Brick supply device and tile laying robot

Abstract

The present invention relates to the field of robotics, and more particularly to a brick supply device and a tile laying robot. The brick supply device comprises: at least one hopper, each of which comprises a lower plate, a side plate, and a plurality of partition plates, one end of the side plate being perpendicularly connected to one end of the lower plate; each partition plate having a right angle, one right-angled side being perpendicularly connected to the lower plate, and the other right-angled side being perpendicularly connected to the side plate; a cavity being formed between adjacent partition plates, the cavity being used to accommodate tiles to be laid. The brick supply device provided by the present invention occupies little space and is not prone to scratching tiles.

Description

Technical Field

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

[0002] In renovation work, robots can be used for tile laying. When the robot is laying tiles, it uses its gripper to pick up tiles from a tile supply device.

[0003] In the related art, tile supply devices mostly use a flat stacking or tilted stacking method to store tiles. The above method takes up a lot of space and the tiles are prone to scratches and slip marks during the loading and unloading process.

[0004] Therefore, there is an urgent need for a brick supply device and a tile laying robot to solve the above problems. Summary of the Invention

[0005] The present invention provides a tile supply device and a tile paving robot, which occupy a small space and are not prone to scratching tiles.

[0006] In a first aspect, the present invention provides a brick supply device, comprising:

[0007] At least one silo, each of which includes a lower plate, a side plate and a plurality of partition plates, one end of the side plate is vertically connected to one end of the lower plate; each of the partition plates has a right angle, one right-angled side is vertically connected to the lower plate, and the other right-angled side is vertically connected to the side plate; a cavity is formed between adjacent partition plates, and the cavity is used to accommodate tiles to be laid.

[0008] In a possible design, the height of one end of each of the partition plates close to the side plate is higher than the height of one end of the partition plate away from the side plate.

[0009] In one possible design, the device further includes at least one rolling assembly, each of which includes a rotating shaft and a plurality of rollers. A first hole is formed at the axial center of each roller, and each roller is sleeved on the rotating shaft through the first hole. Each roller can rotate along the rotating shaft.

[0010] A plurality of second holes distributed at intervals are provided on one end of each partition plate away from the side plate, and each rotating shaft passes through the second hole respectively to fix the roller in the cavity.

[0011] In a possible design, a base is further included, and each of the silos is arranged on the top of the base.

[0012] In one possible design, each of the silos includes a base, a slide rail, and a slider;

[0013] Each of the slide rails is fixed to the top of the base, the slider can slide along the slide rail, the bottom end of the base is fixed to the top of the slider, and the lower plate of the silo is arranged on the top of the base.

[0014] In one possible design, each of the silos includes a cylinder, a push-pull rod, and a push-pull plate;

[0015] One end of the push-pull plate is fixedly connected to the base and one end of the slider, the other end of the push-pull plate is connected to one end of the push-pull rod, and the other end of the push-pull rod is accommodated in the cylinder;

[0016] When loading is required, the cylinder drives the push-pull rod to drive the slider to slide out from the slide rail, so as to facilitate the robot to take bricks; when loading is completed, the cylinder drives the push-pull rod to drive the slider to be retracted from the slide rail.

[0017] In a second aspect, an embodiment of the present invention further provides a tile laying robot, comprising a mobile chassis, a robotic arm, an end effector, a controller, and a tile supply device in any of the possible designs described above;

[0018] The brick supply device is detachably arranged on one side of the mobile chassis;

[0019] One end of the robotic arm is connected to the mobile chassis, and the other end of the robotic arm is connected to the end effector;

[0020] The controller is communicatively connected to the mobile chassis, the robotic arm, and the end effector;

[0021] The mobile chassis is used to move to a preset position according to the navigation instructions of the controller. The controller controls the robotic arm and the end effector to grab the tiles on the tile supply device and lay the grabbed tiles at a set position on the work surface.

[0022] In one possible design, the end effector includes:

[0023] frame;

[0024] A tile picking and placing assembly is provided at the bottom end of the frame, and is used to grab and place tiles to be laid;

[0025] A first paving and grouting assembly includes a first frame, a first driving device connected to the first frame, and a first scraper and a first spray pipe provided on the first frame. The first frame is hinged to the frame body, and the first driving device drives the first frame to perform pitching motion along the frame body, so that the first paving and grouting assembly switches between a working state and a retracted state.

[0026] A positioning assembly is provided on the frame, and is used to detect the position and posture of the first scraper and the tiles to be laid;

[0027] When the first paving and grouting assembly is in working condition, the first scraper is used to flatten the mortar on the work surface to be processed and the first spray pipe is used to spray cement oil onto the scraped mortar; when the first paving and grouting assembly is in a retracted state, the tile picking and placing assembly is used to grab the tiles and place them on the processed work surface.

