An automatic brick laying robot and method

Abstract

This invention discloses an automatic tile laying robot and method, comprising: a main body, serving as the base of the entire robot; a measurement and positioning section, mounted on the main body, for installing boundary lines on the ground and walls; a processing and storage section, mounted on the main body, for integrating boundary line storage, tile storage, tile transfer, tile cutting, mortar mixing, and grout mixing onto the upper surface of the machine body, enabling rapid connection between each process; and a construction section, mounted on the main body, for performing mortar spraying, mortar leveling, tile installation, grouting, and grout leveling. This invention allows all processes in tile laying construction, such as measurement and positioning, boundary line installation, mortar mixing, mortar spraying, mortar leveling, tile cutting, tile installation, grouting, and grout leveling, to be completed by a single machine, significantly saving manpower and resources, improving efficiency, and enhancing the quality of the finished tile.

Description

Technical Field

[0001] This invention relates to the technical field of construction engineering, specifically to an automatic brick-laying and brick-laying robot, and also to an automatic brick-laying and brick-laying method. Background Technology

[0002] The typical tile laying process involves first applying a thin layer of cement mortar to the floor or wall, then arranging the tiles as needed and pressing them into the mortar, and finally filling the gaps with grout. The mortar and grout provide durable protection against water, stains, and damage, while the laid tiles also provide strong floor stability, allowing them to withstand significant weight.

[0003] In the current tile laying process, improper manual operation can lead to several defects and inefficiencies. For example, uneven or asymmetrical joints may result from improper measurement, marking, and placement of tiles; uneven application of mortar on the floor or wall can cause tile instability and potentially lead to hollow spots in the future; insufficient or excessive grout can result in uneven and unsightly tile surfaces; manual tile laying requires significant time and effort and is prone to errors, leading to inefficiency and additional costs; and manual tile laying may pose safety hazards, such as the risk of workers falling when working at heights.

[0004] Therefore, a robot and construction method capable of automatically laying and installing bricks are needed. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an automatic tile laying robot, which enables all processes in tile laying construction, such as measurement and positioning, boundary line installation, mortar mixing, mortar spraying, mortar leveling, tile cutting, tile installation, grouting, and grout leveling, to be completed by one machine, thereby greatly saving manpower and material resources, improving efficiency and the quality of the laid tiles.

[0006] Another objective of this invention is to provide an automated tile laying method that can be directly applied to existing tile laying construction. By highly integrating each process of tile laying onto a single robot, the construction process becomes more compact and efficient, effectively avoiding unavoidable errors caused by manual construction.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The automatic brick-laying robot of the present invention includes: a main body, serving as the base of the entire robot; a measurement and positioning part, mounted on the main body, which is mainly composed of a scanning and positioning annular track installed around the main body, on which several scanning and positioning units are installed. Each scanning and positioning unit, from back to front, consists of an electric trolley, a rotary motor, a first electric push rod, and a laser rangefinder mounting base connected together. The laser rangefinder mounting base is a cube structure, with laser rangefinders mounted on its five sides except for the side connected to the first electric push rod; and a boundary line installation part, mounted on the upper periphery of the main body, which is mainly composed of a boundary line annular track installed on the upper periphery of the main body, on which several sets of boundary line installation units are mounted via an electric trolley. The machine consists of a main body and a processing and storage section. The main body includes a tile storage box, a cut tile storage box, a small tile transfer robotic arm, a tile cutter, a nylon wire storage box, a raw material storage box, and a mortar mixing box, all mounted on the upper surface of the main body. This integrates boundary line storage, tile storage, tile transfer, tile cutting, mortar mixing, and grout mixing onto the upper surface of the machine, enabling rapid connection between each process. The construction section, also mounted on the main body, consists of a concave track on the right side of the upper surface. A mortar spraying robotic arm, a tile installation robotic arm, and a leveling robotic arm are mounted on the concave track via an electric trolley. These are used for mortar spraying, mortar leveling, tile installation, grouting, and grout leveling processes.

[0009] Preferably, the boundary line installation unit uses a first vertical track mounting base mounted on an electric trolley as its chassis. A first vertical track is mounted on the first vertical track mounting base. A second electric push rod is mounted on the first vertical track via the electric trolley. The output end of the second electric push rod is connected to the second vertical track. Two nylon thread laying mechanism mounting bases are mounted on the second vertical track via the electric trolley. An electric glue gun and a miniature electric gripper are respectively provided on the left and right ends of the nylon thread laying mechanism mounting bases.

[0010] Furthermore, the tile storage box is installed on the right side of the small tile transfer robotic arm, the cut tile storage box is installed on the front side of the small tile transfer robotic arm, the tile cutter is installed on the left side of the small tile transfer robotic arm, the mortar mixing box is installed on the rear side of the small tile transfer robotic arm, the nylon wire spool storage box is installed on the front side of the tile cutter, and the raw material storage box is installed on the left side of the mortar mixing box; the tile storage box contains several tiles to be installed; the outer surface of the nylon wire spool storage box facing the boundary line circular track is provided with several nylon wire spool mounting seats, on which the nylon wire spools are mounted and rotated to release the nylon wire, and a vertical electric wire cutter is provided at the nylon wire output end on the front side of the nylon wire spool mounting seat.

[0011] Furthermore, an electric valve is provided at the bottom right side of the raw material storage box, with its output direction facing the inlet of the mortar mixing box. The outlet of the mortar mixing box is connected to a mortar pump, which pumps the mixed mortar into the mortar nozzle for mortar application. The output end of the small tile transfer robot arm is connected to a first electric vacuum suction cup.

[0012] Preferably, the output end of the mortar spraying robotic arm is connected to a mortar nozzle, the output end of the tile installation robotic arm is connected to a second electric vacuum suction cup, and the output end of the leveling robotic arm is connected to an alloy scraper.

[0013] Accordingly, the present invention also provides an automatic brick laying and tiling method, the steps of which are as follows:

[0014] S1. Measurement and Positioning: When measurement and positioning are required, when scanning the ground construction environment data, several sets of scanning and positioning units on the scanning and positioning ring track scan and detect the ground. First, the entire scanning and positioning unit is pushed out to the outside of the ring slot by the first electric push rod. The ground area is scanned and recorded by the laser rangefinders on both sides and the front of its laser rangefinder mounting base. When scanning the wall construction environment data, the wall area is scanned and recorded by the laser rangefinders on the upper, lower and left and right sides of the laser rangefinder mounting base. The laser rangefinder on the front is used to monitor the distance between the robot and the wall. When encountering an angle or when the laser rangefinder cannot be directly facing the wall, the first electric push rod is rotated by the rotary motor on its electric trolley, which in turn drives the laser rangefinder mounting base to rotate, thereby adjusting the angle of each laser rangefinder to adapt to the environmental needs. After the ground or wall to be constructed is scanned, the construction personnel can determine the types and quantities of materials such as tiles, mortar, and grout required for construction, and then load them into the robot in advance for the next step of construction.

