阅读说明：本技术 木地板安装机构及木地板安装机器人 (Wood floor installation mechanism and wood floor installation robot ) 是由 周兴明 于 2019-09-29 设计创作，主要内容包括：本发明公开了一种木地板安装机构及木地板安装机器人。本发明木地板安装机构包括：固定连接件,用于连接执行装置；木地板安装组件,用于抓取和安装木地板,木地板安装组件转动连接于固定连接件,并具有初始位置和木地板安装位置；以及复位件,复位件被配置为能在完成一个木地板安装后驱动木地板安装组件转动至初始位置。本发明木地板安装机构整体结构简单,且能够实现在有外力推动待安装木地板向已安装木地板靠拢的过程中,木地板安装组件能转动并偏离初始位置,以调整待安装木地板的姿态,使待安装木地板能精确对准已安装木地板,保证木地板安装质量；木地板安装成功后,复位件驱动木地板安装组件转动至初始位置。(The invention discloses a wood floor installation mechanism and a wood floor installation robot. The wood floor installation mechanism of the invention comprises: the fixed connecting piece is used for connecting the executing device; the wood floor mounting assembly is used for grabbing and mounting the wood floor, is rotatably connected to the fixed connecting piece and is provided with an initial position and a wood floor mounting position; and the resetting piece is configured to drive the wood floor mounting assembly to rotate to the initial position after finishing the mounting of one wood floor. The wood floor mounting mechanism disclosed by the invention is simple in overall structure, and can realize that the wood floor mounting assembly can rotate and deviate from the initial position in the process of pushing the wood floor to be mounted to approach the mounted wood floor by external force so as to adjust the posture of the wood floor to be mounted, so that the wood floor to be mounted can be accurately aligned to the mounted wood floor, and the mounting quality of the wood floor is ensured; after the wood floor is successfully installed, the resetting piece drives the wood floor installation assembly to rotate to the initial position.)

1. A wood floor mounting mechanism, comprising:

The fixed connecting piece (1) is used for connecting the execution device;

The wood floor mounting component (4) is used for grabbing and mounting the wood floor, and the wood floor mounting component (4) is rotatably connected to the fixed connecting piece (1) and is provided with an initial position and a wood floor mounting position; and

The resetting piece (3), the resetting piece (3) is configured to drive the wood floor mounting component (4) to rotate to the initial position after finishing the installation of one wood floor.

2. the wood floor mounting mechanism of claim 1 further comprising:

One end of the adjusting shaft (2) is rotatably connected with one of the fixed connecting piece (1) and the wood floor mounting component (4), and the other end of the adjusting shaft is fixedly connected with the other of the fixed connecting piece (1) and the wood floor mounting component (4).

3. The wood floor mounting mechanism according to claim 2, wherein the reset member (3) is a spring, the spring is sleeved outside the adjusting shaft (2), one end of the spring is connected with the fixed connecting member (1), and the other end is connected with the wood floor mounting assembly (4).

4. The wood floor installation mechanism according to claim 3, wherein the fixed connecting piece (1) and the wood floor installation component (4) are respectively provided with a positioning hole, the spring is a torsion spring, and the torsion arms at two ends of the torsion spring are respectively inserted into the corresponding positioning holes.

5. The wood floor mounting mechanism according to claim 2, characterized in that one end of the adjusting shaft (2) is rotatably connected with the fixed connecting piece (1) through a thrust bearing (5), and the other end is fixedly connected with the wood floor mounting component (4).

6. the wood floor mounting mechanism according to claim 5, characterized in that the fixed connecting member (1) is provided with a mounting hole, the mounting hole is a stepped hole, the small diameter end of the stepped hole is arranged near the wood floor mounting component (4), and one end of the adjusting shaft (2) is arranged through the small diameter end and connected with the thrust bearing (5) arranged in the large diameter end of the stepped hole.

7. The wood floor mounting mechanism according to any one of claims 2 to 6, characterized in that the adjusting shaft (2) is detachably connected with the wood floor mounting assembly (4).

8. The wood floor mounting mechanism according to claim 7, characterized in that the adjusting shaft (2) is detachably connected with the wood floor mounting assembly (4) by screws.

