. Thecontrol cabinet 14 is arranged below the chassismain body 11 , which can save the upper space of thechassis 11 .

可选的，如图4所示，行走轮12为舵轮，运动底盘10还包括设在底盘主体11下方的万向轮15。Optionally, as shown in FIG. 4 , the travelingwheel 12 is a steering wheel, and the movingchassis 10 further includes auniversal wheel 15 disposed under the chassismain body 11 .

下面结合附图，描述本发明流质体铺设装置100的一个具体实施例。A specific embodiment of the fluidbody laying device 100 of the present invention will be described below with reference to the accompanying drawings.

如图1至图4所示，一种流质体铺设装置100，配合激光发生器200使用，包括：底盘10、平移纠偏机构20、铺浆机构30、供浆机构40、上下调平机构50。As shown in FIG. 1 to FIG. 4 , a fluidbody laying device 100 , used in conjunction with alaser generator 200 , includes: achassis 10 , atranslation correction mechanism 20 , aslurry laying mechanism 30 , aslurry supply mechanism 40 , and an up-downleveling mechanism 50 .

平移纠偏机构20设在底盘10上，平移纠偏机构20包括沿垂直于流质体铺设方向移动的移动座23和设在移动座23上的纠偏检测件24。Thetranslation rectification mechanism 20 is arranged on thechassis 10 , and thetranslation rectification mechanism 20 includes a movingbase 23 that moves perpendicular to the laying direction of the fluid body and arectification detecting member 24 arranged on the movingbase 23 .

平移纠偏机构20包括：第一驱动电机21、丝杠22、移动座23、纠偏检测件24、螺母25，第一驱动电机21设在移动座23上；丝杠22的一端连接在第一驱动电机21的输出端上；螺母25配合在丝杠22上，且螺母25连接运动底盘10，纠偏检测件24为光电位置敏感传感器。Thetranslation correction mechanism 20 includes: afirst drive motor 21, alead screw 22, a movingbase 23, acorrection detection piece 24, and anut 25. Thefirst drive motor 21 is arranged on the movingbase 23; one end of thelead screw 22 is connected to the first drive On the output end of themotor 21; thenut 25 is matched with thelead screw 22, and thenut 25 is connected to the movingchassis 10, and the deviationcorrection detection part 24 is a photoelectric position sensitive sensor.

丝杠22的另一端可枢转地设有丝杠支撑座26，丝杠22的一端通过联轴器27连接第一驱动电机21的输出轴，丝杠22为滚珠丝杠，第一驱动电机21为伺服电机，第一驱动电机21连接有第一安装座28，第一安装座28设在移动座23上，螺母25连接有螺母固定座29，螺母固定座29连接在底盘10上，移动座23上设有连接板231，纠偏检测件24设在连接板231上。The other end of thelead screw 22 is pivotably provided with a leadscrew support seat 26, one end of thelead screw 22 is connected to the output shaft of thefirst drive motor 21 through acoupling 27, thelead screw 22 is a ball screw, and thefirst drive motor 21 is a servo motor, thefirst drive motor 21 is connected with a first mounting seat 28, the first mounting seat 28 is arranged on the movingseat 23, thenut 25 is connected with anut fixing seat 29, and thenut fixing seat 29 is connected on thechassis 10, and moves Theseat 23 is provided with a connectingplate 231 , and the deviationcorrection detecting member 24 is disposed on the connectingplate 231 .

铺浆机构30连接在移动座23上。铺浆机构30包括：浆料箱31和齿形刮板32，浆料箱31的下方设有出浆口(图未示出)；齿形刮板32沿浆料箱31的长度方向设置，且齿形刮板32设在出浆口上。Thepulping mechanism 30 is connected to the movingbase 23 . Theslurry spreading mechanism 30 includes: a slurry box 31 and a toothed scraper 32, and a slurry outlet (not shown in the figure) is arranged below the slurry box 31; the toothed scraper 32 is arranged along the length direction of the slurry box 31, And the toothed scraper 32 is arranged on the pulp outlet.

供浆机构40设在底盘10上，以向铺浆机构30供给浆料。Theslurry supply mechanism 40 is provided on thechassis 10 to supply slurry to theslurry spreading mechanism 30 .

