CN116408853A - Cutting recovery unit and floor installation robot - Google Patents

Abstract

The application relates to a cutting recovery device and a floor installation robot, belonging to the technical field of building construction equipment. The cutting recovery device includes: a cutting table, including a main body frame and a first suction cup mechanism, the first suction cup mechanism can slide relative to the main body frame along the length direction of the main body frame, and the first suction cup mechanism is used to pick up the plate and drive the plate to the position to be cut; Cutting mechanism, the cutting mechanism includes a movable cutter, which can move toward the cutting table along the width direction of the main frame, and the movable cutter is used to cut the plate and perform secondary cutting on the remaining material after cutting; the remaining material storage mechanism , set under the cutting table for storage of remaining materials. The cutting recovery device can perform secondary cutting on the remaining material after cutting, rationally utilize the remaining material after primary cutting, reduce material waste and reduce cost.

Description

Cutting recovery device and floor installation robot

technical field

The present application relates to the technical field of building construction equipment, in particular, to a cutting recovery device and a floor installation robot.

Background technique

The specification of the floor is generally a fixed size. During the installation process of the composite floor, when paving in a local area, the floor needs to be cut to meet the needs of different lengths of paving. However, after the floor is cut, the remaining bottom plate becomes waste, which wastes materials and costs a lot.

Contents of the invention

The purpose of this application is to provide a cutting recovery device and a floor installation robot. The cutting recovery device can perform secondary cutting on the remaining material after cutting, rationally utilize the remaining material after primary cutting, reduce material waste and reduce cost.

The application is achieved through the following technical solutions:

In a first aspect, the present application provides a cutting recovery device, which includes: a cutting table, including a main frame and a first suction cup mechanism slidably arranged on the main body frame, and the first suction cup mechanism can be relatively The main body frame slides along the length direction of the main frame, and the first sucker mechanism is used to pick up the plate and drive the plate to the position to be cut; the cutting mechanism is arranged on one side of the width direction of the cutting table, and the cutting The mechanism includes a moving cutter, which can move toward the cutting table along the width direction of the main frame, and the moving cutter is used for cutting the plate and performing secondary processing on the remaining material after cutting. Cutting; the residual material storage mechanism is arranged under the cutting table and is used to store the residual material.

According to the cutting recovery device of the embodiment of the present application, the remaining material generated after one cutting by the moving cutter of the cutting mechanism can be stored in the remaining material storage mechanism to realize the recovery of the remaining material; The remaining material is used for secondary cutting, which improves the utilization rate of the plate, reduces material waste, and reduces costs.

According to some embodiments of the present application, the cutting table is provided with a telescopic stop mechanism, the telescopic stop mechanism is located at one end of the length direction of the main frame, and the telescopic stop mechanism can be positioned relative to the main frame move along the height direction of the main frame to block or allow the plate to move relative to the main frame along the length direction of the main frame.

In the above solution, the first suction cup mechanism drives the plate to move to abut against the telescopic stop mechanism, and the plate is blocked by the telescopic stop mechanism to determine the initial position of the first suction cup mechanism, which is convenient for the first suction cup mechanism to cut according to the cutting length and The initial position moves the plate to the position to be cut to ensure cutting accuracy.

According to some embodiments of the present application, the cutting mechanism includes two moving cutters, and the two moving cutters are arranged at intervals along the length direction of the main frame.

In the above scheme, by setting two movable cutters distributed at intervals in the length direction of the main frame body, it is possible to achieve precise size cutting of the full range of plate lengths and meet the use requirements.

According to some embodiments of the present application, the cutting and recycling device further includes: a waste box for storing waste generated after secondary cutting of the plate.

In the above solution, the waste material box is used to store the remaining plates after the secondary cutting, so as to realize the recycling of waste materials and protect the cutting environment.

According to some embodiments of the present application, the number of the waste bins is two, and the two waste bins are located at both ends of the main frame in the length direction.

In the above solution, waste boxes are respectively provided at both ends of the main frame in the length direction, so that waste can be placed nearby and the cutting efficiency can be improved.

According to some embodiments of the present application, the surplus material storage mechanism includes a base body and a multi-layer retractable drawer board slidably arranged on the base body, the base body is arranged under the cutting table, and the multi-layer The drawer boards are arranged at intervals along the height direction of the main frame, and each layer of the drawer boards can extend or retract relative to the base body along the width direction of the main frame.

In the above solution, the drawer board can be extended or retracted relative to the base to provide or accommodate surplus materials; the multi-layer drawer board can carry surplus materials of different sizes, so that the surplus materials of required length can be quickly selected according to the demand.

According to some embodiments of the present application, the cutting recovery device further includes: a mobile chassis, the cutting table is set on the mobile chassis; an electric control cabinet, the electric control cabinet is set on the mobile chassis, the The electric control cabinet has an accommodating space, the cutting mechanism is accommodated in the accommodating space, the cutting table and the remaining material storage mechanism are arranged on one side of the electric control cabinet; the silo, the hopper is arranged on On the other side of the electric control cabinet, the silo is used to accommodate the uncut plates.

In the above scheme, the cutting mechanism is stored inside the electric control cabinet, which makes reasonable use of the installation space, reduces space occupation, and is convenient for protecting the cutting mechanism; It is compact, reduces the overall size of the cutting recovery device, and moves flexibly.