[0028] In a possible design, the first spray pipe is provided with a plurality of feed ports and a plurality of discharge ports, and each feed port is respectively connected to a cement oil supply device;

[0029] When the first paving and grouting assembly is in working condition, cement oil is transported to the first spray pipe through each of the feed ports, and the cement oil in the first spray pipe is sprayed onto the mortar that has been scraped flat by the first scraper through each of the discharge ports.

[0030] In a possible design, the first paving and grouting assembly includes a support plate, a plurality of support rods and a support frame, one side of the support frame is fixedly connected to one side of the support plate, the other side of the support frame is fixedly connected to one end of the support rod, the other end of each support rod is hinged to the side of the bottom plate of the frame away from the working surface, the end of the support plate away from the support frame is connected to the first scraper, the first driving device is connected to the end of the support rod close to the bottom plate of the frame, and the first driving device drives the first paving and grouting assembly to perform pitching motion along the bottom plate of the frame by driving the support rod;

[0031] The support plate is a square flat plate, and the angle between the support plate and the support rod is a right angle. The first spray pipe is arranged on the side of the support plate close to the support frame, and the first spray pipe is located below the support frame. The first scraper is connected to the side of the support plate away from the first spray pipe.

[0032] When the first paving and grouting assembly is in working condition, the axes of the support plate, the first scraper and each of the discharge ports are perpendicular to the horizontal plane.

[0033] In this embodiment of the present invention, taking advantage of the thin and wide nature of tiles, a vertically stacked silo is employed. This not only allows for greater storage of tiles in a minimal space, but also reduces loading frequency and improves flexibility in narrow passageways. Furthermore, gaps are formed between each divider to maintain a safe distance between tiles, preventing friction and the formation of slip marks. This demonstrates that the tile supply device provided by the present invention occupies minimal space and is less likely to scratch tiles.

[0034] In addition, the center of gravity and loading height of the vertical brick silo are lower, which helps to reduce the labor intensity of workers. At the same time, each cavity can be loaded with bricks independently to ensure that bricks can be replenished at any time to avoid downtime. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 It is a left side view of a brick supply device provided by one embodiment of the present invention;

[0037] Figure 2 yes Figure 1 The right side view of the brick supply device is shown;

[0038] Figure 3 An embodiment of the present invention provides Figure 1 The structural diagram of the rolling assembly of the brick supply device shown;

[0039] Figure 4 This is a schematic structural diagram of a tile laying robot provided by an embodiment of the present invention from a certain perspective;

[0040] Figure 5 yes Figure 4 The structural diagram of the tile laying robot shown in another perspective;

[0041] Figure 6 This is a schematic structural diagram of an end effector provided by an embodiment of the present invention in a retracted state at a certain viewing angle;

[0042] Figure 7 This is a structural schematic diagram of an end effector provided by an embodiment of the present invention in a retracted state from another perspective;

[0043] Figure 8 1 is a schematic structural diagram of an end effector in a working state provided by an embodiment of the present invention;

[0044] Figure 9It is a structural schematic diagram of a first paving grouting assembly provided by one embodiment of the present invention;

[0045] Figure 10 yes Figure 8 A partial enlarged view of the terminal device A.

[0046] Reference numerals:

[0047] 1- Brick supply device;

[0048] 11- Silo;

[0049] 111-lower plate;

[0050] 112-side panels;

[0051] 113-separator;

[0052] 114-base;

[0053] 115- slide rail;

[0054] 116-slider;

[0055] 117-cylinder;

[0056] 118-push-pull rod;

[0057] 119- push-pull plate;

[0058] 12-base;

[0059] 13- rolling component;

[0060] 131-rotating shaft;

[0061] 132-roller;

[0062] 2-Mobile chassis;

[0063] 21-steering wheel;

[0064] 22- telescopic mechanism;

[0065] 23-lifting and leveling assembly;

[0066] 3-Robotic arm;

[0067] 4-end effector;

[0068] 41-frame;

[0069] 411-top plate;

[0070] 412-base plate;

[0071] 413-Support column;

[0072] 42- Tile picking and placing assembly;

[0073] 421-suction cup;

[0074] 422-support block;

[0075] 43-first paving grouting assembly;

[0076] 431-support plate;

[0077] 432-support rod;

[0078] 433-support frame;

[0079] 434-first drive device;

[0080] 435-first scraper;

[0081] 436-first spray pipe;

[0082] 44-second paving grouting assembly;

[0083] 441-second drive device;

[0084] 442-second scraper;

[0085] 443-second spray pipe;

[0086] 444-first plane;

[0087] 445-second plane;

[0088] 446-third plane;

[0089] 447-Fourth Plane;

[0090] 45- positioning component;

[0091] 451-Vision Camera;

[0092] 452-height sensor;

[0093] 453-Tilt sensor.

