Mobile robot for laying floor tiles and method for laying floor tiles

Abstract

The present invention provides a mobile robot for laying floor tiles and a method for laying floor tiles. The frame of the mobile robot is provided with a lifting mechanism, a clamping and pushing mechanism, and a laying mechanism. The lifting mechanism is used to lift the floor tiles upward; the clamping device clamps the two ends of a floor tile on the top layer of the lifting mechanism and conveys it forward, then releases it and places it flat on the conveying mechanism, and the conveying mechanism conveys the floor tile forward in the X direction to the laying mechanism; the laying mechanism is provided with a flipping mechanism, and the placing device of the flipping mechanism clamps a floor tile conveyed by the conveying mechanism, and the flipping mechanism flips forward to lay the clamped floor tile on the ground. In the equipment provided by the present invention, the storage, lifting, transmission and laying of floor tiles are fully mechanized. Compared with the manual laying method, the laying effect of the present invention is good and efficient, and the labor cost can be reduced at the same time.

Description

Technical Field

[0001] The invention relates to municipal construction equipment, and in particular to a mobile robot for laying floor tiles and a method for laying floor tiles. Background Art

[0002] With the development of the current urban construction level, the requirements for municipal pavements are getting higher and higher. Sidewalks, squares and other places usually require large areas of flat floor tiles and floor tiles. At present, the laying of floor tiles and floor tiles generally adopts pure manual operation or a combination of mechanical and manual methods. The construction method of combining mechanical and manual methods is: the bricks are lifted by ropes through a crane, and then the bricks are unloaded after the landing point is manually controlled, and finally compacted. This laying method is time-consuming and labor-intensive, and the laying effect depends on the technical level of the construction workers. At the same time, the labor intensity of the workers is high, and more construction workers are required, which increases the laying cost. Summary of the invention

[0003] The present invention aims to provide a novel mobile robot for laying floor tiles and a method for laying floor tiles. The entire laying process is fully automated and mechanized. Compared with the existing laying method, the present invention has high laying efficiency, neatly laid bricks, no need for manual participation in heavy lifting, and reduces labor costs. In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0004] A mobile robot for floor tiles, the floor tiles are flat floor tiles, the mobile robot is provided with a movable frame, the frame length is in the X direction, the width is in the Y direction, a lifting mechanism and a clamping and pushing mechanism are installed at the rear of the frame, a multi-axis mechanical arm is installed at the front of the frame, a laying mechanism is installed on the mechanical arm, and a transmission mechanism located between the laying mechanism and the clamping and pushing mechanism is installed on the frame;

[0005] The lifting mechanism is provided with a first transmission mechanism, a lifting plate and a lifting device, wherein the first transmission mechanism transfers the floor tiles stacked up and down to the lifting plate and the lifting device drives the lifting plate to lift upward;

[0006] The clamping and pushing mechanism comprises a forward guide rail and a clamping device slidably mounted on the forward guide rail, wherein the clamping device clamps the uppermost floor tile at both ends after it is lifted to the top and conveys it forward in the X direction, then releases it and lays it flat on the conveying mechanism, and the conveying mechanism conveys the floor tile forward in the X direction to the laying mechanism;

[0007] The laying mechanism is provided with a laying frame, on which a flipping mechanism that slides forward and backward in the X direction is installed, the flipping mechanism is provided with a flipping axis in the Y direction, and the flipping mechanism is provided with a placing device that rotates with the flipping axis as the axis center, after the placing device clamps a floor tile conveyed by the conveying mechanism, the placing device flips forward to lay the clamped floor tile on the ground;

[0008] Two sets of positioning mechanisms are respectively installed on the laying frame and the turning mechanism, and the two sets of positioning mechanisms cooperate to provide positioning for laying floor tiles.

[0009] Furthermore, the lifting mechanism is provided with a longitudinal lifting bracket installed at the rear of the frame, the first transmission mechanism is fixedly installed at the bottom of the longitudinal lifting bracket, the lifting plate is driven by the lifting device on the longitudinal lifting bracket to perform lifting movement in the vertical direction of the first transmission mechanism, and the lifting plate is provided with an open groove corresponding to the position of the first transmission mechanism so that the lifting plate can be lowered below the upper surface of the first transmission mechanism;

[0010] A storage bracket is installed at the bottom of the rear side of the lifting bracket, the front end of the storage bracket is rotatably connected to the bottom of the rear side of the longitudinal lifting bracket, the storage bracket can be turned upside down and folded for storage with the front end as the rotation point, and a second transmission mechanism is provided on the storage bracket;

[0011] The storage rack conveys the stacked floor tiles forward in the X direction to the first conveying mechanism, and the first conveying mechanism continues to convey the floor tiles forward to the lifting plate.

[0012] Furthermore, lifting devices are installed on the longitudinal lifting bracket and are respectively located on both sides of the lifting plate in the Y direction, and each of the lifting devices includes:

[0013] a lifting cylinder, the lifting cylinder being vertically fixed on the longitudinal lifting bracket;

[0014] A lifting chain, the two ends of which are fixedly connected to the lifting plate and the top rod of the lifting cylinder, respectively; or

[0015] The two ends of the lifting chain are respectively located on both sides of the lifting cylinder and span the top rod of the lifting cylinder. One end of the lifting chain is fixedly connected to the lifting plate, and the other end is fixed to the longitudinal lifting bracket on one side of the lifting cylinder.

[0016] Furthermore, vertical guide channel steel rails are provided on the longitudinal lifting bracket and are located on both sides of the lifting plate. A lifting web is slidably installed up and down on each of the vertical guide channel steel rails, and one end of the lifting chain and the lifting plate are fixedly connected to the lifting web.

[0017] Furthermore, the storage bracket is installed at the bottom of the longitudinal lifting bracket through a self-resetting flip bracket, and a spring support is installed at the bottom of the longitudinal lifting bracket;

[0018] A limit steel pipe and a reset spring are installed at the bottom of the self-resetting flip bracket. The limit steel pipe passes through the two baffles on the back of the self-resetting flip bracket in sequence and is rotatably connected to the spring support. The reset spring is sleeved on the limit steel pipe between the two baffles.

[0019] The transverse width of the storage bracket is smaller than the transverse width of the longitudinal lifting bracket, and the storage bracket is rotatably connected to the bottom center of the longitudinal lifting bracket.

[0020] Furthermore, the forward guide rail is provided with two first slide rails with a length in the X direction, an upper rail is provided on the opposite side of the first slide rail, a lower lifting rail located below the upper rail is provided on the first slide rail, the lower lifting rail is provided with two front and rear entrance openings opening downwards, a front and rear pair of first rollers are installed in each upper rail, second rollers are respectively fixed at the front and rear ends on both sides of the clamping device, the corresponding first rollers and second rollers are movably connected through a driven rod, the first transverse propulsion cylinder drives the first roller to slide forward in the upper rail to drive the clamping device to move transversely forward, and during the forward sliding process of the first roller, the driven rod drives the second roller to enter the lower lifting rail from the entrance to raise the height of the clamping device;

[0021] The clamping device comprises a clamping frame, which is equipped with a second slide rail in the Y direction and a multi-link linkage mechanism, on which two clamping plates that can slide relatively are arranged, and the multi-link linkage mechanism is composed of a middle swing rod and two clamping links hinged at both ends of the swing rod, the center of the swing rod is rotatably connected to the clamping frame through a swing rod center pin, and the other ends of the two clamping links are respectively hingedly connected to the opposite surfaces of the two clamping plates;

[0022] One end of the swing rod is hinged to the clamping drive cylinder, and the clamping drive cylinder drives the multi-link linkage mechanism to drive the two clamping plates to slide relative to or towards each other on the second slide rail to clamp or release the floor tiles.