According to some embodiments of the present application, the main frame includes a first frame body and a second frame body oppositely arranged along its width direction, and the first frame body and the second frame body are both along the extending in the length direction, the first frame body and the second frame body are used to carry the plate, and the two ends of the first frame body are detachably connected to the two ends of the second frame body through connecting pieces , so that an avoidance space for the movement of the first suction cup mechanism is formed between the first frame body and the second frame body.

In the above scheme, the plate is supported by the first frame body and the second frame body; the avoidance space is provided between the first frame body and the second frame body to facilitate the movement of the first suction cup mechanism and avoid the first The suction cup mechanism occupies a relatively large structural space, preventing the first suction cup mechanism from interfering with other components.

According to some embodiments of the present application, the main body frame further includes a mounting seat extending along its length direction, the mounting seat is located under the first frame body and the second frame body, and the first suction cup mechanism The first suction cup mechanism is slidably arranged on the mounting base and protrudes into the escape space.

In the above solution, the positioning of the first suction cup mechanism is realized through the installation seat, so as to ensure the stable movement of the first suction cup mechanism.

According to some embodiments of the present application, the first frame body is disposed adjacent to the cutting mechanism, and a side of the first frame body away from the second frame body is provided with a fixed jaw, and the second frame body is provided with a fixed jaw. The side of the frame body away from the first frame body is provided with telescopic movable jaws, the movable jaws are arranged correspondingly to the moving cutter, and the movable jaws can move relative to the second frame body Approaching or moving away from the fixed jaw along the width direction of the main body frame, so as to clamp or loosen the board.

In the above solution, the clamping or loosening of the plate is realized through the cooperation of the movable jaw and the fixed jaw, so as to ensure the reference positioning and clamping when cutting the plate, so as to realize precise cutting.

In a second aspect, the present application provides a floor installation robot, which includes the cutting and recycling device of any of the above solutions; and a feeding device, the feeding device is used to place the board on the main frame, and use for placing the leftover material in the leftover material storage mechanism, and for placing the leftover material in the leftover material storage mechanism on the main frame.

The floor installation robot according to the embodiment of the present application can save materials, reduce material waste, and reduce costs.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings that are required in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

FIG. 1 is an exploded view of a cutting recovery device provided according to some embodiments of the present application;

Fig. 2 is a schematic diagram of a cutting table and a plate provided according to some embodiments of the present application;

Fig. 3 is an exploded view of a cutting table provided according to some embodiments of the present application;

Fig. 4 is a partial enlarged view of place A in Fig. 3;

Fig. 5 is a partial structural schematic diagram of the cooperation between the cutting table and the plate;

FIG. 6 is an exploded view of a floor installation robot provided according to some embodiments of the present application;

Fig. 7 is a schematic structural diagram of a feeding device provided according to some embodiments of the present application;

Fig. 8 is a schematic diagram of a working state of a floor installation robot provided according to some embodiments of the present application.

Icons: 100-cutting recovery device; 10-cutting table; 11-main frame; 111-first frame body; 112-second frame body; 113-connector; 1. Suction cup mechanism; 13-Suction cup moving drive mechanism; 14-Fixed jaw; 15-Moveable jaw; 151-Claw body; 18-telescopic stopper mechanism; 181-telescopic plate; 182-telescopic plate driver; 20-cutting mechanism; 21-moving cutter; 30-surplus material storage mechanism; Driver; 40-Mobile chassis; 50-Electric control cabinet; 51-Accommodating space; 60-Main bin; 70-Waste box; 80-Plate; 912-first linear drive assembly; 913-second linear drive assembly; 914-third linear drive assembly; 92-second suction cup mechanism; 1000-floor installation robot.

Detailed ways

The implementation manner of the present application will be further described in detail below with reference to the drawings and embodiments. The detailed description and drawings of the following embodiments are used to illustrate the principles of the application, but not to limit the scope of the application, that is, the application is not limited to the described embodiments.

In the description of this application, it should be noted that, unless otherwise specified, the meaning of "plurality" is more than two; the terms "upper", "lower", "left", "right", "inner", " The orientation or positional relationship indicated by "outside" and so on are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a reference to this application. Application Restrictions. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable range of error. "Parallel" is not strictly parallel, but within the allowable range of error.

The orientation words appearing in the following description are the directions shown in the figure, and do not limit the specific structure of the application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be interpreted in a broad sense, for example, it can be a fixed connection or a flexible connection. Disassembled connection, or integral connection; it can be directly connected or indirectly connected through an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

The cutting device is usually used for cutting materials to obtain materials with required lengths and sizes, and the materials can be boards, such as flooring. During the construction of floors (usually wooden floors), due to the different paving areas, it is often necessary to realize the installation of composite floors, that is, some areas require floors of different lengths for splicing. Since the specification of the floor is usually a fixed size, during the installation process of the composite floor, the floor needs to be cut by a cutting device to obtain the floor of the required length and size. However, the inventor has found that after the floor is cut, the remaining floor often becomes waste, resulting in a large waste of materials and increasing the cost.