供浆机构40包括：浆料斗41、螺旋输送杆42、输送管道43、第二驱动电机44，浆料斗41设在底盘10上；螺旋输送杆42可枢转地设在浆料斗41内；输送管道43设在浆料斗41上，输送管道43的一端连通螺旋输送杆42的输送端且另一端连通浆料箱31；第二驱动电机44的输出端连接螺旋输送杆42。Theslurry feeding mechanism 40 includes: aslurry hopper 41, ascrew conveying rod 42, a conveyingpipe 43, and asecond driving motor 44. Theslurry hopper 41 is arranged on thechassis 10; thescrew conveying rod 42 is pivotally arranged on theslurry bucket 41 The conveyingpipe 43 is set on theslurry hopper 41, one end of the conveyingpipe 43 is connected to the conveying end of thescrew conveying rod 42 and the other end is connected to the slurry tank 31; the output end of thesecond driving motor 44 is connected to thescrew conveying rod 42.

第二驱动电机44与螺旋输送杆42之间设有链传动机构，链传动机构包括传动链45和两个链轮46，两个链轮46分别连接第二驱动电机44的输出轴和螺旋输送杆42的轴上，传动链45套设在两个链轮46上。A chain transmission mechanism is provided between thesecond driving motor 44 and thescrew conveying rod 42. The chain transmission mechanism includes atransmission chain 45 and twosprockets 46, which are respectively connected to the output shaft of thesecond driving motor 44 and the screw conveying mechanism. On the shaft of therod 42 , thetransmission chain 45 is sleeved on the twosprockets 46 .

第二驱动电机44为伺服电机，第二驱动电机44和链轮46之间设有减速机47。Thesecond drive motor 44 is a servo motor, and areducer 47 is provided between thesecond drive motor 44 and thesprocket 46 .

上下调平机构50设在移动座23和铺浆机构30之间，上下调平机构50包括调平检测件53，调平检测件53为光电位置敏感传感器，上下调平机构50为两个，两个上下调平机构50对应设在铺浆机构30的长度方向的两端。The up-downleveling mechanism 50 is arranged between the movingbase 23 and thepulping mechanism 30. The up-downleveling mechanism 50 includes a levelingdetection piece 53, the levelingdetection piece 53 is a photoelectric position sensitive sensor, and there are two up-down levelingmechanisms 50. The two up-and-downleveling mechanisms 50 are correspondingly disposed at both ends of thepulping mechanism 30 in the longitudinal direction.

上下调平机构50均包括：升降件51、旋转件52、调平检测件53、直线导轨54。升降件51设在移动座23上，升降件51包括第三电机511和直线电缸512，第三电机511与直线电缸512相连以驱动直线电缸512伸缩，直线电缸512的伸缩杆连接在铺浆机构30上。旋转件52为舵机，舵机的输出端连接调平检测件53。直线导轨54与升降件51的输出端相连，直线导轨54的滑块连接移动座23，直线导轨54通过销轴55连接铺浆机构30。直线导轨54的上端通过连接杆56连接升降件51的输出端。The up-and-downleveling mechanism 50 includes: a liftingmember 51 , a rotatingmember 52 , a levelingdetection member 53 , and alinear guide rail 54 . The liftingmember 51 is arranged on the movingbase 23, and the liftingmember 51 includes a third motor 511 and a linearelectric cylinder 512. The third motor 511 is connected with the linearelectric cylinder 512 to drive the linearelectric cylinder 512 to expand and contract, and the telescopic rod of the linearelectric cylinder 512 is connected on thepulping mechanism 30 . The rotatingmember 52 is a steering gear, and the output end of the steering gear is connected to the levelingdetection member 53 . Thelinear guide 54 is connected to the output end of the liftingmember 51 , the slider of thelinear guide 54 is connected to the movingbase 23 , and thelinear guide 54 is connected to thepulping mechanism 30 through thepin shaft 55 . The upper end of thelinear guide rail 54 is connected to the output end of the liftingmember 51 through the connectingrod 56 .