[0023] Furthermore, a pair of front and rear first rollers in the upper track are both installed on a side push plate, and the side push plate is fixedly connected to the top rod of the first transverse propulsion cylinder. The first transverse propulsion cylinder pushes the side push plate to drive the first roller to roll back and forth in the upper track.

[0024] Furthermore, the conveying mechanism is a transmission mechanism based on rollers or belts.

[0025] Furthermore, a mechanical arm is symmetrically installed on the left and right sides of the front part of the frame, and the two mechanical arms are fixedly connected by a connecting rod. Vertical guide rails and horizontal guide rails are fixed on the left and right sides of the front part of the frame. A vertical slider support that slides up and down is installed on the vertical guide rail, and a horizontal slider that slides horizontally is installed on the horizontal guide rail. The vertical slider support is connected to a vertical lifting mechanism fixed to the front part of the frame, and the horizontal slider is connected to a horizontal pushing mechanism fixed to the front part of the frame. The vertical lifting mechanism and the horizontal pushing mechanism are any one of a cylinder, a hydraulic cylinder, an electric push rod, and a spiral screw pair.

[0026] The mechanical boom includes a longitudinal leg and a horizontal upper arm and lower arm. The front ends of the upper arm and the lower arm are hingedly connected to the legs, the rear end of the upper arm is hingedly connected to the vertical slider support, the lower arm is fixedly connected to the horizontal slider, and the rear end of the lower arm is movably connected to the upper arm through a connecting rod support arm. The upper arm, the lower arm, and the legs and connecting rod support arms hinged at the front and rear ends constitute a parallel four-bar linkage mechanism. A quick-release mounting bracket is installed at the bottom of the leg, a swing cylinder is connected between the quick-release mounting bracket and the leg, and a quick-release first supporting universal wheel is installed at the bottom of the quick-release mounting bracket.

[0027] Furthermore, the laying frame is composed of a front slide rail support plate on the front side and a rear slide rail support plate on the rear side, the rear slide rail support plate is fixedly connected to the front slide rail support plate by a quick-release connecting plate, the laying mechanism is detachably mounted on the mechanical arm through the quick-release connecting plate, and a supporting foot and a second supporting universal wheel are provided at the bottom of the front slide rail support plate;

[0028] Side frames that are slidably matched with the front slide rail support plate are installed on both sides of the flip mechanism, and the flip mechanism is rotatable on the side frames, and the rear slide rail support plate is connected to the side frames through a horizontal telescopic cylinder.

[0029] Furthermore, the flipping mechanism is also equipped with a scraping mechanism and a rolling mechanism that rotates around the flipping axis.

[0030] The scraping mechanism is provided with a sawtooth scraper, and the sawtooth scraper is tilted and contacted with the ground by the flipping of the scraping mechanism. The horizontal telescopic cylinder drives the flipping mechanism to move forward and backward, and the sawtooth scraper scrapes the ground.

[0031] The rolling mechanism is provided with a rolling wheel with convex ribs on the outer diameter. The rolling wheel contacts the upper surface of the laid floor tiles by the turning of the rolling mechanism. The horizontal telescopic cylinder drives the turning mechanism to move forward and backward, and the rolling wheel performs rolling operation on the laid floor tiles.

[0032] The scraping mechanism, the rolling mechanism and the placing device rotate synchronously around the turning shaft as the axis, and the turning shaft is a turning cylinder.

[0033] Furthermore, a first laser emitter is installed at the front end of the front slide rail support plate on both sides, and a second laser emitter is installed at the front end of the side frame on both sides;

[0034] Each first laser transmitter is used to transmit a first positioning laser in the shape of a cross to the ground directly below the first laser transmitter on the other side, and the second laser transmitter is used to transmit a second positioning laser in the shape of a cross perpendicular to the ground, and the laying position of the floor tiles is determined by the overlap of the second positioning laser and the first positioning laser;

[0035] The angle between the first positioning laser beams emitted by the two first laser transmitters and the ground is adjustable to adjust the distance between the two first positioning laser beams.

[0036] Furthermore, the placement device is provided with a clamping frame, a support plate is provided on one side of the clamping frame, the clamping frame is provided with an adjustment rail in the Y direction, a bracket is provided on the adjustment rail on the same side as the support plate, and the bracket is connected to the clamping frame through a fine-tuning cylinder to adjust the position of the bracket in the Y direction;

[0037] A plurality of X-direction support plates are installed on the rear slide rail support plate, and rollers are arranged on the support plates;

[0038] The conveying mechanism conveys the floor tiles forward in the X direction through the support plate and transfers them between the support plate and the bracket.

[0039] A method for laying floor tiles based on the mobile robot comprises the following steps:

[0040] Transfer the stacked floor tiles onto the lifting plate, and the lifting device drives the lifting plate to lift upward;

[0041] The clamping device clamps a floor tile Y on the uppermost layer of the lifting plate at both ends, conveys it forward in the X direction, then releases it and places it flat on the conveying mechanism, and the conveying mechanism conveys the floor tile forward in the X direction to the laying mechanism;

[0042] The placing device clamps the floor tiles transported by the conveying mechanism, and the placing device flips forward around the flip axis as the axis center to lay the clamped floor tiles on the ground;

[0043] The flipping mechanism retracts to pull the placing device out of the gap between the floor tile and the ground, and then the placing device flips back to its original position.

[0044] Furthermore, the method further comprises:

[0045] Before the placement device clamps the floor tiles, the serrated scraper is tilted to contact the ground by the leveling mechanism, and the ground is leveled by the forward and backward movement of the leveling mechanism, and

[0046] After the floor tiles are laid and the placement device is pulled out from the gap between the floor tiles and the ground, the rolling mechanism flips to make the rolling wheel contact the upper surface of the laid floor tiles, and the flip mechanism moves back and forth to roll the laid floor tiles; wherein,

[0047] The scraping mechanism and the rolling mechanism are both fixedly mounted on the turning mechanism, and the scraping mechanism, the rolling mechanism and the placing device rotate synchronously around the turning axis as the axis center.

[0048] The advantages of the present invention are:

[0049] 1) The storage, lifting, transportation and laying of floor tiles are fully mechanized. Compared with the manual laying method, the present invention has good laying effect and high efficiency, and can also reduce labor costs;

[0050] 2) The floor tiles transferred from the rear of the frame are lifted by the lifting mechanism. A set of lifting devices are provided on both sides of the lifting plate, so that the lifting plate fully loaded with floor tiles is more stable during the lifting process; the storage bracket on the rear side of the lifting mechanism is used as a mechanism for temporarily storing floor tiles. The forklift transfers the floor tiles to the storage bracket, and the storage bracket transfers the floor tiles to the lifting plate. The storage bracket can be folded upwards for storage when not in use to reduce the occupied space;

[0051] 3) The clamping mechanism is used to clamp the floor tiles on the lifting plate and transport them forward to be placed on the conveying mechanism. After clamping the floor tiles, the clamping mechanism slides toward the front of the vehicle. During the forward sliding process, the height of the clamping mechanism will be raised to avoid scratches between the lower surface of the floor tiles clamped by the clamping mechanism and the upper surface of the floor tiles on the lifting plate, thereby ensuring the beauty of the floor tiles during the transmission process. The clamping mechanism adopts a multi-link linkage mechanism to make the two clamping plates move at the same time. On the one hand, the structure is more compact, and on the other hand, it ensures that the two clamping plates always move synchronously and the movement is more linear;

[0052] 4) The laying mechanism is provided with a flipping mechanism, which is provided with a placing device, a scraping mechanism and a rolling mechanism that can rotate around the flipping axis. With the help of the rotation of the flipping mechanism, the ground can be scraped, the floor tiles are placed and the floor tiles are rolled. The structure is more compact and the functions are more complete. In addition, two sets of laser positioning mechanisms are installed at the front end of the laying mechanism to provide precise positioning for laying floor tiles.

