Floor tile laying device and floor tile laying robot

Abstract

The present invention provides a floor tile laying device and a floor tile laying robot. The floor tile laying device includes a position adjustment mechanism and a floor tile grabbing mechanism arranged on the position adjustment mechanism, and the position adjustment mechanism includes: a column assembly; a mechanical arm component connected to the column assembly, the mechanical arm component is movably arranged in a first direction relative to the column assembly to drive the floor tile grabbing mechanism to move along the first direction; and a swivel component, which is rotatably arranged in a horizontal plane relative to the mechanical arm component, and the floor tile grabbing mechanism is connected to the swivel component; wherein, the column assembly is rotatably arranged in a horizontal plane to drive the mechanical arm component, the swivel component and the floor tile grabbing mechanism to rotate in the horizontal plane; driven by the swivel component, the floor tile grabbing mechanism can rotate around the mechanical arm component in the horizontal plane. The technical solution of the present invention can solve the problem of low control accuracy of the floor tile grabbing mechanism in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of floor tile laying, and in particular to a floor tile laying device and a floor tile laying robot. Background Art

[0002] Traditionally, the construction industry uses manual labor to lay tiles, which is basically a manual operation and requires construction workers to have high experience. The quality of floor tiles laid during construction varies depending on the experience of construction workers. With the improvement of living standards, construction workers are increasingly in short supply. As an important part of the decoration process, floor tile laying has a large market capacity, so some floor tile laying robots have emerged.

[0003] However, in the floor tile laying robots known to the inventor, the floor tile laying device includes a vertical column, a transverse robotic arm connected to the vertical column, and a floor tile grabbing mechanism connected to the transverse robotic arm. The transverse robotic arm can only be movably arranged in the vertical direction relative to the vertical column. The operating range of the floor tile grabbing mechanism is narrow, and the rotation angle of the floor tile grabbing mechanism relative to the vertical column cannot be accurately controlled. The control accuracy of the floor tile grabbing mechanism is low. Summary of the invention

[0004] The main purpose of the present invention is to provide a floor tile laying device and a floor tile laying robot to solve the problem of low control accuracy of the floor tile grabbing mechanism in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a floor tile laying device is provided, the floor tile laying device includes a position adjustment mechanism and a floor tile grabbing mechanism arranged on the position adjustment mechanism, the position adjustment mechanism includes: a column assembly; a mechanical arm component, connected to the column assembly, the mechanical arm component is movably arranged in a first direction relative to the column assembly to drive the floor tile grabbing mechanism to move along the first direction; and a rotating component, rotatably arranged in a horizontal plane relative to the mechanical arm component, the floor tile grabbing mechanism is connected to the rotating component; wherein, the column assembly is rotatably arranged in a horizontal plane to drive the mechanical arm component, the rotating component and the floor tile grabbing mechanism to rotate in the horizontal plane; driven by the rotating component, the floor tile grabbing mechanism can rotate around the mechanical arm component in the horizontal plane.

[0006] The position adjustment mechanism is used to adjust the position of the floor tile grabbing mechanism. The rotating component is connected to the floor tile grabbing mechanism. The floor tile grabbing mechanism moves with the rotating component. The rotating component can rotate in the horizontal plane relative to the mechanical arm component. Therefore, the floor tile grabbing mechanism can rotate in the horizontal plane relative to the mechanical arm component with the rotating component; the mechanical arm component can move in the first direction relative to the column assembly, and the floor tile grabbing mechanism and the rotating component can move in the first direction together with the mechanical arm component. In this way, compared with controlling the rotation of the entire floor tile laying device, since the overall weight of the rotating component and the floor tile grabbing mechanism connected to the rotating component is small, the inertia is small, and the rotation accuracy of the floor tile grabbing mechanism can be more accurately controlled, so that the floor tile laying device has high accuracy.

[0007] Furthermore, the floor tile grabbing mechanism is rotatably arranged in a horizontal plane relative to the rotating component, the rotating component includes a first arm body and a movable seat plate arranged on the first arm body, and the floor tile laying device also includes a driving assembly, the driving assembly includes a first driving structure, the output shaft of the first driving structure is connected to the movable seat plate, and the main body of the first driving structure is connected to the floor tile grabbing mechanism to drive the floor tile grabbing mechanism to be rotatably arranged relative to the movable seat plate.

[0008] The output shaft of the first driving structure is connected to the movable base plate, and the main body of the first driving structure is connected to the floor tile grabbing mechanism to drive the floor tile grabbing mechanism to be rotatably arranged relative to the movable base plate. In this way, the floor tile grabbing mechanism can be rotated relative to the movable base plate, which is convenient for grabbing and laying floor tiles.

[0009] Furthermore, the driving assembly also includes: a connecting flange, on which the main body of the first driving structure is arranged; a connecting frame, in which the main body of the first driving structure is located, and the connecting flange is connected to the floor tile grabbing mechanism via the connecting frame.

[0010] The first driving structure drives the connecting frame to rotate relative to the movable base plate through the connecting flange, thereby driving the floor tile grabbing mechanism to rotate relative to the movable base plate.

[0011] Furthermore, the floor tile laying device also includes: a leveling mechanism for adjusting the horizontality or the height in the vertical direction of the floor tile grabbing mechanism; an inclination sensor for detecting the inclination angle α of the floor tile grabbing mechanism; a controller, the leveling mechanism and the inclination sensor are both connected to the controller, and the controller controls the telescopic action of the leveling mechanism according to the inclination angle α detected by the inclination sensor.

[0012] The inclination sensor detects the inclination angle α of the floor tile grabbing mechanism, and the controller controls the leveling mechanism to extend or retract according to the detected inclination angle α, thereby leveling the floor tile grabbing mechanism and keeping the floor tile grabbing mechanism in a horizontal state, thereby paving the floor tiles.

[0013] Furthermore, the floor tile grabbing mechanism includes a vibrating bracket, and the leveling mechanism includes a leveling electric cylinder arranged on the rotating component, and one end of the leveling electric cylinder is pivotally connected to the vibrating bracket.

[0014] The connecting frame is pivotally connected to the vibrating bracket, and one end of the leveling electric cylinder is pivotally connected to the vibrating bracket. In this way, under the action of the leveling electric cylinder, the vibrating bracket can swing around the pivot point between the connecting frame and the vibrating bracket, and the vibrating bracket drives the floor tile grabbing mechanism to swing, thereby adjusting the horizontality of the floor tile grabbing mechanism or the height in the vertical direction.

[0015] Furthermore, the floor tile laying device also includes a driving assembly rotatably arranged relative to the rotating part, the driving assembly includes a connecting frame and a first driving structure connected to at least part of the rotating part, the connecting frame is pivotally connected to the vibrating bracket via a cross-axis universal joint, the other end of the leveling electric cylinder is pivotally connected to the connecting frame, and the pivot point between the leveling electric cylinder and the connecting frame, the pivot point between the connecting frame and the vibrating bracket, and the pivot point between the other end of the leveling electric cylinder and the vibrating bracket form a triangular structure.

