A building robot suitable for multi-size tile thin tiling operation

Abstract

A construction robot suitable for thin-laying of multi-size floor tiles is disclosed. This invention relates to a construction robot that addresses the problems of long construction cycles, high labor intensity, and low work efficiency associated with traditional manual tile laying. The invention comprises an electrical control subsystem, a six-degree-of-freedom (6DOF) manipulator, a movement subsystem, an adhesive supply subsystem, and a tile laying subsystem. The adhesive supply and tile laying subsystems are both connected to the movement subsystem. The 6DOF manipulator is mounted on the movement subsystem, and its actuator is connected to the tile laying subsystem. The electrical control subsystem connects and coordinates the sub-control units of the movement, adhesive supply, and tile laying subsystems, forming a unified organic whole to complete the thin-laying operation. It can intelligently arrange and thin-lay tiles of different sizes, and can adjust its posture according to the elevation variations of the original ground surface to ensure horizontal accuracy with the working elevation. This invention belongs to the field of construction technology.

Description

Technical Field

[0001] This invention relates to a construction robot, specifically a construction robot suitable for thin-laying operations of multi-size floor tiles, and belongs to the field of construction technology. Background Technology

[0002] With the continuous advancement of artificial intelligence, sensor technology, and BIM technology, construction robot technology for on-site construction is gradually emerging. Construction robots refer to robotic systems applied in the construction industry, capable of automatically performing repetitive, high-intensity construction tasks according to pre-programmed computer instructions or operator commands. They can be categorized into three main types based on their specific responsibilities: main structure, decoration, and other new construction methods. In the decoration construction field, the demand for floor tile laying is high, and the quality requirements are stringent. Traditional manual floor tile laying suffers from long construction cycles, high labor intensity, and low work efficiency. If construction robots capable of floor tile laying can replace manual labor, not only can labor be reduced, but the quality and efficiency of floor tile laying can also be guaranteed through automated construction, demonstrating significant application value. Summary of the Invention

[0003] In order to solve the problems of long construction cycle, high labor intensity and low work efficiency of traditional manual tiling, this invention proposes a construction robot suitable for thin-laying of multi-size tiles.

[0004] The technical solution adopted by the present invention to solve the above problems is as follows:

[0005] This invention includes an electrical control subsystem, a six-degree-of-freedom robot, a movement subsystem, an adhesive supply subsystem, and a tile laying subsystem. The adhesive supply subsystem and the tile laying subsystem are both connected to the movement subsystem. The six-degree-of-freedom robot is mounted on the movement subsystem, and its actuator is connected to the tile laying subsystem. The electrical control subsystem is used to connect and coordinate the sub-control units of the movement subsystem, the adhesive supply subsystem, and the tile laying subsystem, so that the movement subsystem, the adhesive supply subsystem, and the tile laying subsystem form a unified organic whole, thereby completing the thin-laying operation of floor tiles.

[0006] The beneficial effects of this invention are:

[0007] 1. This invention relates to a construction robot for decoration that is suitable for thin-laying process of multi-size floor tiles. It can perform intelligent floor layout and thin-laying operation for floor tiles of different sizes. It can adjust its posture according to the undulation of the original construction ground to ensure the horizontal accuracy with the working elevation.

[0008] 2. This invention can collect the height values ​​of ground feature points and supply an appropriate amount of tile adhesive accordingly;

[0009] 3. The present invention can also perform horizontal alignment and vertical leveling of the upper surface of the laid floor tiles, thereby ensuring that the overall flatness of the upper surface of the laid floor tiles and the hollow rate of the laid tiles meet the process requirements.

[0010] 4. By using this invention to replace manual labor, not only can the labor force be reduced, but the quality of floor tile laying can also be guaranteed through automated construction, thereby improving work efficiency. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0012] Figure 2 This is a schematic diagram of the mobile subsystem.

[0013] Figure 3 This is a structural schematic diagram of the wheel mechanism of the moving subsystem (view A);

[0014] Figure 4 This is a structural schematic diagram of the wheel mechanism of the moving subsystem (view B);

[0015] Figure 5 This is a schematic diagram of the overall structure of the glue supply subsystem;

[0016] Figure 6 This is a partial structural diagram of the glue supply system;

[0017] Figure 7 This is a structural diagram of the brick-laying subsystem;

[0018] Figure 8 This is a structural schematic diagram A of the tile clamping assembly of the paving subsystem;

[0019] Figure 9 This is a structural schematic diagram B of the tile clamping assembly of the paving subsystem (without load-bearing cover plate);

[0020] Figure 10 This is a structural diagram of the tile placement and removal component of the paving subsystem (view A);

[0021] Figure 11 This is a structural diagram of the tile placement and removal component of the paving subsystem (view B);

[0022] Figure 12 This is a schematic diagram illustrating a scenario where the suspension mechanism of the mobile subsystem can counteract elevation and level deviations caused by ground undulations.

[0023] Figure 13 This is a schematic diagram of a multi-size tile thin-laying robot laying floor tiles.

[0024] Among them: 1-Mobile subsystem; 2-Adhesive supply subsystem; 3-Brick laying subsystem;

[0025] 1.1-Elevation reference generator; 1.2-Glue supply hopper guide rail; 1.3-Elevation reference receiver; 1.4-Load-bearing platform; 1.5-Suspension link base B; 1.6-Body body; 1.7-Upper suspension link B; 1.8-Suspension link base A; 1.9-Upper suspension link A; 1.10-Long suspension link A; 1.11-Probe frame; 1.12-LiDAR SLAM radar; 1.13- RGBD vision camera; 1.14-lower control arm; 1.15-shock absorber; 1.16-upper control arm; 1.17-lower suspension link A; 1.18-lower suspension link B; 1.19-wheel axle bracket; 1.20-long suspension link B; 1.21-wheel hub motor wheel; 1.22-lower suspension link C; 1.23-upper suspension link C; 1.24-long suspension link C; 1.25-frame structure;

[0026] 2.1 Line laser generator; 2.2 Line laser generator mounting plate; 2.3 RGB camera; 2.4 Glue supply hopper lead screw; 2.5 Glue supply hopper lead screw nut; 2.6 Glue supply hopper slider assembly; 2.7 Servo geared motor; 2.8 Glue supply hopper; 2.9 Screw feeder; 2.10 Servo glue supply motor; 2.11 Glue supply channel; 2.12 Lower lead screw support; 2.13 Lead screw nut support; 2.14 Upper lead screw support;

[0027] 3.1-Floor tile clamping assembly; 3.2-Floor tile picking and placing assembly; 3.3-Six-DOF robot arm; 3.1.1-Clamping base; 3.1.2-Bearing cover plate; 3.1.3-Crank turntable; 3.1.4-Gripper slide; 3.1.5-Support column; 3.1.6-Slider gripper; 3.1.7-Turntable motor; 3.1.8-Turntable motor bracket; 3.1.9-Belt drive; 3.1.10-Turntable connecting rod; 3.2.1-Camera support arm; 3.2.2-Camera servo motor; 3.2.3-White light camera bracket; 3.2.4-White light camera; 3.2.5-Line laser sensor; 3.2.6-Transmission... 3.2.7 - Sensor servo motor A; 3.2.8 - Sensor bracket A; 3.2.9 - Sensor support arm A; 3.2.10 - Vacuum suction cup; 3.2.11 - Suction cup support arm; 3.2.12 - Electromagnetic telescopic rod; 3.2.13 - Pick-and-place structure; 3.2.14 - Rotation center shaft; 3.2.15 - Sensor support arm B; 3.2.16 - Sensor bracket B; 3.2.17 - Sensor servo motor B; 3.2.18 - Gear and rack drive B; 3.2.19 - Sensor bracket C; 3.2.20 - Contact sensor; 3.2.21 - Gear and rack drive C. Detailed Implementation

[0028] Specific implementation method one: Combining Figure 1This embodiment describes an implementation that includes an electrical control subsystem, a six-degree-of-freedom (DOF) robotic arm 3.3, a movement subsystem 1, an adhesive supply subsystem 2, and a tile laying subsystem 3. Both the adhesive supply subsystem 2 and the tile laying subsystem 3 are connected to the movement subsystem 1. The six-DOF robotic arm 3.3 is mounted on the movement subsystem 1, and its actuator is connected to the tile laying subsystem 3. The electrical control subsystem connects and coordinates the subsystems of the movement subsystem 1, adhesive supply subsystem 2, and tile laying subsystem 3, forming a unified organic whole to complete the thin-laying operation of the floor tiles.

[0029] (1) The mobile subsystem 1 is the chassis system of the multi-size tile thin-laying robot. It is responsible for installing and carrying the other three subsystems and driving on the ground according to the preset program of the electronic control subsystem or its own sub-control machine and the upper computer instructions sent by the operator in real time. It has the functions of sensing the surrounding environment, building maps and positioning. Its suspension mechanism can adjust its own posture according to the undulation of the ground to ensure the horizontal accuracy of its carrying platform relative to the working elevation.

[0030] (2) The adhesive supply subsystem 2 is responsible for holding the adhesive needed for laying the floor tiles and laying the adhesive on the ground through the adhesive supply mechanism according to the preset program of its own sub-controller. Its ground detection component can collect the height value of the ground feature point. After the parameter conversion of its own sub-controller, it can provide the adhesive supply channel with an adhesive supply compensation amount that is adapted to the height value of the ground feature point.