In view of this situation, the inventor has designed a cutting and recycling device after a lot of research, to perform secondary cutting on the cut plate, realize the recycling of the plate, reduce material waste, and reduce cost. It should be pointed out that the cutting and recycling device in the embodiment of the present application is not limited to the cutting and recycling of floors, and can also be used for cutting other plate-shaped materials.

The cutting recovery device according to the embodiment of the first aspect of the present application will be described below with reference to the figures.

Please refer to Figures 1 to 5, Figure 1 is an exploded view of a cutting recovery device provided according to some embodiments of the present application, Figure 2 is a schematic diagram of a cutting table and a plate provided according to some embodiments of the present application, and Figure 3 is a schematic diagram of An exploded view of the structure of the cutting table provided in some embodiments of the application, FIG. 4 is a partial enlarged view of A in FIG. 3 , and FIG. 5 is a partial structural diagram of the cooperation between the cutting table and the plate.

As shown in FIGS. 1 to 5 , a cutting recycling device 100 according to an embodiment of the present application includes a cutting table 10 , a cutting mechanism 20 and a surplus material storage mechanism 30 .

As shown in FIGS. 1 and 2 , the cutting table 10 includes a main frame 11 and a first suction cup mechanism 12 slidably disposed on the main frame 11 . The first suction cup mechanism 12 can slide relative to the main body frame 11 along the length direction X of the main body frame 11 , and the first suction cup mechanism 12 is used to pick up the plate 80 (see FIG. 2 and FIG. 5 ) and drive the plate 80 to the position to be cut. Cutting mechanism 20 is arranged on one side on the width direction of cutting table 10, and the width direction of cutting table 10 is also the width direction Y of main frame 11; As shown in Figure 1, cutting mechanism 20 comprises movable cutter 21, and movable cutter The knife 21 can move toward the cutting table 10 along the width direction Y of the main body frame 11 , and the moving knife 21 is used for cutting the plate 80 and performing secondary cutting on the remaining material after cutting. As shown in FIG. 1 , the residual material storage mechanism 30 is disposed under the cutting table 10 , and the residual material storage mechanism 30 is used to store the residual material.

The main body frame 11 plays the role of carrying the plate 80 so as to cut the plate 80 by moving the cutter 21 . The plate 80 is arranged along the length direction X of the main frame 11 , that is, the length direction of the plate 80 is consistent with the length X of the main frame 11 . The first sucker mechanism 12 is a mechanism for moving the plate 80 to change the position of the plate 80 on the main body frame 11 , so as to facilitate the moving of the cutter 21 to cut the plate 80 with a required length.

It should be pointed out that the length direction X of the main body frame 11 can be the length direction of the cutting table 10, the width direction Y of the main body frame 11 can be the width direction of the cutting table 10, and the height direction Z of the main body frame 11 can be the length direction of the cutting table 10. height direction. In the figure, the direction indicated by the letter X is the length direction of the main frame 11 , the direction indicated by the letter Y is the width direction of the main frame 11 , and the direction indicated by the letter Z is the height direction of the main frame 11 .

The cutting mechanism 20 is arranged on one side of the cutting table 10 in the width direction, so that the structure is compact, and it is convenient to move the cutting knife 21 to cut the plate 80 . The position to be cut is the position where the movable cutter 21 extends to the cutting table 10 , and the movable cutter 21 cuts the plate 80 at the position to be cut.

After the sheet material 80 is cut by the moving cutter 21 , the remaining material is generated, and the remaining material storage mechanism 30 stores the remaining material after the sheet material 80 is cut once by the moving cutter 21 .

Taking the board 80 as an example, the floor has two opposite installation edges in the length direction. Since the leftover material after one cutting of the floor still has installation edges, the leftover material can be reused to reduce material waste. But, after the floor is cut twice, because there is no mounting edge, it becomes a waste material. Therefore, the floor cut by the mobile cutter 21 stored in the surplus material storage mechanism 30 is the floor after the first cut.

It should be pointed out that, for the sake of brevity, unless otherwise specified, the plate 80 may be an uncut plate 80, or it may be a surplus material produced after one cutting.

According to the cutting recovery device 100 of the embodiment of the present application, the remaining material generated after one cut by the mobile cutter 21 of the cutting mechanism 20 can be stored in the remaining material storage mechanism 30 to realize the recovery of the remaining material; according to the use requirements, the remaining material can be used The remaining material in the storage mechanism 30 is used for secondary cutting, which improves the utilization rate of the plate 80, reduces material waste, and reduces costs. At the same time, the remaining material storage mechanism 30 is located under the cutting table 10, which saves installation space and makes the overall size of the cutting recovery device 100 smaller.

According to some embodiments of the present application, as shown in FIG. 1 , the cutting recovery device 100 further includes a mobile chassis 40 , an electric control cabinet 50 and a bin 60 . The mobile chassis 40 is used to drive the entire cutting and recovery device 100 to move, so as to perform cutting operations at different positions. The cutting table 10 is disposed on the mobile chassis 40 . The electric control cabinet 50 is arranged on the mobile chassis 40, and the electric control cabinet 50 includes a controller, which is used to electrically connect with various electrical components, drive mechanisms, or drive components, so as to control the actions of the corresponding actuators. The electric control cabinet 50 has an accommodating space 51 , the cutting mechanism 20 is accommodated in the accommodating space 51 , and the cutting table 10 and the surplus material storage mechanism 30 are arranged on one side of the electric control cabinet 50 . The silo 60 is disposed on the other side of the electric control cabinet 50 , and the silo 60 is used to accommodate uncut plates 80 .