[0016] The first driving structure enables the connecting frame to rotate relative to the rotating part; one end of the leveling electric cylinder is pivotally connected to the vibrating bracket, and the other end of the leveling electric cylinder is pivotally connected to the connecting frame, so that the leveling process of the leveling electric cylinder is more flexible, and the connecting frame is pivotally connected to the vibrating bracket. Under the action of the leveling electric cylinder, the vibrating bracket and the floor tile grabbing mechanism can swing around the pivot point of the connecting frame and the vibrating bracket, thereby leveling the floor tile grabbing mechanism; the output end of the leveling electric cylinder always keeps moving in the vertical direction, thereby adjusting the horizontality of the floor tile grabbing mechanism or the height in the vertical direction.

[0017] Furthermore, the leveling mechanism also includes an inclination adjustment plate, the other end of the leveling electric cylinder is connected to the inclination adjustment plate through a universal ball head, and the inclination adjustment plate is connected to the connecting frame; or, the telescopic amount of the leveling electric cylinder and the inclination angle α satisfy the following relationship: T=A*sinα, wherein A is the lateral distance between the pivot point of the cross-axis universal joint and the vibrating bracket and the push rod of the leveling electric cylinder and the pivot point of the vibrating bracket, and α is the inclination angle of the floor tile grabbing mechanism.

[0018] The floor tile grabbing mechanism can be leveled by controlling the extension and retraction of the leveling electric cylinder through the controller; according to the detected inclination angle α and the relationship between the extension and retraction amount of the leveling electric cylinder and the inclination angle α, the length that the leveling electric cylinder needs to extend or retract when the inclination angle is α can be obtained. By extending or retracting the leveling electric cylinder, the floor tile grabbing mechanism is leveled, thereby ensuring that the floor tiles are laid flat.

[0019] Further, the robotic arm component includes a second arm body and a second driving structure arranged on the second arm body, and the output shaft of the second driving structure is connected to the rotating component to drive the rotating component to swing; or, the position adjustment mechanism includes a screw transmission structure and a driving part arranged on the column assembly, and the driving part is drivingly connected to the screw transmission structure, and the screw transmission structure includes: a first screw, which is rotatably arranged relative to the column assembly; a first nut, which is threadably matched with the first screw, and the first nut is fixedly connected to the robotic arm component.

[0020] The second driving structure drives the rotary component to rotate the rotary component, thereby realizing the function that the rotary component can rotate relative to the mechanical arm component. The driving unit drives the first screw rod to rotate the first screw rod, and the first nut cooperates with the first screw rod thread to convert the rotational motion of the first screw rod relative to the column assembly into a linear reciprocating motion of the first nut relative to the column assembly. The first nut drives the mechanical arm component to perform a linear reciprocating motion relative to the column assembly, thereby realizing the function that the mechanical arm component can move relative to the column assembly in the first direction.

[0021] Further, the column assembly includes a base component and a column structure connected to the base component, wherein the column structure is rotatably arranged relative to the base component to drive the mechanical arm component, the rotating component and the floor tile grabbing mechanism to rotate relative to the base component; or, the floor tile grabbing mechanism is movably arranged in a second direction relative to the rotating component; or, the floor tile grabbing mechanism includes a vibrating bracket, a suction cup arranged on the vibrating bracket and a vibration mechanism arranged on the vibrating bracket, and the vibration mechanism is connected to the suction cup.

[0022] The column structure is rotatable relative to the base component around its own central axis. The column structure drives the mechanical arm component, the rotating component and the floor tile grabbing mechanism to rotate relative to the base component, which can further increase the operating range of the floor tile grabbing mechanism and improve the adaptability of the floor tile laying device. Furthermore, the column structure can achieve 360-degree rotation relative to the base component: in this way, the whole machine can achieve omnidirectional rotation, and can take materials left and right, avoiding the problem of wall blocking affecting material taking. The floor tile grabbing mechanism is movable in the second direction relative to the rotating component, so that the operating area of ​​the floor tile grabbing mechanism in the second direction is increased, thereby further increasing the operating range of the floor tile grabbing mechanism and improving the adaptability of the floor tile laying device. The vibrating bracket is pivotally connected to the connecting frame, and the vibrating bracket is pivotally connected to the leveling electric cylinder, so that the connecting frame and the leveling electric cylinder are both movably connected to the suction cup. Driven by the vibration mechanism, the suction cup vibrates, driving the floor tiles adsorbed by the suction cup to vibrate, so that the part to be laid with floor tiles can better fit with the floor tiles.

[0023] According to another aspect of the present invention, a floor tile laying robot is provided. The floor tile laying robot comprises the above-mentioned floor tile laying device and a walking mechanism connected to the floor tile laying device.

[0024] The tile laying robot is able to pick up, level and lay floor tiles.

[0025] By applying the technical solution of the present invention, the position adjustment mechanism is used to adjust the position of the floor tile grabbing mechanism, the rotating component is connected to the floor tile grabbing mechanism, the floor tile grabbing mechanism moves with the rotating component, the rotating component can rotate relative to the mechanical arm component, so the floor tile grabbing mechanism can rotate relative to the mechanical arm component with the rotating component; the mechanical arm component can move in the first direction relative to the column assembly, and the floor tile grabbing mechanism and the rotating component can move in the first direction together with the mechanical arm component. In this way, compared with controlling the rotation of the entire floor tile laying device, since the overall weight of the rotating component and the floor tile grabbing mechanism connected to the rotating component is small, the inertia is small, and the rotation accuracy of the floor tile grabbing mechanism can be controlled more accurately, so that the floor tile laying device has high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0027] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of a floor tile laying device according to the present invention is shown;

[0028] Figure 2 Shows Figure 1 A cross-sectional view of a floor tile laying device;

[0029] Figure 3 Shows Figure 2 A partial enlarged view of a floor tile laying device;

[0030] Figure 4 Shows Figure 1 A schematic diagram of a floor tile laying device with a folding plate in an unfolded position;

[0031] Figure 5 Shows Figure 1 A schematic diagram of a floor tile laying device with a folding plate in a retracted position;

[0032] Figure 6a Shows Figure 1 A structural schematic diagram of a floor tile grabbing mechanism of a floor tile laying device in a horizontal state;

[0033] Figure 6b Shown according to Figure 6a A diagram showing the relationship between the universal ball head of the floor tile grabbing mechanism in a horizontal state, the pivot point between the connecting frame and the vibrating bracket, and the other end of the leveling electric cylinder and the pivot point between the vibrating bracket;

[0034] Figure 7a Shows Figure 1 A structural schematic diagram of a floor tile grabbing mechanism of a floor tile laying device in a tilted state;

[0035] Figure 7b Shown according to Figure 7a A diagram showing the relationship between the universal ball head of the floor tile grabbing mechanism in a tilted state, the pivot point between the connecting frame and the vibrating bracket, and the other end of the leveling electric cylinder and the pivot point between the vibrating bracket;

[0036] Figure 8 Shows Figure 1 A structural schematic diagram of the working state of the visual camera of the floor tile laying device;

[0037] Fig. 9 Shows Figure 1 A schematic diagram of the structure of a floor tile grabbing mechanism of a floor tile laying device; and

[0038] Fig.10 Shows Figure 1 Schematic diagram of the structure of the cross axis of the floor tile laying device.