底盘10包括：底盘主体11、行走轮12、电力供给系统13、控制柜14，供浆机构40设在底盘主体11的上方且位于底盘主体11的宽度方向的一侧；电力供给系统13设在底盘主体11的上方且位于底盘主体11的宽度方向的另一侧，电力供给系统13沿底盘主体11的长度方向设置；行走轮12设在底盘主体11的下方。控制柜14设在底盘主体11的下方，行走轮12为舵轮，运动底盘10还包括设在底盘主体11下方的万向轮15。Thechassis 10 includes: a chassismain body 11, travelingwheels 12, apower supply system 13, and acontrol cabinet 14. Thepulp supply mechanism 40 is arranged above the chassismain body 11 and is located on one side of the width direction of the chassismain body 11; thepower supply system 13 is arranged on Above the chassismain body 11 and on the other side in the width direction of the chassismain body 11 , thepower supply system 13 is arranged along the longitudinal direction of the chassismain body 11 ; Thecontrol cabinet 14 is arranged below the chassismain body 11 , the travelingwheel 12 is a steering wheel, and the movingchassis 10 further includes auniversal wheel 15 arranged below the chassismain body 11 .

下面描述本发明的工作方法：The working method of the present invention is described below:

如图5所示，把激光发生器200和底盘10放置在图示位置，开启水平激光线O2和垂直激光线O1，供浆机构40的浆料斗41内装满浆料，开启第二驱动电机44驱动减速机47旋转，通过链轮46和传动链45传动，从而带动螺旋输送杆42旋转，螺旋输送杆42输送浆料通过输送管道43输送到浆料箱31，安装在出浆口的齿形刮板32把浆料划出齿型面。As shown in FIG. 5 , place thelaser generator 200 and thechassis 10 in the positions shown in the figure, turn on the horizontal laser line O2 and the vertical laser line O1, fill theslurry hopper 41 of theslurry supply mechanism 40 with slurry, and turn on the second drive Themotor 44 drives thereducer 47 to rotate, and is driven by thesprocket 46 and thetransmission chain 45, thereby driving thescrew conveying rod 42 to rotate. The toothed scraper 32 draws the slurry out of the toothed surface.

底盘10的电力供给系统13提供电力、控制柜14提供控制程序驱动行走轮12带动底盘主体11行走，安装在直线导轨54的上的铺浆机构30也随底盘10运动。Thepower supply system 13 of thechassis 10 provides power, and thecontrol cabinet 14 provides control programs to drive the runningwheels 12 to drive the chassismain body 11 to walk.

如图6所示，当地面水平时，底盘10和铺浆机构30的出浆口处于水平状态，铺浆机构30上的调平检测件53接受激光发生器200发出的水平激光线O2位置为水平零点位。As shown in FIG. 6 , when the ground is level, the pulp outlet of thechassis 10 and thepulp laying mechanism 30 are in a horizontal state, and the levelingdetector 53 on thepulp laying mechanism 30 receives the horizontal laser line O2 from thelaser generator 200 at a position of Horizontal zero point.

如图7和图9所示，当地面出现高低不平时，底盘10发生倾斜状态，此时铺浆机构30跟随底盘10发生倾斜，图7底盘10向左偏斜，图9底盘10向右偏斜，铺浆机构30上的调平检测件53感知到激光发生器200发出的水平激光线O2位置离开水平零点位，调平检测件53产生信号，通过程序控制第三电机511驱动直线电缸512的活塞杆做上下运动，从而带动连接杆56、直线导轨54、旋转件52、调平检测件53、销轴55、浆料箱31一起上下运动，直到让激光发生器200发出的水平激光线O2回到调平检测件53的水平零点位，此时出浆口处于水平状态，如图8和图10所示。As shown in FIGS. 7 and 9 , when the ground is uneven, thechassis 10 is inclined. At this time, theslurry spreading mechanism 30 follows thechassis 10 and tilts. Thechassis 10 in FIG. 7 is inclined to the left, and thechassis 10 in FIG. Inclined, the levelingdetector 53 on thepulping mechanism 30 senses that the position of the horizontal laser line O2 emitted by thelaser generator 200 is away from the horizontal zero position, the levelingdetector 53 generates a signal, and the third motor 511 is controlled by the program to drive the linear electric cylinder The piston rod of 512 moves up and down, thereby driving the connectingrod 56, thelinear guide 54, therotating part 52, the levelingdetection part 53, thepin shaft 55, and the slurry box 31 to move up and down together until the horizontal laser emitted by thelaser generator 200 is made. The line O2 returns to the horizontal zero position of the levelingdetection member 53, and the pulp outlet is in a horizontal state at this time, as shown in FIG. 8 and FIG. 10 .