9. the wood floor mounting mechanism according to any one of claims 1 to 6, characterized in that the wood floor mounting assembly (4) comprises:

the mounting seat (6), the mounting seat (6) is rotatably connected with the fixed connecting piece (1); and

the grabbing piece is used for grabbing the wood floor and installing the wood floor on the ground to be operated, and the grabbing piece is fixedly installed on the installation seat (6).

10. The wood floor mounting mechanism according to claim 9, wherein said wood floor mounting assembly (4) further comprises:

the impact piece is used for providing impact force for the wood floor when the wood floor is installed, and the impact piece is fixedly installed on the installation seat (6).

11. a wood floor mounting robot, comprising:

A movable platform;

the executing device is arranged on the movable platform; and

The wood-floor mounting mechanism of any one of claims 1 to 10, wherein the fixed attachment (1) of the wood-floor mounting mechanism is mounted to an output end of the actuating device, and the actuating device drives the wood-floor mounting component (4) of the wood-floor mounting mechanism to move to the mounting position of the wood floor.

Technical Field

the invention relates to the technical field of construction machinery, in particular to a wood floor mounting mechanism and a wood floor mounting robot.

background

the lock catch wood floor does not need to use an adhesive in the installation process, is safe and environment-friendly, is simple and convenient to pave, and is widely used in the field of home decoration. Because the tenon and mortise around the lock catch floor are tightly matched, the accuracy of the installation position of the wood floor is ensured in the actual installation process. The prior wood floor paving is mainly completed by manpower, and the labor capacity is large. In order to reduce the labor intensity of wood floor laying, the applicant develops wood floor laying equipment which is completed by the movable platform and the wood floor laying tool in a cooperative mode, but due to the fact that the deviation of the motion trail of the movable platform has great influence on wood floor mounting, the wood floor to be laid cannot be accurately aligned with the laid wood floor in the wood floor mounting process.

Disclosure of Invention

one object of the present invention is to provide a wood floor installation mechanism, which can adjust the posture of the wood floor to be installed during the wood floor installation process, so that the wood floor to be installed can be accurately aligned with the installed wood floor.

Another object of the present invention is to provide a wood floor mounting robot including the wood floor mounting mechanism.

To achieve the purpose, on one hand, the invention adopts the following technical scheme:

a wood floor mounting mechanism comprising:

The fixed connecting piece is used for connecting the executing device;

The wood floor mounting assembly is used for grabbing and mounting the wood floor, is rotatably connected to the fixed connecting piece and is provided with an initial position and a wood floor mounting position; and

The resetting piece is configured to drive the wood floor mounting assembly to rotate to the initial position after finishing the mounting of one wood floor.

In some embodiments, the wood floor mounting mechanism further comprises an adjusting shaft, one end of the adjusting shaft is rotatably connected with one of the fixed connecting piece and the wood floor mounting component, and the other end of the adjusting shaft is fixedly connected with the other of the fixed connecting piece and the wood floor mounting component.

in some embodiments, the reset member is a spring, the spring is sleeved outside the adjusting shaft, one end of the spring is connected with the fixed connecting member, and the other end of the spring is connected with the wood floor mounting assembly.

In some embodiments, the fixing connector and the wood floor mounting assembly are respectively provided with a positioning hole, the spring is a torsion spring, and the torsion arms at two ends of the torsion spring are respectively inserted into the corresponding positioning holes

In some embodiments, one end of the adjusting shaft is rotatably connected with the fixed connecting piece through a thrust bearing, and the other end of the adjusting shaft is fixedly connected with the wood floor mounting assembly.

in some embodiments, the fixing connector is provided with a mounting hole, the mounting hole is a stepped hole, a small-diameter end of the stepped hole is disposed near the wood floor mounting assembly, and one end of the adjusting shaft penetrates through the small-diameter end and is connected with the thrust bearing disposed in a large-diameter end of the stepped hole.

In some embodiments, the adjustment shaft is removably attached to the wood floor mounting assembly.

In some embodiments, the adjustment shaft is removably connected to the wood floor mounting assembly by screws.

In some embodiments, the wood flooring mounting assembly comprises:

The mounting seat is rotatably connected with the fixed connecting piece; and

and the grabbing piece is used for grabbing the wood floor and installing the wood floor on the ground to be operated, and the grabbing piece is fixedly installed on the installation seat.