[0039] The above drawings include the following reference numerals:

[0040] 10. Position adjustment mechanism; 11. Column assembly; 1. Base component; 101. Base; 102. First motor; 103. First reducer; 104. Rotary flange; 2. Column structure; 201. Rotary column; 202. First screw rod floating end bearing seat; 203. First screw rod; 204. First linear guide rail; 205. First guide rail slider; 206. First nut; 207. First screw rod nut fixing seat; 208. Second motor; 209. First synchronous wheel; 210, first synchronous belt; 211, second synchronous wheel; 212, first screw fixed end bearing seat; 213, screw transmission structure; 12, mechanical arm component; 301, second arm body; 302, third motor; 303, first reducer flange; 304, second reducer; 305, connecting plate; 306, second drive structure; 13, rotating component; 401, fourth motor; 402, third synchronous wheel; 403, second synchronous belt; 4 04, the fourth synchronous wheel; 405, the bearing seat at the fixed end of the second screw rod; 406, the first arm body; 407, the second screw rod; 408, the second screw rod nut fixing seat; 409, the second nut; 410, the second guide rail slider; 411, the second linear guide rail; 412, the bearing seat at the floating end of the second screw rod; 413, the moving seat plate; 501, the RV reducer; 502, the connecting flange; 503, the rotating motor; 504, the connecting frame; 514, the inclination adjustment plate; 517. Lower bearing seat; 518. Cross shaft; 519. Upper bearing seat; 520. Leveling cylinder; 521. Floating joint; 522. Tilt sensor; 20. Leveling mechanism; 60. Floor tile grabbing mechanism; 61. Vibrating bracket; 601. Suction cup; 603. Vibrating casing; 604. Eccentric motor; 605. Casing cover; 523. Bracket plate; 526. Folding plate; 527. Visual camera; 528. Hinge; 70. Floor tile; 80. Tile adhesive. DETAILED DESCRIPTION

[0041] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0042] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0043] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0044] It should be noted that the embodiments of the present invention belong to the field of building decoration, and specifically relate to a floor tile laying device and a floor tile laying robot capable of grasping, leveling and laying floor tiles.

[0045] In the present invention and the embodiments of the present invention, the first direction refers to the vertical direction, that is, Figure 2 and Figure 3 The horizontal plane refers to the plane perpendicular to the vertical direction, which is also Figure 4 The second direction refers to the plane defined by the X and Y directions in Figure 2 The X-axis direction.

[0046] like Figure 1 As shown, in an embodiment of the present invention, the floor tile laying device includes a position adjustment mechanism 10 and a floor tile grabbing mechanism 60 arranged on the position adjustment mechanism 10. The position adjustment mechanism 10 includes a column assembly 11, a mechanical arm component 12 and a rotating component 13, the mechanical arm component 12 is connected to the column assembly 11, the mechanical arm component 12 is movably arranged in a first direction relative to the column assembly 11 to drive the floor tile grabbing mechanism 60 to move along the first direction, the rotating component 13 is rotatably arranged in a horizontal plane relative to the mechanical arm component 12, and the floor tile grabbing mechanism 60 is connected to the rotating component 13; wherein, the column assembly 11 is rotatably arranged in a horizontal plane to drive the mechanical arm component 12, the rotating component 13 and the floor tile grabbing mechanism 60 to rotate in the horizontal plane; driven by the rotating component 13, the floor tile grabbing mechanism 60 can rotate around the mechanical arm component 12 in the horizontal plane.

[0047] In the above arrangement, the position adjustment mechanism 10 is used to adjust the position of the floor tile grabbing mechanism 60, the rotating component 13 is connected to the floor tile grabbing mechanism 60, the floor tile grabbing mechanism 60 moves with the rotating component 13, the rotating component 13 can rotate relative to the mechanical arm component 12, so the floor tile grabbing mechanism 60 can rotate relative to the mechanical arm component 12 with the rotating component 13; the mechanical arm component 12 can move in the first direction relative to the column assembly 11, and the floor tile grabbing mechanism 60 and the rotating component 13 can move in the first direction together with the mechanical arm component 12. In this way, with respect to controlling the rotation of the entire floor tile laying device, since the overall weight of the rotating component 13 and the floor tile grabbing mechanism 60 connected to the rotating component 13 is relatively small, the inertia is small, and the rotation accuracy of the floor tile grabbing mechanism 60 can be controlled more accurately, so that the accuracy of the floor tile laying device is high.

[0048] It is common to use 800mmx800mm floor tiles to lay house floors in decoration projects. In the prior art, laying floor tiles is mostly done manually. Due to the large area and heavy weight of floor tiles, workers may suffer injuries to the lumbar spine and knee joints during long-term laying of floor tiles. In addition, there are also shortcomings such as high labor intensity and quality problems caused by irregular operations. In order to overcome the shortcomings of the prior art, improve the efficiency and quality of floor tile laying, and reduce the labor intensity of workers, the present invention and the embodiments of the present invention provide a floor tile laying device that can grab, level, and lay floor tiles. The floor tile laying device can replace manual work to complete the laying of floor tiles, avoid quality problems caused by irregular manual operations, and reduce the labor intensity of workers.

[0049] It should be noted that the floor tile laying device of the embodiment of the present invention can realize the grabbing, leveling and laying of 800mmx800mm floor tiles. At present, it is very common to use floor tile laying devices to replace manual operations, but there are few industrial robot arms suitable for 800mmx800mm floor tile laying scenarios. The weight of 800mmx800mm floor tiles is 18kg, and the weight of the vibrating suction cup for grabbing floor tiles is 15kg. The downward pressure required during the laying of floor tiles is 1000N. The load requirement for the floor tile laying device is about 100Kg, and the weight of the floor tile laying device that can currently meet the above load requirements is about 800Kg, which does not meet the floor slab bearing weight requirements of residential buildings. Based on the above reasons, the present invention and the embodiments of the present invention provide a light-weight, high-precision, high-load floor tile laying device suitable for floor tile laying.