[0053] 5) The mechanical arm provides stable support for the laying mechanism. In addition, the mechanical arm can drive the laying mechanism to move vertically and horizontally forward and backward, and can accurately adjust the laying mechanism to the specified position to facilitate the laying of bricks. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0055] Figure 1 The overall appearance diagram of a mobile robot for laying flat bricks provided by the present invention;

[0056] Figure 2 The figure is a top view of the mobile robot for laying flat bricks;

[0057] Figure 3a A three-dimensional diagram of the lifting mechanism;

[0058] Figure 3b A three-dimensional diagram of a lifting plate of a lifting mechanism rising to mid-air;

[0059] Figure 3c It is a side view of the storage bracket of the lifting mechanism after it is unfolded;

[0060] Figure 3d This is a side view of the storage bracket after it is folded;

[0061] Figure 4a It is a side view of the clamping and pushing mechanism in the X direction;

[0062] Figure 4b It is a three-dimensional diagram of the clamping and pushing mechanism;

[0063] Figure 4c A bottom view of the clamping and pushing mechanism;

[0064] Figure 4d for Figure 4a A schematic diagram behind the side panels of the forward guide rail is shown, showing a schematic diagram of the forward guide rail being provided with two upper and lower tracks (i.e., an upper track and a lower lifting track), wherein the clamping device is the starting section of the travel of the forward guide rail;

[0065] Figure 4e It is a side view of the clamping and pushing mechanism sliding to the end of the travel of the forward guide rail;

[0066] Figure 4f It is a side view of the clamping and pushing mechanism in the Y direction;

[0067] Figure 5a is a three-dimensional diagram of a mechanical arm;

[0068] Figure 5b It is a side view of the mechanical arm;

[0069] Figure 5cA perspective view of the quick-release mounting bracket;

[0070] Figure 6a It is a top view of the laying mechanism;

[0071] Figure 6b It is a side view of the laying mechanism;

[0072] Figure 6c It is a three-dimensional diagram of the main frame of the laying mechanism;

[0073] Figure 6d Installation position diagram of the positioning mechanism at the front end of the laying mechanism;

[0074] Figure 6e It is a three-dimensional diagram of the laying mechanism. In this state, the placing device of the turning mechanism is used to receive bricks from the conveying mechanism;

[0075] Figure 6f is a three-dimensional diagram of the flip mechanism;

[0076] Figure 6g It is a schematic diagram of the scraping mechanism of the flipping mechanism performing the scraping operation;

[0077] Figure 6h Schematic diagram of the placing device of the flipping mechanism clamping the bricks delivered by the conveying mechanism (with Figure 6e are in the same state);

[0078] Figure 6i A schematic diagram of the bricks being laid on the ground after the placing device of the flipping mechanism flips forward;

[0079] Figure 6j It is a schematic diagram of the rolling mechanism of the turning mechanism performing the rolling operation. DETAILED DESCRIPTION

[0080] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0081] In order to fully understand the present invention, detailed steps and detailed structures will be proposed in the following description to illustrate the technical solution of the present invention. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other implementations.

[0082] Reference Figure 1 As shown, the present invention provides a mobile robot 10 for laying flat floor tiles, such as Figure 1As shown, a walking device 12 is installed on the chassis of the frame 11 of the mobile robot 10, and the walking device 12 is provided with four steerable walking wheels 13, and the walking device 12 can drive the floor tile mobile robot 10 to walk. For the convenience of the following description, we assume that the length direction of the frame 11 is the X direction and the width direction is the Y direction.

[0083] A lifting mechanism 100 and a clamping and pushing mechanism 200 are installed at the rear of the vehicle frame 11, a multi-axis mechanical arm 500 is installed at the front of the vehicle frame 11, a laying mechanism 400 is installed on the mechanical arm 500, and a transmission mechanism 300 located between the laying mechanism 400 and the clamping and pushing mechanism 200 is installed on the vehicle frame 11;

[0084] The lifting mechanism 100 is provided with a first transmission mechanism 104, a lifting plate 103 and a lifting device 120. The first transmission mechanism 104 transfers the stacked floor tiles to the lifting plate 103 and the lifting device 120 drives the lifting plate 103 to lift upward.

[0085] The clamping and pushing mechanism 200 includes a forward guide rail 210 and a clamping device 220 slidably mounted on the forward guide rail 210. The clamping device 220 clamps both ends of the length of the floor tile after it is lifted to the top and conveys it forward in the X direction, then releases it and lays it flat on the conveying mechanism 300. The conveying mechanism 300 conveys the floor tile forward in the X direction to the laying mechanism 400.

[0086] The laying mechanism 400 is provided with a laying frame, on which a flipping mechanism 430 is installed that slides forward and backward in the X direction, and the flipping mechanism 430 is provided with a flipping axis in the Y direction, and the flipping mechanism 430 is provided with a placing device 431 that rotates with the flipping axis as the axis center, and after the placing device 431 clamps a floor tile conveyed by the conveying mechanism 300, the placing device 431 flips forward to lay the clamped floor tile on the ground;

[0087] Positioning mechanisms are respectively installed on the laying frame and the turning mechanism 430, and the two sets of positioning mechanisms cooperate to provide positioning for laying floor tiles.

[0088] The mobile robot 10 provided by the present invention lifts the stacked floor tiles as a whole through the lifting mechanism 100, and then the clamping and pushing mechanism 200 clamps the floor tiles one by one and transfers them to the conveying mechanism 300 for flat placement, and the conveying mechanism 300 transfers the flatly placed floor tiles to the laying mechanism 400, and the laying mechanism 400 lays the floor tiles on the ground in a flat manner. The whole process is fully mechanized, which greatly improves the laying efficiency and reduces the labor cost required; at the same time, when laying floor tiles, the device does not require manual assistance, and the operator does not need to participate in heavy work, which reduces people's labor intensity.

[0089] The structure of the lifting mechanism 100 is further described below:

[0090] The lifting mechanism 100 is provided with a longitudinal lifting bracket 102 installed at the rear of the vehicle frame 11, and the first transmission mechanism 104 is fixedly installed at the bottom of the longitudinal lifting bracket 102. The lifting plate 103 is driven by the lifting device 120 on the longitudinal lifting bracket 102 to perform lifting and lowering movements in the vertical direction of the first transmission mechanism 104. The lifting plate 103 is provided with an open groove corresponding to the position of the first transmission mechanism 104 so that the lifting plate 103 can be lowered below the upper surface of the first transmission mechanism 104. A storage bracket 130 is installed at the bottom of the rear side of the lifting bracket. The front end of the storage bracket 130 is rotatably connected to the bottom of the rear side of the longitudinal lifting bracket 102. The storage bracket 130 can be turned upside down and folded for storage with the front end as the rotation point, such as Figure 3b and 3c As shown, the storage support 130 is provided with a second transmission mechanism 132; the storage support 130 conveys the stacked floor tiles forward in the X direction to the first transmission mechanism 104, and the first transmission mechanism 104 continues to convey the floor tiles forward to the lifting plate 103. A guard plate 101 is provided on the upper part of the longitudinal lifting support 102.

[0091] In an optional embodiment, a lifting device 120 is installed on the longitudinal lifting bracket 102 and is located on both sides of the lifting plate 103 in the Y direction. Each lifting device 120 includes a lifting cylinder 121 and a lifting chain 122. The lifting cylinder 121 is vertically fixed on the longitudinal lifting bracket 102; the two ends of the lifting chain 122 are fixedly connected to the lifting plate 103 and the top rod of the lifting cylinder 121, or the two ends of the lifting chain 122 are respectively located on both sides of the lifting cylinder 121 and cross the top rod of the lifting cylinder 121, one end of the lifting chain 122 is fixedly connected to the lifting plate 103, and the other end is fixed to the longitudinal lifting bracket 102 on one side of the lifting cylinder 121. The top rod of the lifting cylinder 121 slides upward to drive the end of the lifting chain 122 to move upward, and the two groups of lifting chains 122 drive the middle lifting plate 103 to be steadily lifted.