[0094] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. DETAILED DESCRIPTION

[0095] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0096] In the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance; unless otherwise specified or explained, the term "plurality" refers to two or more; the terms "connected" and "fixed" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0097] In the description of this specification, it should be understood that the directional terms such as "upper" and "lower" described in the embodiments of the present invention are described from the perspectives shown in the accompanying drawings and should not be understood as limiting the embodiments of the present invention. In addition, in the context, it should be understood that when it is mentioned that an element is connected "upper" or "lower" of another element, it can not only be directly connected "upper" or "lower" of the other element, but also indirectly connected "upper" or "lower" of the other element through an intermediate element.

[0098] like Figure 1 and Figure 2 As shown in FIG. 1 , which is a structural diagram of a brick supply device 1 provided in an embodiment of the present invention, it can be seen from the figure that the brick supply device 1 includes:

[0099] At least one silo 11, each silo 11 includes a lower plate 111, a side plate 112 and a plurality of partition plates 113, one end of the side plate 112 is vertically connected to one end of the lower plate 111; each partition plate 113 has a right angle, one right-angled side is vertically connected to the lower plate 111, and the other right-angled side is vertically connected to the side plate 112; a cavity is formed between adjacent partition plates 113, and the cavity is used to accommodate tiles to be laid.

[0100] In this embodiment of the present invention, taking advantage of the thin and wide nature of ceramic tiles, a vertically positioned hopper 11 is employed. This not only allows for the storage of more tiles in a minimal amount of space, but also reduces loading frequency and improves flexibility in narrow passageways. Furthermore, gaps are formed between each partition 113, creating a safe distance between tiles to prevent friction and the formation of slip marks. Thus, the tile supply device 1 provided by the present invention occupies little space and is less likely to scratch ceramic tiles.

[0101] In addition, the center of gravity and loading height of the vertical brick silo 11 are lower, which is beneficial to reducing the labor intensity of workers. At the same time, each cavity can be loaded with bricks independently to ensure that bricks can be replenished at any time to avoid downtime.

[0102] In some embodiments, the height of one end of each partition plate 113 close to the side plate 112 is higher than the height of one end of the partition plate 113 away from the side plate 112 .

[0103] In this embodiment, each partition plate 113 is in the shape of a "7", so that each tile can be placed independently and stably without relying on adjacent tiles. At the same time, after the tile picking and placing component 42 absorbs the tile, it can be removed from the silo 11 without being lifted vertically too high a distance.

[0104] like Figure 3 As shown, in some embodiments, at least one rolling assembly 13 is further included. Each rolling assembly 13 includes a rotating shaft 131 and a plurality of rollers 132. A first hole is formed in the axial center of each roller 132. Each roller 132 is respectively sleeved on the rotating shaft 131 through the first hole. Each roller 132 can rotate along the rotating shaft 131.

[0105] A plurality of second holes are provided at intervals on one end of each partition plate 113 away from the side plate 112 , and each rotating shaft 131 passes through the second hole to fix the roller 132 in the cavity.

[0106] In this embodiment, a plurality of rollers 132 are provided at one end of the cavity loading port, which can serve as a guide and facilitate brick loading.

[0107] In some embodiments, a base 12 is further included, and each silo 11 is disposed on the top of the base 12 .

[0108] In some embodiments, each silo 11 includes a base 114 , a slide rail 115 , and a slider 116 ;

[0109] Each slide rail 115 is fixed to the top of the base 12 , the slider 116 can slide along the slide rail 115 , the bottom end of the base 114 is fixed to the top of the slider 116 , and the lower plate 111 of the silo 11 is set on the top of the base 114 .

[0110] In this embodiment, to extend the lifespan of the slider 116 and the rail 115, they are both made of wear-resistant materials. The base 114 and slider 116 are detachably connected, facilitating replacement of the slider 116 when it becomes severely worn. Furthermore, each silo 11 is detachably connected to the top of the base 114. This allows only the silo 11 of the corresponding specification to be replaced when the tile specification changes. During construction, the entire silo can also be replaced to improve restocking efficiency.

[0111] In some embodiments, each silo 11 includes a cylinder 117 , a push-pull rod 118 , and a push-pull plate 119 ;

[0112] One end of the push-pull plate 119 is fixedly connected to the base 114 and one end of the slider 116 , and the other end of the push-pull plate 119 is connected to one end of the push-pull rod 118 , and the other end of the push-pull rod 118 is accommodated in the cylinder 117 ;

[0113] When loading is required, the cylinder 117 drives the push-pull rod 118 to drive the slider 116 to slide out from the slide rail 115 to facilitate the robot to take bricks; when loading is completed, the cylinder 117 drives the push-pull rod 118 to drive the slider 116 to retract from the slide rail 115.