In some embodiments, the wood flooring mounting assembly further comprises an impact member for providing impact force to the wood flooring when the wood flooring is mounted, the impact member being fixedly mounted on the mounting seat.

On the other hand, the invention adopts the following technical scheme:

A wood floor mounting robot comprising:

a movable platform;

The executing device is arranged on the movable platform; and

in the wood floor installation mechanism, the fixed connecting piece of the wood floor installation mechanism is installed at the output end of the execution device, and the execution device drives the wood floor installation component of the wood floor installation mechanism to move to the installation position of the wood floor.

The invention has at least the following beneficial effects:

The wood floor mounting assembly of the wood floor mounting mechanism is provided with an initial position and a wood floor mounting position, the wood floor mounting assembly is rotatably connected with the fixed connecting piece, and the reset piece is configured to drive the wood floor mounting assembly to rotate to the initial position after one wood floor is mounted, so that the wood floor mounting assembly can rotate and deviate from the initial position to adjust the posture of the wood floor to be mounted in the process of pushing the wood floor to be mounted to approach the mounted wood floor by external force in the wood floor mounting process, the wood floor to be mounted can be accurately aligned to the mounted wood floor, and the wood floor mounting quality is ensured; after the wood floor is successfully installed, the wood floor installation assembly can be driven to rotate to the initial position through the reset piece, so that the wood floor posture in the wood floor installation process can be adjusted more conveniently and easily, and the whole structure is simple.

The wood floor mounting robot comprises the movable platform, the executing device and the wood floor mounting mechanism, wherein the wood floor mounting mechanism realizes the adjustment of the wood floor mounting posture, so that a wood floor to be mounted can be accurately aligned to the mounted wood floor, the wood floor mounting quality is improved, the wood floor can be automatically reset after the wood floor is mounted, the movable platform drives the executing device and the wood floor mounting mechanism to move together, and the large-range operation can be realized.

Drawings

FIG. 1 is a schematic structural diagram of a wood floor mounting mechanism according to an embodiment of the present invention;

FIG. 2 is a schematic view of another angle of the wood floor mounting mechanism shown in FIG. 1;

FIG. 3 is a schematic view of a part of a wood floor mounting mechanism according to an embodiment of the present invention;

FIG. 4 is a second schematic view of a part of the structure of the wood floor mounting mechanism according to the embodiment of the present invention;

FIG. 5 is a third schematic view of a part of a wood floor mounting mechanism according to the embodiment of the present invention;

FIG. 6 is a partial cross-sectional view of the wood floor mounting mechanism shown in FIG. 5;

fig. 7 is a schematic structural diagram of a resetting member according to an embodiment of the present invention;

The reference numbers illustrate:

The device comprises a fixed connecting piece, a regulating shaft, a resetting piece, a wood floor mounting component, a thrust bearing, a mounting seat, a sucking disc and a detection mechanism, wherein the fixing connecting piece is 1, the regulating shaft is 2, the resetting piece is 3, the wood floor mounting component is 4, the thrust bearing is 5, the mounting seat is 6, the sucking disc is 7, and the detection mechanism is 8.

Detailed Description

to facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

As shown in fig. 1 to 7, the wood floor mounting mechanism of an embodiment includes a fixing connector 1, a wood floor mounting assembly 4, and a restoring member 3. Wherein, the fixed connecting piece 1 is used for connecting an executing device; the wood floor mounting component 4 is used for grabbing and mounting wood floors, and the wood floor mounting component 4 is rotatably connected to the fixed connecting piece 1 and is provided with an initial position and a wood floor mounting position; the reset member 3 is configured to drive the wood floor mounting assembly 4 to rotate to the initial position after completing the installation of one wood floor.

in the wood floor installation mechanism, the wood floor installation component 4 is provided with an initial position and a wood floor installation position, and the wood floor installation component 4 is rotatably connected with the fixed connecting piece 1, so that in the wood floor installation process, when external force pushes the wood floor to be installed to approach the installed wood floor, the wood floor installation component 4 can rotate and deviate from the initial position to adjust the posture of the wood floor to be installed, so that the wood floor to be installed can accurately aim at the installed wood floor, and the wood floor installation quality is ensured; after the wood floor is successfully installed, the wood floor installation component 4 can be driven to rotate to the initial position through the reset piece 3, so that the wood floor posture in the wood floor installation process is more convenient and easier to adjust, and the whole structure is simple.