[0092] In an optional embodiment, vertical guide channel steel rails 105 are provided on the longitudinal lifting bracket 102 and are located on both sides of the lifting plate 103. A lifting web 106 is slidably installed up and down on each vertical guide channel steel rail 105, and one end of the lifting chain 122 and the lifting plate 103 are fixedly connected to the lifting web 106.

[0093] In an optional embodiment, the storage bracket 130 is installed at the bottom of the longitudinal lifting bracket 102 through a self-resetting flip bracket 131, and a spring support 135 is installed at the bottom of the longitudinal lifting bracket 102;

[0094] A limit steel pipe 138 and a reset spring 137 are installed at the bottom of the self-resetting flip bracket 131. The limit steel pipe 138 passes through the two baffles 136 on the back of the self-resetting flip bracket 131 in sequence and is rotatably connected to the spring support 135. The reset spring 137 is sleeved on the limit steel pipe 138 between the two baffles 136.

[0095] The lateral width of the storage bracket 130 is smaller than the lateral width of the longitudinal lifting bracket 102 , and the storage bracket 130 is rotatably connected to the bottom center of the longitudinal lifting bracket 102 .

[0096] The lifting mechanism 100 adopts the lifting principle of a forklift, and the lifting cylinder 121 and the lifting chain 122 are placed on the left and right sides. One end of the chain is connected to the frame, and the other end is connected to the brick lifting plate 103. The left and right sides of the lifting plate 103 are equipped with bearings, which can roll up and down on the vertical guide channel steel track 105. The storage bracket 130 is provided with a second transmission mechanism 132, which is composed of a roller, a sprocket chain 133, a driving motor 134, etc., to achieve the reception and transmission of the brick body.

[0097] Combination Figure 3a -3, the design highlights of the lifting mechanism 100 are: 1) The design of the storage and lifting parts can ensure the continuous supply of bricks, meet the front-end brick demand, improve efficiency, and have a compact structure. 2) The lifting part design can accurately lift the corresponding height according to the thickness of the brick. 3) When the forklift places the material in the design, the clamp formed by the two end plates of the forklift corresponds to the storage vertical plate, and the width of the storage vertical plate is much smaller than the width of the clamp, which can be applied to various types of forklifts, convenient for the placement and transportation of large and small bricks, and the operation is very convenient. 4) When the storage material operation is completed, the storage vertical plate can be manually pushed and rotated upward 90° to fold the storage part to a vertical state, reducing the length of the entire vehicle, which is convenient for transfer and transportation. And when the storage mechanism is laid flat, its storage outer frame and the frame can limit themselves to support its flat state, and the spring assembly can easily place and fold the storage structure.

[0098] Refer to the following Figures 4a-4f As shown, the structure of the clamping and pushing mechanism 200 is further described:

[0099] The forward guide rail 210 is provided with two first slide rails 211 with a length in the X direction, an upper rail 212 is provided on the opposite inner side of the first slide rail 211, a lower lifting rail 213 is provided on the first slide rail 211 and is located below the upper rail 212, and two front and rear openings 213-1 with openings facing downward are provided on the lower side of the lower lifting rail 213, a front and rear pair of first rollers 202 are installed in each upper rail 212, and second rollers 221 are respectively fixed at the front and rear ends of both sides of the clamping device 220, and the corresponding first rollers 202 and second rollers 221 are movably connected through a driven rod 230, and the first transverse propulsion cylinder 240 drives the first roller 202 to slide forward in the upper rail 212 to drive the clamping device 220 to move transversely forward, and during the forward sliding process of the first roller 202, the second roller 221 is driven by the driven rod 230 to enter the lower lifting rail 213 from the entry 213-1 to raise the height of the clamping device 220.

[0100] In an optional embodiment, the front and rear pair of first rollers 202 in the upper track 212 are both installed on a side push plate 214, and the side push plate 214 is fixedly connected to the top rod of the first transverse propulsion cylinder 240. The first transverse propulsion cylinder 240 pushes the side push plate 214 to drive the front and rear pair of first rollers 202 to roll back and forth in the upper track 212.

[0101] The upper and lower ends of the driven rod 230 are respectively hinged to the first roller 202 in the upper first slide rail 211 and the second roller 221 of the clamping device, with a total of four hinge points, thereby forming a parallel four-bar linkage (such as Figure 4d The four corners of the clamping device are movably connected to the bottom of the first slide rail 211 through the connecting rod 230; the second roller 221 is rotatably installed on the frame of the clamping device 220. During operation, the first transverse propulsion cylinder 240 drives the side push plate 214 to drive the first roller 202 to roll forward in the upper track 212, and the lower end of the driven rod 230 drives the clamping device 220 to form a parallel four-bar linkage to push the entire clamping mechanism forward. Before the clamping device 220 slides forward, the second roller 221 set on the clamping device 220 first enters the lower lifting track 213 to lift the height of the clamping device 220, so the height of the bricks it clamps will also be increased to avoid friction between the clamped bricks and the bricks below, which may scratch the surface of the bricks. Figure 4e As shown. The clamping device 220 is first raised a little and then moves forward. Preferably, when the clamping device 220 is at the rearmost position of the travel, the two second rollers 221 are exactly located at the entrance of the lower lifting track 213, so that the clamping device 220 is first raised and then slides forward.

[0102] like Figure 4cAs shown, the clamping device 220 includes a clamping frame 223, which is equipped with a second slide rail 224 in the Y direction and a multi-link linkage mechanism. Two relatively slidable clamping plates 225 are provided on the second slide rail 224. The multi-link linkage mechanism is composed of a middle swing rod 226 and two clamping links 227 hinged at both ends of the swing rod 226. The center of the swing rod 226 is rotatably connected to the clamping frame 223 through a swing rod center pin, and the other ends of the two clamping links 227 are respectively hingedly connected to the opposite surfaces of the two clamping plates 225; one end of the swing rod 226 is hinged to the clamping drive cylinder 228, and the clamping drive cylinder 228 drives the multi-link linkage mechanism to drive the two clamping plates 225 to slide relative to or towards each other on the second slide rail 224 to clamp or release the floor tiles.

[0103] By adopting the above-mentioned multi-link linkage mechanism, only one clamping drive cylinder 228 is required to realize that the two clamping plates 225 can slide relative to or towards each other on the second slide rail 224 to clamp or release the floor tiles, which simplifies the drive structure. On the other hand, the movement of the two clamping plates 225 is synchronized, making the clamping and releasing actions more linear. Preferably, the opposite surfaces of the two clamping plates 225 are detachably mounted with rubber plates to protect the floor tiles when clamping the floor tiles.

[0104] In an optional embodiment, the conveying mechanism 300 is a roller or belt based transmission mechanism.

[0105] Refer to the following Figure 6a-6f As shown, the structure of the laying mechanism 400 is further described below:

[0106] The main frame structure of the laying mechanism 400 is as follows: the rear sides of the laying mechanism 400 are provided with rear rail support plates 401, the front sides of the front are provided with front rail support plates 402, and the bottom of the front rail support plates 402 is provided with support feet 404 and second support universal wheels 405. The support feet 404 can realize the parking and stability of the laying mechanism 400 together with the second support universal wheels 405 after the laying mechanism 400 is removed from the mechanical arm 500. When the placement bracket 431-5 is pulled out after placing the road tiles, the manipulator legs can support the laid bricks to prevent the positioned bricks from moving. The rear rail support plate 401 and the front rail support plate 402 are fixedly connected by a quick-release connecting plate 403, and the laying mechanism 400 can be detachably installed between the quick-release mounting brackets 531 on both sides through the quick-release connecting plate 403.