[0114] In this embodiment, each silo 11 can be individually telescopically moved along the direction of the slide rail 115 under the action of the cylinder 117. When the tile picking and placing assembly 42 needs to take tiles, a single silo 11 in the tile supply device 1 is extended to wait for the tiles to be taken. There are at least two silos 11, and only one group of tiles needs to be extended at a time. When the remaining silos 11 are out of material, workers can replenish tiles at any time.

[0115] Second, as Figure 4 and 5 As shown, an embodiment of the present invention further provides a tile laying robot, comprising a mobile chassis 2, a robotic arm 3, an end effector 4, a controller, and a tile supply device 1 provided in any one of the above embodiments;

[0116] The brick supply device 1 is detachably arranged on one side of the mobile chassis 2;

[0117] One end of the robotic arm 3 is connected to the mobile chassis 2, and the other end of the robotic arm 3 is connected to the end effector 4;

[0118] The controller is in communication with the mobile chassis 2, the robotic arm 3 and the end effector 4;

[0119] The mobile chassis 2 is used to move to a preset position according to the navigation instructions of the controller. The controller controls the robotic arm 3 and the end effector 4 to grab the tiles on the tile supply device 1 and lay the grabbed tiles at the set position on the work surface.

[0120] In this embodiment, the tile laying robot can reduce the size of the robot by using the brick supply device 1 provided by any of the above embodiments, enabling it to pass through a narrow space and increase the scope of use of the robot. In addition, there is a certain safety distance between the bricks in the brick supply device 1 of the robot to avoid mutual friction and the generation of slip marks, thereby ensuring the quality of the tiles.

[0121] In some embodiments, a guide rail and a telescopic mechanism 22 are also provided on the mobile chassis 2. The end of the robotic arm 3 away from the end effector 4 is fixed to one end of the telescopic mechanism 22. The telescopic mechanism 22 can slide along the guide rail to increase the laying range of the tiles.

[0122] In this embodiment, a guide rail is installed in the gap between the steering wheel 21 at the bottom of the mobile chassis 2. This reduces the installation height and center of gravity of the robotic arm 3, facilitating stable operation of the robot. The telescopic mechanism 22 slides on the guide rail, allowing it to be extended or retracted from the bottom of the mobile chassis 2. When extended, the telescopic mechanism 22 increases the paving coverage area relative to the robotic arm's arm span, enabling the laying of multiple tiles at a single station.

[0123] In some embodiments, the mobile chassis 2 is further provided with a lifting and leveling assembly 23 comprising four height-adjustable legs. In this embodiment, each leg is mounted at one of the four corners of the mobile chassis 2, providing rigid support and leveling for the entire robot. This improves the robot's stability and is essential for efficient operation.

[0124] like Figures 6-8 As shown, in some embodiments, the end effector 4 includes:

[0125] Frame 41;

[0126] The tile picking and placing assembly 42 is provided at the bottom end of the frame 41 and is used to grab and place the tiles to be laid;

[0127] The first paving and grouting assembly 43 includes a first frame, a first driving device 434 connected to the first frame, and a first scraper 435 and a first spray pipe 436 provided on the first frame. The first frame is hinged to the frame body 41. The first driving device 434 drives the first frame to perform pitching motion along the frame body 41 to switch the first paving and grouting assembly 43 between an operating state and a retracted state.

[0128] A positioning assembly 45 is provided on the frame 41 and is used to detect the position and posture of the first scraper 435 and the tiles to be laid;

[0129] When the first paving and grouting assembly 43 is in the working state, the first scraper 435 is used to flatten the mortar on the work surface to be processed and the first spray pipe 436 is used to spray cement oil onto the scraped mortar; when the first paving and grouting assembly 43 is in the retracted state, the tile picking and placing assembly 42 is used to grab the tiles and place them on the processed work surface.

[0130] In this embodiment, the first paving and grouting assembly 43 is hinged to the frame 41, so that the first paving and grouting assembly 43 can perform pitching motion along the frame 41, that is, the first paving and grouting assembly 43 can be flipped around the frame 41, and then switch between the working state and the folded state. When performing decoration work, first flip the first paving and grouting assembly 43 downward, adjust the first scraper 435 to a preset height and perpendicular to the working surface based on the positioning assembly 45, and then flatten the mortar on the working surface to be processed. During the process of scraping the mortar, the first spray pipe 436 is used to spray cement oil onto the scraped mortar. After the pretreatment of the working surface is completed, the first paving and grouting assembly 43 is flipped upward to avoid interfering with the tile laying work of the tile pick-up and placement assembly 42. Finally, the tile is grabbed by the tile pick-up and placement assembly 42, and after adjusting the tile to a preset posture based on the positioning object, it is laid on the processed working surface. It can be seen that the end effector 4 of the present invention can complete the three processes of spreading dry sand, pouring cement oil and laying tiles, and each process is based on a preset control program and is not affected by manual skills. Therefore, the efficiency and quality of tile laying are relatively high.