[0031] (3) The paving subsystem 3 is responsible for placing the floor tiles to be paved and controlling the six-degree-of-freedom robot 3.3 and the floor tile picking and placing component to transport and lay the floor tiles through its own sub-controller. Its floor tile clamping component can adaptively fix floor tiles of different sizes. The white light camera, line laser sensor and contact sensor installed on the floor tile picking and placing component are used to align the upper surface of the paved floor tiles in the horizontal direction and level them in the vertical direction.

[0032] (4) The electrical control subsystem is responsible for connecting and coordinating the sub-control machines of the mobile subsystem 1, the adhesive supply subsystem 2, and the tile laying subsystem 3, so that the latter three form a unified organic whole, thereby completing various forms of multi-size tile thin-laying operations.

[0033] Specific Implementation Method Two: Combining Figure 2This embodiment describes a mobile subsystem 1 comprising a vehicle body 1.6, a support platform 1.4, two front suspension mechanisms, two rear suspension mechanisms, wheel mechanisms, a rubber supply hopper guide rail 1.2, a positioning and navigation component, and an elevation reference component. The support platform 1.4 is mounted on the upper part of the vehicle body 1.6, and the paving subsystem 3 is mounted on the upper surface of the support platform 1.4. The two front suspension mechanisms are symmetrically mounted on the left and right sides of the front end of the vehicle body 1.6, and each front suspension mechanism is connected to two wheel mechanisms. The two rear suspension mechanisms... The mechanisms are symmetrically installed on the left and right sides of the rear end of the vehicle body 1.6, and each rear suspension mechanism is connected to a wheel mechanism; the positioning and navigation component is installed at the front end of the vehicle body 1.6 in the front direction, and the elevation reference component is located at the rear end of the vehicle body 1.6. It is used to provide the sub-control machine of the mobile subsystem 1 with the height information of the carrying platform 1.4 above the ground reference plane when the multi-size tile thin-laying robot is performing tile thin-laying operation. Two glue supply bin guide rails 1.2 are respectively installed on the side wall of the rear end of the vehicle body 1.6 and connected to the glue supply subsystem 2.

[0034] (1) The shell cross-section of the main body 1.6 has a T-shaped symmetrical structure. It is the main structure and assembly reference of the moving subsystem 1. The bases of various mechanisms or components composed of other parts are fixedly connected to the main body 1.6, thereby forming a complete kinematic chain to achieve the corresponding functions.

[0035] (2) The bearing platform 1.4 is a rectangular flat plate structure, which is fixedly installed on the top of the body body 1.6 by positioning pins and bolts, and is used to support and install the paving subsystem 3.

[0036] (3) The glue supply hopper guide rails 1.2 are used in pairs and are fixedly installed on the corresponding holes at the rear end of the vehicle body 1.6 by bolts. They are used to install the glue supply mechanism of the glue supply subsystem 2 and form a sliding pair with it.

[0037] The other components and connections in this embodiment are the same as in Specific Embodiment 1.

[0038] Specific implementation method three: Combining Figure 2This embodiment describes a front suspension mechanism comprising a suspension link base A1.8, an upper suspension link A1.9, a lower suspension link A1.17, a long suspension link A1.10, an upper suspension link B1.7, a lower suspension link B1.18, and a long suspension link B1.20. The suspension link base A1.8 is mounted on the side wall of the front end of the vehicle body 1.6. One end of the upper suspension link A1.9 is connected to a corresponding hole on the upper part of the suspension link base A1.8 via a pin, forming a rotating pair. The other end of the upper suspension link A1.9 is rotatably connected to the upper end of the long suspension link A1.10 via a pin. One end of the lower suspension link A1.17 is connected to a pin via a... The lower suspension link A1.17 is connected to the corresponding hole at the lower part of the suspension link base A1.8 to form a rotating joint. The other end of the lower suspension link A1.17 is rotatably connected to the middle part of the long suspension link A1.10 via a pin. One end of the upper suspension link B1.7 is connected to the corresponding hole at the upper part of the suspension link base A1.8 via a pin to form a rotating joint. The other end of the upper suspension link B1.7 is rotatably connected to the upper end of the long suspension link B1.20 via a pin. One end of the lower suspension link B1.18 is connected to the corresponding hole at the lower part of the suspension link base A1.8 via a pin to form a rotating joint. The other end of the lower suspension link B1.18 is rotatably connected to the middle part of the long suspension link B1.20 via a pin.

[0039] There are two sets of front suspension mechanisms, symmetrically arranged on the left and right sides of the 1.6-liter front end of the vehicle body. Specifically, they are:

[0040] ① The suspension link base A1.8 has an H-shaped symmetrical structure and is the base of the front suspension mechanism of the moving subsystem 1. It provides an installation reference for other components and can be fixed to the corresponding holes on the left and right sides of the body body 1.6 by bolts using the four holes in the middle of its H-shaped symmetrical structure.

[0041] ② One end of the upper suspension link A1.9 and the upper suspension link B1.7 are respectively connected to the corresponding holes on the upper part of the H-shaped symmetrical structure of the suspension link base A1.8 through pins to form a rotating pair. The other end of the upper suspension link A1.9 and the upper suspension link B1.7 are respectively connected to the holes on the top of the long suspension link A1.10 and the long suspension link B1.20 through pins to form a rotating pair.

[0042] ③ One end of the lower suspension link A1.17 and the lower suspension link B1.18 are respectively connected to the corresponding holes in the lower part of the H-shaped symmetrical structure of the suspension link base A1.8 through pins to form a rotating pair. The other end of the lower suspension link A1.17 and the lower suspension link B1.18 are respectively connected to the holes in the middle of the long suspension link A1.10 and the long suspension link B1.20 through pins to form a rotating pair.

[0043] The other components and connections in this embodiment are the same as in specific embodiment one or two.

[0044] Specific implementation method four: Combination Figure 2 This embodiment describes a rear suspension mechanism comprising a suspension link base B1.5, an upper suspension link C1.23, a lower suspension link C1.22, and a long suspension link C1.24. The suspension link base B1.5 is mounted on the side wall of the rear end of the vehicle body 1.6. One end of the upper suspension link C1.23 is connected to a corresponding hole on the upper part of the suspension link base B1.5 via a pin, forming a rotating pair. The other end of the upper suspension link C1.23 is connected to the long suspension link via a pin. The upper end of C1.24 is rotatably connected; one end of the lower suspension link C1.22 is connected to the corresponding hole at the lower part of the suspension link base B1.5 via a pin to form a rotating pair, and the other end of the lower suspension link C1.22 is rotatably connected to the middle part of the long suspension link C1.24 via a pin; the lower ends of the long suspension links A1.10, B1.20, and C1.24 are all provided with frame structures 1.25, and each frame structure 1.25 is connected to a wheel mechanism. The frame structure 1.25 is used to install components such as the upper control arm 1.16, lower control arm 1.14, and shock absorber 1.15, and is responsible for connecting the suspension mechanism and wheel mechanism of the moving subsystem 1.

[0045] There are two sets of rear suspension mechanisms, symmetrically arranged on the left and right sides of the rear end of the 1.6L vehicle body. Specifically, they are:

[0046] ① The suspension link base B1.5 has an I-shaped symmetrical structure and is the base of the rear suspension mechanism of the moving subsystem 1. It provides an installation reference for other components and can be fixed to the corresponding holes on the left and right sides of the body body 1.6 by bolts using the four holes in the middle of its I-shaped symmetrical structure.

[0047] ② One end of the upper suspension link C1.23 is connected to the corresponding hole on the upper part of the I-shaped symmetrical structure of the suspension link base B1.5 via a pin to form a rotating pair. The other end of the upper suspension link C1.23 is connected to the hole on the top of the long suspension link C1.24 via a pin to form a rotating pair.

[0048] ③ One end of the lower suspension link C1.22 is connected to the corresponding hole in the lower part of the I-shaped symmetrical structure of the suspension link base B1.5 via a pin to form a rotating pair. The other end of the lower suspension link C1.22 is connected to the hole in the middle of the long suspension link C1.24 via a pin to form a rotating pair.

[0049] The other components and connections in this embodiment are the same as those in specific embodiments one, two, or three.

[0050] Specific Implementation Method Five: Combining Figures 3 to 4This embodiment describes a wheel mechanism comprising a hub motor wheel 1.21, an axle bracket 1.19, an upper support arm 1.16, a lower support arm 1.14, and a shock absorber 1.15. Both the upper support arm 1.16 and the lower support arm 1.14 are U-shaped structures. The two ends of the upper support arm 1.16 are rotatably connected to the inner walls of the upper part of the frame structure 1.25 via pins, and the two ends of the lower support arm 1.14 are connected to the outer walls of the lower part of the frame structure 1.25 via pins. The upper end of the wheel axle bracket 1.19 is rotatably connected to the middle of the upper support arm 1.16 via a pin, and the lower end of the wheel axle bracket 1.19 is rotatably connected to the middle of the lower support arm 1.14 via a pin. The middle of the wheel axle bracket 1.19 is fixedly connected to the central shaft of the hub motor wheel 1.21. The upper end of the shock absorber 1.15 is rotatably connected to the inner wall of the upper plate of the frame structure 1.25 via a pin, and the other end is rotatably connected to the corresponding hole in the middle of the lower support arm 1.14 via a pin.

[0051] The wheel mechanism is the drive mechanism that enables the mobile subsystem 1 to move and maintain its position on the ground. It is controlled by the sub-controller of the mobile subsystem 1, and specifically includes:

[0052] ① The upper control arm 1.16 and the lower control arm 1.14 are used in pairs. Both are U-shaped and have mounting holes at both ends and in the middle. The upper control arm 1.16 connects to the upper two sides of the frame structure 1.25 at the bottom of the corresponding suspension long link A1.10, suspension long link B1.20, or suspension long link C1.24 via pins, forming a rotating pair. The lower control arm 1.14 connects to the lower two sides of the frame structure 1.25 at the bottom of the corresponding suspension long link A1.10, suspension long link B1.20, or suspension long link C1.24 via pins, forming a rotating pair.