[0015] S2. Material Preparation: After the scanning process is completed, the material preparation process is required. The construction personnel will put the tiles into the tile storage box according to the material requirements calculated by the scan, install the nylon wire rolls stored in the nylon wire roll storage box onto the nylon wire roll mounting base, and put the materials required for mortar mixing into the raw material storage box. If the tiles need to be cut due to the ground or wall, the small tile transfer robotic arm will be controlled to pick up the tiles from the tile storage box through the first electric vacuum suction cup and put them into the tile cutting machine for cutting. After the cutting is completed, the cut tiles will be taken out and put into the cut tile storage box.

[0016] S3. Boundary Line Installation: When the boundary line installation process is required, move the boundary line installation unit to the side of the boundary line circular track near the nylon spool storage box. Control the rotary motor on the electric trolley at the bottom of the first vertical track mounting base to turn the entire boundary line installation unit until it faces the nylon spool storage box. At this time, the electric trolley on the first vertical track lowers the second electric push rod to a suitable height. The second electric push rod extends, coordinating with the electric trolley on the second vertical track to move to a suitable height, causing the miniature electric motor on the nylon spool laying mechanism mounting base to... The grippers can approach the end of the nylon thread on the nylon thread reel mounting base, and use miniature electric grippers to grasp the thread end, coordinating the aforementioned mechanisms. This allows the miniature electric grippers on the second nylon thread laying mechanism mounting base to approach the end of the nylon thread on the nylon thread reel mounting base, grasping the other end of the thread end. At this point, the two miniature electric grippers on the entire boundary line mounting unit have grasped nylon thread suitable for mounting one boundary line length. The end of the nylon thread is then cut with electric wire cutters, completely separating the boundary line mounting unit from the processing and storage section, and proceeding along the boundary line circular track. The device is moved to the location where the boundary line needs to be installed. When installing the boundary line on the ground, the boundary line installation unit is moved to the boundary closest to the ground. The electric trolley on the first vertical track lowers the second electric push rod, which simultaneously pushes out the second vertical track, bringing its lower end close to the ground. The electric trolley on the track lowers a nylon thread laying mechanism mounting base to the boundary line installation position. First, the wall is sprayed with adhesive using an electric glue gun. Then, the entire mounting base is rotated by the rotary motor on the electric trolley, allowing the electric glue gun to apply adhesive. The positions of the gun and the mini electric gripper are switched. At this time, the nylon thread end is embedded in the glue for fixation by the mini electric gripper. After fixation, the entire boundary line installation unit is moved to the other side of the ground boundary. The other nylon thread laying mechanism mounting base is lowered in the same way and glue is applied and the thread is embedded to complete the laying of a ground boundary line. When laying nylon thread on the wall, the general method is the same as on the ground. However, when horizontal laying is required, the rotary motor on the electric trolley of the first vertical track rotates the entire second vertical track to make it horizontally level with the wall, thereby completing the laying of the horizontal boundary line on the wall.

[0017] S4. Laying Construction: After the boundary line installation is completed, mortar spraying, mortar leveling, tile installation, grouting, and grouting and leveling can be carried out. At this time, the electric valve is first opened to allow the raw material storage tank to feed the mortar mixing tank. After the mortar mixing tank is mixed, the mortar is output to the mortar pump. The mortar pump delivers the mortar to the mortar nozzle through the pipeline. The mortar nozzle uses the mortar spraying robot arm to spray the mortar at the position marked on the boundary line. After spraying, the mortar spraying robot arm is moved to the next location for spraying. At the same time, the leveling robot arm is moved to this location to perform the mortar leveling process. After completion, the leveling robot arm is moved to the next location to continue the leveling process. At this time, the tile installation robot arm is moved to this location, and the second electric vacuum suction cup on it picks up the tiles from the tile storage tank. For compaction installation, if pre-cut tiles are required, a small tile transfer robot arm will move the tiles from the pre-cut tile storage box to the tile installation robot arm for installation. After all tiles in the area are installed, the electric valve on the raw material storage box will be opened to supply grout material to the mortar mixing box for mixing. The grout material storage box can be a separate box for storage. After the grout is mixed, it will be output through the mortar nozzle and the mortar spraying robot arm will perform the overall grouting process. After grouting, the alloy scraper of the leveling robot arm will be used to level the grout. After all leveling is completed, the measurement and positioning part will scan and verify that it meets the requirements. Once confirmed, the entire automatic tile laying and installation process will be completed.

[0018] Therefore, the beneficial effects of the automatic brick-laying robot and method of the present invention are as follows:

[0019] 1. Compared to existing technologies, the annular slot on the main body of this invention can be used to install a scanning and positioning annular track. Several scanning and positioning units can be installed on this track. When not in use, the scanning and positioning unit can be retracted into the main body by the first electric push rod to hide it without affecting other processes. When scanning and positioning are required, the first electric push rod pushes out the scanning and positioning unit, and the laser rangefinders on its five sides can perform a full-range scanning and recording of the area to be scanned. When encountering tilt angles or uneven ground, the angle of the entire scanning and positioning unit can be adjusted directly by the rotary motor on the electric trolley, thus adapting to a wider range of construction scenarios. When scanning, the scanning and positioning unit can move and scan on the annular track. It can be scanned by moving a single unit or by adding multiple units for multi-faceted synchronous scanning and verification, which greatly improves scanning efficiency and accuracy. When the device is performing processes such as paving, the scanning and positioning unit can also be used for positioning and verification work, and to monitor the construction progress and quality in real time.

[0020] 2. This invention, through a plurality of boundary line installation units set on a boundary line circular track, can automatically retrieve and disconnect nylon thread from the nylon thread spool storage box through the cooperation of a first vertical track, a second electric push rod, a second vertical track, a miniature electric gripper, and an electric glue gun. Then, it can automatically install boundary lines on the ground and walls. The entire installation process is completed by mechanical structure, which greatly saves labor costs and improves installation accuracy. At the same time, it can handle both vertical and ground installation, effectively avoiding safety hazards caused by excessive height during manual construction. Furthermore, multiple sets of boundary line installation units can be installed simultaneously on the boundary line circular track for multi-face synchronous installation, thereby effectively improving construction efficiency.