[0131] like Figure 8 and Figure 9 As shown, in some embodiments, the first spray pipe 436 is provided with multiple feed ports and multiple discharge ports, and each feed port is connected to a cement oil supply device;

[0132] When the first paving grouting assembly 43 is in working condition, cement oil is transported to the first spray pipe 436 through each feed port, and the cement oil in the first spray pipe 436 is sprayed onto the mortar that has been scraped flat by the first scraper 435 through each discharge port.

[0133] In this embodiment, providing multiple feed ports allows for more uniform feeding, preventing uneven pressure within the spray pipe that could lead to uneven discharge flow rates. Furthermore, providing multiple discharge ports allows for more uniform and targeted single-shot spraying. Furthermore, the multiple feed ports and discharge ports are preferably evenly spaced along the axial direction of the spray pipe.

[0134] It should also be noted that the cement oil supply device can be any container containing cement oil, or it can be a cement oil mixer truck with storage, mixing and operation functions. When cement oil needs to be supplied, the valve of the delivery pump is opened and the cement oil enters the spray pipe. When cement oil is no longer needed, the delivery pump is closed and the supply of cement oil is stopped.

[0135] like Figure 9As shown, in some embodiments, the first paving and grouting assembly 43 includes a support plate 431, a plurality of support rods 432 and a support frame 433, one side of the support frame 433 is fixedly connected to one side of the support plate 431, the other side of the support frame 433 is fixedly connected to one end of the support rod 432, the other end of each support rod 432 is hinged to the side of the bottom plate 412 of the frame body 41 away from the working surface, the end of the support plate 431 away from the support frame 433 is connected to the first scraper 435, the first driving device 434 is connected to the end of the support rod 432 close to the bottom plate 412 of the frame body 41, and the first driving device 434 drives the first paving and grouting assembly 43 to perform pitch motion along the bottom plate 412 of the frame body 41 by driving the support rod 432; in addition, the top plate 411 and the bottom plate 412 are fixedly connected by the support column 413.

[0136] The support plate 431 is a square flat plate. The angle between the support plate 431 and the support rod 432 is a right angle. The first spray pipe 436 is provided on the side of the support plate 431 close to the support frame 433 and the first spray pipe 436 is located below the support frame 433. The first scraper 435 is connected to the side of the support plate 431 away from the first spray pipe 436.

[0137] When the first paving and grouting assembly 43 is in operation, the axes of the support plate 431 , the first scraper 435 and each discharge port are perpendicular to the horizontal plane.

[0138] In this embodiment, the first frame adopts a split structure, which facilitates component replacement. Furthermore, the provision of support brackets 433 enhances the stability of the first frame. In other embodiments, a supporting link may be provided between adjacent support rods 432 at the end away from the support plate 431. A driving device may be connected to this supporting link, driving the supporting link to cause each paving and grouting assembly to perform pitching motion around the frame body 41. Furthermore, the articulation between the support rods 432 and the base plate 412 may be achieved via an articulated seat and a hinge pin.

[0139] Furthermore, the support plate 431 is a square flat plate, the angle between the support plate 431 and the support rod 432 is a right angle, and the first scraper 435 and the first spray pipe 436 are respectively arranged on both sides of the support plate 431, so that the surface can be scraped first and then poured, and there is a certain distance between the sprayed cement oil and the scraper, which is not easy to contaminate the scraper. Of course, the first scraper 435 can also be arranged at the bottom end of the support plate 431, or the first scraper 435 and the support plate 431 can be formed as one piece, and this application is not limited to this.

[0140] In some embodiments, the first scraper 435 is made of Teflon, which is wear-resistant and not easy to stick to cement. The support plate 431 is made of a steel plate with greater strength. In addition, the first scraper 435 and the support plate 431 are preferably detachably connected, so that it is convenient to replace the scraper after it is worn.

[0141] like Figure 9 As shown, in some embodiments, the end of the first scraper 435 close to the working surface is serrated. The toothed structure can make the mortar form undulating waves, and the dry mortar working surface formed is relatively soft and compressed, which is convenient for laying tiles.

[0142] In some embodiments, when the first paving and grouting assembly 43 is in operation, the vertical height of the bottom end of the first scraper 435 is lower than the vertical height of the bottom end of the tile pick-up assembly 42, and the height difference between the two is greater than a preset value. This prevents dry sand from accumulating and contaminating the tile pick-up assembly 42 during the scraping process, and particularly prevents the suction cup 421 from malfunctioning if the tile pick-up assembly 42 includes it.