The mobile chassis 40 may be an AGV (Automated Guided Vehicle, automatic guided vehicle) chassis, so as to move to any designated position and realize precise navigation.

Since the cutting mechanism 20 is located on one side in the width direction of the cutting table 10, and the cutting mechanism 20 is accommodated in the accommodation space 51 of the electric control cabinet 50, the cutting table 10, the electric control cabinet 50 and the feed bin 60 are arranged along the width of the main frame 11. The direction Y is set sequentially. The cutting mechanism 20 is accommodated in the accommodation space 51 , the installation space is rationally utilized, the space occupation is reduced, and the cutting mechanism 20 is also convenient to be protected. The hopper 60, the cutting table 10, and the surplus material storage mechanism 30 are distributed on both sides of the electric control cabinet 50, and have a compact structure, which reduces the overall size of the cutting recovery device 100 and moves flexibly.

The accommodating space 51 of the electric control cabinet 50 has an opening in the second direction Y for the moving cutter 21 to enter and exit the accommodating space 51 .

According to some embodiments of the present application, as shown in FIG. 2 and FIG. 3 , the main body frame 11 includes a first frame body 111 and a second frame body 112 oppositely arranged along its width direction Y, and the first frame body 111 and the second frame body The bodies 112 all extend along the length direction X of the main body frame 11, the first frame body 111 and the second frame body 112 are used to carry the plate 80, and the two ends of the first frame body 111 and the two ends of the second frame body 112 are connected by connecting pieces 113 is detachably connected, so that an escape space 115 for the first suction cup mechanism 12 to move is formed between the first frame body 111 and the second frame body 112 .

The plate 80 carried by the first frame body 111 and the second frame body 112 may be an uncut plate 80 , or may be a surplus material produced after one cutting of the plate 80 .

The first frame body 111 and the second frame body 112 are arranged opposite to each other along the width direction Y of the main body frame 11 , that is, the first frame body 111 and the second frame body 112 are arranged in parallel and distributed at intervals in the width direction Y of the main body frame 11 . The first frame body 111 , the second frame body 112 and the connecting piece 113 form an escape space 115 extending along the length direction X of the main frame 11 , and the first suction cup mechanism 12 can move relative to the main frame 11 in the escape space 115 .

The plate 80 is carried by the first frame body 111 and the second frame body 112 to support the plate material 80; an avoidance space 115 is set between the first frame body 111 and the second frame body 112 to facilitate the movement of the first suction cup mechanism 12, It is avoided that the first sucker mechanism 12 occupies a large structural space, and the first sucker mechanism 12 is prevented from interfering with other components.

According to some embodiments of the present application, as shown in FIG. 2 and FIG. 3 , the main body frame 11 further includes a mounting seat 114 extending along its length direction X, and the mounting seat 114 is located below the first frame body 111 and the second frame body 112 , the first suction cup mechanism 12 is slidably disposed on the mounting base 114 and the first suction cup mechanism 12 protrudes into the escape space 115 .

The mounting base 114 is used to realize the positioning of the first suction cup mechanism 12 to ensure the stable movement of the first suction cup mechanism 12 . The mounting seat 114 is arranged under the first frame body 111 and the second frame body 112, the first suction cup mechanism 12 is also located under the first frame body 111 and the second frame body 112, and the first suction cup mechanism 12 extends into the avoidance space 115 , the plate 80 located on the first frame body 111 and the second frame body 112 can be picked up in the avoidance space 115 .

According to some embodiments of the present application, the cutting table 10 further includes a suction cup moving driving mechanism 13 for driving the first suction cup mechanism 12 to move relative to the main body frame 11 along the length direction X of the main body frame 11 . The suction cup mobile drive mechanism 13 can be a linear drive mechanism. For example, the suction cup drive mechanism includes a motor and a leading screw nut transmission assembly, and the leading screw nut transmission assembly includes a leading screw and a nut. The motor is installed on the main frame 11, and one end of the leading screw is connected to the motor The output shaft of the lead screw is arranged along the length direction X of the main body frame 11, the nut is sleeved on the lead screw and is threadedly matched with the lead screw, the first sucker mechanism 12 is installed on the nut, the motor works, and the drive nut moves along the lead screw so that The first suction cup mechanism 12 moves along the length direction X of the main frame 11 relative to the main frame 11 .

According to some embodiments of the present application, as shown in FIGS. 1 to 3 , the first frame body 111 is arranged adjacent to the cutting mechanism 20 , and the side of the first frame body 111 away from the second frame body 112 is provided with a fixed jaw. 14. The side of the second frame body 112 away from the first frame body 111 is provided with a retractable movable jaw 15, which is set correspondingly to the movable cutter 21, and the movable jaw 15 can be moved relative to the second frame body. 112 approaches or moves away from the fixed jaw 14 along the width direction Y of the main body frame 11 to clamp or release the plate 80 .

The side of the first frame body 111 far away from the second frame body 112 is provided with a fixed jaw 14 to limit the plate 80 in the width direction Y of the main body frame 11 . The board 80 here can be an uncut board 80 , or it can be the leftover material after cutting the board 80 once.