如图11所示，当底盘10没有发生偏移时，铺浆机构30的出浆口和底盘10处于对齐状态，此时铺浆机构30上的纠偏检测件24接受激光发生器200发出的垂直激光线O1位置为垂直零点位。如图12和图13所示，当底盘10发生偏移时，此时铺浆机构30随底盘10发生偏移，铺浆机构30上的纠偏检测件24感知到激光发生器200发出的垂直激光线O1位置离开垂直零点位，纠偏检测件24产生信号，通过程序控制第一驱动电机21通过联轴器27驱动丝杠22转动，丝杠22对固定在螺母固定座29上的螺母25产生推力，螺母25对丝杠22产生反作用推力，丝杠22通过丝杠支撑座26让移动座23、连接板231、纠偏检测件24一起做平移运动，直到让激光发生器200发出的垂直激光线O1位置回到纠偏检测件24的垂直零点位。如图12所示，底盘10向右跑偏，平移纠偏机构20的移动座23带动铺浆机构30向左移动纠偏，使接收的垂直激光线O1位置回到垂直零点位；如图13所示，底盘10向左跑偏，平移纠偏机构20的移动座23带动铺浆机构30向右移动纠偏，使接收的垂直激光线O1位置回到垂直零点位。通过该方式，出浆口的位置相对于激光发生器200发出的垂直激光线O1位置保持不变，，可以完成铺贴瓷砖时所需要的在同一水平面的且成直线的带齿型浆面。As shown in FIG. 11 , when thechassis 10 is not displaced, the pulp outlet of thepulping mechanism 30 and thechassis 10 are in an aligned state. At this time, thedeviation correction detector 24 on thepulping mechanism 30 receives the vertical beam emitted by thelaser generator 200 The position of the laser line O1 is the vertical zero position. As shown in FIG. 12 and FIG. 13 , when thechassis 10 is displaced, thepulping mechanism 30 is offset with thechassis 10 at this time, and thedeviation correction detector 24 on thepulping mechanism 30 senses the vertical laser emitted by thelaser generator 200 The position of the line O1 leaves the vertical zero position, the deviationcorrection detection part 24 generates a signal, and thefirst driving motor 21 is controlled by the program to drive thelead screw 22 to rotate through thecoupling 27, and thelead screw 22 generates thrust on thenut 25 fixed on thenut fixing seat 29. , thenut 25 produces a reactionary thrust to thelead screw 22, and thelead screw 22 moves themovable seat 23, the connectingplate 231, and the deviationcorrection detection part 24 together through the leadscrew support base 26 to make a translational movement until the vertical laser line O1 emitted by thelaser generator 200. The position returns to the vertical zero position of the deviationcorrection detection member 24 . As shown in FIG. 12 , thechassis 10 deviates to the right, and the movingseat 23 of thetranslation correction mechanism 20 drives thepulping mechanism 30 to move to the left for correction, so that the position of the received vertical laser line O1 returns to the vertical zero position; as shown in FIG. 13 , thechassis 10 deviates to the left, and the movingseat 23 of thetranslation correction mechanism 20 drives thepulping mechanism 30 to move to the right for correction, so that the received vertical laser line O1 position returns to the vertical zero position. In this way, the position of the pulp outlet remains unchanged relative to the position of the vertical laser line O1 emitted by thelaser generator 200, so that a toothed pulp surface on the same horizontal plane and in a straight line required for laying tiles can be completed.

综上所述，本发明组合底盘10、供浆机构40、平移纠偏机构20、上下调平机构50、铺浆机构30为一体，利用激光发生器200发出激光线作为基准线，能够实现铺设同一水平面的且成直线的带齿型浆面，此外，本发明中的流质体不限于砂浆，还可以是瓷砖胶等。To sum up, the present invention combines thechassis 10 , thepulp feeding mechanism 40 , thetranslation correction mechanism 20 , the up-downleveling mechanism 50 , and thepulp laying mechanism 30 into a whole, and the laser line emitted by thelaser generator 200 is used as the reference line, so that the same laying can be realized. A horizontal and straight toothed mortar surface, in addition, the fluid body in the present invention is not limited to mortar, but can also be tile glue or the like.