[0053] ② The wheel axle bracket 1.19 has a T-shaped structure. It can be connected to the hole in the middle of the upper support arm 1.16 through the pin to form a rotating pair. It can also be connected to the corresponding hole in the middle of the lower support arm 1.14 through the pin to form a rotating pair. It can also be fixedly connected to the central shaft of the wheel hub motor wheel 1.21 through the hole in the middle.

[0054] ③ The hub motor wheel 1.21 is responsible for providing power and torque to the wheel mechanism of the mobile subsystem 1. Its tire surface is in direct contact with the ground and provides support and grip for the entire multi-size tile thin-laying robot. It can rotate around its own central axis under the control of the electronic control subsystem of the multi-size tile thin-laying robot or the sub-controller of the mobile subsystem 1.

[0055] ④ The shock absorber 1.15 is responsible for providing force sealing for the wheel mechanism of the moving subsystem 1. One end of it is connected to the middle hole at the upper end of the frame structure 1.25 at the bottom of the corresponding suspension long link A1.10, suspension long link B1.20, or suspension long link C1.24 via a pin to form a rotating pair. The other end is connected to the corresponding hole in the middle of the lower control arm 1.14 via a pin to form a rotating pair.

[0056] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, or five.

[0057] Specific Implementation Method Six: Combination Figure 2 This embodiment describes a positioning and navigation component comprising a probe frame 1.11, a laser SLAM radar 1.12, an RGBD vision camera 1.13, and an inertial measurement unit (IMU). The probe frame 1.11 is located at the front end of the vehicle body 1.6 in the direction of the vehicle's front end and is fixedly connected to the vehicle body 1.6 by bolts. The laser SLAM radar 1.12 is fixedly installed on the upper surface of the probe frame 1.11. The RGBD vision camera 1.13 is fixedly installed on the lower surface of the probe frame 1.11. The inertial measurement unit (IMU) is horizontally fixedly installed in corresponding holes inside the vehicle body 1.6 by bolts. The elevation reference component comprises an elevation reference generator 1.1 and two elevation reference receivers 1.3, which are respectively fixedly installed in corresponding holes on the left and right sides of the rear end of the vehicle body 1.6 by bolts. The elevation reference generator 1.1 is placed on a reference plane on the ground.

[0058] The positioning and navigation component is responsible for sensing the pose information of the vehicle body 1.6 and the surrounding environment information of the mobile subsystem 1, and sending it to the sub-controller of the mobile subsystem 1. It constructs a map of the environment and determines its own relative position. Specifically, this includes:

[0059] ①The probe frame 1.11 is the mounting structure for the positioning and navigation components of the mobile subsystem 1. It is responsible for mounting the laser SLAM radar 1.12 and the RGBD vision camera 1.13. It is located at the front of the front end of the vehicle body 1.6 and is fixedly connected to the corresponding holes of the vehicle body 1.6 by bolts.

[0060] ② The laser SLAM radar 1.12 is fixedly mounted on the upper surface of the probe frame 1.11 by bolts. It is responsible for detecting the distance and relative position between the mobile subsystem 1 and the walls and other objects in the environment by laser scanning.

[0061] ③The RGBD vision camera 1.13 is fixedly mounted on the lower surface of the probe frame 1.11 by bolts, and can obtain real-time depth maps of the mobile subsystem 1 and the surrounding environment based on the time-of-flight method.

[0062] ④ The inertial measurement unit (IMU) is horizontally fixed in the corresponding hole inside the body body 1.6 by bolts. It is responsible for sensing and measuring the six degrees of freedom parameter values ​​of the body body 1.6 in three-dimensional space.

[0063] The elevation reference component is responsible for providing the mobile subsystem 1 control unit with the height information of the carrying platform 1.4 above the ground reference plane when the multi-size tile thin-laying robot is performing tile thin-laying operations. Specifically, this includes:

[0064] ① The elevation reference receiver 1.3 is used in pairs and is fixedly installed on the corresponding holes on the left and right sides of the rear end of the vehicle body 1.6 by bolts. It is responsible for receiving the elevation laser information emitted by the elevation reference generator 1.1 and judging the height difference between the receiver and the elevation laser control plane.

[0065] ② The elevation reference generator 1.1 is placed on the reference plane on the ground. It can match the elevation reference receiver 1.3 with a suitable height value for receiving elevation laser signals by adjusting the height of the elevation laser control plane it emits. Then it continuously emits elevation laser to form an elevation laser control plane.

[0066] Specific implementation method seven: Combination Figures 2 to 4 This embodiment describes a mobile subsystem 1 control unit, which serves as the control center for all mechanisms and components of the mobile subsystem 1. Its main functions are as follows:

[0067] ① It is responsible for receiving the height value information of the bearing platform 1.4 sent by the elevation reference receiver 1.3 in the elevation reference component and the six degrees of freedom parameter information of the vehicle body 1.6 in three-dimensional space sent by the inertial measurement unit (IMU) in the positioning and navigation component, so as to control the steering and speed of the hub motor wheel 1.21 in the wheel mechanism, so that the suspension mechanism can adjust its own attitude and ensure the horizontal accuracy of the bearing platform 1.4 relative to the elevation laser control plane emitted by the elevation reference generator 1.1.

[0068] ② It is responsible for planning the driving path of the mobile subsystem 1 based on its own preset program and the map and location information constructed by the laser SLAM radar 1.12 and RGBD vision camera 1.13 in the positioning and navigation component, and controlling the steering and speed of the hub motor wheel 1.21 in the wheel mechanism to drive according to the driving path.

[0069] ③ It is responsible for receiving the host computer instructions sent in real time from the operator, and selecting whether to receive the parameter information sent from the elevation reference receiver 1.3 in the elevation reference component and the inertial measurement unit IMU, laser SLAM radar 1.12 and RGBD vision camera 1.13 in the positioning and navigation component according to the instructions. Then it controls the steering and speed of the hub motor wheel 1.21 in the wheel mechanism.

[0070] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, five, or six.

[0071] Specific implementation method eight: Combination Figures 5 to 6 This embodiment describes the glue supply subsystem 2, which includes a ground detection component and a glue supply mechanism. The ground detection component includes a line laser generator 2.1, a line laser generator mounting plate 2.2, and an RGB camera 2.3. The line laser generator mounting plate 2.2 is fixedly installed on the bottom of the vehicle body 1.6. The line laser generators 2.1 are fixedly installed on the line laser generator mounting plate 2.2 in a cross-shaped arrangement. The RGB camera 2.3 is fixedly installed on the bottom of the rear end of the vehicle body 1.6 using its own bracket. The glue supply mechanism includes a glue supply hopper screw 2.4 and a glue supply hopper screw nut 2. 5. Adhesive supply hopper slider assembly 2.6, servo geared motor 2.7, adhesive supply hopper 2.8, screw feeder 2.9, servo adhesive supply motor 2.10, adhesive supply channel 2.11, lower support for lead screw 2.12, lead screw nut support 2.13, and upper support for lead screw 2.14. The adhesive supply hopper 2.8 has a wedge-shaped shell structure. One side of the adhesive supply hopper 2.8 is equipped with an adhesive supply hopper slider assembly 2.6 that slides in conjunction with the adhesive supply hopper guide rail 1.2. The upper support for lead screw 2.14 and the lower support for lead screw 2.12 are fixedly installed on the adhesive supply hopper 2.8 and located between the two adhesive supply hopper slider assemblies 2.6. The adhesive supply hopper lead screw 2. The two ends of 4 are rotatably connected to the upper support 2.14 and the lower support 2.12 of the lead screw via bearings, respectively. The servo geared motor 2.7 is mounted on the upper support 2.14 of the lead screw. The output shaft of the servo geared motor 2.7 is fixedly connected to the input shaft of the glue supply hopper lead screw 2.4. The glue supply hopper lead screw nut 2.5 is fitted onto the glue supply hopper lead screw 2.4 and forms a helical transmission pair with it. The outer side wall of the glue supply hopper lead screw nut 2.5 is fixedly installed in the corresponding hole of the lead screw nut support 2.13 by bolts. The lead screw nut support 2.13 is fixedly installed in the corresponding hole at the rear end of the vehicle body 1.6; glue supply hopper 2.8 The outer wall facing the front of the vehicle is a vertically flat plane; the outer wall facing the rear of the vehicle is a sloping surface that is wider at the top and narrower at the bottom, with a rectangular opening at the bottom. The multiple glue supply channels 2.11 are arranged in a straight line and installed at their rectangular openings. Each glue supply channel 2.11 is equipped with a servo glue supply motor 2.10 at its upper part. Its output shaft is fixedly installed coaxially with the input shaft of a screw feeder 2.9 through a coupling. Each screw feeder 2.9 is located in a glue supply channel 2.11, and the input shaft of each screw feeder 2.9 is rotatably connected to the corresponding hole at the upper end of its corresponding glue supply channel 2.11 through a bearing.