The movable jaw 15 is disposed on a side of the second frame body 112 away from the first frame body 111 to prevent the movable jaw 15 from interfering with other components when moving relative to the second frame body 112 .

It should be pointed out that the fixed jaw 14 may be a plate-shaped structure, and the fixed jaw 14 is fixed on the first frame body 111 to ensure a firm connection with the first frame body 111 .

Through the cooperation of the movable jaws 15 and the fixed jaws 14, the clamping or loosening of the plate 80 is realized, and the base positioning and clamping are ensured when cutting the plate 80, so as to realize precise cutting.

It should be pointed out that, in order to facilitate the movement of the cutter 21 to cut the plate 80 located on the main body frame 11, as shown in Figures 1 to 3, the cutting table 10 is provided with a first escape port 16, and the first escape port 16 is located at the second The frame body 112, the first frame body 111 and the fixed jaw 14, the first escape opening 16 corresponds to the contour of the movable cutter 21, when the belt movable cutter 21 moves to the position to be cut, the movable cutter 21 is located at the first avoidance opening within 16. The movable jaw 15 is located at the position to be cut, and is arranged corresponding to the movable cutter 21. The movable jaw 15 is provided with a second avoidance opening 17 corresponding to the first avoidance opening 16, and the second avoidance opening 17 is used to avoid the moving cutter 21. , when the movable jaw 15 and the fixed jaw 14 are fixedly clamping the plate 80 , it is convenient for the movable cutter 21 to cut the plate 80 and avoid affecting the cutting action of the movable cutter 21 .

According to some embodiments of the present application, as shown in FIG. 3 , the movable jaw 15 includes a claw body 151 and a claw body moving drive assembly 152. The claw body moving drive assembly 152 is installed on the second frame body 112, and the claw body 151 is installed on the claw body. The execution end of the body moving driving assembly 152 , the claw body moving driving assembly 152 is used to drive the claw body 151 to move relative to the second frame body 112 along the width direction Y of the main body frame 11 . The claw moving drive assembly 152 can be an air cylinder, or a hydraulic cylinder, an electric push rod, and the like.

According to some embodiments of the present application, as shown in FIG. 2 to FIG. 5 , the cutting table 10 is provided with a telescopic stop mechanism 18, and the telescopic stop mechanism 18 is located at one end of the main body frame 11 in the length direction X, and the telescopic stop mechanism 18 It can move relative to the main frame 11 along the height direction Z of the main frame 11 to block or allow the plate 80 to move relative to the main frame 11 along the length direction X of the main frame 11 .

As shown in Figures 2 and 5, when the telescopic stop mechanism 18 protrudes relative to the main frame 11 along the height direction Z of the main frame 11, the telescopic stop mechanism 18 protrudes from the main frame 11, and when the plate 80 moves to the telescopic stop After the stop mechanism 18 abuts, the telescopic stop mechanism 18 can stop the plate 80 from moving along the length direction X of the main frame 11 . The retractable stop mechanism 18 can be a reference, for example, when the first sucker mechanism 12 drives the plate 80 to move to abut against the telescopic stop mechanism 18, the initial position of the first sucker mechanism 12 can be determined, so that the first sucker mechanism can 12. Move the plate 80 to the position to be cut according to the cutting length and the initial position, so as to ensure the cutting accuracy of the plate 80.

It should be pointed out that when the initial position is greater than the cutting length, the first suction cup mechanism 12 drives the plate 80 to move away from the retractable stop mechanism 18 along the length direction X of the main body frame 11 to reach the position to be cut. When the initial position is less than the cutting length, the first suction cup mechanism 12 first releases the plate 80, and then moves away from the telescopic stopper mechanism 18 along the length direction X of the main body frame 11 relative to the main body frame 11. After moving to the length to be cut, the first suction cup mechanism Mechanism 12 picks up sheet material 80, as shown in Figure 5, telescopic stopper mechanism 18 retracts relative to main body frame 11, and first sucker mechanism 12 drives sheet material 80 to move toward telescopic stopper mechanism 18, so that the length to be cut and the position to be cut correspond.

Optionally, the first suction cup mechanism 12 may be provided with a distance sensor for measuring the distance between the first suction cup mechanism 12 and the retractable stop mechanism 18 to determine the cutting length of the board 80 . After the first suction cup mechanism 12 corresponds the length position to be cut of the plate 80 to the position to be cut, the movable jaw 15 cooperates with the fixed jaw 14 to clamp the plate 80, and the first suction cup mechanism 12 releases the plate 80 and moves away from the plate to be cut. position so that the mobile cutter 21 cuts the sheet material 80 .

Optionally, as shown in FIGS. 4 and 5 , the telescopic stop mechanism 18 includes a telescopic plate 181 and a telescopic plate driver 182, the telescopic plate 181 is connected to the execution end of the telescopic plate driver 182, and the telescopic plate driver 182 is used to The telescopic plate 181 is driven to move relative to the main frame 11 along the height direction Z of the main frame 11 . When the telescopic plate 181 is retracted relative to the main frame 11 , the upper end of the telescopic plate 181 does not exceed the upper surface of the main frame 11 , so as to avoid affecting the movement of the plate body on the main frame 11 . The expansion plate driver 182 can be an air cylinder, or a hydraulic cylinder, an electric push rod, and the like.