根据本发明实施例的地砖铺贴机器人(图为示出)，包括：根据前文中任一项所述的流质体铺设装置100。A floor tile laying robot (shown in the figure) according to an embodiment of the present invention includes: the liquidbody laying device 100 according to any one of the foregoing.

根据本发明实施例的地砖铺贴机器人，通过流质体铺设铺浆装置100，利用垂直激光线O1作为平行地砖边线基准，纠偏检测件24接受平行地砖边线激光线的信号来控制平移纠偏机构20，对铺浆机构30进行水平方向纠偏，可保证铺设的浆面沿直线铺设，能替代人工完成粘结流质体的铺设工作，避免因人工作业不规范造成的质量问题，降低工人劳动强度，提高铺浆效率。According to the floor tile laying robot according to the embodiment of the present invention, through the fluid body laying andslurrying device 100, the vertical laser line O1 is used as the reference of the parallel floor tile edge line, and thedeviation correction detector 24 receives the signal of the parallel floor tile edge line laser line to control the translationdeviation correction mechanism 20, The horizontal deviation correction of theslurry laying mechanism 30 can ensure that the laid slurry surface is laid in a straight line, which can replace the manual laying of the bonding fluid, avoid the quality problems caused by the irregular manual operation, reduce the labor intensity of workers, and improve the Plastering efficiency.

根据本发明实施例的一种铺浆方法，包括：根据前文中的流质体铺设装置100。A slurry laying method according to an embodiment of the present invention includes: according to the foregoing fluidbody laying device 100 .

如图6至图13所示，铺浆方法包括：As shown in Figure 6 to Figure 13, the slurry laying method includes:

步骤S1：运动底盘10沿铺浆方向移动，供浆机构40向铺浆机构30中输送流质体，铺浆机构30对施工面300铺浆。也就是说，流质体铺设装置100正常工作时，施工面300水平，运动底盘10和铺浆机构30处于水平状态，运动底盘10没有发生偏移，铺浆机构30和运动底盘10处于对齐状态，纠偏检测件24接收激光发生器200发出的垂直激光线O1位置为垂直零点位，流质体铺设装置100沿直线铺浆。Step S1 : the movingchassis 10 moves along the slurry spreading direction, theslurry feeding mechanism 40 transports the fluid body into theslurry spreading mechanism 30 , and theslurry spreading mechanism 30 spreads slurry on theconstruction surface 300 . That is to say, when thefluid laying device 100 is working normally, theconstruction surface 300 is horizontal, the movingchassis 10 and theslurry spreading mechanism 30 are in a horizontal state, the movingchassis 10 does not shift, and theslurry spreading mechanism 30 and the movingchassis 10 are in an aligned state. The position of thedeviation correction detector 24 receiving the vertical laser line O1 emitted by thelaser generator 200 is the vertical zero position, and the fluidbody laying device 100 lays slurry along the straight line.

步骤S2：纠偏检测件23根据接收到的激光线控制所述平移纠偏机构20，以调整铺浆机构30的水平位置，使流质体保持沿铺设方向直线铺浆。Step S2: Thedeviation correction detector 23 controls the translationaldeviation correction mechanism 20 according to the received laser line, so as to adjust the horizontal position of theslurry spreading mechanism 30, so that the fluid body keeps the slurry spreading in a straight line along the laying direction.

具体而言，纠偏检测件24接收的垂直激光线O1位置不在垂直零点位时，移动座23带动铺浆机构30移动，直至纠偏检测件24接收的垂直激光线O1位置回到垂直零点位。Specifically, when the position of the vertical laser line O1 received by the deviationcorrection detection part 24 is not at the vertical zero position, the movingbase 23 drives thepulping mechanism 30 to move until the position of the vertical laser line O1 received by the deviationcorrection detection part 24 returns to the vertical zero position.

也就是说，当运动底盘10发生偏移时，铺浆机构30和运动底盘10不处于对齐状态，此时纠偏检测件24接收的垂直激光线O1位置不在垂直零点位，平移纠偏机构20启动，移动座23带动铺浆机构30移动纠偏，直至纠偏检测件24接收的垂直激光线O1位置回到垂直零点位为止。That is to say, when the movingchassis 10 is offset, thepulping mechanism 30 and the movingchassis 10 are not in an aligned state. At this time, the position of the vertical laser line O1 received by thedeviation correction detector 24 is not at the vertical zero position, and the translationaldeviation correction mechanism 20 is activated. The movingbase 23 drives thepulping mechanism 30 to move and correct the deviation until the position of the vertical laser line O1 received by the deviationcorrection detection part 24 returns to the vertical zero position.