[0021] 3. This invention integrates boundary line storage, tile storage, tile transfer, tile cutting, mortar mixing, and grout mixing onto the upper surface of the machine body, enabling rapid connection between each process. This ensures quality while improving laying efficiency. Furthermore, when laying tiles on the same type of floor and wall surfaces for multiple households, only the initial manual calculation of required materials and construction planning is needed. Subsequent steps only require placing sufficient raw materials into the robot's processing and storage section to automatically lay tiles for multiple households, significantly improving construction efficiency and saving labor costs.

[0022] 4. This invention efficiently integrates the processes of mortar application, leveling, tile installation, grouting, and grout leveling onto three robotic arms via a concave track on the right side of the machine's upper surface. These three robotic arms can circulate through this track, significantly improving construction efficiency. Because this structure is designed on the front of the machine, it perfectly matches the requirement that the machine never enters areas where tiles have not yet been installed, allowing the machine to always move and work on the installed tiles, effectively improving the quality of tile installation. The concave track also incorporates part of the processing and storage structure, with a small tile transfer robotic arm acting as an intermediary, effectively allowing various materials and construction machinery to work together efficiently, thus improving work efficiency. Attached Figure Description

[0023] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the overall structure of the main body and the measurement and positioning part of the present invention;

[0026] Figure 3 This is a schematic diagram of the overall structure of the scanning and positioning unit of the present invention;

[0027] Figure 4 This is a schematic diagram of the overall structure of the boundary line mounting portion of the present invention;

[0028] Figure 5 This is a schematic diagram of the overall structure of the boundary line mounting unit of the present invention;

[0029] Figure 6 This is a schematic diagram of the overall structure of the processing and storage section of the present invention;

[0030] Figure 7 This is a schematic diagram of the overall structure of the construction part of the present invention.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1000-Main Body Section:

[0033] 1001-Main body; 1001a-Annular slot; 1001b-Upper surface of the body; 1002-Moving wheel;

[0034] 2000 - Measurement and Positioning Section:

[0035] 2001 - Scanning and positioning circular track; 2100 - Scanning and positioning unit; 2101 - First electric push rod; 2102 - Laser rangefinder mounting base; 2103 - Laser rangefinder;

[0036] 3000 - Boundary Line Installation Section:

[0037] 3001-Boundary line circular track; 3100-Boundary line mounting unit; 3101-First vertical track mounting base; 3102-First vertical track; 3103-Second electric push rod; 3104-Second vertical track; 3105-Nylon thread laying mechanism mounting base; 3105a-Miniature electric gripper; 3105b-Electric glue gun;

[0038] 4000 - Processing and Storage Section:

[0039] 4101-Tile storage box; 4102-Tile; 4103-Post-cut tile storage box; 4104a-Small tile transfer robotic arm; 4104b-First electric vacuum suction cup; 4105-Tile cutter; 4201-Nylon wire reel storage box; 4202-Nylon wire reel mounting base; 4203-Electric wire cutter; 4301-Raw material storage box; 4301a-Electric valve; 4302-Mortar mixing box;

[0040] 5000 - Construction Section:

[0041] 5001-Concave track; 5002-Mortar spraying robotic arm; 5002a-Mortar nozzle; 5003-Tile installation robotic arm; 5003a-Second electric vacuum suction cup; 5004-Scraping robotic arm; 5004a-Alloy scraper. Detailed Implementation

[0042] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0043] Below, in conjunction with Figures 1 to 7 This invention provides a detailed description of an automatic brick-laying robot and method.

[0044] Depend on Figure 1 As shown, the automatic brick laying robot of the present invention includes a main body part 1000 that serves as the base of the entire robot, a measurement and positioning part 2000 mounted thereon, a boundary line mounting part 3000 mounted on the upper periphery of the main body part 1000, and a processing and storage part 4000 and a construction part 5000 mounted on the rear and front sides of its inner ring.

[0045] Depend on Figure 2 , Figure 3 As shown, the main body part 1000 includes a main body 1001 and a plurality of movable wheels 1002 installed around its lower end. Meanwhile, the upper surface 1001b of the main body 1001 has an inward annular groove 1001a around its upper end, and a measuring and positioning part 2000 is installed on the annular groove 1001a. The measurement and positioning section 2000 is mainly composed of a scanning and positioning annular track 2001 installed in the annular slot 1001a. Several scanning and positioning units 2100 are installed on the scanning and positioning annular track 2001. The scanning and positioning unit 2100 is composed of an electric trolley, a rotary motor, a first electric push rod 2101, and a laser rangefinder mounting base 2102 connected from back to front. It should be noted that the electric trolleys of the present invention are all bound to the rotary motors, that is, the rotary motors are installed on the electric trolleys, and the mechanisms installed on the electric trolleys are all connected to the output end of the rotary motors. The laser rangefinder mounting base 2102 is a cube structure, and laser rangefinders 2103 are installed on the other five sides except for the side connected to the first electric push rod 2101.

[0046] The purpose of this structure is to allow for the scanning and positioning of the ground surface during measurement and positioning processes, such as scanning ground construction environment data. Several sets of scanning and positioning units 2100 on the scanning and positioning ring track 2001 scan and detect the ground. First, the first electric push rod 2101 pushes the entire scanning and positioning unit 2100 to the outside of the annular slot 1001a. The laser rangefinder mounting base 2102 on both sides and the laser rangefinder 2103 on the front scan and record the ground area. During the detection process, only one scanning and positioning unit 2100 can be used to move and detect the entire ground on the scanning and positioning ring track 2001. Alternatively, multiple scanning and positioning units 2100 can be added to simultaneously detect the ground from multiple directions, thus increasing scanning efficiency. When scanning wall construction... When collecting environmental data, the area of ​​the wall can be scanned and recorded using the laser rangefinders 2103 mounted on the upper and lower sides of the laser rangefinder mounting base 2102 and on the left and right sides. The laser rangefinder 2103 in front is used to monitor the distance between the robot and the wall. When encountering an angle or when the laser rangefinder 2103 cannot be directly facing the wall, the first electric push rod 2101 can be rotated by the rotary motor on its electric trolley, which in turn drives the laser rangefinder mounting base 2102 to rotate, thereby adjusting the angle of each laser rangefinder 2103 to adapt to the environmental needs. After scanning the ground or wall surface to be constructed, the construction personnel can determine the types and quantities of materials such as tiles, mortar, and grout required for construction, and then load them into the robot in advance for the next step of construction.