[0072] The rubber supply subsystem 2 is symmetrically arranged from the front to the rear of the vehicle. The structural features and functions of each component are as follows:

[0073] (1) The line laser generator mounting plate 2.2, the line laser generator 2.1, and the RGB camera 2.3 constitute the ground detection component of the glue supply subsystem 2. It is responsible for projecting and acquiring the grid-like line laser image information of ground feature points and sending it to the sub-control unit of the glue supply subsystem 2. The latter calculates the relative height values ​​of the ground feature points. Specifically:

[0074] ① The line laser generator mounting plate 2.2 is a square flat plate structure, which is fixedly installed at the corresponding square opening at the bottom of the body body 1.6 by bolts. There are holes arranged in a cross shape along the two symmetrical axes of the line laser generator mounting plate 2.2 for fixing and installing the line laser generator 2.1.

[0075] ② The line laser generator 2.1 is fixedly installed on the corresponding hole of the line laser generator mounting plate 2.2 in a cross-shaped arrangement by threaded buckles, and can project a square grid of line lasers onto the ground.

[0076] ③The RGB camera 2.3 is fixedly mounted on the corresponding hole at the bottom of the body 1.6 using its own bracket and bolts. It is responsible for collecting the grid-like line laser projected onto the ground by the line laser generator 2.1 and transmitting the corresponding image information to the sub-control unit of the glue supply subsystem 2.

[0077] (2) The adhesive supply hopper 2.8, adhesive supply hopper slider assembly 2.6, servo geared motor 2.7, upper support for lead screw 2.14, adhesive supply hopper lead screw 2.4, adhesive supply hopper lead screw nut 2.5, lead screw nut support 2.13, lower support for lead screw 2.12, servo adhesive supply motor 2.10, adhesive supply channel 2.11, and screw feeder 2.9 constitute the adhesive supply mechanism of adhesive supply subsystem 2. It is responsible for holding the tile adhesive required for laying floor tiles and laying the tile adhesive on the ground according to the control instructions of the sub-control unit of adhesive supply subsystem 2. Specifically, it includes:

[0078] ① The glue supply hopper 2.8 is a wedge-shaped shell structure with a symmetrical layout from the front to the rear of the vehicle. Its outer wall facing the front of the vehicle is a vertical plane, and its outer wall facing the rear of the vehicle is a sloping surface that is wider at the top and narrower at the bottom. It has a rectangular opening on the lower side. It is the main structure of the glue supply mechanism of the glue supply subsystem 2, and is responsible for installing other parts of the glue supply mechanism and holding the glue for the floor tiles to be laid.

[0079] ② The glue supply hopper slider assembly 2.6 is used in pairs and is fixedly installed on the corresponding holes on the upper and lower vertical planes of the glue supply hopper 2.8 by bolts. It can be used in conjunction with the glue supply hopper guide rail 1.2 of the moving subsystem 1 to form a sliding pair.

[0080] ③ The upper support 2.14 and the lower support 2.12 of the lead screw are used in pairs. They are fixedly installed on the corresponding holes on the upper and lower vertical planes of the glue supply bin 2.8 by bolts. They are located in the middle of the glue supply bin slider assembly 2.6 and are used to install the glue supply bin lead screw 2.4 and the servo reduction motor 2.7.

[0081] ④ One end of the input shaft of the rubber hopper screw 2.4 is fitted with the center hole of the upper support 2.14 of the screw through a bearing to form a rotating pair, and the other end is fitted with the center hole of the lower support 2.12 of the screw through a bearing to form a rotating pair.

[0082] ⑤ The servo geared motor 2.7 is fixedly installed on the corresponding hole of the support 2.14 on the screw by bolts. Its power output shaft is matched with the input shaft of the glue supply hopper screw 2.4 and fixed by key connection. Under the control of the glue supply subsystem 2 sub-control machine, it can drive the glue supply hopper screw 2.4 to rotate around its axis.

[0083] ⑥ The lead screw nut 2.5 of the glue supply hopper is installed on the lead screw 2.4 of the glue supply hopper through a spiral connection to form a spiral transmission pair with it, and is also fixed in the corresponding hole of the lead screw nut support 2.13 by bolts.

[0084] ⑦ The lead screw nut support 2.13 is fixedly connected to the lead screw nut 2.5 of the glue supply bin through the corresponding hole inside itself, and is also fixedly connected to the corresponding hole at the rear end of the vehicle body 1.6 by bolts.

[0085] ⑧ The glue supply channel 2.11 has a semi-cylindrical shell structure and is fixedly installed by bolts on the corresponding holes near the rectangular opening of the glue supply hopper 2.8, which is wider at the top and narrower at the bottom. It is arranged in a straight line and is responsible for installing the servo glue supply motor 2.10 and the screw feeder 2.9. Driven by the servo glue supply motor 2.10 and the screw feeder 2.9, it can transport the tile glue from the glue supply hopper 2.8 to the ground.

[0086] ⑨ The screw feeder 2.9 is installed coaxially with the glue supply channel 2.11. Its input shaft end is fitted with the corresponding hole at the upper end of the glue supply channel 2.11 through a bearing assembly to form a rotating pair.

[0087] ⑩ The servo glue supply motor 2.10 is fixedly installed on the corresponding hole on the upper part of the glue supply channel 2.11 by bolts. Its output shaft is fixedly installed coaxially with the input shaft of the screw feeder 2.9 through a coupling, and can drive the screw feeder 2.9 to rotate around its axis under the control of the glue supply subsystem 2 sub-controller.

[0088] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, five, six, or seven.

[0089] Specific Implementation Method Nine: Combining Figures 5 to 6 This embodiment describes the glue supply subsystem 2 control unit as the control center for all mechanisms and components of the glue supply subsystem 2. Its main functions are as follows:

[0090] ① It is responsible for receiving the grid-like line laser image sent by the RGB camera 2.3 in the ground detection component, converting it into the relative height value of the corresponding ground feature point, and then converting it into the speed control signal of the servo glue supply motor 2.10 to ensure that the amount of glue on the floor tile laid by the glue supply channel 2.11 matches the relative height value of the ground feature point.

[0091] ② It is responsible for communicating with the sub-control unit of the mobile subsystem 1 under the connection and overall coordination of the electronic control subsystem of the multi-size tile thin-laying robot, obtaining the height value information of the bearing platform 1.4, converting it into the speed control signal of the servo geared motor 2.7, and ensuring that the glue outlet of the glue supply channel 2.11 in the glue supply mechanism maintains a reasonable distance from the ground.

[0092] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, five, six, seven, or eight.

[0093] Specific Implementation Method Ten: Combining Figure 7 This embodiment describes a brick-laying subsystem 3, which includes a brick clamping assembly 3.1, a brick picking and placing assembly 3.2, and a six-degree-of-freedom robot arm 3.3. The brick clamping assembly 3.1 is connected to the support platform 1.4, and the six-degree-of-freedom robot arm 3.3 is mounted on the support platform 1.4 near the rear of the vehicle and connected to the brick picking and placing assembly 3.2.

[0094] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, five, six, or seven.

[0095] Detailed Implementation Method Eleven: Combining Figures 8 to 9This embodiment describes a tile clamp assembly 3.1, which includes a clamp base 3.1.1, a turntable motor bracket 3.1.8, a turntable motor 3.1.7, a belt drive 3.1.9, a crank turntable 3.1.3, a turntable connecting rod 3.1.10, a slider gripper 3.1.6, a gripper slide rail 3.1.4, a support column 3.1.5, and a bearing cover plate 3.1.2. The clamp base 3.1.1 is a rectangular flat plate structure, fixedly connected to the bearing platform 1.4. The lower end of the crank turntable 3.1.3 has a rotating shaft that is rotatably connected to the center hole of the clamp base 3.1.1 via a bearing. The outer end face of the crank turntable 3.1.3 has four cranks arranged symmetrically in a cross shape. One end of each turntable connecting rod 3.1.10 rotates with the end of its corresponding crank. The connection is as follows: the other end of each turntable connecting rod 3.1.10 is rotatably connected to the convex shaft of a slider gripper 3.1.6; each slider gripper 3.1.6 is slidably connected to its corresponding gripper slide 3.1.4; the turntable motor 3.1.7 is fixedly mounted on the fixture base 3.1.1 via the turntable motor bracket 3.1.8, and its output end is connected to the rotating shaft of the crank turntable 3.1.3 via the belt drive 3.1.9 and drives the crank turntable 3.1.3 to rotate under the control of the brick laying subsystem 3 control machine; the bearing cover plate 3.1.2 is a square flat plate structure, with four pieces, arranged along the edges of the fixture base 3.1.1 and the gripper slide 3.1.4 respectively, and each bearing cover plate 3.1.2 is fixedly connected to the fixture base 3.1.1 via the support column 3.1.5.

[0096] The tile clamp assembly mainly consists of components such as the clamp base 3.1.1, turntable motor bracket 3.1.8, turntable motor 3.1.7, belt drive 3.1.9, crank turntable 3.1.3, turntable connecting rod 3.1.10, slider gripper 3.1.6, gripper slide rail 3.1.4, support column 3.1.5, and bearing cover plate 3.1.2. It is responsible for supporting the tiles to be laid and adaptively fixing tiles of different sizes according to the program instructions of the tile laying subsystem 3 control machine. Specifically, it includes:

[0097] ① The clamp base 3.1.1 has a square flat plate structure and is the main structure and installation reference of the floor tile clamp assembly 3.1. It can be fixedly connected to the corresponding hole of the bearing platform 1.4 by bolts using its own legs.

[0098] ② The crank turntable 3.1.3 is a rotating shaft structure. One end of it has four cranks arranged in a cross shape and symmetrically. The other end can be mounted on the corresponding hole in the center of the fixture base 3.1.1 through a bearing to form a rotating pair with it.