根据本发明实施例的铺浆方法，利用垂直激光线O1作为平行地砖边线基准，纠偏检测件24接受平行地砖边线激光线的信号来控制平移纠偏机构20，对铺浆机构30进行水平方向纠偏。由于现有铺浆机器人因地面平整度、砂砾等杂物的原因，导致机器人行走过程中无法走直线，铺浆无法铺直线，而本发明可保证铺设的浆面沿直线铺设，能替代人工完成粘结流质体的铺设工作，避免因人工作业不规范造成的质量问题，降低工人劳动强度，提高铺浆效率。According to the slurry laying method of the embodiment of the present invention, the vertical laser line O1 is used as the reference of the parallel floor tile edge line, and thedeviation correction detector 24 receives the signal of the parallel floor tile edge line laser line to control the translationdeviation correction mechanism 20, and theslurry laying mechanism 30 is corrected in the horizontal direction. Due to the ground flatness, gravel and other debris, the existing slurry-laying robot cannot walk in a straight line during the walking process, and the slurry cannot be laid in a straight line. The laying of the bonding fluid can avoid quality problems caused by irregular manual operations, reduce the labor intensity of workers, and improve the efficiency of slurry laying.

一些实施例中，流质体铺设装置100还包括上下调平机构50，上下调平机构50设在移动座23和铺浆机构30之间，上下调平机构50包括调平检测件53。In some embodiments, the fluidbody laying device 100 further includes an up-downleveling mechanism 50 , the up-downleveling mechanism 50 is provided between the movingbase 23 and theslurry laying mechanism 30 , and the up-downleveling mechanism 50 includes a levelingdetection member 53 .

所述铺浆方法还包括：The slurrying method also includes:

步骤S3：调平检测件53根据激光线控制上下调平机构50，以调整铺浆机构30的高度，使铺浆机构30的底部与施工面保持平行。Step S3: The levelingdetector 53 controls the up and down levelingmechanism 50 according to the laser line, so as to adjust the height of thepulping mechanism 30, so that the bottom of thepulping mechanism 30 is kept parallel to the construction surface.

具体而言，流质体铺设装置100正常工作时，调平检测件53接收激光发生器200发出的水平激光线O2位置为水平零点位。流质体铺设装置100作业时，调平检测件53接收的水平激光线O2位置不在水平零点位时，上下调平机构50带动铺浆机构30的至少一端升降，直至调平检测件53接收的水平激光线O2位置回到水平零点位。Specifically, when thefluid laying device 100 is working normally, the position of the levelingdetector 53 receiving the horizontal laser line O2 emitted by thelaser generator 200 is the horizontal zero position. When thefluid laying device 100 is in operation, when the position of the horizontal laser line O2 received by the levelingdetector 53 is not at the horizontal zero position, the up-and-downleveling mechanism 50 drives at least one end of the slurry-layingmechanism 30 to rise and fall until the level received by the levelingdetector 53 is horizontal. The laser line O2 position returns to the horizontal zero position.

也就是说，当施工面300不水平时，运动底盘10和铺浆机构30不处于水平状态，此时调平检测件53接收的水平激光线O2位置不在水平零点位，上下调平机构50启动，带动铺浆机构30的左端或右端升降，直至调平检测件53接收的水平激光线O2位置回到水平零点位为止。That is to say, when theconstruction surface 300 is not horizontal, the movingchassis 10 and theslurry laying mechanism 30 are not in a horizontal state, and at this time, the position of the horizontal laser line O2 received by the levelingdetector 53 is not at the horizontal zero position, and the up-and-downleveling mechanism 50 is activated. , drive the left or right end of thepulping mechanism 30 to rise and fall, until the position of the horizontal laser line O2 received by the levelingdetection piece 53 returns to the horizontal zero position.

根据本发明实施例的流质体铺设装置100的其他构成等以及操作对于本领域普通技术人员而言都是已知的，这里不再详细描述。Other structures, etc. and operations of the fluidbody laying device 100 according to the embodiment of the present invention are known to those of ordinary skill in the art, and will not be described in detail here.