[0050] like Figure 1 As shown, in an embodiment of the present invention, the column assembly 11 includes a base component 1 and a column structure 2 connected to the base component 1, and the column structure 2 is rotatably arranged in a horizontal plane relative to the base component 1 to drive the mechanical arm component 12, the rotating component 13 and the floor tile grabbing mechanism 60 to rotate relative to the base component 1. The column structure 2 drives the mechanical arm component 12, the rotating component 13 and the floor tile grabbing mechanism 60 to rotate relative to the base component, which can further increase the operating range of the floor tile grabbing mechanism 60 and improve the adaptability of the floor tile laying device. Furthermore, the column structure 2 can achieve 360-degree rotation relative to the base component 1: in this way, the whole machine can achieve omnidirectional rotation, and can take materials from left and right, avoiding the problem of wall obstruction affecting material taking.

[0051] Specifically, Figure 2As shown, the base component 1 includes a base 101, a first motor 102, a first reducer 103 and a swivel flange 104. The first motor 102 and the first reducer 103 are both fixed on the base 101, and the power output shaft of the first motor 102 is connected to the input end of the first reducer 103; the swivel flange 104 is fixed to the output shaft of the first reducer 103. When the first motor 102 rotates, the output end of the first reducer 103 is driven to rotate, and the swivel flange 104 connected to the output end of the first reducer 103 rotates.

[0052] Preferably, the first reducer 103 may be an RV reducer.

[0053] Preferably, the first motor 102 may be a servo motor.

[0054] like Figure 2 As shown, in an embodiment of the present invention, the position adjustment mechanism 10 includes a screw transmission structure 213 and a driving portion arranged on the column assembly 11, the driving portion is drivingly connected to the screw transmission structure 213, the screw transmission structure 213 includes a first screw 203 and a first nut 206, the first screw 203 is rotatably arranged relative to the column assembly 11; the first nut 206 is threadedly matched with the first screw 203, and the first nut 206 is fixedly connected to the robot arm component 12, so that the rotational motion of the first nut and the first screw 203 can be converted into the linear motion of the first nut 206 and the robot arm component 12.

[0055] In the above arrangement, the driving unit drives the first screw rod 203 to rotate the first screw rod 203, and the first nut 206 is threadedly matched with the first screw rod 203 to convert the rotational motion of the first screw rod 203 relative to the column assembly 11 into the linear reciprocating motion of the first nut 206 relative to the column assembly 11, and the first nut 206 drives the mechanical arm component 12 to perform linear reciprocating motion relative to the column assembly 11, thereby realizing the function that the mechanical arm component 12 can move in the first direction relative to the column assembly 11. Specifically, the first nut 206 is connected to the mechanical arm component 12 through the first screw rod nut fixing seat 207.

[0056] like Figure 2 As shown, in the embodiment of the present invention, the column structure 2 includes a swivel column 201. The swivel column 201 is fixed on the swivel flange 104 and rotates with the swivel flange 104, so that the column structure 2 can rotate relative to the base component 1.

[0057] like Figure 2As shown, specifically, the driving part includes a second motor 208 fixed on the rotary column 201, a first synchronous wheel 209 installed on the output shaft of the second motor 208, a first synchronous belt 210 and a second synchronous wheel 211. The second synchronous wheel 211 is installed on the first screw rod 203, and the first synchronous wheel 209 and the second synchronous wheel 211 are connected through the first synchronous belt 210. When the first synchronous wheel 209 rotates following the output shaft of the second motor 208, the second synchronous wheel 211 is driven to rotate through the first synchronous belt 210, the first screw rod 203 rotates along with the second synchronous wheel 211, and the first screw rod 203 drives the first nut 206 and the first screw rod nut fixing seat 207 to generate linear motion.

[0058] like Figure 2 As shown, the column structure 2 also includes a first screw rod floating end bearing seat 202 and a first screw rod fixed end bearing seat 212. The first screw rod floating end bearing seat 202 and the first screw rod fixed end bearing seat 212 are fixed on both end surfaces of the rotary column 201; the first screw rod floating end bearing seat 202 and the first screw rod fixed end bearing seat 212 are installed at both ends of the first screw rod 203. The first nut 206 is installed on the first screw rod 203; the first screw rod nut fixing seat 207 is fixed on the first nut 206.

[0059] like Figure 2 As shown, the floor tile laying device also includes a guide mechanism. The guide structure includes a first linear guide rail 204 and a first guide rail slider 205. The first linear guide rail 204 is installed on the rotary column 201, and the first guide rail slider 205 is installed on the first linear guide rail 204 and can move linearly along the first linear guide rail 204. In this way, it can be ensured that the linear movement of the robot arm component 12 relative to the column structure 2 is smoother.

[0060] Preferably, the first screw rod 203 may be a ball screw rod.

[0061] Preferably, the second motor 208 may be a servo motor.

[0062] like Figure 2 As shown, in an embodiment of the present invention, the robot arm component 12 includes a second arm body 301 and a second driving structure 306 disposed on the second arm body 301 , and the output shaft of the second driving structure 306 is connected to the rotating component 13 to drive the rotating component 13 to swing.

[0063] In the above arrangement, the second driving structure 306 drives the rotating component 13 to rotate the rotating component 13 , thereby realizing the function that the rotating component 13 can rotate relative to the robot arm component 12 .

[0064] Preferably, the second driving structure 306 includes a third motor 302 and a second reducer 304 connected to the third motor 302 , the power output end of the second reducer 304 is connected to the rotating component 13 , and under the drive of the third motor 302 , the second reducer 304 drives the rotating component 13 to rotate.

[0065] Specifically, Figure 2 As shown, the robot arm component 12 includes a second arm body 301 , a third motor 302 , a first reducer flange 303 , a second reducer 304 and a connecting plate 305 .

[0066] The second arm body 301 is mounted and fixed on the first guide rail slider 205 and connected to the first screw nut fixing seat 207. Driven by the first screw nut fixing seat 207, the second arm body 301 moves linearly with the first screw nut fixing seat 207 and slides along the first linear guide rail 204, so that the mechanical arm component 12 can move in the first direction relative to the column assembly 11. The third motor 302 is connected to the second reducer 304 through the first reducer flange 303; the second reducer 304 is mounted and fixed on the second arm body 301. The connecting plate 305 is mounted and fixed on the output shaft of the second reducer 304. When the output shaft of the third motor 302 rotates, the input shaft of the second reducer 304 is driven to rotate, and driven by the output shaft of the second reducer 304, the connecting plate 305 rotates.

[0067] Preferably, the third motor 302 may be a servo motor.