[0099] ③ There are four turntable connecting rods 3.1.10, which correspond one-to-one with the four cranks of the crank turntable 3.1.3. One end of each rod is connected to the corresponding hole of the crank through a pin to form a rotating pair, and the other end is connected to the cam of the slider gripper 3.1.6 through a bearing to form a rotating pair.

[0100] ④ The slider gripper 3.1.6 has an L-shaped structure and there are four of them, which correspond one-to-one with the four turntable connecting rods 3.1.10. Its vertical long side is used to grip and fix the floor tiles and is equipped with a force sensor, which can sense the contact force signal between the floor tiles and feed it back to the tile laying subsystem 3 control machine; its horizontal short side can be connected to the corresponding hole of the turntable connecting rod 3.1.10 through the convex shaft set on the upper surface to form a rotating pair, or it can be connected to the gripper slide rail 3.1.4 through the side and bottom to form a sliding pair.

[0101] ⑤ The cross-section of the gripper slide rail 3.1.4 has a U-shaped symmetrical structure, with four rails in total, each corresponding one-to-one with one of the four slider grippers 3.1.6. The four gripper slide rails 3.1.4 are arranged symmetrically along the two axes of symmetry of the fixture base 3.1.1, and are fixedly installed in the corresponding holes of the fixture base 3.1.1 by bolts. They are responsible for installing the slider grippers 3.1.6 and forming a sliding pair with their horizontal short sides. The gripper slide rail 3.1.4 is equipped with a pair of proximity switches, which can detect the position signal of the slider grippers 3.1.6 and feed it back to the paving subsystem's control unit 3.

[0102] ⑥ The turntable motor 3.1.7 is fixedly mounted on the corresponding hole of the clamp base 3.1.1 with the help of the turntable motor bracket 3.1.8 and bolts. Its output end is connected to the rotating shaft of the crank turntable 3.1.3 through the belt drive 3.1.9 and drives the crank turntable 3.1.3 to rotate under the control of the sub-control machine of the brick laying subsystem 3. As the crank turntable 3.1.3 rotates, the four sliding jaws 3.1.6 can slide along their respective jaw slides 3.1.4.

[0103] ⑦ The support column 3.1.5 has a columnar structure and is fixedly installed on the corresponding hole of the clamp base 3.1.1 by bolts, for supporting and fixing the bearing cover plate 3.1.2 located on it.

[0104] ⑧ The bearing cover plate 3.1.2 is a square flat plate structure with four pieces in total. They are arranged along the edges of the clamp base 3.1.1 and the claw slide 3.1.4 respectively, and are fixedly installed on the upper surface of the corresponding support column 3.1.5 by bolts, and are responsible for bearing the floor tiles to be laid.

[0105] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, five, six, or seven.

[0106] Specific Implementation Method Twelve: Combining Figures 10 to 11This embodiment describes a tile picking and placing assembly 3.2, which includes a picking and placing structure 3.2.13, a rotation center shaft 3.2.14, a camera support arm 3.2.1, a white light camera bracket 3.2.3, a white light camera 3.2.4, a camera servo motor 3.2.2, a gear and rack drive C 3.2.21, a sensor support arm A 3.2.9, a sensor bracket A 3.2.8, a line laser sensor 3.2.5, a sensor servo motor A 3.2.6, a gear and rack drive A 3.2.7, a sensor support arm B 3.2.15, a sensor bracket B 3.2.16, a sensor servo motor B 3.2.17, a gear and rack drive B 3.2.18, a sensor bracket C 3.2.19, a contact sensor 3.2.20, a suction cup support arm 3.2.11, an electromagnetic telescopic rod 3.2.12, and a vacuum suction cup 3.2.10.

[0107] The pick-and-place structure 3.2.13 is a rectangular frame. The lower end of the rotation center shaft 3.2.14 passes through the upper plate and is inserted into the middle of the lower plate of the pick-and-place structure 3.2.13. The upper end of the rotation center shaft 3.2.14 is fixedly connected to the execution end of the six-degree-of-freedom manipulator 3.3. One end of the camera support arm 3.2.1 is fixedly connected to the middle of the upper surface of the pick-and-place structure 3.2.13. The white light camera 3.2.4 is mounted on the camera support arm 3.2.1 via the white light camera bracket 3.2.3. The white light camera bracket 3.2.3 can slide along the length of the camera support arm 3.2.1. The camera servo motor 3.2.2 is connected to the side wall of the white light camera bracket 3.2.3. The output shaft of the camera servo motor 3.2.2 is connected to the gear. The gear center hole of the rack and pinion drive C3.2.21 is fixedly connected, and the rack of the rack and pinion drive C3.2.21 is fixedly installed on the camera support arm 3.2.1 and meshes with the gear; the end of the sensor support arm A3.2.9 is fixedly installed on the upper plate side wall of the pick-and-place structure 3.2.13; the line laser sensor 3.2.5 is slidably connected to the sensor support arm A3.2.9 through the sensor bracket A3.2.8; the sensor servo motor A3.2.6 is fixedly installed on the side wall of the sensor bracket A3.2.8, and its output shaft is fixedly connected to the gear center hole in the rack and pinion drive A3.2.7; the rack pin in the rack and pinion drive A3.2.7 is fixedly installed on the sensor support arm A3.2.9 and meshes with the gear.

[0108] The end of sensor support arm B3.2.15 is connected to the upper plate side wall of the pick-and-place structure 3.2.13. The line laser sensor 3.2.5 is slidably connected to sensor support arm B3.2.15 via sensor bracket B3.2.16. Sensor bracket C3.2.19 is installed on the bottom surface of the end of sensor support arm B3.2.15, and a Y-shaped bracket is provided at the bottom of its vertical short side for mounting three contact sensors 3.2.20. Sensor servo motor B3.2.17 is fixedly installed on the upper middle side wall of sensor bracket B3.2.16, and its output shaft is fixedly connected to the gear center hole in gear rack drive B3.2.18. The rack in gear rack drive B3.2.18 is fixedly installed on sensor support arm B3.2.15 and meshes with the gear.

[0109] The suction cup support arms 3.2.11 are beam-shaped structures, with a total of four arms, symmetrically arranged on the side wall of the lower plate of the pick-and-place structure 3.2.13. Each suction cup support arm 3.2.11 is connected to the vacuum suction cup 3.2.10 through an electromagnetic telescopic rod 3.2.12. The bottom of the lower plate of the pick-and-place structure 3.2.13 is connected to two electromagnetic telescopic rods 3.2.12, and each electromagnetic telescopic rod 3.2.12 is connected to a vacuum suction cup 3.2.10.

[0110] The tile handling component 3.2, under the control of the tile laying subsystem 3 (control machine), works in conjunction with the six-degree-of-freedom robotic arm 3.3 to transport and lay the tiles. Specifically, it includes:

[0111] ①The pick-and-place structure 3.2.13 has a frame-shaped symmetrical structure with upper and lower frames. It is the main structure of the tile pick-and-place component 3.2, and all other components of the component are installed on it.

[0112] ② The rotary center shaft 3.2.14 has a cylindrical structure and is fixedly installed at the center of the upper frame of the pick-and-place structure 3.2.13 by bolts. It is used to fix and connect to the execution end of the six-degree-of-freedom robot 3.3 by bolts.

[0113] ③ The camera support arm 3.2.1 has a beam-shaped structure. One end of it is fixed to the corresponding hole on the upper frame of the loading and unloading structure 3.2.13 by bolts. It is used to install components such as the white light camera 3.2.4, the white light camera bracket 3.2.3, the camera servo motor 3.2.2, and the gear and rack drive C3.2.21. In addition, the camera support arm 3.2.1 is also equipped with a pair of proximity switches, which can detect the position signal of the white light camera bracket 3.2.3 and feed it back to the control unit of the paving subsystem 3.

[0114] ④ The white light camera 3.2.4 is used to collect ground position information when laying floor tiles, preliminarily determine the horizontal and vertical edge information of the horizontal plane of the floor tile, and transmit it to the tile laying subsystem 3 control machine. It can be fixedly installed on the corresponding hole on the bottom of the white light camera bracket 3.2.3 by bolts.

[0115] ⑤ The white light camera bracket 3.2.3 has a frame structure. Its bottom surface is provided with holes for mounting the white light camera 3.2.4, and its side surface is provided with holes for mounting the camera servo motor 3.2.2. Its inner surface can cooperate with the camera support arm 3.2.1 to form a sliding pair.

[0116] ⑥ The camera servo motor 3.2.2 is bolted to the corresponding hole on the side of the white light camera bracket 3.2.3. Its output shaft engages with the center hole of the gear in the rack and pinion drive C3.2.21 and is fixed by a key. The rack in the rack and pinion drive C3.2.21 is bolted to the corresponding hole on the camera support arm 3.2.1. The camera servo motor 3.2.2 is responsible for rotating under the control of the paving subsystem 3 control unit, and drives the white light camera bracket 3.2.3 and the white light camera 3.2.4 to move a specified distance along the camera support arm 3.2.1 via the rack and pinion drive C3.2.21.

[0117] ⑦ The sensor support arm A3.2.9 has a beam-shaped structure. One end of it is fixed to the corresponding hole in the upper frame of the pick-and-place structure 3.2.13 by bolts. It is used to install components such as the line laser sensor 3.2.5, sensor bracket A3.2.8, sensor servo motor A3.2.6, and gear and rack drive A3.2.7. In addition, the sensor support arm A3.2.9 is also equipped with a pair of proximity switches, which can detect the position signal of the sensor bracket A3.2.8 and feed it back to the paving subsystem 3 control unit.