在本说明书的描述中，参考术语“实施例”、“示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, description with reference to the terms "embodiment," "example," etc. means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention . In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, The scope of the invention is defined by the claims and their equivalents.

Claims (10)

Translated fromChinese

1.一种流质体铺设装置，其特征在于，包括：1. a fluid body laying device, is characterized in that, comprises:底盘；chassis;平移纠偏机构，所述平移纠偏机构设在底盘上，所述平移纠偏机构包括沿垂直于流质体铺设方向移动的移动座和设在所述移动座上的纠偏检测件；a translation rectification mechanism, the translation rectification mechanism is arranged on the chassis, and the translation rectification mechanism comprises a movable seat that moves perpendicular to the laying direction of the fluid body and a rectification detector arranged on the movable seat;铺浆机构，所述铺浆机构连接在所述移动座上；所述纠偏检测件随所述铺浆机构在所述移动座上移动以实时检测所述铺浆机构是否纠偏到位；所述铺浆机构包括：浆料箱和齿形刮板，所述浆料箱的下方设有出浆口，所述齿形刮板设在所述出浆口上，且沿所述浆料箱的长度方向延伸；A pulping mechanism, the pulping mechanism is connected to the moving base; the deviation correction detection piece moves with the pulping mechanism on the moving base to detect in real time whether the pulping mechanism is rectified in place; the laying The slurry mechanism includes: a slurry box and a toothed scraper, a slurry outlet is arranged below the slurry box, and the toothed scraper is arranged on the slurry outlet along the length direction of the slurry box extend;供浆机构，所述供浆机构设在所述底盘上，以向所述铺浆机构供给流质体；其中，a pulping mechanism, the pulping mechanism is arranged on the chassis to supply fluid body to the pulping mechanism; wherein,所述流质体铺设装置工作时，流质体经所述出浆口到达所述齿形刮板并被所述齿形刮板刮到施工面上，所述纠偏检测件根据接收到的激光线控制所述移动座，以使所述铺浆机构的所述出浆口的位置相对于激光线位置保持不变，使得所述铺浆机构沿铺设方向直线铺浆。When the fluid body laying device is working, the fluid body reaches the toothed scraper through the slurry outlet and is scraped onto the construction surface by the toothed scraper, and the deviation correction detection part is controlled according to the received laser line. The moving seat keeps the position of the pulp outlet of the pulp laying mechanism unchanged relative to the position of the laser line, so that the pulp laying mechanism spreads pulp straightly along the laying direction.2.根据权利要求1所述的流质体铺设装置，其特征在于，所述平移纠偏机构还包括：2 . The fluid body laying device according to claim 1 , wherein the translation correction mechanism further comprises: 2 .驱动件，所述驱动件设在所述移动座上；a driving part, the driving part is arranged on the moving base;运动组件，所述运动组件包括运动件和连接所述运动件的导向支撑件，所述运动件连接所述驱动件，所述导向支撑件连接所述底盘。A moving assembly includes a moving part and a guide support connected with the moving part, the moving part is connected with the driving part, and the guide support is connected with the chassis.3.根据权利要求2所述的流质体铺设装置，其特征在于，3. The fluid body laying device according to claim 2, characterized in that,所述驱动件为第一驱动电机；The driving member is a first driving motor;所述运动件为丝杠，所述丝杠连接在所述第一驱动电机的输出端上；The moving part is a lead screw, and the lead screw is connected to the output end of the first drive motor;所述导向支撑件为螺母，所述螺母配合在所述丝杠上，且所述螺母连接所述底盘。The guide support is a nut, the nut is fitted on the lead screw, and the nut is connected to the chassis.4.根据权利要求1所述的流质体铺设装置，其特征在于，还包括：4. The fluid body laying device according to claim 1, characterized in that, further comprising:上下调平机构，所述上下调平机构设在所述移动座和所述铺浆机构之间，所述上下调平机构包括升降件和调平检测件，所述升降件设在所述移动座上，所述升降件的输出端连接所述铺浆机构，所述调平检测件设在所述移动座上；其中，an up-down leveling mechanism, the up-down leveling mechanism is arranged between the moving base and the pulping mechanism, the up-down leveling mechanism includes a lifting piece and a leveling detection piece, the lifting piece is arranged on the moving base The output end of the lifting piece is connected to the slurry spreading mechanism, and the leveling detection piece is arranged on the moving base; wherein,所述流质体铺设装置工作时，所述调平检测件根据接收到的激光线控制所述升降件升降，以使所述铺浆机构的底部与施工面保持平行。