[0143] It is understandable that when only the first paving grouting component 43 is set on the end effector 4, the tile laying in outdoor scenes such as squares and parks can be completed quickly. However, for indoor scenes, due to interference from walls and columns, there will be blind spots in certain areas. Therefore, it is necessary to set the second paving grouting component 44 on the end effector 4, such as Figures 6-8 As shown, the first paving grouting assembly 43 and the second paving grouting assembly 44 are respectively arranged on either side of the frame 41, and can be responsible for processing different areas, thereby eliminating blind spots. In addition, the first paving grouting assembly 43 and the second paving grouting assembly 44 can work independently or simultaneously, increasing operational flexibility.

[0144] like Figure 8 As shown, in some embodiments, the second paving and grouting assembly 44 includes a second frame, a second driving device 441 connected to the second frame, and a second scraper 442 and a second spray pipe 443 provided on the second frame. The second frame is hinged to the frame body 41, and the second driving device 441 drives the second frame to perform pitching motion along the frame body 41, so that the second paving and grouting assembly 44 switches between a working state and a retracted state.

[0145] The positioning assembly 45 is also used to detect the position and posture of the second scraper 442;

[0146] When the second paving and grouting assembly 44 is in working condition, the second scraper 442 is used to flatten the mortar on the work surface to be processed and the second spray pipe 443 is used to spray cement oil onto the scraped mortar; when the first paving and grouting assembly 43 and the second paving and grouting assembly 44 are both in the retracted state, the tile picking and placing assembly 42 is used to grab the tiles and place them on the processed work surface.

[0147] In some embodiments, the second frame includes a support plate 431, a plurality of support rods 432 and a support frame 433, one side of the support frame 433 is fixedly connected to one side of the support plate 431, the other side of the support frame 433 is fixedly connected to one end of the support rod 432, the other end of each support rod 432 is hinged to the side of the base plate 412 away from the working surface, the end of each support plate 431 away from the support frame 433 is connected to the second scraper 442, the second driving device 441 is connected to the end of the support rod 432 close to the base plate 412, and the driving device drives the second paving and grouting assembly 44 to perform pitch motion along the base plate 412 by driving the support rod 432.

[0148] It should be noted that the first drive device 434 and the second drive device 441 are cylinders 117, and can also be electric drive components, which are not specifically limited in this application. In addition, the support rod 432 and the base plate 412 can be hinged by a hinge seat and a hinge pin.

[0149] In some embodiments, the second spray pipe 443 is provided with a plurality of feed ports and a plurality of discharge ports, and each feed port is connected to a cement oil supply device;

[0150] When the second paving and grouting assembly 44 is in working condition, cement oil is transported to the second spray pipe 443 through each feed port, and the cement oil in the second spray pipe 443 is sprayed onto the mortar that has been scraped flat by the second scraper 442 through each discharge port.

[0151] In some embodiments, when the second paving grouting assembly 44 is in operation, the vertical height of the bottom end of the second scraper 442 is lower than the vertical height of the bottom end of the tile picking and placing assembly 42, and the height difference between the two is greater than a preset value.

[0152] In some embodiments, one end of the second scraper 442 close to the working surface is serrated.

[0153] In the above embodiment, the functions and effects of the components in the second paving and grouting assembly 44 are the same as those in the first paving and grouting assembly 43, and will not be repeated here.

[0154] In some embodiments, for the second paving and grouting assembly 44: the support plate 431 includes a first plane 444, a second plane 445, a third plane 446, and a fourth plane 447 that intersect in sequence, the angle between the third plane 446 and the fourth plane 447 is greater than 90°, the support frame 433 is connected to the first plane 444, the second scraper 442 is connected to the fourth plane 447, the second spray pipe 443 is disposed on a side of the support plate 431 away from the support frame 433, and the second spray pipe 443 is located below the support frame 433, and the second scraper 442 is connected to a side of the support plate 431 away from the second spray pipe 443;

[0155] When the second paving and grouting assembly 44 is in operation, the fourth plane 447 and the second scraper 442 are both perpendicular to the horizontal plane, and the axis of each discharge port does not intersect with the third plane 446 .

[0156] In this embodiment, the discharge angle is no longer parallel to the second scraper 442 (i.e., no longer perpendicular to the horizontal plane), but rather tilted, achieving scraping first and then grouting. Furthermore, this application does not impose specific restrictions on the inclination angle of the third plane 446, as long as the third plane 446 does not interfere with the spray pipe's ability to spray cement oil onto the scraped work surface. Furthermore, the support plate 431 may include more or fewer flat surfaces, as long as the support plate 431 does not interfere with grouting from the spray pipe.