[0118] ⑧ Line laser sensor 3.2.5 is used to accurately determine the horizontal and vertical gap values ​​between the edges of the tiles to be laid and the edges of the already laid tiles on the horizontal plane, based on the preliminary determination of the horizontal and vertical edge information of the tile laying subsystem by white light camera 3.2.4, and transmits this information to the tile laying subsystem 3 control unit. There are four line laser sensors 3.2.5, used in pairs. One pair is fixed to the corresponding hole of sensor bracket A 3.2.8 with bolts, and the other pair is fixed to the corresponding hole of sensor bracket B 3.2.16 with bolts. The two sets of line laser sensors 3.2.5 respectively collect the horizontal and vertical gap values ​​between the edges of the laid tiles on the horizontal plane.

[0119] ⑨ The sensor bracket A3.2.8 has a frame-shaped symmetrical structure. Its bottom surface is symmetrically provided with holes for mounting two line laser sensors 3.2.5, and its upper middle side is provided with holes for mounting sensor servo motor A3.2.6. Its inner surface can cooperate with the sensor support arm A3.2.9 to form a sliding pair.

[0120] ⑩ Sensor servo motor A3.2.6 is bolted to the corresponding hole on the upper middle side of sensor bracket A3.2.8. Its output shaft mates with the center hole of the gear in rack and pinion drive A3.2.7 and is fixed by a key. The rack in rack and pinion drive A3.2.7 is bolted to the corresponding hole on sensor support arm A3.2.9. Sensor servo motor A3.2.6 is responsible for rotating under the control of the paving subsystem 3 control unit, and drives sensor bracket A3.2.8 and line laser sensor 3.2.5 to move a specified distance along sensor support arm A3.2.9 via rack and pinion drive A3.2.7.

[0121] The sensor support arm B3.2.15 has a beam-shaped structure. One end is bolted to the corresponding hole in the upper frame of the pick-and-place structure 3.2.13. It is used to mount components such as the line laser sensor 3.2.5, sensor bracket B3.2.16, sensor servo motor B3.2.17, rack and pinion drive B3.2.18, sensor bracket C3.2.19, and contact sensor 3.2.20. In addition, the sensor support arm B3.2.15 is equipped with a pair of proximity switches, which can detect the position signal of the sensor bracket B3.2.16 and feed it back to the paving subsystem's control unit 3.

[0122] The sensor bracket B3.2.16 has a frame-shaped symmetrical structure. Its bottom surface is symmetrically provided with holes for mounting two line laser sensors 3.2.5, and also with holes for mounting sensor bracket C3.2.19. Its upper middle side has holes for mounting sensor servo motor B3.2.17. Its inner surface can cooperate with the sensor support arm B3.2.15 to form a sliding pair.

[0123] The sensor bracket C3.2.19 has an L-shaped structure. Its horizontal long side is fixed to the corresponding hole in the middle of the bottom surface of the sensor bracket B3.2.16 by bolts. The bottom of its vertical short side is provided with a Y-shaped bracket for mounting three contact sensors 3.2.20.

[0124] Contact sensor 3.2.20 is used to detect the vertical distance between the upper surface of the tile and the upper surface of the already laid tile during tile laying and transmits this distance to the tile laying subsystem 3 control unit. There are three contact sensors 3.2.20, each corresponding to a Y-shaped bracket at the bottom of the vertical short side of sensor bracket C3.2.19, and they can be fixedly installed in the corresponding holes using threaded clips.

[0125] The sensor servo motor B3.2.17 is bolted to the corresponding hole on the upper middle side of the sensor bracket B3.2.16. Its output shaft mates with the center hole of the gear in the rack and pinion drive B3.2.18 and is fixed by a key. The rack in the rack and pinion drive B3.2.18 is bolted to the corresponding hole on the sensor support arm B3.2.15. The sensor servo motor B3.2.17 is responsible for rotating under the control of the paving subsystem's 3rd sub-controller, and drives the sensor bracket B3.2.16, the line laser sensor 3.2.5, the sensor bracket C3.2.19, and the contact sensor 3.2.20 to move a specified distance along the sensor support arm B3.2.15 via the rack and pinion drive B3.2.18.

[0126] The suction cup support arm 3.2.11 has a beam-shaped structure, with a total of four arms. They are symmetrically arranged on the lower frame of the pick-and-place structure 3.2.13 and fixed to the corresponding holes with bolts. They are used to install components such as the electromagnetic telescopic rod 3.2.12 and the vacuum suction cup 3.2.10.

[0127] There are six electromagnetic telescopic rods 3.2.12, which are fixedly installed on the corresponding holes of the suction cup support arm 3.2.11 and the lower frame of the pick-and-place structure 3.2.13 by threaded buckles. They are used to connect the vacuum suction cup 3.2.10 and drive the vacuum suction cup 3.2.10 to move up and down under the control of the brick laying subsystem 3 control machine.

[0128] There are six vacuum suction cups 3.2.10, which correspond one-to-one with the six electromagnetic telescopic rods 3.2.12. They can be fixedly installed on the output end of the electromagnetic telescopic rods 3.2.12 by threaded buckles, and move up and down with the output end of the electromagnetic telescopic rods 3.2.12. They are responsible for picking up or placing floor tiles using vacuum negative pressure under the control of the paving subsystem 3 control machine.

[0129] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, five, six, seven, eight, nine, ten, or eleven.

[0130] Detailed Implementation Method Thirteen: Combining Figure 1This embodiment describes a six-degree-of-freedom manipulator 3.3, which is the main driving component for transporting floor tiles. It has six degrees of freedom, and its actuator can be fixedly connected to the rotation center shaft 3.2.14 of the floor tile picking and placing assembly 3.2 via bolts, thereby driving the floor tile picking and placing assembly 3.2 to move. Its control board can communicate with the sub-control machine of the tile laying subsystem 3 to receive or send necessary data and signals.

[0131] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, five, six, seven, eight, nine, ten, eleven, or twelve.

[0132] Specific Implementation Method Fourteen: Combining Figures 7 to 11 This embodiment describes the paving subsystem 3 control unit as the control center for all components and parts of the paving subsystem 3. Its main functions are as follows:

[0133] ① Based on the actual size of the floor tiles to be laid, and combined with the force sensor on the slider gripper 3.1.6 in the floor tile clamping assembly 3.1 and the proximity switch signal value on the gripper slide 3.1.4, the turntable motor 3.1.7 is controlled to rotate, so as to realize the adaptive fixing of floor tiles of different sizes by the floor tile clamping assembly 3.1.

[0134] ② Based on the actual dimensions of the tiles to be laid, and in conjunction with the proximity switch signal values ​​from the camera support arm 3.2.1, sensor support arm A 3.2.9, and sensor support arm B 3.2.15 in the tile placement assembly 3.2, control the rotation of the camera servo motor 3.2.2, sensor servo motor A 3.2.6, and sensor servo motor B 3.2.17 to ensure that the white light camera 3.2.4, line laser sensor 3.2.5, and contact sensor 3.2.20 are in appropriate positions to detect relevant information about the tiles to be laid.

[0135] ③ It is responsible for receiving the horizontal and vertical edge information of the paving tile horizontal plane initially determined by the white light camera 3.2.4, converting it into the spatial position node coordinate information of the six-degree-of-freedom robot 3.3 and transmitting it to the control board of the six-degree-of-freedom robot 3.3 so that the six-degree-of-freedom robot 3.3 can drive the tile picking and placing component 3.2 to move to a reasonable position.

[0136] ④ It is responsible for receiving the horizontal and vertical gap values ​​on the horizontal plane between the edge of the tile to be laid and the edge of the laid tile, which are accurately determined by the linear laser sensor 3.2.5. It converts these values ​​into the spatial position node coordinate information of the six-degree-of-freedom robot 3.3 and transmits them to the control board of the six-degree-of-freedom robot 3.3. This allows the six-degree-of-freedom robot 3.3 to drive the tile picking and placing component 3.2 to the accurate position, thereby achieving horizontal alignment of the upper surface of the laid tile.

[0137] ⑤ It is responsible for receiving the distance values ​​in the vertical direction between the upper surface of the tile to be laid and the upper surface of the laid tile detected by the contact sensor 3.2.20, converting them into the spatial position node coordinate information of the six-degree-of-freedom robot 3.3 and transmitting them to the control board of the six-degree-of-freedom robot 3.3, so that the six-degree-of-freedom robot 3.3 can drive the tile picking and placing component 3.2 to make fine-tuning of the angle and realize the height leveling of the upper surface of the laid tile.

[0138] ⑥ Responsible for controlling the power supply of the electromagnetic telescopic rod 3.2.12 according to the actual size of the floor tiles to be laid, so as to configure the number and layout of vacuum suction cups 3.2.10 that are appropriate for the floor tiles.

[0139] ⑦ Responsible for controlling the on / off of the pneumatic pipeline of the vacuum suction cup 3.2.10 to accurately implement vacuum negative pressure operation.

[0140] The other components and connections in this embodiment are the same as those in specific embodiments one, two, three, four, five, six, seven, eight, nine, ten, eleven, twelve, or thirteen.