[0107] Side frames 436 are installed on both sides of the flip mechanism 430 to slide with the front slide rail support plate 402, that is, the side frames 436 can drive the flip mechanism 430 to slide forward and backward, and the flip mechanism 430 can rotate on the side frames 436. The rear slide rail support plate 401 is connected to the side frames 436 through a horizontal telescopic cylinder 406, and the horizontal telescopic cylinder 406 drives the side frames 436 and the flip mechanism 430 to move forward and backward in the X direction.

[0108] like Figure 6e-6f As shown, the flip mechanism 430 is also equipped with a scraping mechanism 432 and a rolling mechanism 433 that rotate with the flip axis as the axis. The scraping mechanism 432, the rolling mechanism 433 and the placement device 431 rotate synchronously around the flip axis as the axis. The flip axis is the flip cylinder 434. The structure and working principle of the scraping mechanism 432 and the rolling mechanism 433 are further described below:

[0109] The scraping mechanism 432 is provided with a sawtooth scraper. The scraper is tilted and contacted with the ground by the flipping of the scraping mechanism 432, and the flipping mechanism 430 is driven by the horizontal telescopic cylinder 406 to move forward and backward as a whole to scrape the ground. The scrapers of different widths are adjusted or replaced to adapt to bricks of different widths. The scraping mechanism 432 is first positioned by the positioning mechanism to make the laying mechanism 400 reach the predetermined position, and then flipped by the flipping cylinder 434 to achieve the scraping starting position of the scraping mechanism 432, and then driven by the horizontal telescopic cylinder 406 to move horizontally in the X direction to achieve the purpose of scraping the ground.

[0110] The roller mechanism 433 is provided with a roller wheel with convex ribs on the outer diameter, and the roller wheel contacts the upper surface of the laid floor tiles by turning over the roller mechanism 433, and the turning mechanism 430 is driven by the horizontal telescopic cylinder 406 to move forward and backward to perform roller pressing operation on the laid tiles. The outer diameter of the roller wheel has convex ribs, and the brick body is compacted by rolling and beating.

[0111] like Figure 6dAs shown, a first laser emitter 421 is installed at the front end of the front rail support plate 402 on both sides, and a second laser emitter 422 is installed at the front end of the side frame 436 on both sides; each first laser emitter 421 is used to emit a first positioning laser 421-1 in a "cross" shape to the ground directly below the first laser emitter 421 on the other side, and the second laser emitter 422 is used to emit a second positioning laser 422-1 in a "cross" shape perpendicular to the ground for preliminary positioning. When the flip mechanism 430 slides forward, it will drive the second laser emitter 422 forward, and the positioning of laying floor tiles is determined by the overlap of the second positioning laser 422-1 and the first positioning laser 421-1. Among them, the colors of the first positioning laser 421-1 and the second positioning laser 422-1 are different, which makes it easier for us to determine whether the first positioning laser 421-1 and the second positioning laser 422-1 on the same side of the ground overlap.

[0112] Preferably, the angles of the two first laser emitters 421 on the front slide rail support plate 402 are adjustable, thereby changing the angle between the first positioning laser 421-1 and the ground to adjust the spacing between the two first positioning laser beams 421-1 to accommodate the positioning of floor tiles of different widths.

[0113] The laser positioning mechanism controls the laying mechanism 400 to keep it horizontal at all times through a mechanical arm, and performs longitudinal and transverse positioning of the laying mechanism 400 based on the principle of laser positioning. The positioning principle is:

[0114] Since the present invention is provided with two groups of laser positioning devices on the left and right sides of the vehicle frame, both are arranged symmetrically. One group is the first laser emitter 421 fixed on the front slide rail support plates 402 on both sides of the front end of the laying frame, which is fixedly connected to the mechanical arm and is used for positioning the whole vehicle. When laying the next brick, the two groups of first laser emitters 421 of the whole vehicle emit a cross-shaped first positioning laser 421-1 to the ground on the opposite side, and use the laid bricks or markings as marks to roughly locate the position of the whole machine, ensuring that the position deviation is within the specified range, and preparing for the adjustment position of the front laying mechanism 400; the other group is fixed on the side of the flip mechanism 430. The second laser emitter 422 on the frame 436 moves synchronously with the side frame 436 and the flip mechanism 430. After the whole machine stops, before the leveling, brick laying and compaction stages, the second laser emitter 422 emits two left and right cross-shaped second positioning lasers 422-1 perpendicular to the ground. When the second positioning laser 422-1 on the same side basically coincides with the first positioning laser 421-1, the placement position can be predicted. Only a small position adjustment is needed to complete the laying position positioning, thereby making the laid bricks more neat.

[0115] like Figure 6fAs shown, the placing device 431 is provided with a clamping frame 431-1, a support plate 431-4 is provided on one side of the clamping frame 431-1, the clamping frame 431-1 is provided with an adjustment rail 431-2 in the Y direction, a bracket 431-5 is provided on the adjustment rail 431-2 on the same side as the support plate, and the bracket 431-5 is connected to the clamping frame 431-1 through a fine-tuning cylinder 431-3 to adjust the position of the bracket 431-5 in the Y direction, so as to realize lateral fine-tuning positioning when the paving mechanism 400 places the road tiles.

[0116] A plurality of X-direction support plates 407 are mounted on the rear rail support plate 401, and rollers are arranged on the support plates 407. The support plates 407 play a role in transferring bricks, and the conveying mechanism 300 conveys the floor tiles forward in the X direction through the support plates 407 to between the support plate 431-4 and the bracket 431-5.

[0117] The laying mechanism 400 of the present invention is an infrared laser positioning laying system integrating scraping, placing and compacting. When laying pavement bricks, the laying mechanism 400, under the guidance of the positioning mechanism, first scrapes the ground, then places the floor tiles, and then compacts the floor tiles. The scraping mechanism 432, the placing device 431, and the rolling mechanism 433 are all connected to the flip cylinder 434, and the flip cylinder 434 is installed on the side frame 436 through the flip cylinder support plate 435. The flip cylinder 434 realizes that the scraping mechanism 432, the placing device 431, and the rolling mechanism 433 are flipped more than 180° with the flip cylinder 434.

[0118] Refer to the following Figure 5a-5b As shown, the structure of the mechanical arm 500 is further described below:

[0119] A mechanical arm 500 is symmetrically installed on the left and right sides of the front of the frame 11, and the two mechanical arms 500 are fixedly connected by a connecting rod 540. A vertical guide rail 501 and a horizontal guide rail 503 are fixed on the left and right sides of the front of the frame 11. A vertical slider support 502 that slides up and down is installed on the vertical guide rail 501, and a horizontal slider 504 that slides horizontally is installed on the horizontal guide rail 503; the vertical slider support 502 is connected to a vertical lifting mechanism 505 fixed to the front of the frame 11, and the horizontal slider 504 is connected to a horizontal pushing mechanism 506 fixed to the front of the frame 11. The vertical lifting mechanism 505 and the horizontal pushing mechanism 506 are any one of a cylinder, a hydraulic cylinder, an electric push rod, and a screw pair.