[0068] like Figure 2 As shown, in the embodiment of the present invention, the floor tile grabbing mechanism 60 is rotatably arranged in a horizontal plane relative to the rotating component 13, and the rotating component 13 includes a first arm body 406 and a movable seat plate 413 arranged on the first arm body 406. The floor tile laying device also includes a driving assembly, the driving assembly includes a first driving structure, the output shaft of the first driving structure is connected to the movable seat plate 413, and the main body of the first driving structure is connected to the floor tile grabbing mechanism 60 to drive the floor tile grabbing mechanism 60 to be rotatably arranged relative to the movable seat plate 413.

[0069] In the above arrangement, the output shaft of the first driving structure is connected to the movable base plate 413, and the main body of the first driving structure is connected to the floor tile grabbing mechanism 60, so as to drive the floor tile grabbing mechanism 60 to be rotatably arranged relative to the movable base plate. In this way, the floor tile grabbing mechanism 60 can be rotated relative to the movable base plate, which is convenient for grabbing and laying floor tiles.

[0070] Specifically, the output shaft of the first driving structure is connected to the movable seat plate 413, and the first driving structure and the movable seat plate 413 can rotate relative to each other, so that the movable seat plate 413 can rotate relative to the driving component. Since the movable seat plate 413 is arranged on the first arm body 406, the movable seat plate 413 cannot rotate relative to the first arm body 406. Therefore, the driving force of the first driving structure acts on itself, so that the first driving structure rotates relative to the movable seat plate 413, thereby driving the vibration bracket 61 and the floor tile grabbing mechanism 60 connected to the vibration bracket 61 to rotate relative to the movable seat plate 413, thereby realizing the function of the floor tile grabbing mechanism 60 being rotatable relative to the rotating component 13; the floor tile grabbing mechanism 60 can rotate relative to the rotating component 13, so that the floor tiles grabbed by the floor tile grabbing mechanism 60 can rotate relative to the rotating component 13. After the installation position of the floor tiles is fixed, that is, after the position of the rotating component 13 is fixed, the floor tiles can be more accurately installed to the corresponding installation position by adjusting the floor tile grabbing mechanism 60, so that the floor tiles can be installed more accurately.

[0071] like Figure 2 and Figure 3 As shown, in an embodiment of the present invention, the driving assembly also includes a connecting flange 502 and a connecting frame 504, the main body of the first driving structure is arranged on the connecting flange 502, the main body of the first driving structure is located in the connecting frame 504, and the connecting flange 502 is connected to the floor tile grabbing mechanism 60 through the connecting frame 504.

[0072] In the above arrangement, the first driving structure drives the connecting frame 504 to rotate relative to the movable base plate 413 via the connecting flange 502 , thereby driving the floor tile grabbing mechanism 60 to rotate relative to the movable base plate 413 .

[0073] like Figure 3 As shown, in an embodiment of the present invention, preferably, the first driving structure includes an RV reducer 501 and a rotating motor 503. Among them, the output shaft of the reducer is connected to the movable seat plate 413, the rotating motor 503 is installed on the outer casing of the reducer through the connecting flange 502, and the connecting frame is connected to the connecting flange. Since the movable seat plate cannot rotate (that is, the output shaft of the reducer is fixed), the overall structure composed of the outer casing of the reducer, the rotating motor 503 connected to the reducer, and the connecting frame and other components is rotatably arranged relative to the movable seat plate, thereby driving the floor tile grabbing mechanism connected to the connecting frame to rotate relative to the movable seat plate, that is, the floor tile grabbing mechanism 60 can rotate around Figure 3 The Z axis shown rotates a certain angle. The housing of the rotating motor 503 forms the above-mentioned main body.

[0074] Of course, in an alternative embodiment not shown in the drawings, it can also be arranged that the first driving structure does not include the RV reducer 501, but only includes the rotary motor 503, the output shaft of the rotary motor 503 is connected to the movable seat plate, and the housing of the rotary motor 503 is connected to the vibrating bracket through the connecting frame. Furthermore, the output shaft of the leveling electric cylinder 520 is connected to the housing of the rotary motor 503 through the inclination adjustment plate 514.

[0075] Preferably, the driving assembly further comprises a cross-axis universal joint, which is arranged between the connecting frame 504 and the vibrating bracket 61 of the floor tile grabbing mechanism 60, and the vibrating bracket 61 is pivotally connected to the connecting frame 504 through the cross-axis universal joint. In the above arrangement, the connecting frame 504 is connected to the vibrating bracket 61 through the cross-axis universal joint, so that the vibrating bracket 61 can be driven to rotate relative to the movable seat plate 413; the vibrating bracket 61 is pivotally connected to the connecting frame 504, so that the relative position of the vibrating bracket 61 and the connecting frame 504 is more flexible, and the position of the vibrating bracket 61 is conveniently adjusted.

[0076] Specifically, Figure 3 As shown in FIG. 1 , the cross-axis universal joint includes a cross-axis 518 and an upper bearing seat 519 and a lower bearing seat 517 respectively located on both sides of the cross-axis 518. The specific structure of the cross-axis 518 is as follows: Fig.10 As shown, in this way, the upper bearing seat 519 and the lower bearing seat 517 connected to the cross shaft 518 can both rotate around the X-axis and the Y-axis as the rotation center axis.

[0077] like Figure 2 As shown, in the embodiment of the present invention, the floor tile grabbing mechanism 60 is movably arranged relative to the rotating component 13 in the second direction.

[0078] In the above arrangement, the floor tile grabbing mechanism 60 is movable in the second direction relative to the rotating part 13, thus increasing the operating area of ​​the floor tile grabbing mechanism 60 in the second direction, thereby further increasing the operating range of the floor tile grabbing mechanism 60 and improving the adaptability of the floor tile laying device.

[0079] Specifically, Figure 2As shown, the rotary component 13 includes a fourth motor 401, a third synchronous wheel 402, a second synchronous belt 403, a fourth synchronous wheel 404, a second screw fixed end bearing seat 405, a first arm 406, a second screw 407, a second screw nut fixing seat 408, a second nut 409, a second guide rail slider 410, a second linear guide 411, a second screw floating end bearing seat 412 and a moving seat plate 413. The first arm 406 is fixed on the connecting plate 305 and rotates with the connecting plate 305, so that the rotary component 13 can rotate relative to the robot arm component 12. The second screw fixed end bearing seat 405 and the second screw floating end bearing seat 412 are fixedly mounted on both ends of the first arm body 406, and the second screw fixed end bearing seat 405 and the second screw floating end bearing seat 412 are arranged at both ends of the second screw 407; the fourth motor 401 is fixed on the first arm body 406, the third synchronous wheel 402 is mounted on the output shaft of the fourth motor 401, the fourth synchronous wheel 404 is mounted on the shaft end of the second screw 407, and the third synchronous wheel 402 and the fourth synchronous wheel 404 are connected by the second synchronous belt 403; the second nut 409 is mounted in conjunction with the second screw 407, and the second screw nut fixing seat 408 is mounted and fixed on the second nut 409. The second linear guide 411 is fixedly mounted on the first arm body 406, and the second guide slider 410 is mounted in conjunction with the second linear guide 411. The movable seat plate 413 is fixedly mounted on the second guide slider 410 and connected to the second screw nut fixing seat 408. When the output shaft of the fourth motor 401 drives the third synchronous wheel 402 to rotate, the fourth synchronous wheel 404 is driven to rotate through the second synchronous belt 403, and the second screw rod 407 also rotates with the fourth synchronous wheel 404. The second nut 409 is threadedly matched with the second screw rod 407, and the rotational movement of the second screw rod 407 is converted into the linear movement of the second nut 409. The second nut 409 makes a linear movement, and the movable seat plate 413 is connected to the second nut 409 through the second screw rod nut fixing seat 408. Driven by the second nut 409, the movable seat plate 413 makes a linear movement with the second nut 409 and slides along the second linear guide rail 411. The movable seat plate 413 drives the floor tile grabbing mechanism 60 to move, so that the floor tile grabbing mechanism 60 can be moved in the second direction relative to the rotating component 13.