In order to save installation space, the telescopic stop mechanism 18 can be arranged under the main frame 11 , and the telescopic plate 181 can be arranged in the avoidance space 115 formed by the first frame body 111 and the second frame body 112 of the main frame 11 .

According to some embodiments of the present application, the cutting mechanism 20 also includes a cutter extension drive assembly, the movable cutter 21 is installed on the execution end of the cutter extension drive assembly, and the cutter extension drive assembly is used to drive the movable cutter 21 along the The main frame 11 moves in the width direction Y so that the movable cutter 21 moves toward or away from the cutting table 10 . The cutter extension drive assembly can be a linear drive assembly, such as a linear motor, a hydraulic cylinder, an air cylinder, etc.; it can also be a matching structure of a motor and a transmission structure, for example, the transmission structure can be a rack and pinion transmission structure.

It should be pointed out that the moving cutter 21 mentioned in the embodiment of the present application may refer to the cutter used for cutting the plate 80, and the specific structure of the moving cutter 21 will not be described in detail in this application.

According to some embodiments of the present application, the cutting mechanism 20 includes two moving cutters 21 , and the two moving cutters 21 are arranged at intervals along the length direction X of the main frame 11 .

The main body frame 11 is provided with a positioning reference (such as a telescopic stop mechanism 18), and two movable cutters 21 are arranged at intervals along the length direction X of the main body frame 11, and the plate 80 is driven along the length direction X of the main body frame 11 by the first sucker mechanism 12. The main body frame 11 is moved so that different positions of the plate 80 can correspond to the positions to be cut, so as to realize the precise size cutting of the full range of the length of the plate 80 and meet the use requirements.

Optionally, a positioning reference is respectively set at both ends of the length direction X of the main body frame 11, for example, the positioning reference is the telescopic stopper mechanism 18, and one of the two movable cutters 21 is selected according to the required cutting length. Cut sheet 80. For example, one movable cutter 21 realizes the precise size cutting of 0-600mm length, and the other movable cutter 21 realizes the precise size cutting knife of 600-1216mm length, so as to realize the full-range size cutting of 0-1216mm length.

According to some embodiments of the present application, as shown in FIG. 1 to FIG. 3 , the cutting recycling device 100 further includes a waste material box 70 , which is used to store the waste material generated after the secondary cutting of the board 80 .

Both ends of the uncut plate 80 in the length direction are respectively provided with mounting edges. After the plate 80 is cut once, the remaining material still has a mounting edge and can be used. When the plate 80 is cut twice, the remaining part cannot be reused because there is no mounting edge, and becomes waste.

The waste material produced after the second cutting can be stored by the waste material box 70, so that the waste material can be recovered and the cutting environment can be protected.

The waste box 70 can be detachably installed on the side of the main body frame 11, which is convenient for assembly and disassembly, and has a simple structure. For example, a first installation hole is provided in the waste box 70, and a second installation hole corresponding to the first installation hole is set on the side of the main body frame 11. The waste material box 70 and the main body frame 11 pass through the first installation hole and the second installation hole. The fasteners in the holes are secured.

According to some embodiments of the present application, the number of waste bins 70 is two, and the two waste bins 70 are located at both ends of the main frame 11 in the length direction X.

The two waste bins 70 are located outside the main frame 11 , which do not affect the movement of the first suction cup mechanism 12 relative to the main frame 11 , and are convenient for storing the waste generated after the secondary cutting of the plate 80 . The two waste boxes 70 can realize placing waste materials nearby and improve cutting efficiency.

When two movable cutters 21 are provided, the two movable cutters 21 are distributed at intervals along the length direction X of the main body frame 11, and the two waste bins 70 can correspond to one movable cutter 21 respectively, so as to facilitate the rapid removal of discarded plates 80. Storage.

According to some embodiments of the present application, as shown in FIG. 1 , the remaining material storage mechanism 30 includes a base body 31 and a multi-layer retractable drawer board 32 slidably arranged on the base body 31, and the base body 31 is arranged below the cutting table 10, The multi-layer drawer boards 32 are arranged at intervals along the height direction Z of the main frame 11 , and each layer of drawer boards 32 can extend or retract relative to the base body 31 along the width direction Y of the main body frame 11 .

The drawer board 32 is used to carry the remaining materials, so as to facilitate the storage of the remaining materials. The multi-layer drawer boards 32 are arranged at intervals along the height direction Z of the main body frame 11, and each layer of drawer boards 32 can accommodate surplus materials of one length and size, so as to realize the classification of surplus materials of various lengths and sizes, and to quickly take and use surplus materials according to demands. material.

Optionally, the base body 31 is a frame structure, and a space for accommodating multiple layers of drawer boards 32 is formed inside, and each layer of drawer boards 32 is slidably fitted with the base body 31 .

The remaining material storage mechanism 30 may further include a drawer plate driving member 33 for driving the drawer plate 32 to move relative to the base body 31 along the width direction Y of the main frame 11 . The drawer plate driver 33 can be a linear drive such as an electric push rod, an air cylinder, or a hydraulic cylinder. Optionally, the drawer plate drive 33 is an electric push rod. In some other embodiments, the drawer board 32 can also be manually driven, and the drawer board 32 moves relative to the base body 31 under manual action.