[0157] like Figure 7 and Figure 8 As shown, in some embodiments, the positioning assembly 45 includes at least one visual camera 451, a height sensor 452, and a tilt sensor 453;

[0158] Each visual camera 451 is provided on the top plate 411 and is used to photograph the working surface, the scraper, and the tiles to be laid grabbed by the tile pick-up and placement assembly 42;

[0159] The height sensor 452 is provided on the side of the base plate 412 away from the working surface and is used to detect the height difference between a preset reference line and the scraper or the tile to be laid; the preset reference lines include the mortar laying height reference line and the tile laying height reference line;

[0160] The inclination sensor 453 is arranged on the side of the bottom plate 412 close to the working surface, and is used to detect whether the scraper or the tiles to be laid are parallel to the horizontal plane.

[0161] In this embodiment, there are preferably two visual cameras 451, each of which is located above a paving and grouting assembly and symmetrically distributed on the left and right sides to maximize the field of view of the visual camera 451. The visual camera 451 can observe the corner information of the tiles already laid and the tiles to be laid, and adjust the position of the tiles to be laid based on this corner information and the preset gap. For example, if the preset gap is 2mm, the final placement of the tiles to be laid is such that each edge is 2mm away from the edge of the already laid tiles. In addition, the mounting frame of the visual camera 451 is designed to be detachable in two parts, thereby reducing the size and facilitating site transfer and packaging and transportation.

[0162] When scraping mortar, height sensor 452 first detects the height difference between the scraper and the mortar laying height reference line. The scraper height is continuously adjusted based on this height difference. Once the height is determined, dry sanding can begin, ensuring that the final dry sand surface height meets the user's requirements. After laying tiles, height sensor 452 detects the height difference between the tile's top surface and the tile laying height reference line. If the tile's top surface is higher than the reference line, the tile is pressed down further to ensure that the final tile height meets the user's requirements.

[0163] If the scraper or tile being laid is tilted relative to the horizontal plane, the position of each axis of the robot arm 3 and the position of the end effector 4 are adjusted to eliminate the tilt, thereby ensuring that the visual camera 451 acquires image information in a manner relatively perpendicular to the work surface, avoiding additional errors. In addition, the robot arm is preferably a six-axis robot arm that can be used to adjust the degrees of freedom in six directions. By adjusting the position of each axis, the position of the end effector in all directions can be adjusted to ensure the quality of the paving.

[0164] In some embodiments, the tile pick-and-place assembly 42 includes a plurality of suction cup 421 assemblies, each of which includes a suction cup 421 and a support block 422 ;

[0165] When the tile to be laid is sucked by the suction cup 421 , the side of the tile to be laid close to the support block 422 is in contact with the surface of the support block 422 .

[0166] In this embodiment, there are four suction cups 421, located at the four corners of the base plate 412, to ensure stable tile suction. Furthermore, by providing four support blocks 422, once the suction cups 421 have absorbed a tile, the tile and the lower surface of the support blocks 422 are in contact with each other, preventing the tile surface from tilting and ensuring high-quality paving.

[0167] Through the above embodiments, the tile laying robot of the present invention can complete three processes: mortar paving, cement oil pouring and tile laying. The processes work in coordination and are not affected by manual skills. The efficiency and quality of tile laying are high.

[0168] It should be noted that, in this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical factors in the process, method, article or device comprising the elements.

[0169] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A tile laying robot, characterized in that: It includes a mobile chassis (2), a robotic arm (3), an end effector (4), a controller, and a brick supply device; The brick supply device is detachably arranged on one side of the mobile chassis (2); One end of the robotic arm (3) is connected to the mobile chassis (2), and the other end of the robotic arm (3) is connected to the end effector (4); The controller is communicatively connected to the mobile chassis (2), the robotic arm (3), and the end effector (4); The mobile chassis (2) is used to move to a preset position according to the navigation instruction of the controller, and the controller controls the mechanical arm (3) and the end effector (4) to grab the tiles on the tile supply device and lay the grabbed tiles at a set position on the working surface; The end effector (4) comprises: frame (41); A tile picking and placing assembly (42) is arranged at the bottom end of the frame (41), and the tile picking and placing assembly (42) is used to grab and place tiles to be laid; A first paving and grouting assembly (43) comprises a first frame, a first driving device (434) connected to the first frame, and a first scraper (435) and a first spray pipe (436) arranged on the first frame, wherein the first frame is hinged to the frame body (41), and the first driving device (434) drives the first frame to perform a pitching motion along the frame body (41) so as to switch the first paving and grouting assembly (43) between a working state and a retracted state; A positioning component (45) is provided on the frame (41), and the positioning component (45) is used to detect the position and posture of the first scraper (435) and the tiles to be laid; When the first spreading and grouting assembly (43) is in a working state, the first scraper (435) is used to flatten the mortar on the working surface to be processed, and the first spray pipe (436) is used to spray cement oil onto the flattened mortar; when the first spreading and grouting assembly (43) is in a retracted state, the tile picking and placing assembly (42) is used to grab tiles and place them on the processed working surface; A guide rail and a telescopic mechanism (22) are provided on the mobile chassis (2); one end of the robotic arm (3) away from the end execution device (4) is fixed to one end of the telescopic mechanism (22); and the telescopic mechanism (22) can slide along the guide rail.