When the fluid body laying device is in operation, the leveling detection member controls the lifting and lowering of the lifting member according to the received laser line, so that the bottom of the slurry laying mechanism is kept parallel to the construction surface.5.根据权利要求4所述的流质体铺设装置，其特征在于，所述上下调平机构还包括：5. The fluid body laying device according to claim 4, wherein the up-down leveling mechanism further comprises:旋转件，所述旋转件设在所述移动座上且可绕竖直轴线转动，所述旋转件的输出端连接所述调平检测件，所述旋转件可调整所述调平检测件的检测方向。A rotating piece, the rotating piece is arranged on the moving base and can be rotated around a vertical axis, the output end of the rotating piece is connected to the leveling detection piece, and the rotating piece can adjust the leveling detection piece Detection direction.6.根据权利要求4所述的流质体铺设装置，其特征在于，6. The fluid body laying device according to claim 4, characterized in that,所述上下调平机构为两个，两个所述上下调平机构对应设在所述铺浆机构的长度方向的两端，以分别调整所述铺浆机构的两端的高度。There are two up and down leveling mechanisms, and the two up and down leveling mechanisms are correspondingly arranged at both ends of the lengthwise direction of the pulping mechanism, so as to adjust the heights of the two ends of the pulping mechanism respectively.7.根据权利要求1所述的流质体铺设装置，其特征在于，所述供浆机构包括：7. The fluid body laying device according to claim 1, wherein the slurry feeding mechanism comprises:浆料斗，所述浆料斗设在所述底盘上；a slurry hopper, the slurry hopper is arranged on the chassis;螺旋输送杆，所述螺旋输出杆可枢转地设在所述浆料斗内；a screw conveying rod, the screw output rod is pivotally arranged in the slurry hopper;输送管道，所述输送管道设在所述浆料斗上，所述输送管道的一端连通所述螺旋输送杆的输送端且另一端连通所述浆料箱；a conveying pipe, the conveying pipe is arranged on the slurry hopper, one end of the conveying pipe is connected to the conveying end of the screw conveying rod and the other end is connected to the slurry tank;第二驱动电机，所述第二驱动电机的输出端连接所述螺旋输送杆。A second driving motor, the output end of the second driving motor is connected to the screw conveying rod.8.根据权利要求1所述的流质体铺设装置，其特征在于，所述底盘包括：8. The fluid laying device according to claim 1, wherein the chassis comprises:底盘主体；chassis body;行走轮，所述行走轮设在所述底盘主体的下方；walking wheels, which are arranged below the chassis main body;控制柜，所述控制柜设在所述底盘主体的下方。A control cabinet is provided below the chassis main body.9.一种地砖铺贴机器人，其特征在于，包括：根据权利要求1至8中任一项所述的流质体铺设装置。9 . A floor tile laying robot, characterized in that , comprising: the fluid body laying device according to any one of claims 1 to 8 . 10 .10.一种铺浆方法，其特征在于，包括：根据权利要求1至8中任一项所述的流质体铺设装置；10. A slurry laying method, characterized in that, comprising: the fluid body laying device according to any one of claims 1 to 8;所述铺浆方法包括：The slurrying method includes:所述底盘沿铺浆方向移动，所述供浆机构向所述铺浆机构中输送流质体，所述铺浆机构对施工面铺浆；The chassis moves along the slurry spreading direction, the slurry feeding mechanism transports the fluid body to the slurry spreading mechanism, and the slurry spreading mechanism spreads slurry on the construction surface;所述纠偏检测件根据接收到的激光线控制所述平移纠偏机构，以调整所述铺浆机构的水平位置，使流质体保持沿铺设方向直线铺浆。The deviation rectification detection piece controls the translation rectification mechanism according to the received laser line, so as to adjust the horizontal position of the slurry spreading mechanism, so that the fluid body keeps the slurry spreading in a straight line along the laying direction.

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