The drawer board 32 can be extended or retracted relative to the base body 31, so as to provide or accommodate surplus materials; the multi-layer drawer board 32 can carry surplus materials of different sizes, so that the surplus materials of the required length can be quickly selected according to requirements.

Please refer to Figures 6 to 8, Figure 6 is an exploded view of the floor installation robot provided according to some embodiments of the present application, Figure 7 is a schematic structural view of a feeding device provided according to some embodiments of the present application, Figure 8 is a schematic diagram of the structure according to some embodiments of the present application A schematic diagram of the working state of the floor installation robot provided by some embodiments of the application.

As shown in Figures 6 to 8, the floor installation robot 1000 according to the second embodiment of the present application includes the cutting and recovery device 100 and the feeding device 900 of any of the above-mentioned embodiments, and the feeding device 900 is used to place the board 80 Placed on the main body frame 11 , it is used for placing the remaining materials in the remaining material storage mechanism 30 , and for placing the remaining materials in the remaining material storage mechanism 30 on the main body frame 11 .

The floor installation robot 1000 can save materials, reduce material waste, and reduce costs.

According to some embodiments of the present application, as shown in Fig. 6 and Fig. 7, the feeding device 900 includes a feeding manipulator 91 and a second sucker mechanism 92, the feeding manipulator 91 is arranged above the electric control cabinet 50, and the second sucker mechanism 92 is arranged at the end of the feeding manipulator 91, and the feeding manipulator 91 is used to drive the second sucker mechanism 92 to pick up the uncut plate 80 in the bin 60 and place the uncut plate 80 on the main frame 11 for driving The second sucker mechanism 92 picks up the remaining material on the main frame 11 and places the remaining material in the remaining material storage mechanism 30, and is used to drive the second suction cup mechanism 92 to pick up the remaining material in the remaining material storage mechanism 30 and place the remaining material in the main body frame 11, and is used to drive the second sucker mechanism 92 to pick up the waste on the main body frame 11 and place the waste in the waste box 70.

The feeding manipulator 91 is located above the electric control cabinet 50, and can work on both sides of the electric control cabinet 50 along the width direction Y of the main frame 11. The working range of the feeding manipulator 91 is relatively large, and the structural space is reasonably utilized to reduce space occupation. . The feeding manipulator 91 works in cooperation with the second sucker mechanism 92, and the second sucker mechanism 92 can pick up the sheet material 80, so that the sheet material 80 is moved from the feed bin 60 to the main body frame 11, and the remaining material is moved from the remaining material storage mechanism 30 to the Main body frame 11 ; at the same time, the remaining material on the main body frame 11 can also be moved to the remaining material storage mechanism 30 , and the waste materials on the main body frame 11 can be moved to the waste material box 70 .

The feeding manipulator 91 can drive the second sucker mechanism 92 to rotate relative to the electric control cabinet 50 around the axis of rotation extending along the height direction Z of the main frame 11, and can drive the second sucker mechanism 92 along the length direction X and width of the main frame 11. Move in direction Y and height direction Z.

Optionally, as shown in FIG. 2 , the loading manipulator 91 includes a rotary drive assembly 911, a first linear drive assembly 912, a second linear drive assembly 913, and a third linear drive assembly 914. The rotary drive assembly 911 is installed on the electric control Cabinet 50 (see FIG. 6 ), the first linear drive assembly 912 is installed on the execution end of the rotary drive assembly 911, and the rotary drive assembly 911 is used to drive the first linear drive assembly 912 to extend around the height direction Z along the main frame 11 The rotation axis rotates; the second linear drive assembly 913 is installed on the execution end of the first linear drive assembly 912, and the first linear drive assembly 912 is used to drive the second linear drive assembly 913 to move along the width direction Y of the main frame 11; The third linear drive assembly 914 is installed on the execution end of the second linear drive assembly 913, and the second linear drive assembly 913 is used to drive the third linear drive assembly 914 to move along the height direction Z of the main frame 11; the second suction cup mechanism 92 is installed on The execution end of the third linear drive assembly 914 is used to drive the second sucker mechanism 92 to move along the length direction X of the main body frame 11 .

The second sucker mechanism 92 is driven by the loading manipulator 91 to switch between the bin 60, the cutting table 10, and the surplus material storage mechanism 30, so as to realize the loading of the plate 80, improve cutting automation, and improve cutting efficiency.

It should be pointed out that the rotation driving assembly 911 can be a slewing bearing, which precisely controls the rotation angle of the second sucker mechanism 92 . The first linear drive assembly 912 may be a combination of a motor and a rack-and-pinion transmission structure. The second linear drive assembly 913 can be an air cylinder. The third linear drive assembly 914 may include a cooperating manner of a motor and a rack-and-pinion transmission structure. In other embodiments of the present application, each linear drive assembly may also be other linear drive structures, such as hydraulic cylinders, electric push rods, and the like.