[0120] The mechanical arm 500 includes a longitudinal leg 530 and a horizontal upper arm 510 and a lower arm 520. The front ends of the upper arm 510 and the lower arm 520 are both hingedly connected to the leg 530. The rear end of the upper arm 510 is hingedly connected to the vertical slider support 502. The lower arm 520 is fixedly connected to the horizontal slider 504 and the rear end of the lower arm 520 is movably connected to the upper arm 510 through a connecting rod support arm 521. Figure 5b As described above, the upper arm 510, the lower arm 520, the leg 530 and the connecting rod support arm 521 form a parallelogram structure (as shown by the dotted line). The advantage of the parallelogram structure is that the front leg can be better controlled by the rear vertical lifting mechanism 505 and the horizontal pushing mechanism 506. A quick-release mounting bracket 531 is installed at the bottom of the leg 530, and a swing cylinder 532 is connected between the quick-release mounting bracket 531 and the leg 530. A quick-release first supporting universal wheel 533 is installed at the bottom of the quick-release mounting bracket 531.

[0121] like Figure 5c As shown, the quick-release mounting bracket 531 is provided with two rotating shafts, the first rotating shaft is installed on the support leg 530 through the pin shaft 531-2, the second rotating shaft 531-6 is hingedly connected to the swing rod of the swing cylinder 532, and the swing cylinder 532 drives the quick-release mounting bracket 531 to rotate around the pin shaft 531-2 as the axis.

[0122] The quick-release mounting bracket 531 is provided with two triangular plates 531-1 arranged in parallel, and the three vertices of the two triangular plates 531-1 are fixedly connected by connecting columns, the first connecting column is coaxially arranged with the pin shaft 531-2, and the other two second connecting columns 531-7 are used to connect with the bayonet sockets reserved for the laying mechanism, and the second rotating shaft 531-6 is arranged between two of the connecting columns; one of the second connecting columns is the optical axis 531-7, and the other second connecting column is a locking shaft 531-3 with a non-circular cross-section, and one end of the locking shaft 531-3 is fixedly connected to the handle 531-4, and the two reserved bayonet sockets of the laying mechanism are respectively clamped on the optical axis 531-7 and the locking shaft 531-3, and the handle 531-4 is rotated to rotate the locking shaft 531-3 to clamp the laying mechanism, so that the laying mechanism and the quick-release mounting bracket 531 are locked and fixedly connected. A buckle 531 - 5 for fixing the handle 531 - 4 is provided on the outer side surface of one of the triangular plates, so as to keep the handle 531 - 4 fixed in a locked state.

[0123] The mechanical arm 500 can realize the longitudinal and vertical positioning of the laying mechanism 400 installed at the front and provide support for it. Through the coordinated operation of the vertical lifting mechanism 505, the horizontal pushing mechanism 506 and the swing cylinder 532 of the mechanical arm 500, it can ensure that the front laying mechanism 400 always maintains a horizontal state, which is convenient for ground leveling, floor tile placement, floor tile rolling, etc.

[0124] A quick-release mounting bracket 531 is installed at the bottom of the leg 530, which is convenient for quick-release connection with the quick-release connecting plate 403 on the main frame of the laying mechanism 400. The angle of the quick-release mounting bracket 531 can be adjusted by extending and retracting the swing cylinder 532, which facilitates quick positioning and combination with the connecting structure of the laying mechanism 400, thereby realizing quick installation and disassembly.

[0125] In other embodiments, we can also remove the laying mechanism 400 from the mechanical arm 500 and replace it with other mechanisms. For example, the laying mechanism 400 for laying floor tiles can be replaced with a mechanism for laying curbstones, thereby meeting different brick laying requirements. At the same time, the lifting mechanism 100, the clamping and pushing mechanism 200, and the conveying mechanism 300 on the frame do not need to be changed, making the present invention more extensible.

[0126] The working process of the present invention is described in detail below:

[0127] First, we stack the floor tiles 01 on the forklift's fork, with the front and back of the stacked floor tiles 01 touching each other. Then we put down the storage rack 130 to make it horizontal, and drive the forklift to transfer the stacked floor tiles to the storage rack 130. Since the storage rack 130 is rotatably connected to the bottom center of the longitudinal lifting rack 102, a space for the fork to move is formed on both sides of the storage rack 130. When the forklift is driving near the mobile robot 10 of the flat brick, the storage rack 130 can extend into the opening center of the fork. After the forklift is in place, it unloads the floor tiles and leaves.

[0128] The storage rack 130 is provided with a second conveying mechanism 132 of rollers or belts, and the second conveying mechanism 132 conveys the stacked floor tiles 01 forward to the lifting plate 103. The top rods of the lifting devices 120 on both sides of the lifting plate 103 slide upward, and the top rods drive the lifting chains 122 to move upward, thereby driving the lifting webs 106 on both sides to move upward steadily, thereby raising the height of the lifting plate 103 as shown in FIG. Figure 3b shown.

[0129] The clamping device 220 of the clamping and pushing mechanism 200 slides backward to the rear of the vehicle, and the clamping plate 225 clamps and fixes the left and right ends of the top floor tile 01, and then the clamping device 220 moves toward the front of the vehicle. When the clamping device 220 slides forward, the second roller 221 slides into the lower lifting track 213 to raise its own height, so that the clamping device 220 slightly raises the height of the floor tile 01 while driving the floor tile 01 forward, so as to avoid the clamped floor tile 01 from scratching the floor tile 01 on the lifting plate 103, thereby affecting the appearance of the floor tile 01.

[0130] When the clamping device 220 slides on the forward guide rail 210 to above the conveying mechanism 300, the two clamping plates 225 are loosened, and the floor tile 01 falls onto the conveying mechanism 300, and the conveying mechanism 300 continues to transport the flat floor tile 01 forward.

[0131] After the frame moves to the designated position of the paving area, the paving mechanism 400 is positioned by the positioning mechanism 320, and the turning cylinder 434 drives the turning mechanism 430 to turn over as a whole, so that the sawtooth scraper of the leveling mechanism 432 is in contact with the ground at an angle, and then the horizontal telescopic cylinder 406 drives the turning mechanism 430 to move forward and backward as a whole on the paving frame to level the ground. Figure 6g shown.

[0132] After the ground is scraped flat, the floor tiles conveyed by the conveying mechanism 300 are transferred between the support plate 407 and the bracket 431-5, so that the tiles are clamped by the placement mechanism 431. Then, the turning cylinder 434 drives the turning mechanism 430 to turn over as a whole, so that the placement mechanism 431 holding the tiles at the rear side turns over to the front side and becomes horizontal. Figure 6h-6i As shown, the horizontal telescopic cylinder 406 then drives the flip mechanism 430 to retreat, and pulls the bracket 431-5 out of the gap between the floor tile 01 and the ground. At this time, the floor tile 01 is laid on the ground.

[0133] Then, the turning cylinder 434 drives the turning mechanism 430 to turn over as a whole, so that the turning of the rolling mechanism 433 makes the rolling wheel contact the upper surface of the laid floor tiles, and then the horizontal telescopic cylinder 406 drives the turning mechanism 430 to move back and forth, and the rolling wheel rolls the upper surface of the laid floor tiles back and forth. Figure 6j shown.

[0134] After the rolling is completed, the horizontal telescopic cylinder 406 drives the flip mechanism 430 to retreat to the initial position, and the flip cylinder 434 drives the flip mechanism 430 to flip to the state where the placement mechanism 431 is connected to the conveying mechanism 300 (i.e., back to the initial position). Figure 6e Then the vehicle body moves to the next brick laying position, and two sets of positioning mechanisms are used to provide positioning to ensure that the laid bricks fall into the designated position.

[0135] The mechanical arm 500 is used to provide support for the laying mechanism 400. When the mobile robot for flat bricks is not in the laying working state, the mechanical arm 500 slides upward on the vertical guide rail 501 to drive the laying mechanism 400 off the ground and make it suspended in the air, so as to protect the laying mechanism 400; when the mobile robot for flat bricks moves to the specified position, the mechanical arm 500 descends, and the horizontal pushing mechanism 506 drives the legs 530 to move horizontally forward and backward to adjust the position of the laying mechanism 400 at the bottom of the mechanical arm 500.