further, the wood floor installation mechanism further comprises an adjusting shaft 2, one end of the adjusting shaft 2 is rotatably connected with one of the fixed connecting piece 1 and the wood floor installation component 4, and the other end of the adjusting shaft is fixedly connected with the other of the fixed connecting piece 1 and the wood floor installation component 4. The design adjusting shaft 2 can facilitate the connection between the fixed connecting piece 1 and the wood floor mounting component 4, and meanwhile, a certain distance is kept between the fixed connecting piece 1 and the wood floor mounting component 4, so that the fixed connecting piece 1 can be prevented from being possibly touched when the wood floor mounting component 4 rotates.

In some embodiments, one end of the adjusting shaft 2 is rotatably connected to the fixed connecting member 1 through a thrust bearing 5, and the other end is fixedly connected to the wood floor mounting assembly 4, and the thrust bearing 5 can reduce the friction force applied when the adjusting shaft 2 rotates with the fixed connecting member 1.

Specifically, the other end of the adjusting shaft 2 can be fixedly connected with the wood floor mounting component 4 through a screw, and the radial position of the adjusting shaft 2 is constrained by the fixed connecting piece 1 but can rotate around the central axis; the axial position of the adjusting shaft 2 is limited by the upper limit and the lower limit of the position of the thrust bearing 5 and the resetting piece 3.

In the embodiment shown in fig. 3 to 6, the fixing connector 1 is provided with a mounting hole, the mounting hole is a stepped hole, the small diameter end of the stepped hole is arranged close to the wood floor mounting component 4, one end of the adjusting shaft 2 penetrates through the small diameter end and is connected with the thrust bearing 5 arranged in the large diameter end of the stepped hole, and the thrust bearing 5 can be better installed and fixed by designing the stepped hole.

In some embodiments, the adjusting shaft 2 is detachably connected to the wood floor mounting assembly 4, so as to facilitate the assembly, disassembly and replacement of the wood floor mounting assembly 4. In some embodiments, the adjusting shaft 2 and the wood floor mounting component 4 are detachably connected through screws, and the screws are convenient to disassemble and assemble and are more firmly connected.

In some embodiments, the restoring member 3 is a spring, such as a torsion spring, a compression spring, an extension spring, or the like, and the spring is sleeved outside the adjusting shaft 2, and one end of the spring is fixedly connected to the fixing connecting member 1, and the other end of the spring is fixedly connected to the wood floor mounting assembly 4.

for example, in the embodiment shown in fig. 1 and 2, the reset member 3 is a spring, one end of the adjusting shaft 2 is rotatably connected with the fixed connecting member 1, the other end of the adjusting shaft is fixedly connected with the wood floor mounting assembly 4, the spring is sleeved outside the adjusting shaft 2, and two ends of the spring are respectively fixedly connected with the wood floor mounting assembly 4 and the fixed connecting member 1, so that in the wood floor mounting process, when an external force pushes the wood floor to be mounted to approach the mounted wood floor, the adjusting shaft 2 is stressed to rotate around the central axis of the adjusting shaft, the wood floor mounting assembly 4 is driven to synchronously rotate, the wood floor mounting assembly 4 deviates from the initial position, the posture of the wood floor to be mounted is correspondingly adjusted, and in the process, the spring deforms (stretches or; after the wood floor is successfully installed, the external force for deforming the spring is forced to disappear, the wood floor installation component 4 is driven to return to the initial position by the pressure or the tension of the spring, so that the wood floor installation posture adjustment process is completed, the wood floor posture adjustment in the whole wood floor installation process is more convenient and easier, and the whole structure is simpler.

optionally, when the reset piece 3 is a torsion spring, the fixed connecting piece 1 and the wood floor mounting assembly 4 are respectively provided with a positioning hole, and the torsion arms at two ends of the torsion spring are respectively inserted into the corresponding positioning holes on the fixed connecting piece 1 and the wood floor mounting assembly 4, so that the disassembly and assembly are more convenient.