[0141] Working principle:

[0142] I. The suspension mechanism of the mobile subsystem 1 of the multi-size tile thin-laying robot involved in this invention can adjust its shape and posture according to the undulations of the ground under the control of the sub-controller of the mobile subsystem 1 and the drive of the corresponding wheel mechanism, so as to ensure the horizontal accuracy of the bearing platform 1.4 relative to the working elevation. Based on the structural characteristics of the mobile subsystem 1 described above, further:

[0143] (1) The suspension mechanism of the moving subsystem 1 consists of two parts: a front suspension mechanism and a rear suspension mechanism. They are respectively installed on the corresponding holes of the vehicle body 1.6 through suspension link bases A1.8 and B1.5 and bolts. They are connected to the corresponding wheel mechanism of the moving subsystem 1 through the bottom frame structure 1.25 of the matching suspension long link A1.10, suspension long link B1.20 or suspension long link C1.24. When the moving subsystem 1 moves on the ground, the wheel mechanism can drive the suspension mechanism to change its shape and attitude, thereby changing the level and height of the vehicle body 1.6 and the load-bearing platform 1.4 relative to the ground.

[0144] (2) The wheel mechanism of the mobile subsystem 1 is the driving mechanism that enables the multi-size tile thin-laying robot to move on the ground and maintain its posture. It is controlled by the sub-controller of the mobile subsystem 1. The specific execution component is the wheel hub motor 1.21. The signal for maintaining the posture comes from the six degrees of freedom parameter values ​​of the body body 1.6 measured by the inertial measurement unit (IMU) in the positioning and navigation component of the mobile subsystem 1.

[0145] (3) Figure 12This illustration demonstrates a multi-size tile-laying robot navigating on the original ground surface of a construction site. Due to ground elevation variations, the right-side suspension and wheel mechanisms along the vehicle's front direction are higher than the left-side suspension and wheel mechanisms. To maintain the elevation reference H of the vehicle body 1.6 and its supporting platform 1.4 relative to the ground, it is necessary to appropriately and promptly adjust the shape and posture of the right-side suspension and wheel mechanisms along the vehicle's front direction without altering their shape and posture, so that their measurements become an adaptive posture H' to align with the elevation reference H.

[0146] (4) The approach of the moving subsystem 1 in maintaining the height and level of the supporting platform 1.4 relative to the working elevation is as follows:

[0147] ① The elevation reference generator 1.1 is placed on the reference plane on the ground. It adjusts the height of the elevation laser control plane it emits so that the elevation reference receiver 1.3 can receive the elevation laser signal. Then it continuously emits elevation laser to form an elevation laser control plane, the measurement value of which is the elevation reference H.

[0148] ② The elevation reference receiver 1.3 receives the elevation laser information emitted by the elevation reference generator 1.1 and determines the height difference between the bearing platform 1.4 and the elevation laser control plane. Then, it transmits the height difference signal to the mobile subsystem 1 sub-controller.

[0149] ③ The mobile subsystem 1 receives the height difference information of the carrying platform 1.4 sent from the elevation reference receiver 1.3, and at the same time receives the six degrees of freedom parameter information of the vehicle body 1.6 in three-dimensional space sent from the inertial measurement unit (IMU) in the positioning and navigation component. It compares these parameter values ​​with several pre-set scenario data, comprehensively judges the current height and tilt angle of the carrying platform 1.4, gives the corresponding control decision of the hub motor wheel 1.21, and transmits the control decision information to the hub motor wheel 1.21.

[0150] ④ The hub motor wheel 1.21 adjusts its steering and speed in real time according to the control decision information provided by the sub-control unit of the mobile subsystem 1. On the basis of normal driving speed, it makes compensatory adjustments to offset the height deviation and tilt angle of the bearing platform 1.4, thereby changing the shape and posture of the suspension mechanism connected to it, generating an adaptive posture H', and finally making the bearing platform 1.4 meet the height and levelness requirements of the elevation reference H.

[0151] II. The adhesive supply subsystem 2 of the multi-size tile thin-laying robot involved in this invention has a ground detection component that can collect the height values ​​of ground feature points. After conversion by the sub-controller of the adhesive supply subsystem 2, it can provide the adhesive supply mechanism of the adhesive supply subsystem 2 with an adhesive supply compensation amount adapted to the height values ​​of the ground feature points, allowing the adhesive supply mechanism to adjust the actual adhesive supply amount according to the unevenness of the ground based on the standard adhesive supply amount. In conjunction with the structural characteristics of the adhesive supply subsystem 2 described above, further:

[0152] (1) The installation spacing of the line laser generators 2.1 arranged in a cross shape in the ground detection component of the glue supply subsystem 2 should be adapted to the installation spacing of the glue supply channels 2.11 arranged in a straight line in the glue supply mechanism of the glue supply subsystem 2, so as to ensure that the height value of the ground feature point matches the actual amount of glue applied.

[0153] (2) The tile adhesive in the adhesive hopper 2.8 can enter the adhesive supply channel 2.11 through the rectangular opening of the adhesive hopper 2.8, and can flow in the adhesive supply channel 2.11 under the drive of the screw feeder 2.9, and finally be delivered to the designated position on the ground.

[0154] (3) The idea behind the adhesive supply subsystem 2 to adjust the actual amount of adhesive applied according to the unevenness of the ground is as follows:

[0155] ①The glue supply subsystem 2 controller communicates with the mobile subsystem 1 controller under the connection and coordination of the multi-size tile thin-laying robot electrical control subsystem, obtains the height value information of the bearing platform 1.4, converts it into the speed control signal of the servo geared motor 2.7, and transmits the speed control signal to the servo geared motor 2.7.

[0156] ② The servo geared motor 2.7 adjusts its own direction and speed according to the speed control signal provided by the sub-control unit of the glue supply subsystem 2, drives the glue supply hopper screw 2.4 to rotate, and drives the glue supply hopper 2.8 to descend to a suitable position above the ground by means of the interaction and relative motion between the glue supply hopper screw 2.4 and the glue supply hopper screw nut 2.5.

[0157] ③ Line laser generator 2.1 Projects square grid-shaped line lasers onto the ground. The images presented by these square grid-shaped line lasers projected onto the ground will undergo deformation in a certain regular pattern due to the undulations of the ground.

[0158] ④ The RGB camera 2.3 acquires the grid-like line laser deformation image projected onto the ground by the line laser generator 2.1 and judges the deformation information of the image. Then, the deformation information signal is transmitted to the glue supply subsystem 2 control unit.

[0159] ⑤ The glue supply subsystem 2 sub-control unit receives the grid-like line laser image deformation information sent from the RGB camera 2.3, compares this image deformation information with several pre-set scenario data, determines the height value of the corresponding ground feature point, gives the corresponding control decision for the servo glue supply motor 2.10, and transmits the control decision information to the corresponding servo glue supply motor 2.10.

[0160] ⑥ The servo glue supply motor 2.10 adjusts its own speed in a timely manner according to the control decision information provided by the glue supply subsystem 2 sub-control unit, so as to make compensatory glue supply adjustments to compensate for the unevenness of the ground and lay the floor tile glue on the ground based on the standard glue application amount.

[0161] III. The tile-laying subsystem 3 of the multi-size thin-laying robot of the present invention includes a tile clamping assembly 3.1 that can adaptively fix tiles of different sizes under the control of the sub-controller of the tile-laying subsystem 3. The six-degree-of-freedom manipulator 3.3 and the tile picking and placing assembly 3.2 of the tile-laying subsystem 3 can transport the tiles under the control of the sub-controller of the tile-laying subsystem 3 and complete the horizontal alignment and height leveling of the tiles during the laying process. Based on the structural features of the tile-laying subsystem 3 described above, further:

[0162] (1) The idea behind the floor tile clamp assembly 3.1 for supporting and fixing floor tiles of different sizes is:

[0163] ① The brick-laying subsystem 3 control unit controls the turntable motor 3.1.7 to rotate in the forward direction, driving the four slider grippers 3.1.6 to slide towards the edge of the corresponding gripper slide 3.1.4 until the proximity switch at the edge of the gripper slide 3.1.4 sends a positioning signal to the brick-laying subsystem 3 control unit.

[0164] ② Place a suitable size floor tile on the bearing cover plate 3.1.2 of the floor tile clamp assembly 3.1.

[0165] ③ The paving subsystem 3 controls the turntable motor 3.1.7 to rotate in the opposite direction, driving the four slider grippers 3.1.6 to slide towards the center end of the corresponding gripper slide 3.1.4. Then, the vertical long side of the slider gripper 3.1.6 will contact the floor tile to be laid and arrange the floor tile neatly until the readings of the force sensors located on the vertical long side of the four slider grippers 3.1.6 all reach the preset value.

[0166] (2) The idea behind using the six-degree-of-freedom robot 3.3 and the tile picking and placing component 3.2 in conjunction with each other for tile laying is as follows:

[0167] ① The brick-laying subsystem 3 control unit controls the camera servo motor 3.2.2, sensor servo motor A 3.2.6, and sensor servo motor B 3.2.17 to rotate in the forward direction, causing them to drive the corresponding white light camera 3.2.4, line laser sensor 3.2.5, and contact sensor 3.2.20 to move towards the edge of their respective camera support arm 3.2.1, sensor support arm A 3.2.9, and sensor support arm B 3.2.15, until the proximity switches at the edge of the camera support arm 3.2.1, sensor support arm A 3.2.9, and sensor support arm B 3.2.15 send a position signal to the brick-laying subsystem 3 control unit.

[0168] ② The paving subsystem 3 control unit calculates the speed control signals of camera servo motor 3.2.2, sensor servo motor A 3.2.6, and sensor servo motor B 3.2.17 according to the actual size of the floor tiles to be laid, and transmits the three speed control signals to the corresponding servo motors respectively.