[0047] Compared to existing technologies, the annular slot 1001a on the main body 1001 of this invention can be used to install a scanning and positioning annular track 2001. Several scanning and positioning units 2100 can be installed on the scanning and positioning annular track 2001. When not in use, the scanning and positioning unit 2100 can be retracted into the main body 1001 via the first electric push rod 2101 for concealment, without affecting other processes. When scanning and positioning are required, the first electric push rod 2101 pushes out the scanning and positioning unit 2100, and the laser rangefinders 2103 on the five sides of its laser rangefinder mounting base 2102 can then scan the required area. The area is scanned and recorded from all angles. When encountering tilted or uneven ground, the angle of the entire scanning positioning unit 2100 can be adjusted directly by the rotary motor on the electric trolley, thus adapting to a wider range of construction scenarios. When scanning, the scanning positioning unit 2100 can move and scan on the scanning positioning ring track 2001. It can be scanned by moving a single unit or by adding multiple units to perform multi-face synchronous scanning and verification, which greatly improves scanning efficiency and accuracy. When the device is performing processes such as paving, the scanning positioning unit 2100 can also be used for positioning work to monitor the construction progress and quality in real time.

[0048] Depend on Figure 4 , Figure 5As shown, the boundary line installation part 3000 is mainly composed of a boundary line annular track 3001 installed on the upper periphery of the upper surface 1001b of the body. Several boundary line installation units 3100 are mounted on the boundary line annular track 3001 via an electric trolley. Each boundary line installation unit 3100 has a first vertical track mounting base 3101 mounted on the electric trolley as its chassis. A first vertical track 3102 is mounted on the first vertical track 3101. A second electric push rod 3103 is mounted on the first vertical track 3102 via the electric trolley. The output end of the second electric push rod 3103 is connected to a second vertical track 3104. On the 04, two nylon thread laying mechanism mounting seats 3105 are installed via an electric trolley. Electric glue guns 3105b and miniature electric grippers 3105a are respectively installed at the left and right ends of each nylon thread laying mechanism mounting seat 3105. The purpose of this structure is to move the boundary line installation unit 3100 to the side of the boundary line circular track 3001 near the nylon thread roll storage box 4201 when the boundary line installation process is required. Normally, the boundary line installation unit 3100 faces outwards from the machine body. At this time, the rotary motor on the electric trolley at the bottom of the first vertical track mounting seat 3101 is controlled to rotate the entire boundary line installation unit 3100 until its direction faces the nylon thread roll storage box. On one side of the storage tank 4201, the electric trolley on the first vertical rail 3102 lowers the second electric push rod 3103 to a suitable height, and the second electric push rod 3103 extends, cooperating with the electric trolley on the second vertical rail 3104 to move to a suitable height. During this process, if necessary, the rotary motors on the electric trolleys of the first vertical rail 3102 and the second vertical rail 3104 can be controlled to rotate, so that the miniature electric gripper 3105a on the nylon thread laying mechanism mounting base 3105 can approach the end of the nylon thread on the nylon thread roll mounting base 4202. The miniature electric gripper 3105a clamps the end of the thread and makes the above-mentioned mechanisms work together to make the second nylon thread laying mechanism mounting base The miniature electric gripper 3105a on the boundary line mounting unit 3100 can approach the end of the nylon thread on the nylon thread reel mounting base 4202 and clamp the other end of the thread. At this time, the two miniature electric grippers 3105a on the entire boundary line mounting unit 3100 have clamped the nylon thread suitable for installing one boundary line length. Then, the electric wire cutter 4203 cuts the end of the nylon thread. At this time, the boundary line mounting unit 3100 is completely disconnected from the processing and storage part 4000 and can move on the boundary line circular track 3001 to the position where the boundary line needs to be installed for boundary line installation. When installing the boundary line on the ground, the entire boundary line mounting unit 3100 is as follows: Figure 5As shown, the boundary line installation unit 3100 is moved to the boundary near the ground. The electric trolley on the first vertical rail 3102 lowers the second electric push rod 3103, and the second vertical rail 3104 is pushed out simultaneously by the second electric push rod 3103, so that the lower end of the second vertical rail 3104 is close to the ground. The electric trolley on it lowers a nylon thread laying mechanism mounting base 3105 to the boundary line installation position. First, the electric glue gun 3105b sprays glue onto the wall surface. Then, the rotary motor on the electric trolley rotates the entire mounting base, so that the electric glue gun 3105b and the miniature electric gripper 3105b are in contact. The position of 05a is changed. At this time, the nylon thread end is embedded in the glue for fixation by the mini electric gripper 3105a. After fixation, the entire boundary line installation unit 3100 is moved to the other side of the ground boundary. The other nylon thread laying mechanism mounting base 3105 is lowered in the same way and glue is applied and the thread is buried to complete the laying of a ground boundary line. When laying nylon thread on the wall, the general method is the same as on the ground. However, when horizontal laying is required, the entire second vertical track 3104 can be rotated by the rotary motor on the electric trolley of the first vertical track 3102 to make it horizontally level with the wall, thereby completing the laying of the horizontal boundary line on the wall.

[0049] Compared to existing technologies, this invention, through a plurality of boundary line installation units 3100 set on the boundary line circular track 3001, can automatically retrieve and disconnect nylon wires at the nylon wire spool storage box 4201 through the cooperation of the first vertical track 3102, the second electric push rod 3103, the second vertical track 3104, the miniature electric gripper 3105a, and the electric glue gun 3105b. Then, the boundary lines on the ground and walls can be automatically installed. The entire installation process is completed by mechanical structures, which greatly saves labor costs and improves installation accuracy. At the same time, it can handle both vertical and ground installation, effectively avoiding safety hazards caused by excessive height of manual construction. Furthermore, multiple sets of boundary line installation units 3100 can be installed on the boundary line circular track 3001 at the same time for multi-face synchronous installation, thereby effectively improving construction efficiency.