As shown in fig. 1 and 2, the wood floor mounting assembly 4 comprises a mounting seat 6 and a grabbing piece, wherein the mounting seat 6 is rotatably connected with the fixed connecting piece 1; the grabbing piece is fixedly arranged on the mounting seat 6 and used for grabbing the wood floor and mounting the wood floor on the ground to be operated. Specifically, in the embodiment shown in fig. 1 and 2, the mounting seat 6 fixedly connects the adjusting shaft 2 and one end of the restoring member 3.

Optionally, the gripping member comprises a plurality of suction cups 7 (as shown in fig. 1 and 2), the suction cups 7 are installed on the installation base 6 at intervals, the wood floor to be installed is adsorbed by the suction cups 7, the wood floor to be installed is not easy to scratch or damage, and after the wood floor to be installed is placed at the target installation position, the suction cups 7 are easier to evacuate relative to other gripping members.

Because tenon, mortise cooperation all around of hasp timber apron are inseparable, so need provide certain impact force in order to guarantee the smooth installation of timber apron in actual installation, consequently timber apron installation component 4 further still including being used for providing the impact member of impact force to timber apron when the timber apron installation, should strike a fixed mounting on mount pad 6.

In some embodiments, the wood floor installation component 4 further includes a detection mechanism 8 (as shown in fig. 1 and fig. 2), and the detection mechanism 8 is fixedly installed on the installation base 6, and is used for detecting whether the installation posture of the wood floor to be installed meets the installation requirement, so that the installation posture of the wood floor to be installed can be timely adjusted when the installation posture of the wood floor to be installed does not meet the installation requirement, and the wood floor installation efficiency and the installation accuracy are improved.

Optionally, the number of the detection mechanisms 8 may be multiple to improve the detection accuracy, and multiple detection mechanisms 8 may be arranged on the mounting seat 6 at intervals. Alternatively, the detection mechanism 8 may be, but is not limited to, a photographing device, such as an industrial camera.

taking the installation of the short edge of the wood floor as an example, the operation flow of the wood floor installation mechanism shown in fig. 1 to 2 is as follows:

(1) After the wood floor installation robot reaches a preset installation position, the wood floor installation component 4 of the wood floor installation mechanism grabs the wood floor to be installed and moves to the position where the short edge of one side of the wood floor to be installed abuts against the short edge of the installed wood floor;

(2) The short edge knocking-in structure on the wood floor installation component is abutted against the short edge on the other side of the wood floor to be installed, then the execution device applies force to the wood floor installation mechanism, if the movable platform has navigation errors so that the movable platform is not parallel to the installed wood floor, and further an included angle exists between the wood floor to be installed and the long edge of the installed wood floor, in the force application process of the execution device to the wood floor installation mechanism, the adjusting shaft 2 rotates around the central axis due to external force, the wood floor installation component 4 synchronously rotates along with the adjusting shaft 2 and deviates from the initial position, so that the long edges of the wood floor to be installed and the long edge of the installed wood floor are parallel, and the wood floor to be installed and the short edge on the adjacent;

(3) After the wood floor is installed, the wood floor installation component 4 loosens the wood floor, the external force of the deformation of the spring is forced to disappear, the spring is restored to a balance state (namely, reset), and the wood floor installation component 4 is correspondingly driven to return to the initial position.

The wood floor mounting robot of an embodiment comprises a movable platform, an execution device and the wood floor mounting mechanism; the executing device is arranged on the movable platform, the fixed connecting piece 1 of the wood floor mounting mechanism is arranged at the output end of the executing device, and the executing device can drive the wood floor mounting component 4 of the wood floor mounting mechanism to move to the mounting position of the wood floor.

alternatively, the movable platform may be an AGV (Automated Guided Vehicle). Alternatively, the actuator may be a six-axis robotic arm or a multi-axis guideway.

the wood floor mounting mechanism of the wood floor mounting robot realizes the adjustment of the wood floor mounting posture, enables the wood floor to be mounted to be accurately aligned with the mounted wood floor so as to improve the wood floor mounting quality, can automatically reset after the wood floor is mounted, and can realize large-range operation by driving the actuating device and the wood floor mounting mechanism to move together through the movable platform.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

the technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

the above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.