[0080] Preferably, the fourth motor 401 may be a servo motor.

[0081] Preferably, the second screw rod 407 may be a ball screw rod.

[0082] like Figure 3 and Figure 4As shown, in an embodiment of the present invention, the floor tile laying device also includes a leveling mechanism 20, a tilt sensor 522 and a controller. The leveling mechanism 20 is used to adjust the horizontality or the height in the vertical direction of the floor tile grabbing mechanism 60; the tilt sensor 522 is used to detect the tilt angle α of the floor tile grabbing mechanism 60. The leveling mechanism 20 and the tilt sensor 522 are both connected to the controller, and the controller controls the telescopic action of the leveling mechanism 20 according to the tilt angle α detected by the tilt sensor 522.

[0083] In the above configuration, the inclination sensor 522 detects the inclination angle α of the floor tile grabbing mechanism 60, and the controller controls the leveling mechanism 20 to extend or retract according to the detected inclination angle α, thereby leveling the floor tile grabbing mechanism 60, keeping the floor tile grabbing mechanism 60 in a horizontal state, and then paving the floor tiles.

[0084] like Figures 2 to 7b As shown, in the embodiment of the present invention, the floor tile grabbing mechanism 60 includes a vibrating bracket 61, and the leveling mechanism 20 includes a leveling electric cylinder 520 arranged on the rotating component 13, and one end of the leveling electric cylinder 520 is pivotally connected to the vibrating bracket 61 so that the vibrating bracket 61 can be swingably arranged.

[0085] In the above arrangement, the connecting frame 504 is pivotally connected to the vibrating bracket 61, and one end of the leveling electric cylinder 520 is pivotally connected to the vibrating bracket 61. In this way, under the action of the leveling electric cylinder 520, the vibrating bracket 61 can swing around the pivot point between the connecting frame 504 and the vibrating bracket 61, and the vibrating bracket 61 drives the floor tile grabbing mechanism 60 to swing, thereby adjusting the horizontality of the floor tile grabbing mechanism 60 or the height in the vertical direction.

[0086] The leveling mechanism 20 is used to adjust the horizontality or the height in the vertical direction of the floor tile grabbing mechanism 60. Preferably, the number of the leveling electric cylinders 520 is two, such as Figure 4 As shown, one of the leveling electric cylinders 520 and the driving assembly is arranged left and right along the Y-axis direction, and the other leveling electric cylinder 520 and the driving assembly is arranged front and back along the X-axis direction. The two leveling electric cylinders 520 are independently arranged. In this way, a leveling electric cylinder 520 is respectively arranged in the X-axis direction and the Y-axis direction. By independently controlling the extension and contraction amounts of the two leveling electric cylinders 520, the floor tile grabbing mechanism 60 can be leveled in the X-axis direction or the Y-axis direction.

[0087] like Figure 2 and Figure 3 , Figures 6a to 7bAs shown, in an embodiment of the present invention, the floor tile laying device also includes a universal ball head and a driving assembly rotatably arranged relative to the rotating part 13, the driving assembly includes a connecting frame 504 and a first driving structure connected to at least part of the rotating part 13, the connecting frame 504 is pivotally connected to the vibrating bracket 61 through a cross-axis universal joint, the other end of the leveling electric cylinder 520 is pivotally connected to the connecting frame 504 through a universal ball head, and the universal ball head, the connecting frame 504 and the pivot point of the vibrating bracket 61, and the other end of the leveling electric cylinder 520 and the pivot point of the vibrating bracket 61 form a triangular structure.

[0088] In the above-mentioned setting, the first driving structure enables the connecting frame 504 to rotate relative to the rotating part 13; one end of the leveling electric cylinder 520 is pivotally connected to the vibrating bracket 61, and the other end of the leveling electric cylinder 520 is pivotally connected to the connecting frame 504, so that the leveling process of the leveling electric cylinder 520 is more flexible, and the connecting frame 504 is pivotally connected to the vibrating bracket 61. Under the action of the leveling electric cylinder 520, the vibrating bracket 61 and the floor tile grabbing mechanism 60 can swing around the pivot point of the connecting frame 504 and the vibrating bracket 61, thereby leveling the floor tile grabbing mechanism 60; the output end of the leveling electric cylinder 520 always keeps moving in the vertical direction, thereby adjusting the horizontality of the floor tile grabbing mechanism 60 or the height in the vertical direction.

[0089] like Figure 3 As shown, in the embodiment of the present invention, since a reducer is provided in the first driving structure of the driving assembly, the push rod of the leveling electric cylinder 520 is installed on the connecting flange or the housing of the reducer through the inclination adjustment plate, and the fixed end of the leveling electric cylinder 520 is also connected to the vibrating bracket 61 through a cross-axis universal joint. In this way, the floor tile grabbing mechanism 60 can be leveled by controlling the extension and contraction of the leveling electric cylinder 520 through the controller.

[0090] Of course, in an alternative embodiment not shown in the drawings, the fixed end of the leveling electric cylinder 520 may also be connected to the vibrating bracket via a universal ball joint. Alternatively, the driving end where the ejection rod of the leveling electric cylinder 520 is located may be connected to the vibrating bracket, while the fixed end of the leveling electric cylinder opposite to the driving end may be connected to the inclination adjustment plate.

[0091] Preferably, the extension and retraction amount of the leveling electric cylinder 520 and the inclination angle α satisfy the following relationship: T=A*sinα, wherein A is the lateral distance between the pivot point of the cross-axis universal joint and the vibrating bracket 61 and the fixed end of the leveling electric cylinder 520 and the pivot point of the vibrating bracket 61, and α is the inclination angle of the floor tile grabbing mechanism 60.