[0050] Depend on Figure 6As shown, the processing and storage section 4000 includes a tile storage box 4101, a cut tile storage box 4103, a small tile transfer robotic arm 4104a, a tile cutter 4105, a nylon wire spool storage box 4201, a raw material storage box 4301, and a mortar mixing box 4302, all mounted on the upper surface 1001b of the machine body. The specific installation positions are referenced to the small tile transfer robotic arm 4104a, which is installed in the middle of the upper surface 1001b of the machine body: the tile storage box 4101 is installed on the right side of the small tile transfer robotic arm 4104a, and the cut tile storage box 4103 is installed on the small tile transfer robotic arm 4104a. The tile cutter 4105 is installed on the left side of the small tile transfer robotic arm 4104a, the mortar mixing tank 4302 is installed on the rear side of the small tile transfer robotic arm 4104a, the nylon wire spool storage box 4201 is installed on the front side of the tile cutter 4105, and the raw material storage box 4301 is installed on the left side of the mortar mixing tank 4302. The tile storage box 4101 contains several tiles 4102 to be installed. The outer surface of the nylon wire spool storage box 4201 facing the boundary line annular track 3001 is provided with several nylon wire spool mounting seats 4202. The nylon wire spools can be mounted on them and rotated to release the nylon wire. A vertical electric wire cutter 4203 is installed at the nylon wire output end on the front side of the mounting base 4202; an electric valve 4301a is installed at the bottom right side of the raw material storage box 4301, with its output direction facing the inlet of the mortar mixing box 4302. The outlet of the mortar mixing box 4302 is connected to a mortar pump, which can pump the mixed mortar into the mortar spray head 5002a for mortar application; the output end of the small tile transfer robotic arm 4104a is connected to a first electric vacuum suction cup 4104b; the purpose of this structure is that after the detection and scanning process is completed, a material preparation process is required, and the construction personnel will perform the material preparation according to the scanning calculation. The materials need to be placed in the tile storage box 4102, the nylon spools stored in the nylon spool storage box 4201 are installed on the nylon spool mounting base 4202, and the materials required for mortar mixing are placed in the raw material storage box 4301. If it is necessary to cut the tile 4102 due to the ground or wall surface, the small tile transfer robotic arm 4104a can be controlled to pick up the tile 4102 in the tile storage box 4101 through the first electric vacuum suction cup 4104b and put it into the tile cutting machine 4105 for cutting. After cutting is completed, the tile is taken out and put into the cut tile storage box 4103.

[0051] Compared to existing technologies, this invention integrates boundary line storage, tile storage, tile transfer, tile cutting, mortar mixing, and grout mixing all onto the upper surface 1001b of the machine body. This allows for rapid and seamless integration between different processes, ensuring quality while improving laying efficiency. Furthermore, when laying tiles on the same type of floors and walls for multiple households, only the initial manual calculation of required materials and construction planning is needed. Subsequent work can be automatically carried out by simply placing sufficient raw materials into the robot's processing and storage section 4000, significantly improving construction efficiency and saving labor costs.

[0052] Depend on Figure 7As shown, the construction section 5000 consists of a concave track 5001 mounted on the right side of the upper surface 1001b of the machine body. The concave track 5001 precisely includes the tile storage box 4101, facilitating retrieval by the installation mechanism. Three sets of construction robotic arms are mounted on the concave track 5001 via an electric trolley: a mortar spraying robotic arm 5002, a tile installation robotic arm 5003, and a leveling robotic arm 5004. The output end of the mortar spraying robotic arm 5002 is connected to a mortar nozzle 5002a, the output end of the tile installation robotic arm 5003 is connected to a second electric vacuum suction cup 5003a, and the leveling robotic arm 5004... The output end of 04 is connected to an alloy scraper 5004a. The purpose of this structure is to allow for mortar spraying, mortar leveling, tile installation, grouting, and grout leveling processes after the boundary line installation is completed. At this point, the electric valve 4301a is opened to allow the raw material storage tank 4301 to feed material into the mortar mixing tank 4302. After mixing, the mortar mixing tank 4302 outputs mortar to the mortar pump. The mortar pump then delivers the mortar to the mortar nozzle 5002a through a pipeline. The mortar nozzle 5002a performs the mortar spraying process at the designated position on the boundary line using the mortar spraying robot arm 5002. After spraying is completed, the mortar spraying robot arm is moved. 5002 moves to the next location for spraying, while the leveling robotic arm 5004 moves to this location to perform the mortar leveling process. After completion, the leveling robotic arm 5004 moves to the next location to continue the leveling process. At this time, the tile installation robotic arm 5003 moves to this location and uses its second electric vacuum suction cup 5003a to pick up the tile 4102 from the tile storage box 4101 for compaction and installation. If cut tiles are required for installation, the small tile transfer robotic arm 4104a is used to move the cut tiles from the tile storage box 4103 to the tile storage box 4101 for installation by the tile installation robotic arm 5003. Once all tiles in this area are installed... After completion, the electric valve 4301a on the raw material storage box 4301 is opened to supply the grout mixing box 4302 with the grout raw material for mixing. The grout raw material storage box can be set up separately for storage. After the grout is mixed, it is output through the mortar nozzle 5002a and the mortar spraying robot arm 5002 performs the overall grout filling process. After the grout filling is completed, the alloy scraper 5004a of the leveling robot arm 5004 is used to level the overall grout filling. After all the leveling is completed, the measurement and positioning part 2000 scans and verifies to ensure that it meets the requirements. The process ends after that, and the entire automatic brick laying and tiling construction is completed.

[0053] Compared to existing technologies, this invention efficiently integrates the processes of mortar application, leveling, tile installation, grouting, and grout leveling onto three robotic arms via a concave track 5001 on the right side of the upper surface 1001b of the machine body. The three robotic arms can perform cyclical construction through this track, significantly improving construction efficiency. Because this structure is designed on the front of the machine body, it perfectly matches the requirement that the machine body never enters the area where tiles are not installed during tile installation, allowing the machine body to always move and perform construction on the installed tiles, effectively improving the quality of tile installation. The concave track 5001 also includes part of the structure of the processing and storage section 4000, with the small tile transfer robotic arm 4104a acting as an intermediate mediator, effectively allowing various materials and construction machinery to work together, improving efficiency.