[0136] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. A mobile robot for laying floor tiles, wherein the floor tiles are flat pavement tiles, and the mobile robot is provided with a movable frame (11), wherein the frame (11) has a length in the X direction and a width in the Y direction, and is characterized in that: A lifting mechanism (100) and a clamping and pushing mechanism (200) are installed at the rear of the vehicle frame (11); a multi-axis mechanical arm (500) is installed at the front of the vehicle frame (11); a laying mechanism (400) is installed on the mechanical arm (500); and a transmission mechanism (300) located between the laying mechanism (400) and the clamping and pushing mechanism (200) is installed on the vehicle frame (11); The lifting mechanism (100) is provided with a first transmission mechanism (104), a lifting plate (103) and a lifting device (120); the first transmission mechanism (104) transfers a plurality of floor tiles stacked up and down to the lifting plate (103), and the lifting device (120) drives the lifting plate (103) to lift upward; The clamping and pushing mechanism (200) comprises a forward guide rail (210) and a clamping device (220) slidably mounted on the forward guide rail (210); the clamping device (220) clamps the topmost floor tile after it is lifted to the top and conveys it forward in the X direction, then releases it and places it flat on a conveying mechanism (300); the conveying mechanism (300) conveys the floor tile forward in the X direction to a laying mechanism (400); the conveying mechanism (300) is a transmission mechanism based on rollers or belts; The laying mechanism (400) is provided with a laying frame fixedly connected to the mechanical arm (500), and a flipping mechanism (430) is installed on the laying frame and slides forward and backward in the X direction. The flipping mechanism (430) is provided with a flipping axis in the Y direction. The flipping mechanism (430) is provided with a placing device (431) rotating around the flipping axis as the axis. After the placing device (431) clamps a floor tile conveyed by the conveying mechanism (300), the placing device (431) flips forward to lay the clamped floor tile on the ground. A set of positioning mechanisms are respectively installed on the laying frame and the turning mechanism (430), and the two sets of positioning mechanisms cooperate to provide positioning for laying floor tiles; wherein, The forward guide rail (210) is provided with two first slide rails (211) having a length in the X direction, an upper rail (212) is provided on the opposite side of the first slide rail (211), and a lower lifting rail (213) located below the upper rail (212) is provided on the first slide rail (211), the lower lifting rail (213) is provided with two front and rear entrances (213-1) opening downward, a front and rear pair of first rollers (202) are installed in each upper rail (212), and second rollers are respectively fixed at the front and rear ends on both sides of the clamping device (220) (221), the corresponding first roller (202) and the second roller (221) are movably connected via a driven rod (230), the first transverse propulsion cylinder (240) drives the first roller (202) to slide forward in the upper track (212) to drive the clamping device (220) to move transversely forward, and during the forward sliding process of the first roller (202), the driven rod (230) drives the second roller (221) to enter the lower lifting track (213) from the entrance (213-1) to raise the height of the clamping device (220); The clamping device (220) comprises a clamping frame (223), the clamping frame (223) is equipped with a second slide rail (224) in the Y direction and a multi-link linkage mechanism, two clamping plates (225) that can slide relative to each other are arranged on the second slide rail (224), the multi-link linkage mechanism is composed of a middle swing rod (226) and two clamping links (227) hinged at both ends of the swing rod (226), the center of the swing rod (226) is rotatably connected to the clamping frame (223) through a swing rod center pin, and the other ends of the two clamping links (227) are respectively hingedly connected to the opposite surfaces of the two clamping plates (225); One end of the swing rod (226) is hinged to the clamping drive cylinder (228), and the clamping drive cylinder (228) drives the multi-link linkage mechanism to drive the two clamping plates (225) to slide relative to or towards each other on the second slide rail (224) to clamp or release the floor tile.

2. The mobile robot for laying floor tiles as claimed in claim 1, characterized in that: The lifting mechanism (100) is provided with a longitudinal lifting bracket (102) installed at the rear of the frame (11); the first transmission mechanism (104) is fixedly installed at the bottom of the longitudinal lifting bracket (102); the lifting plate (103) is driven by the lifting device (120) on the longitudinal lifting bracket (102) to perform lifting movement in the vertical direction of the first transmission mechanism (104); the lifting plate (103) is provided with an open groove corresponding to the position of the first transmission mechanism (104) so ​​that the lifting plate (103) can be lowered below the upper surface of the first transmission mechanism (104); A storage bracket (130) is installed at the bottom of the rear side of the lifting bracket, the front end of the storage bracket (130) is rotatably connected to the bottom of the rear side of the longitudinal lifting bracket (102), the storage bracket (130) can be turned upside down and folded for storage with the front end as the rotation point, and a second transmission mechanism (132) is arranged on the storage bracket (130); The storage support (130) conveys the floor tiles stacked up and down forward in the X direction to the first transmission mechanism (104), and the first transmission mechanism (104) continues to convey the floor tiles forward to the lifting plate (103).

3. The mobile robot for laying floor tiles as claimed in claim 2, characterized in that: Lifting devices (120) are installed on the longitudinal lifting bracket (102) and are respectively located on both sides of the lifting plate (103) in the Y direction. Each of the lifting devices (120) includes: A lifting cylinder (121), wherein the lifting cylinder (121) is vertically fixed on the longitudinal lifting bracket (102); A lifting chain (122), the two ends of which are respectively fixedly connected to the lifting plate (103) and the top rod of the lifting cylinder (121), or The two ends of the lifting chain (122) are respectively located on both sides of the lifting cylinder (121) and span the top rod of the lifting cylinder (121); one end of the lifting chain (122) is fixedly connected to the lifting plate (103), and the other end is fixed to the longitudinal lifting bracket (102) on one side of the lifting cylinder (121).

4. The mobile robot for laying floor tiles as claimed in claim 3, characterized in that: The longitudinal lifting bracket (102) is provided with vertical guide channel steel rails (105) located on both sides of the lifting plate (103), and a lifting web (106) is slidably installed up and down on each of the vertical guide channel steel rails (105), and one end of the lifting chain (122) and the lifting plate (103) are fixedly connected to the lifting web (106).

5. The mobile robot for laying floor tiles as claimed in claim 2, characterized in that: The storage bracket (130) is installed at the bottom of the longitudinal lifting bracket (102) via a self-resetting flip bracket (131), and a spring support (135) is installed at the bottom of the longitudinal lifting bracket (102); A limit steel pipe (138) and a reset spring (137) are installed at the bottom of the self-resetting flip bracket (131); the limit steel pipe (138) passes through two baffles (136) on the back of the self-resetting flip bracket (131) in sequence and is rotatably connected to the spring support (135); the reset spring (137) is sleeved on the limit steel pipe (138) between the two baffles (136); The transverse width of the storage bracket (130) is smaller than the transverse width of the longitudinal lifting bracket (102), and the storage bracket (130) is rotatably connected to the bottom center of the longitudinal lifting bracket (102).

6. The mobile robot for laying floor tiles as claimed in claim 1, characterized in that: A pair of front and rear first rollers (202) in the upper track (212) are both mounted on a side push plate (214), and the side push plate (214) is fixedly connected to a push rod of the first transverse propulsion cylinder (240). The first transverse propulsion cylinder (240) pushes the side push plate (214) to drive the first roller (202) to roll forward and backward in the upper track (212).