[0092] According to the detected inclination angle α and the relationship between the extension and retraction amount of the leveling cylinder 520 and the inclination angle α, it can be obtained that when the inclination angle is α, the length that the leveling cylinder 520 needs to extend or retract can be obtained. By extending or retracting the leveling cylinder 520, the floor tile grabbing mechanism 60 is leveled, thereby ensuring that the floor tiles 70 are laid flat.

[0093] Preferably, the leveling electric cylinder 520 is a linear electric cylinder.

[0094] Specifically, the leveling mechanism 20 can realize the absolute horizontal leveling function. The inclination adjustment plate 514 is mounted and fixed on the RV reducer 501; the floating joint 521 is mounted and fixed on the inclination adjustment plate 514; the leveling electric cylinder 520 is connected to the inclination adjustment plate 514 through the floating joint 521. The cross shaft 518 connects the upper bearing seat 519 and the lower bearing seat 517 together; the upper bearing seat 519 is mounted and fixed on the leveling electric cylinder 520; the lower bearing seat 517 is mounted and fixed on the vibrating bracket 61. When the output rod of the leveling electric cylinder 520 makes a linear motion, the vibrating bracket 61 makes a rotational motion around the rotation center Q point, and the inclination angle is α°; the inclination sensor 522 is mounted and fixed on the vibrating bracket 61, and the inclination sensor 522 measures the inclination angle α°; as shown in Figure 6. The movement distance of the output rod of the leveling electric cylinder 520 is T, and T=C1-C2, the point where the universal ball head is located is S, the distance between the point S where the universal ball head is located and the rotation center Q is B, the distance between the position change point P and the rotation center Q is A, and A is fixed. According to the geometric relationship of the triangle, it can be concluded that the movement distance of the output rod of the leveling electric cylinder 520 is T≈A·sinα. When the floor tiles adsorbed by the floor tile grabbing mechanism 60 tilt, the inclination sensor 522 on the vibrating bracket 61 detects the tilt angle α°. According to the functional relationship T≈A·sinα, the movement distance T of the output rod of the leveling electric cylinder 520 is calculated to achieve absolute horizontal leveling of the floor tiles.

[0095] like Figure 2 and Figure 3 , Figures 6a to 7b As shown, in the embodiment of the present invention, the floor tile laying device further comprises a cross-axis universal joint. The cross-axis universal joint comprises a cross-axis and two bearing seats (including an upper bearing seat and a lower bearing seat) located on both sides of the cross-axis, the fixed end of the leveling electric cylinder 520 is connected to one of the two bearing seats, and the vibrating bracket 61 is connected to the other of the two bearing seats.

[0096] In the above setting, the fixed end of the leveling electric cylinder 520 is pivotally connected to the vibrating bracket 61 through a cross-axis universal joint, so that the swing of the vibrating bracket 61 is more flexible. At the same time, it can ensure that the push rod of the leveling electric cylinder 520 always keeps moving in the vertical direction to adjust the horizontality of the floor tile grabbing mechanism 60 or the height in the vertical direction to ensure the accuracy of the adjustment.

[0097] like Figure 8As shown, in the embodiment of the present invention, the floor tile laying device further comprises a plurality of support plates 523 arranged on the connecting flange 502, and the plurality of support plates 523 are arranged at intervals along the circumferential direction. A visual mechanism is provided on each support plate 523. The visual mechanism can be used to find the exact position of laying the floor tile 70.

[0098] Preferably, the vision mechanism includes a vision camera 527 .

[0099] like Figure 4 and Figure 5 As shown, the floor tile laying device also includes a folding plate 526 arranged on the support plate 523 and a visual camera 527 located at one end of the folding plate 526 away from the support plate 523. The folding plate 526 is foldably arranged relative to the support plate 523, and the folding plate 526 has an unfolded position and a retracted position.

[0100] The folding plate 526 is hingedly connected to the bracket plate 523. Preferably, the bracket plate 523 and the folding plate 526 can be connected by a hinge 528.

[0101] like Figure 4 As shown, the folding plate 526 is in the unfolded position, at which time the visual mechanism can be used to provide accurate position information. Figure 5 As shown, the folding plate 526 is in the retracted position, and the visual mechanism is also in the retracted position. In this way, the entire floor tile laying device takes up less space and is convenient for storage.

[0102] like Fig. 9 As shown, in the embodiment of the present invention, the floor tile grabbing mechanism 60 further includes a plurality of suction cups 601 and a vibration mechanism disposed on the vibration bracket 61 and corresponding to the plurality of suction cups 601. In the above arrangement, the vibration bracket 61 is pivotally connected to the connecting frame 504, and the vibration bracket 61 is pivotally connected to the leveling electric cylinder 520, so that the connecting frame 504 and the leveling electric cylinder 520 are both movably connected to the suction cup 601. Driven by the vibration mechanism, the suction cup 601 vibrates, driving the floor tiles adsorbed by the suction cup 601 to vibrate, so that the part to be laid with the floor tiles can better fit with the floor tiles.

[0103] like Fig. 9 As shown, each vibration mechanism includes a housing and an eccentric motor 604 located in the housing (the housing includes a vibrating housing 603 and a housing cover 605) and connected to the housing, and the suction cup is connected to the housing. When the eccentric motor 604 rotates, vibration is generated, so that the housing and the suction cup 601 connected to the eccentric motor 604 also vibrate, and the floor tiles adsorbed by the suction cup 601 vibrate. After the fluid tile adhesive 80 under the floor tiles is vibrated, the fluidity is better and it is easier to fill the gaps under the floor tiles, thereby ensuring the quality of floor tile laying.

[0104] Preferably, the suction cup 601 is a rubber suction cup.

[0105] The floor tile laying device of the embodiment of the present invention has the following advantages:

[0106] 1. High load: The whole machine adopts screw drive structure for power transmission and linear guide rail for motion guidance, which makes this floor tile laying device have high load characteristics;

[0107] 2. Light weight: The main structure of the whole machine is made of carbon steel thin-walled pipes combined with strong ribs and welded together. The main structure has the characteristics of light weight and good rigidity;

[0108] 3. High precision: small radius rotary motion and linear motion are used together, with high motion precision;

[0109] 4. Omnidirectional rotation: The whole machine can realize omnidirectional rotation, and can take materials left and right, avoiding the problem of wall blocking and affecting material taking;

[0110] 5. Absolute horizontal leveling: The tilt sensor and the leveling mechanism 20 are used in conjunction with the measurement and control of the floor tile grabbing mechanism to achieve absolute horizontal adjustment of the floor tiles;

[0111] 6. Use visual cameras for measurement to find the exact location of floor tiles;

[0112] 7. Use a vibration mechanism and suction cup to vibrate the tile adhesive under the floor tiles so that the tile adhesive fills the gaps under the floor tiles and achieves hollow-free laying of the floor tiles.

