A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Corner tiling method and wall brick paving robot
The invention discloses a corner tiling method and a wall brick paving robot, the paving robot comprises a machine body, a chassis, a mechanical arm and a tail end flange, the corner tiling method comprises the specific steps of a positioning procedure, a grabbing procedure and a paving procedure, and in the paving procedure, the mechanical arm is arranged on the chassis; the visual identification system on the tail end flange captures the captured image of the wall brick and the image of the paved wall brick and feeds back the image information to the terminal, the terminal receives and analyzes the fed-back image information, the position deviation and the rotation angle deviation of the wall brick to be paved and the paved wall brick are calculated, and the position deviation and the rotation angle deviation of the wall brick to be paved and the paved wall brick are displayed. The positioning device is used for positioning wall bricks and controlling the brick joint width of two adjacent wall bricks; the distance measuring system on the tail end flange is used for detecting the yaw angle between the to-be-paved wall brick and the paved wall brick and controlling the height difference and the flatness between every two adjacent wall bricks, so that the height difference and the flatness between every two adjacent wall bricks fluctuate in a controllable range, the attractiveness degree of a working face is improved, and the use experience of a user is improved.
本发明公开了一种边角贴砖方法及墙砖铺贴机器人，该铺贴机器人包括机身、底盘、机械臂和末端法兰，边角贴砖的具体步骤包括定位工序、抓取工序和铺贴工序，在铺贴工序中，末端法兰上的视觉识别系统捕捉抓取的墙砖的图像和已铺贴完成的墙砖的图像，并将图像信息反馈给终端，终端接收并对反馈的图像信息进行分析，计算出待铺贴墙砖与已铺贴墙砖的位置偏差和旋转角度偏差，用于墙砖定位及控制相邻两块墙砖的砖缝宽度；末端法兰上的测距系统用于检测待铺贴墙砖和已铺贴完成的墙砖之间的偏航角，控制两相邻墙砖之间的高低差和平整度，使得每两块相邻墙砖之间的高低差和平整度在可控范围内波动，提升作业面的美观程度，提升用户的使用体验。
Corner tiling method and wall brick paving robot
The invention discloses a corner tiling method and a wall brick paving robot, the paving robot comprises a machine body, a chassis, a mechanical arm and a tail end flange, the corner tiling method comprises the specific steps of a positioning procedure, a grabbing procedure and a paving procedure, and in the paving procedure, the mechanical arm is arranged on the chassis; the visual identification system on the tail end flange captures the captured image of the wall brick and the image of the paved wall brick and feeds back the image information to the terminal, the terminal receives and analyzes the fed-back image information, the position deviation and the rotation angle deviation of the wall brick to be paved and the paved wall brick are calculated, and the position deviation and the rotation angle deviation of the wall brick to be paved and the paved wall brick are displayed. The positioning device is used for positioning wall bricks and controlling the brick joint width of two adjacent wall bricks; the distance measuring system on the tail end flange is used for detecting the yaw angle between the to-be-paved wall brick and the paved wall brick and controlling the height difference and the flatness between every two adjacent wall bricks, so that the height difference and the flatness between every two adjacent wall bricks fluctuate in a controllable range, the attractiveness degree of a working face is improved, and the use experience of a user is improved.
本发明公开了一种边角贴砖方法及墙砖铺贴机器人，该铺贴机器人包括机身、底盘、机械臂和末端法兰，边角贴砖的具体步骤包括定位工序、抓取工序和铺贴工序，在铺贴工序中，末端法兰上的视觉识别系统捕捉抓取的墙砖的图像和已铺贴完成的墙砖的图像，并将图像信息反馈给终端，终端接收并对反馈的图像信息进行分析，计算出待铺贴墙砖与已铺贴墙砖的位置偏差和旋转角度偏差，用于墙砖定位及控制相邻两块墙砖的砖缝宽度；末端法兰上的测距系统用于检测待铺贴墙砖和已铺贴完成的墙砖之间的偏航角，控制两相邻墙砖之间的高低差和平整度，使得每两块相邻墙砖之间的高低差和平整度在可控范围内波动，提升作业面的美观程度，提升用户的使用体验。
Corner tiling method and wall brick paving robot
一种边角贴砖方法及墙砖铺贴机器人
DU LI (author) / WANG JUNJIE (author) / HE TAO (author) / HE CHANGLIN (author)
2023-09-05
Patent
Electronic Resource
Chinese
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