[0054] Accordingly, the steps of the automatic brick laying and tiling method of the present invention are as follows:

[0055] S1. Measurement and Positioning: When measurement and positioning are required, and when scanning ground construction environment data, several sets of scanning and positioning units 2100 on the scanning and positioning ring track 2001 scan and detect the ground. First, the entire scanning and positioning unit 2100 is pushed out to the outside of the annular slot 1001a by the first electric push rod 2101. The ground area is scanned and recorded by the laser rangefinders 2103 on both sides and the front of its laser rangefinder mounting base 2102. During the detection process, only one scanning and positioning unit 2100 can be used to move and detect the entire ground on the scanning and positioning ring track 2001, or multiple scanning and positioning units 2100 can be added to detect the ground simultaneously from multiple surfaces, thus speeding up the scanning efficiency; when scanning the wall construction ring... When scanning environmental data, the area of ​​the wall can be scanned and recorded by the laser rangefinders 2103 mounted on the upper and lower and left and right sides of the laser rangefinder mounting base 2102. The laser rangefinder 2103 in front is used to monitor the distance between the robot and the wall. When encountering an angle or when the laser rangefinder 2103 cannot be directly facing the wall, the first electric push rod 2101 can be rotated by the rotary motor on its electric trolley, which in turn drives the laser rangefinder mounting base 2102 to rotate, thereby adjusting the angle of each laser rangefinder 2103 to adapt to the environmental needs. After scanning the ground or wall surface to be constructed, the construction personnel can determine the types and quantities of materials such as tiles, mortar, and grout required for construction, and then load them into the robot in advance for the next step of construction.

[0056] S2. Material Preparation: After the scanning process is completed, the material preparation process is required. The construction personnel put the tiles 4102 into the tile storage box 4101 according to the material requirements calculated by the scan. The nylon wire rolls stored in the nylon wire roll storage box 4201 are installed on the nylon wire roll mounting base 4202. The materials required for mortar mixing are put into the raw material storage box 4301. If the tiles 4102 need to be cut due to the ground or wall, the small tile transfer robotic arm 4104a can be controlled to pick up the tiles 4102 in the tile storage box 4101 through the first electric vacuum suction cup 4104b and put them into the tile cutting machine 4105 for cutting. After the cutting is completed, the cut tiles are taken out and put into the cut tile storage box 4103.

[0057] S3. Boundary Line Installation: When the boundary line installation process is required, move the boundary line installation unit 3100 to the side of the boundary line circular track 3001 near the nylon spool storage box 4201. Normally, the boundary line installation unit 3100 faces outwards from the machine body. At this time, control the rotary motor on the electric trolley at the bottom of the first vertical track mounting base 3101 to rotate the entire boundary line installation unit 3100 until it faces the nylon spool storage box 4201. Then, the electric trolley on the first vertical track 3102 lowers the second electric push rod 3103 to a suitable height, and the second electric push rod 3103 extends, coordinating with the electric trolley on the second vertical track 3104 to move to a suitable height. During this process, if necessary, the rotary motors on the electric trolleys of the first vertical track 3102 and the second vertical track 3104 can be controlled to rotate, causing the micro-electric motor on the nylon spool laying mechanism mounting base 3105 to rotate. The movable gripper 3105a can approach the end of the nylon thread on the nylon thread reel mounting base 4202, and clamp the thread end by means of the miniature electric gripper 3105a, so that the above-mentioned mechanisms can be operated in coordination. This also allows the miniature electric gripper 3105a on the second nylon thread laying mechanism mounting base 3105 to approach the end of the nylon thread on the nylon thread reel mounting base 4202, and clamp the other end of the thread end by means of the miniature electric gripper 3105a. At this time, the two miniature electric grippers 3105a on the entire boundary line installation unit 3100 have clamped nylon thread suitable for installing one boundary line length. Then, the electric wire cutter 4203 cuts the end of the nylon thread. At this time, the boundary line installation unit 3100 is completely disconnected from the processing and storage part 4000, and can move on the boundary line circular track 3001 to the position where the boundary line needs to be installed for boundary line installation. When installing the boundary line on the ground, the entire boundary line installation unit 3100 is as follows: Figure 5As shown, the boundary line installation unit 3100 is moved to the boundary near the ground. The electric trolley on the first vertical rail 3102 lowers the second electric push rod 3103, and the second vertical rail 3104 is pushed out simultaneously by the second electric push rod 3103, so that the lower end of the second vertical rail 3104 is close to the ground. The electric trolley on it lowers a nylon thread laying mechanism mounting base 3105 to the boundary line installation position. First, the electric glue gun 3105b sprays glue onto the wall surface. Then, the rotary motor on the electric trolley rotates the entire mounting base, so that the electric glue gun 3105b and the miniature electric gripper 3105b are in contact. The position of 05a is changed. At this time, the nylon thread end is embedded in the glue for fixation by the mini electric gripper 3105a. After fixation, the entire boundary line installation unit 3100 is moved to the other side of the ground boundary. The other nylon thread laying mechanism mounting base 3105 is lowered in the same way and glue is applied and the thread is buried to complete the laying of a ground boundary line. When laying nylon thread on the wall, the general method is the same as on the ground. However, when horizontal laying is required, the entire second vertical track 3104 can be rotated by the rotary motor on the electric trolley of the first vertical track 3102 to make it horizontally level with the wall, thereby completing the laying of the horizontal boundary line on the wall.

[0058] S4. Laying Construction: After the boundary line installation is completed, mortar spraying, mortar leveling, tile installation, grouting, and grouting and leveling can be carried out. At this time, the electric valve 4301a is opened to allow the raw material storage box 4301 to feed the mortar mixing box 4302. After mixing, the mortar mixing box 4302 outputs mortar to the mortar pump. The mortar pump delivers the mortar to the mortar nozzle 5002a through the pipeline. The mortar nozzle 5002a sprays mortar at the position marked on the boundary line using the mortar spraying robot arm 5002. After spraying, the mortar spraying robot arm 5002 is moved to the next location for spraying. Simultaneously, the leveling robot arm 5004 is moved to this location for mortar leveling. After completion, the leveling robot arm is moved to the next location to continue the leveling process. At this time, the tile installation robot arm 5003 is moved to this location, and the second electric vacuum suction cup 5003a on it picks up the tile 41 from the tile storage box 4101. 02. Compact the tiles during installation. If the tiles need to be cut before installation, use the small tile transfer robot arm 4104a to move the cut tiles from the tile storage box 4103 to the tile storage box 4101 for installation by the tile installation robot arm 5003. After all the tiles in the area are installed, open the electric valve 4301a on the raw material storage box 4301 to supply grout material to the mortar mixing box 4302 for grout mixing. The grout material storage box can be set up separately for storage. After the grout is mixed, it is output through the mortar nozzle 5002a and the mortar spraying robot arm 5002 performs the overall grout filling process. After grout filling, the alloy scraper 5004a of the leveling robot arm 5004 is used to level the grout. After all the leveling is completed, the measurement and positioning part 2000 scans and verifies the results. Once the requirements are met, the process ends, completing the entire automatic tile laying and installation construction.