2. The robot according to claim 1, characterized in that The first spray pipe (436) is provided with a plurality of feed ports and a plurality of discharge ports, and each feed port is connected to a cement oil supply device respectively; When the first paving and grouting assembly (43) is in operation, cement oil is transported to the first spray pipe (436) through each of the feed ports, and the cement oil in the first spray pipe (436) is sprayed onto the mortar that has been scraped flat by the first scraper (435) through each of the discharge ports.

3. The robot according to claim 2, characterized in that The first paving and grouting assembly (43) comprises a support plate (431), a plurality of support rods (432) and a support frame (433), one side of the support frame (433) is fixedly connected to one side of the support plate (431), the other side of the support frame (433) is fixedly connected to one end of the support rod (432), the other end of each support rod (432) is hinged to the side of the bottom plate of the frame (41) away from the working surface, the end of the support plate (431) away from the support frame (433) is connected to the first scraper (435), the first driving device (434) is connected to the end of the support rod (432) close to the bottom plate of the frame (41), and the first driving device (434) drives the first paving and grouting assembly (43) to perform pitching motion along the bottom plate of the frame (41) by driving the support rod (432); The support plate (431) is a square flat plate, and the angle between the support plate (431) and the support rod (432) is a right angle. The first spray pipe (436) is arranged on a side of the support plate (431) close to the support frame (433), and the first spray pipe (436) is located below the support frame (433). The first scraper (435) is connected to a side of the support plate (431) away from the first spray pipe (436). When the first paving and grouting assembly (43) is in a working state, the axes of the support plate (431), the first scraper (435) and each of the discharge ports are perpendicular to a horizontal plane.

4. The robot according to claim 1, characterized in that The brick supply device comprises: At least one silo (11), each of the silos (111) comprising a lower plate (111), a side plate (112) and a plurality of partition plates (113), one end of the side plate (112) being vertically connected to one end of the lower plate (111); each of the partition plates (113) having a right angle, one right-angled side of which is vertically connected to the lower plate (111) and the other right-angled side of which is vertically connected to the side plate (112); a cavity is formed between adjacent partition plates (113), the cavity being used to accommodate tiles to be laid.

5. The robot according to claim 4, characterized in that The height of one end of each partition plate (113) close to the side plate (112) is higher than the height of one end of the partition plate (113) away from the side plate (112).

6. The robot according to claim 4, characterized in that: The invention also includes at least one rolling assembly (13), each of the rolling assemblies (13) including a rotating shaft (131) and a plurality of rollers (132), a first hole being formed at the axial center of each roller (132), each roller (132) being sleeved on the rotating shaft (131) through the first hole, and each roller (132) being rotatable along the rotating shaft (131); A plurality of second holes distributed at intervals are provided at one end of each partition plate (113) away from the side plate (112), and each rotating shaft (131) passes through the second hole respectively to fix the roller (132) in the cavity.

7. The robot according to claim 6, characterized in that: It also includes a base (12), and each of the silos (11) is arranged on the top of the base (12).

8. The robot according to claim 7, characterized in that: Each of the silos (11) comprises a base (114), a slide rail (115) and a slider (116); Each of the slide rails (115) is fixed to the top of the base (12), the slider (116) can slide along the slide rail (115), the bottom end of the base (114) is fixed to the top of the slider (116), and the lower plate (111) of the silo (11) is arranged on the top of the base (114).

9. The robot according to claim 8, characterized in that: Each of the silos (11) comprises a cylinder (117), a push-pull rod (118) and a push-pull plate (119); One end of the push-pull plate (119) is fixedly connected to the base (114) and one end of the slider (116), and the other end of the push-pull plate (119) is connected to one end of the push-pull rod (118), and the other end of the push-pull rod (118) is accommodated in the cylinder (117); When loading is required, the cylinder (117) drives the push-pull rod (118) to drive the slider (116) to slide out from the slide rail (115), so as to facilitate the robot to take bricks; when loading is completed, the cylinder (117) drives the push-pull rod (118) to drive the slider (116) to retract from the slide rail (115).

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