Please refer to FIG. 8 , the working principle of the floor installation robot 1000 according to the embodiment of the present application is as follows:

The mobile chassis 40 moves the cutting recovery device 100 to the position to be installed;

The feeding device 900 picks up the plate 80 from the silo 60 and places the plate 80 on the main frame 11 of the cutting table 10;

The first sucker mechanism 12 picks up the plate 80 and drives the plate 80 to the position to be cut;

The moving cutter 21 moves toward the cutting table 10 to cut the plate 80 at the position to be cut, and after the cutting is completed, the moving cutter 21 resets;

The feeding device 900 moves the cut plate 80 to the position to be installed, and the feeding device 900 moves the remaining material to the remaining material storage mechanism 30;

When it is necessary to use a plate 80 with a smaller size or a plate 80 with a special size, the feeding device 900 picks up the remaining material from the remaining material storage mechanism 30 and places the remaining material on the main frame 11, and the first suction cup mechanism 12 picks up the remaining material and drives the remaining material. Material to the position to be cut;

The mobile cutter 21 performs secondary cutting on the remaining material, and after the cutting is completed, the mobile cutter 21 resets;

The feeding device 900 moves the second cut part of the plate 80 to the position to be installed, and the feeding device moves the cut waste to the waste box 70;

Repeat the above steps until the floor installation is complete.

According to the floor installation robot 1000 of the embodiment of the present application, the remaining material generated after the cutting of the plate 80 can be rationally used to realize the secondary utilization of the plate 80 , reduce waste of materials, and reduce costs.

While the application has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the application. In particular, as long as there is no structural conflict, the technical features mentioned in the various embodiments can be combined in any manner. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims (11)

1. A cutting recovery device, characterized in that, comprising: The cutting table includes a main frame and a first suction cup mechanism slidably arranged on the main frame, the first suction cup mechanism can slide relative to the main frame along the length direction of the main frame, and the first suction cup The mechanism is used to pick up the sheet and drive the sheet to the position to be cut; A cutting mechanism is arranged on one side of the cutting table in the width direction, and the cutting mechanism includes a moving cutter, which can move toward the cutting table along the width direction of the main frame, and the moving The cutting knife is used for cutting the plate and performing secondary cutting on the remaining material after cutting; The remaining material storage mechanism is arranged under the cutting table and is used for storing the remaining material. 2. The cutting recovery device according to claim 1, wherein the cutting table is provided with a telescopic stop mechanism, the telescopic stop mechanism is located at one end in the length direction of the main body frame, and the telescopic stop mechanism The blocking mechanism can move relative to the main frame along the height direction of the main frame, so as to block or allow the plate to move relative to the main frame along the length direction of the main frame. 3 . The cutting recovery device according to claim 2 , wherein the cutting mechanism comprises two moving cutters, and the two moving cutters are arranged at intervals along the length direction of the main body frame. 4 . 4. The cutting recovery device according to claim 1, characterized in that, the cutting recovery device further comprises: The waste box is used for storing the waste generated after the secondary cutting of the board. 5 . The cutting recovery device according to claim 4 , wherein there are two waste boxes, and the two waste boxes are located at both ends of the main frame in the length direction. 6 . 6. The cutting recovery device according to claim 1, wherein the remaining material storage mechanism comprises a base body and a multilayer retractable drawer board slidably arranged on the base body, and the base body is arranged on the base body Below the cutting table, multiple layers of the drawer boards are arranged at intervals along the height direction of the main frame, and each layer of the drawer boards can extend or retract relative to the base body along the width direction of the main frame. 7. The cutting recovery device according to claim 1, characterized in that, the cutting recovery device further comprises: a mobile chassis, the cutting table is set on the mobile chassis; An electric control cabinet, the electric control cabinet is arranged on the mobile chassis, the electric control cabinet has an accommodating space, the cutting mechanism is accommodated in the accommodating space, the cutting table and the remaining material storage mechanism are set on one side of the electric control cabinet; A silo, the silo is arranged on the other side of the electric control cabinet, and the silo is used to accommodate the uncut plates. 8. The cutting recovery device according to claim 1, wherein the main frame includes a first frame body and a second frame body oppositely arranged along its width direction, and the first frame body and the second frame body The frames all extend along the length direction of the main frame, the first frame and the second frame are used to carry the plate, the two ends of the first frame and the ends of the second frame The two ends are detachably connected by connecting pieces, so that an avoidance space for the movement of the first suction cup mechanism is formed between the first frame body and the second frame body. 9. The cutting recovery device according to claim 8, characterized in that, the main body frame further comprises a mounting seat extending along its length direction, and the mounting seat is located on the first frame body and the second frame body Below, the first suction cup mechanism is slidably disposed on the installation seat and the first suction cup mechanism extends into the avoidance space. 10. The cutting recovery device according to claim 8, characterized in that, the first frame is set adjacent to the cutting mechanism, and the side of the first frame away from the second frame is set There are fixed jaws, the side of the second frame body away from the first frame body is provided with telescopic movable jaws, the movable jaws are arranged correspondingly to the movable cutter, and the movable jaws Relative to the second frame body, it can approach or move away from the fixed jaw along the width direction of the main body frame, so as to clamp or loosen the plate. 11. A floor installation robot, characterized in that it comprises: A cutting recovery device as claimed in any one of claims 1-10; and A feeding device, the feeding device is used to place the plate on the main frame, to place the remaining material in the remaining material storage mechanism, and to place the remaining material in the remaining material storage mechanism The rest of the material is placed on the main frame.

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