[0059] The automatic tile laying method of this invention can be directly applied to existing tile laying construction. First, a circular scanning positioning unit scans and measures the ground and walls to be tiled. After obtaining the data, the construction worker determines the required number, size, and material of the tiles. Tiles that need to be cut can be transported directly to a tile cutting machine by a small tile transfer robotic arm. After cutting, the cut tiles are placed in a storage box for later use. Then, the circular scanning positioning unit, in conjunction with a boundary line installation unit and a nylon thread supply unit, positions and installs the boundary line. After the boundary line is installed, the robot returns to the initial position of the first tile and installs it. This process continues for each subsequent tile. During installation, the robot always remains behind the area where tiles have already been installed and will not enter un-installed areas. To ensure the cleanliness of the un-installed areas, the mortar mixing unit is activated before tile installation to continuously supply mortar to the mortar spraying robot arm. The robot arm first applies mortar to the designated locations marked on the boundary line, and then smooths it with a leveling robot arm. Next, the tile installation robot arm picks up the tile and presses it firmly into the area. The electric vacuum suction cup on the tile installation robot arm is then released, and the process repeats for the next tile. After all tiles are installed, the mortar mixing unit produces grout, which is then evenly applied to the tile joints by the mortar spraying robot arm and smoothed by the leveling robot arm. This completes the tile installation. This automated tile laying method highly integrates all the processes of tile laying onto a single robot, making construction more compact and efficient, and effectively avoiding unavoidable errors caused by manual construction.

[0060] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. An automatic brick laying and tiling method, characterized in that, The steps are: S1, measurement positioning: when the measurement positioning process is needed, when scanning the ground construction environment data, the ground is scanned and detected by scanning a plurality of sets of scanning positioning units (2100) on the ring-shaped track (2001), the entire scanning positioning unit (2100) is first pushed out to the outside of the ring-shaped slot (1001a) by the first electric push rod (2101), and the ground area is scanned and recorded by the laser range finder (2103) on both sides and the front of the laser range finder mounting seat (2102); when scanning the wall surface construction environment data, the wall surface area is scanned and recorded by the laser range finder (2103) on the upper and lower and left and right sides of the laser range finder mounting seat (2102), and the front laser range finder (2103) is used to monitor the distance between the robot and the wall surface; when encountering an inclination or a situation where the laser range finder (2103) cannot face the wall surface, the first electric push rod (2101) is rotated by the rotating motor on the electric trolley, thereby driving the laser range finder mounting seat (2102) to rotate, and thereby adjusting the angle of each laser range finder (2103) to adapt to the environmental needs; after the scanning of the ground or wall surface to be constructed is completed, the types and numbers of ceramic tiles, mortar, and jointing agent materials required for construction can be determined by the construction personnel, and then loaded into the robot in advance to prepare for the next construction step; S2, material preparation: after completing the detection scanning process, the material preparation process is needed, the construction personnel puts the ceramic tiles (4102) into the ceramic tile storage box (4101) according to the scanned and calculated material needs, installs the nylon wire roll stored in the nylon wire roll storage box (4201) on the nylon wire roll mounting seat (4202), and puts the materials required for mortar mixing and proportioning into the raw material storage box (4301); if the ceramic tiles (4102) need to be cut due to the ground or wall surface, the small ceramic tile transfer mechanical arm (4104a) is controlled to suck the ceramic tiles (4102) in the ceramic tile storage box (4101) by the first electric vacuum chuck (4104b) and put them into the ceramic tile cutting machine (4105) for cutting, and after cutting is completed, the cut ceramic tiles are taken out and put into the cut ceramic tile storage box (4103). S3, boundary line installation: when the boundary line installation process is needed, the boundary line installation unit (3100) is moved to the side of the boundary line ring track (3001) close to the nylon line roll storage box (4201), the rotating motor on the electric trolley at the bottom of the first vertical track installation seat (3101) is controlled to operate to make the entire boundary line installation unit (3100) turn until the direction is towards the side of the nylon line roll storage box (4201), at this time the second electric push rod (3103) on the electric trolley on the first vertical track (3102) is lowered to an appropriate height, the second electric push rod (3103) is pushed out, and the electric trolley on the second vertical track (3104) is moved to an appropriate height, so that the micro electric clamping jaw (3105a) on the nylon line laying mechanism installation seat (3105) can approach the thread end of the nylon line on the nylon line roll installation seat (4202), the thread end is clamped by the micro electric clamping jaw (3105a), and the above-mentioned mechanisms are cooperatively operated, and the micro electric clamping jaw (3105a) on the second nylon line laying mechanism installation seat (3105) can approach the thread end of the nylon line on the nylon line roll installation seat (4202), the other end of the thread end is clamped by the micro electric clamping jaw (3105a), at this time the two micro electric clamping jaws (3105a) on the entire boundary line installation unit (3100) have clamped the nylon line suitable for installing a length of boundary line, at this time the end of the nylon line is cut off by the electric wire cutter (4203), at this time the boundary line installation unit (3100) is completely disconnected from the processing storage part (4000), and is moved to the position where the boundary line needs to be installed on the boundary line ring track (3001) to install the boundary line; when the ground boundary line is installed, at this time the boundary line installation unit (3100) is moved to the side of the boundary close to the ground, the electric trolley on the first vertical track (3102) is controlled to lower the second electric push rod (3103), the second vertical track (3104) is synchronously pushed out by the second electric push rod (3103), so that the lower end of the second vertical track (3104) approaches the ground, one nylon line laying mechanism installation seat (3105) is lowered close to the boundary line installation position by the electric trolley thereon, the wall surface is first sprayed with glue by the electric glue gun (3105b), and then the position of the electric glue gun (3105b) and the micro electric clamping jaw (3105a) is exchanged by rotating the entire installation seat by the rotating motor on the electric trolley, at this time the thread end of the nylon line is buried in the glue to be fixed by the micro electric clamping jaw (3105a), after being fixed, the entire boundary line installation unit (3100) is moved to the other side of the ground boundary, another nylon line laying mechanism installation seat (3105) is lowered by the same way and is glued and buried, and the ground boundary line laying is completed;When the wall nylon line is laid, the general way is the same as the ground, but when the horizontal laying is needed, the whole second vertical track (3104) is rotated horizontally to the wall by the rotating motor on the electric trolley of the first vertical track (3102), and then the horizontal boundary line of the wall is laid. S4. Laying Construction: After the boundary line installation is completed, mortar spraying, mortar leveling, tile installation, grouting, and grouting and leveling can be carried out. At this time, the electric valve (4301a) is opened first to allow the raw material storage box (4301) to feed the mortar mixing box (4302). After mixing, the mortar mixing box (4302) outputs mortar to the mortar pump. The mortar pump delivers the mortar to the mortar nozzle (5002a) through the pipeline. The mortar nozzle (5002a) passes through the mortar spraying machine. The robotic arm (5002) performs mortar spraying at the designated location on the boundary line. After spraying, the robotic arm (5002) is moved to the next location for spraying, and simultaneously the leveling robotic arm (5004) is moved to this location for mortar leveling. After completion, the leveling robotic arm moves to the next location to continue the leveling process. At this time, the tile installation robotic arm (5003) is moved to this location, and the second electric vacuum suction cup (5003a) on it picks up the tiles (41) from the tile storage box (4101). 02) Compact the installation. If the tiles need to be cut before installation, use a small tile transfer robot (4104a) to move the tiles from the cut tile storage box (4103) to the tile storage box (4101) for installation by the tile installation robot (5003). After all the tiles in the area have been installed, open the electric valve (4301a) on the raw material storage box (4301) to supply the grouting material to the mortar mixing box (4302) for grouting. The storage box for the grout raw materials can be set up separately. After the grout is mixed, it is output through the mortar nozzle (5002a). The mortar spraying robot arm (5002) performs the overall grouting process. After the grouting is completed, the alloy scraper (5004a) of the leveling robot arm (5004) is used to level the grout. After all the leveling is completed, the measurement and positioning part (2000) scans and verifies the results. Once the requirements are met, the process ends, completing the entire automatic brick laying and tiling construction. The automatic brick-laying and tiling method described above uses an automatic brick-laying and tiling robot, including: The main body (1000) serves as the base for the entire robot; The measurement and positioning part (2000) is installed on the main body part (1000). It is mainly composed of a scanning and positioning ring track (2001) installed around the main body part (1000). Several scanning and positioning units (2100) are installed on the scanning and positioning ring track (2001). The scanning and positioning unit (2100) is composed of an electric trolley, a rotary motor, a first electric push rod (2101), and a laser rangefinder mounting base (2102) connected from back to front. The laser rangefinder mounting base (2102) is a cube structure. Except for the side connected to the first electric push rod (2101), the other five sides are equipped with laser rangefinders (2103). The boundary line installation part (3000) is installed on the upper periphery of the main body part (1000). It consists of a boundary line ring track (3001) installed on the upper periphery of the main body part (1000). Several sets of boundary line installation units (3100) are installed on the boundary line ring track (3001) by electric trolley for installing the boundary lines of the ground and walls. The processing and storage section (4000) is installed on the main body section (1000). It includes a tile storage box (4101), a cut tile storage box (4103), a small tile transfer robotic arm (4104a), a tile cutter (4105), a nylon wire spool storage box (4201), a raw material storage box (4301), and a mortar mixing box (4302) installed on the upper surface (1001b) of the main body section (1000). It is used to integrate boundary line storage, tile storage, tile transfer, tile cutting, mortar mixing, and grout mixing on the upper surface (1001b) of the main body, so that the various processes can be quickly connected. The construction section (5000) is installed on the main body section (1000). It consists of a concave track (5001) installed on the right side of the upper surface (1001b) of the main body. The concave track (5001) is equipped with a mortar spraying robot arm (5002), a tile installation robot arm (5003), and a leveling robot arm (5004) via an electric trolley. These are used to perform mortar spraying, mortar leveling, tile installation, grouting, and grouting and leveling processes.