[0113] The present invention and the embodiments of the present invention further provide a floor tile laying robot, which includes the above-mentioned floor tile laying device and a walking mechanism connected to the above-mentioned floor tile laying device. The walking mechanism can realize the walking function, drive the floor tile laying device to move, and enable the floor tile laying robot to work in different working positions.

[0114] In addition, since the floor tile laying robot of the present application has the floor tile laying device of the present application, the floor tile laying robot of the present application also has the above-mentioned advantages of the floor tile laying device of the present application, which will not be repeated here.

[0115] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: the position adjustment mechanism is used to adjust the position of the floor tile grabbing mechanism, the rotating component is connected to the floor tile grabbing mechanism, the floor tile grabbing mechanism moves with the rotating component, the rotating component can rotate relative to the mechanical arm component, so the floor tile grabbing mechanism can rotate relative to the mechanical arm component with the rotating component; the mechanical arm component can move in the first direction relative to the column assembly, and the floor tile grabbing mechanism and the rotating component can move in the first direction together with the mechanical arm component. In this way, compared with controlling the rotation of the entire floor tile laying device, since the overall weight of the rotating component and the floor tile grabbing mechanism connected to the rotating component is small, the inertia is small, and the rotation accuracy of the floor tile grabbing mechanism can be controlled more accurately, so that the floor tile laying device has high accuracy.

[0116] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0117] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0118] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0119] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A floor tile laying device, characterized in that: The floor tile laying device comprises a position adjustment mechanism (10) and a floor tile grabbing mechanism (60) arranged on the position adjustment mechanism (10), wherein the position adjustment mechanism (10) comprises: Column assembly (11); A mechanical arm component (12) connected to the column assembly (11), the mechanical arm component (12) being movably arranged in a first direction relative to the column assembly (11) to drive the floor tile grabbing mechanism (60) to move along the first direction; and A rotating component (13) is rotatably arranged in a horizontal plane relative to the mechanical arm component (12), and the floor tile grabbing mechanism (60) is connected to the rotating component (13); The column assembly (11) is rotatably arranged in a horizontal plane, and comprises a base component (1) and a column structure (2) connected to the base component (1), wherein the column structure (2) is rotatably arranged relative to the base component (1) to drive the mechanical arm component (12), the rotating component (13) and the floor tile grabbing mechanism (60) to rotate relative to the base component (1) in the horizontal plane; driven by the rotating component (13), the floor tile grabbing mechanism (60) can rotate around the mechanical arm component (12) in the horizontal plane; The floor tile laying device also includes: A leveling mechanism (20) for adjusting the horizontality or the height in the vertical direction of the floor tile grabbing mechanism (60); An inclination sensor (522) for detecting an inclination angle α of the floor tile grabbing mechanism (60); a controller, the leveling mechanism (20) and the inclination sensor (522) being connected to the controller, the controller controlling the telescopic action of the leveling mechanism (20) according to the inclination angle α detected by the inclination sensor (522); The floor tile grabbing mechanism (60) comprises a vibrating bracket (61), and the leveling mechanism (20) comprises a leveling electric cylinder (520) arranged on the rotating component (13), and one end of the leveling electric cylinder (520) is pivotally connected to the vibrating bracket (61); The floor tile laying device also includes a driving assembly rotatably arranged relative to the rotating component (13), the driving assembly including a connecting frame (504) and a first driving structure at least partially connected to the rotating component (13), the connecting frame (504) being pivotally connected to the vibrating bracket (61) via a cross-axis universal joint, the other end of the leveling electric cylinder (520) being pivotally connected to the connecting frame (504), the pivot point between the leveling electric cylinder (520) and the connecting frame (504), the pivot point between the connecting frame (504) and the vibrating bracket (61), and the pivot point between the other end of the leveling electric cylinder (520) and the vibrating bracket (61) forming a triangular structure.

2. The floor tile laying device according to claim 1, characterized in that: The floor tile grabbing mechanism (60) is rotatably arranged in a horizontal plane relative to the rotating component (13), and the rotating component (13) includes a first arm body (406) and a movable seat plate (413) arranged on the first arm body (406). The floor tile laying device also includes a driving component, and the driving component includes a first driving structure, the output shaft of the first driving structure is connected to the movable seat plate (413), and the main body of the first driving structure is connected to the floor tile grabbing mechanism (60) to drive the floor tile grabbing mechanism (60) to be rotatably arranged relative to the movable seat plate (413).

3. The floor tile laying device according to claim 2, characterized in that: The drive assembly also includes: A connecting flange (502), wherein the main body of the first driving structure is arranged on the connecting flange (502); A connecting frame (504), wherein the main body of the first driving structure is located within the connecting frame (504), and the connecting flange (502) is connected to the floor tile grabbing mechanism (60) via the connecting frame (504).

4. The floor tile laying device according to claim 1, characterized in that: The leveling mechanism (20) further comprises an inclination adjustment plate (514), the other end of the leveling electric cylinder (520) is connected to the inclination adjustment plate (514) via a universal ball head, and the inclination adjustment plate (514) is connected to the connecting frame (504); or, The extension and contraction amount of the leveling electric cylinder (520) and the inclination angle α satisfy the following relationship: T=A*sinα, wherein A is the lateral distance between the pivot point of the cross-axis universal joint and the vibrating bracket (61) and the push rod of the leveling electric cylinder (520) and the pivot point of the vibrating bracket (61), and α is the inclination angle of the floor tile grabbing mechanism (60).

5. The floor tile laying device according to any one of claims 1 to 3, characterized in that: The mechanical arm component (12) comprises a second arm body (301) and a second driving structure (306) arranged on the second arm body (301), and the output shaft of the second driving structure (306) is connected to the rotating component (13) to drive the rotating component (13) to swing; or, The position adjustment mechanism (10) comprises a screw transmission structure (213) and a driving unit arranged on the column assembly (11), wherein the driving unit is drivingly connected to the screw transmission structure (213), and the screw transmission structure (213) comprises: A first screw rod (203) is rotatably arranged relative to the column assembly (11); The first nut (206) is threadably matched with the first screw rod (203), and the first nut (206) is fixedly connected to the mechanical arm component (12).

6. The floor tile laying device according to any one of claims 1 to 3, characterized in that: The floor tile grabbing mechanism (60) is movably arranged in a second direction relative to the rotating component (13); or, The floor tile grabbing mechanism (60) comprises a vibrating bracket (61), a suction cup (601) arranged on the vibrating bracket (61), and a vibrating mechanism arranged on the vibrating bracket (61), wherein the vibrating mechanism is connected to the suction cup (601).

7. A floor tile laying robot, characterized in that: The floor tile laying robot comprises the floor tile laying device according to any one of claims 1 to 6 and a walking mechanism connected to the floor tile laying device.

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