7. The mobile robot for laying floor tiles as claimed in claim 1, characterized in that: A mechanical arm (500) is symmetrically mounted on the left and right sides of the front of the vehicle frame (11), and the two mechanical arms (500) are fixedly connected via a connecting rod (540). A vertical guide rail (501) and a horizontal guide rail (503) are fixed on the left and right sides of the front of the vehicle frame (11). A vertical slider support (502) that slides up and down is mounted on the vertical guide rail (501), and a horizontal slider (504) that slides horizontally is mounted on the horizontal guide rail (503). The vertical slider support (502) is connected to a vertical lifting mechanism (505) fixed to the front of the vehicle frame (11), and the horizontal slider (504) is connected to a horizontal pushing mechanism (506) fixed to the front of the vehicle frame (11); The mechanical arm (500) comprises a longitudinal leg (530) and a horizontal upper arm (510) and a lower arm (520); the front ends of the upper arm (510) and the lower arm (520) are both hingedly connected to the leg (530); the rear end of the upper arm (510) is hingedly connected to a vertical slider support (502); the lower arm (520) is fixedly connected to the horizontal slider (504); and the rear end of the lower arm (520) is movably connected to the upper arm (510) via a connecting rod support arm (521); the upper arm (510), the lower arm (520), the leg (530) hinged at the front and rear ends, and the connecting rod support arm (521) form a parallel four-bar linkage mechanism; A quick-release mounting bracket (531) is installed at the bottom of the supporting leg (530), a swing cylinder (532) is connected between the quick-release mounting bracket (531) and the supporting leg (530), and a quick-release first supporting universal wheel (533) is installed at the bottom of the quick-release mounting bracket (531).

8. The mobile robot for laying floor tiles as claimed in claim 7, characterized in that: The quick-release mounting bracket (531) is provided with two rotating shafts, the first rotating shaft is installed on the supporting leg (530) through a pin shaft (531-2), the second rotating shaft (531-6) is hingedly connected to the swing rod of the swing cylinder (532), and the swing cylinder (532) drives the quick-release mounting bracket (531) to rotate around the pin shaft (531-2) as the axis; the quick-release mounting bracket (531) is provided with two triangular plates (531-1) arranged in parallel, and the three vertices of the two triangular plates (531-1) are fixedly connected through connecting columns, the first connecting column is coaxially arranged with the pin shaft (531-2), and the other two second connecting columns (531-7) are used for connecting with the bayonet sockets reserved by the laying mechanism, and the second rotating shaft (531-6) is arranged between two of the connecting columns; One of the second connecting columns (531-7) is an optical axis, and the other second connecting column is a locking shaft (531-3) with a non-circular cross section. One end of the locking shaft (531-3) is fixedly connected to the handle (531-4). Two bayonet holes of the quick-release mounting bracket (531) are respectively clamped on the second connecting columns, and the handle is rotated so that the laying mechanism and the quick-release mounting bracket (531) are locked and fixedly connected. A buckle (531-5) for fixing the handle (531-4) is provided on the outer side surface of one of the triangular plates.

9. The mobile robot for laying floor tiles as claimed in claim 1, characterized in that: The laying frame is composed of a front slide rail support plate (402) on the front side and a rear slide rail support plate (401) on the rear side. The rear slide rail support plate (401) is fixedly connected to the front slide rail support plate (402) via a quick-release connecting plate (403). The laying mechanism (400) is detachably mounted on the mechanical arm (500) via the quick-release connecting plate (403). A supporting foot (404) and a second supporting universal wheel (405) are provided at the bottom of the front slide rail support plate (402); Side frames (436) that are slidably matched with the front slide rail support plate (402) are installed on both sides of the flipping mechanism (430), and the flipping mechanism (430) is rotatable on the side frames (436), and the rear slide rail support plate (401) is connected to the side frames (436) via a horizontal telescopic cylinder (406).

10. The mobile robot for laying floor tiles as claimed in claim 9, characterized in that: The flipping mechanism (430) is also provided with a scraping mechanism (432) and a rolling mechanism (433) which rotate with the flipping axis as the axis center. The scraping mechanism (432), the rolling mechanism (433) and the placing device (431) rotate synchronously around the flipping axis as the axis center. The flipping axis is a flipping oil cylinder (434). The scraping mechanism (432) is provided with a sawtooth scraper. The sawtooth scraper is tilted and in contact with the ground by the flipping of the scraping mechanism (432). The horizontal telescopic cylinder (406) drives the flipping mechanism (430) to move forward and backward, and the sawtooth scraper scrapes the ground. The rolling mechanism (433) is provided with a rolling wheel with convex ribs on the outer diameter. The rolling mechanism (433) is turned over so that the rolling wheel contacts the upper surface of the laid floor tiles. The horizontal telescopic cylinder (406) drives the turning mechanism (430) to move forward and backward, and the rolling wheel performs a rolling operation on the laid floor tiles.

11. The mobile robot for laying floor tiles as claimed in claim 9, characterized in that: A first laser emitter (421) is installed at the front end of the front slide rail support plates (402) on both sides, and a second laser emitter (422) is installed at the front end of the side frames (436) on both sides; Each first laser emitter (421) is used to emit a first positioning laser in the shape of a cross toward the ground directly below the first laser emitter (421) on the other side, and the second laser emitter (422) is used to emit a second positioning laser in the shape of a cross perpendicular to the ground, and the laying position of the floor tiles is determined by the overlap of the second positioning laser and the first positioning laser; The angle between the first positioning laser beams emitted by the two first laser emitters (421) and the ground is adjustable to adjust the distance between the two first positioning laser beams.

12. The mobile robot for laying floor tiles as claimed in claim 10, characterized in that: The placement device (431) is provided with a clamping frame (431-1), a support plate (431-4) is provided on one side of the clamping frame (431-1), the clamping frame (431-1) is provided with a Y-direction adjustment rail (431-2), a bracket (431-5) is provided on the adjustment rail on the same side as the support plate, and the bracket (431-5) is connected to the clamping frame (431-1) via a fine-tuning cylinder (431-3) to adjust the position of the bracket (431-5) in the Y direction; A plurality of X-direction support plates (407) are installed on the rear slide rail support plate (401), and rollers are arranged on the support plates (407); The conveying mechanism (300) conveys the floor tiles forward in the X direction through the support plate (407) and transfers them between the support plate (431-4) and the bracket (431-5).

13. A method for laying floor tiles based on the mobile robot according to any one of claims 1 to 12, characterized in that: The steps include: Transferring the floor tiles stacked up and down onto the lifting plate (103), and driving the lifting device (120) to lift the lifting plate (103) upward; The clamping device (220) clamps a floor tile Y on the uppermost layer of the lifting plate (103) at both ends, conveys it forward in the X direction, then releases it and places it flat on the conveying mechanism (300), and the conveying mechanism (300) conveys the floor tile forward in the X direction to the laying mechanism (400); The placing device (431) clamps the floor tiles transported by the conveying mechanism (300), and the placing device (431) turns forward around the turning axis as the axis center to lay the clamped floor tiles on the ground; The flipping mechanism (430) retreats in the X direction to pull the placement device (431) out of the gap between the floor tiles and the ground, and then the placement device (431) flips back to its original position.

14. The method according to claim 13, characterized in that The method further comprises: Before the placement device (431) clamps the floor tiles, the scraping mechanism (432) is turned over to make the sawtooth scraper contact the ground in an inclined manner, and the flipping mechanism (430) moves back and forth to scrape the ground; and After the floor tiles are laid and the placement device (431) is pulled out from the gap between the floor tiles and the ground, the rolling mechanism (433) is turned over so that the rolling wheel contacts the upper surface of the laid floor tiles, and the turning mechanism (430) moves back and forth to perform a rolling operation on the laid floor tiles; wherein, The scraping mechanism (432) and the rolling mechanism (433) are both fixedly mounted on the turning mechanism (430), and the scraping mechanism (432), the rolling mechanism (433) and the placing device (431) rotate synchronously around the turning axis as the axis.

Images