2. The automatic brick laying troweling method according to claim 1, characterized in that, The boundary line installation unit (3100) uses a first vertical track mounting base (3101) mounted on an electric trolley as its chassis. A first vertical track (3102) is mounted on the first vertical track mounting base (3101). A second electric push rod (3103) is mounted on the first vertical track (3102) via the electric trolley. The output end of the second electric push rod (3103) is connected to a second vertical track (3104). Two nylon thread laying mechanism mounting bases (3105) are mounted on the second vertical track (3104) via the electric trolley. An electric glue gun (3105b) and a miniature electric gripper (3105a) are respectively provided on the left and right ends of the nylon thread laying mechanism mounting base (3105).

3. The automatic brick laying troweling method according to claim 2, characterized in that, The tile storage box (4101) is installed on the right side of the small tile transfer robotic arm (4104a), the cut tile storage box (4103) is installed on the front side of the small tile transfer robotic arm (4104a), the tile cutter (4105) is installed on the left side of the small tile transfer robotic arm (4104a), the mortar mixing box (4302) is installed on the rear side of the small tile transfer robotic arm (4104a), and the nylon wire spool storage box (4201) is installed in front of the tile cutter (4105). On the side, the raw material storage box (4301) is installed on the left side of the mortar mixing box (4302); the tile storage box (4101) contains several tiles (4102) to be installed; the outer surface of the nylon wire spool storage box (4201) facing the boundary line ring track (3001) is provided with several nylon wire spool mounting seats (4202), the nylon wire spools are mounted on them and rotated to release the nylon wire, and a vertical electric wire cutter (4203) is provided at the nylon wire output end on the front side of the nylon wire spool mounting seat (4202).

4. The automatic brick laying troweling method according to claim 3, characterized in that, An electric valve (4301a) is provided at the bottom right side of the raw material storage box (4301), with its output direction facing the inlet of the mortar mixing box (4302). The outlet of the mortar mixing box (4302) is connected to a mortar pump, which pumps the mixed mortar into the mortar nozzle (5002a) for mortar application. The output end of the small tile transfer robotic arm (4104a) is connected to a first electric vacuum suction cup (4104b).

5. The automatic brick laying troweling method according to claim 4, characterized in that, The output end of the mortar spraying robot arm (5002) is connected to a mortar nozzle (5002a), the output end of the tile installation robot arm (5003) is connected to a second electric vacuum suction cup (5003a), and the output end of the leveling robot arm (5004) is connected to an alloy scraper (5004a).

Images