[0169] ③ The camera servo motor 3.2.2, sensor servo motor A 3.2.6, and sensor servo motor B 3.2.17 adjust their own steering and speed according to the speed control signal provided by the paving subsystem 3 control machine, thereby driving the corresponding white light camera 3.2.4, line laser sensor 3.2.5, and contact sensor 3.2.20 to move a specified distance toward the center end of their respective camera support arm 3.2.1, sensor support arm A 3.2.9, and sensor support arm B 3.2.15.

[0170] ④ The paving subsystem 3 control machine calculates the spatial position node coordinate information of the six-degree-of-freedom robot 3.3 according to the actual size of the floor tiles to be laid, and transmits it to the control board of the six-degree-of-freedom robot 3.3.

[0171] ⑤ The control board of the six-degree-of-freedom robot 3.3 receives the spatial position node coordinate information of the six-degree-of-freedom robot 3.3 from the paving subsystem 3 control machine, and converts it into motor drive signals for each joint of the six-degree-of-freedom robot 3.3, so as to control the six-degree-of-freedom robot 3.3 together with the tile picking and placing component 3.2 to move to a suitable position above the tile to be laid.

[0172] ⑥ The tiling subsystem 3 control unit controls the on / off power of the electromagnetic telescopic rod 3.2.12 according to the actual size of the floor tiles to be laid, and configures the number and layout of vacuum suction cups 3.2.10 that are adapted to the actual size of the floor tiles to be laid.

[0173] ⑦ The six-degree-of-freedom robot 3.3, under the control of its own control board, together with the tile picking and placing component 3.2, extends to the upper surface of the tile to be laid, so that the vacuum suction cup 3.2.10, which is adapted to the actual size of the tile to be laid, can pick up the tile to be laid.

[0174] ⑧ The tiling subsystem 3 control machine connects the pneumatic pipeline of the relevant vacuum suction cup 3.2.10 to perform vacuum negative pressure suction on the tiles to be laid.

[0175] ⑨ Under the control of its own control board, the six-DOF robot 3.3, together with the tile pick-and-place component 3.2 and the picked-up tile to be laid, moves according to the planned spatial position node coordinates of the six-DOF robot 3.3, reaching a suitable position above the tile laying work point, such as... Figure 13 As shown.

[0176] ⑩ The brick-laying subsystem 3 receives the horizontal and vertical edge information of the laid floor tiles from the white light camera 3.2.4, converts it into the spatial position node coordinate information of the six-degree-of-freedom robot 3.3, and transmits it to the control board of the six-degree-of-freedom robot 3.3.

[0177] The control board of the six-degree-of-freedom robot 3.3 receives the spatial position node coordinate information of the six-degree-of-freedom robot 3.3 from the paving subsystem 3 control machine, and converts it into motor drive signals for each joint of the six-degree-of-freedom robot 3.3, so as to control the six-degree-of-freedom robot 3.3 to drive the tile picking and placing component 3.2 and the picked-up tile to be laid to the appropriate position.

[0178] The tiling subsystem 3 receives the horizontal and vertical gap values ​​on the horizontal plane between the edge of the tile to be paved and the edge of the already paved tile, which are precisely determined by the linear laser sensor 3.2.5. It converts these values ​​into the spatial position node coordinate information of the six-degree-of-freedom robot 3.3 and transmits them to the control board of the six-degree-of-freedom robot 3.3.

[0179] The control board of the six-degree-of-freedom robot 3.3 receives the spatial position node coordinate information of the six-degree-of-freedom robot 3.3 from the paving subsystem 3 control machine, and converts it into motor drive signals for each joint of the six-degree-of-freedom robot 3.3, so as to control the six-degree-of-freedom robot 3.3 to drive the tile picking and placing component 3.2 and the picked-up tile to be laid to the accurate position, so as to achieve horizontal alignment of the upper surface of the tile to be laid.

[0180] The paving subsystem 3 receives the distance values ​​in the vertical direction between the upper surface of the tile to be paved and the upper surface of the already paved tile from the contact sensor 3.2.20, converts them into the spatial position node coordinate information of the six-degree-of-freedom robot 3.3, and transmits them to the control board of the six-degree-of-freedom robot 3.3.

[0181] The control board of the six-degree-of-freedom robot 3.3 receives the spatial position node coordinate information of the six-degree-of-freedom robot 3.3 from the paving subsystem 3 control machine, and converts it into motor drive signals for each joint of the six-degree-of-freedom robot 3.3, so as to control the six-degree-of-freedom robot 3.3 to drive the tile picking and placing component 3.2 and the picked-up tile to be laid to make fine angle adjustments, so as to achieve the height leveling of the upper surface of the tile to be laid.

[0182] The pneumatic pipeline of the vacuum suction cup 3.2.10 in the paving subsystem 3 is disconnected by the control machine, thus ending the vacuum negative pressure suction of the floor tiles.

[0183] Under the control of its own control board, the six-degree-of-freedom robot 3.3, together with the tile picking and placing component 3.2, rises to a suitable position above the tile to be laid. Then, the tile laying subsystem 3 controls the power supply of the electromagnetic telescopic rods 3.2.12 to restore all the electromagnetic telescopic rods 3.2.12 to their initial state.

[0184] Under the control of its own control board, the six-degree-of-freedom robotic arm 3.3, together with the tile picking and placing component 3.2, moves to the initial standby position, waiting for the next tile laying task instruction.

[0185] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A construction robot suitable for thin-laying of multi-size floor tiles, comprising an electronic control subsystem and a six-degree-of-freedom manipulator, characterized in that: The construction robot suitable for thin-laying of multi-size floor tiles includes a moving subsystem, an adhesive supply subsystem, and a tile laying subsystem. The adhesive supply subsystem and the tile laying subsystem are both connected to the moving subsystem. A six-degree-of-freedom manipulator is mounted on the moving subsystem, and the actuator of the six-degree-of-freedom manipulator is connected to the tile laying subsystem. The electrical control subsystem is used to connect and coordinate the sub-control units of the moving subsystem, the adhesive supply subsystem, and the tile laying subsystem, so that the moving subsystem, the adhesive supply subsystem, and the tile laying subsystem form a unified organic whole, thereby completing the thin-laying of floor tiles. The mobile subsystem includes a vehicle body, a support platform, two front suspension mechanisms, two rear suspension mechanisms, wheel mechanisms, adhesive supply bin guide rails, a positioning and navigation component, and an elevation reference component. The support platform is installed on the upper part of the vehicle body, and the paving subsystem is installed on the upper surface of the support platform. The two front suspension mechanisms are symmetrically installed on the left and right sides of the front end of the vehicle body, and each front suspension mechanism is connected to two wheel mechanisms. The two rear suspension mechanisms are symmetrically installed on the left and right sides of the rear end of the vehicle body, and each rear suspension mechanism is connected to one wheel mechanism. The positioning and navigation component is installed at the front end of the vehicle body in the front direction, and the elevation reference component is located at the rear end of the vehicle body. It is used to provide the mobile subsystem control unit with the height information of the support platform above the ground reference plane when the multi-size paving robot is performing paving operations. The two adhesive supply bin guide rails are respectively installed on the side walls of the rear end of the vehicle body and connected to the adhesive supply subsystem. Each of the aforementioned front suspension mechanisms includes a suspension link base A, an upper suspension link A, a lower suspension link A, a long suspension link A, an upper suspension link B, a lower suspension link B, and a long suspension link B. The suspension link base A is mounted on the side wall of the front end of the vehicle body. One end of the upper suspension link A is connected to a corresponding hole on the upper part of the suspension link base A via a pin to form a rotating joint. The other end of the upper suspension link A is rotatably connected to the upper end of the long suspension link A via a pin. One end of the lower suspension link A is connected to a corresponding hole on the lower part of the suspension link base A via a pin to form a rotating joint. The other end of the lower suspension link A... The upper suspension link B is rotatably connected to the middle of the long suspension link A via a pin; one end of the upper suspension link B is connected to the corresponding hole on the upper part of the suspension link base A via a pin to form a rotating pair, and the other end of the upper suspension link B is rotatably connected to the upper end of the long suspension link B via a pin; one end of the lower suspension link B is connected to the corresponding hole on the lower part of the suspension link base A via a pin to form a rotating pair, and the other end of the lower suspension link B is rotatably connected to the middle of the long suspension link B via a pin; both the lower ends of the long suspension link A and the long suspension link B are provided with frame structures, and each frame structure is connected to one of its corresponding wheel mechanisms; The rear suspension mechanism includes a suspension link base B, an upper suspension link C, a lower suspension link C, and a long suspension link C. The suspension link base B is mounted on the side wall at the rear end of the vehicle body. One end of the upper suspension link C is connected to a corresponding hole on the upper part of the suspension link base B via a pin to form a rotating joint. The other end of the upper suspension link C is rotatably connected to the upper end of the long suspension link C via a pin. One end of the lower suspension link C is connected to a corresponding hole on the lower part of the suspension link base B via a pin to form a rotating joint. The other end of the lower suspension link C is rotatably connected to the middle part of the long suspension link C via a pin. The lower end of the long suspension link C has a frame structure, which is connected to a wheel mechanism. The wheel mechanism includes a hub motor wheel, axle bracket, upper support arm, lower support arm, and shock absorber. Both the upper and lower support arms are U-shaped structures. The two ends of the upper support arm are rotatably connected to the inner walls of the upper part of the frame structure via pins, and the two ends of the lower support arm are rotatably connected to the outer walls of the lower part of the frame structure via pins. The upper end of the axle bracket is rotatably connected to the middle of the upper support arm via a pin, and the lower end of the axle bracket is rotatably connected to the middle of the lower support arm via a pin. The middle of the axle bracket is fixedly connected to the central axis of the hub motor wheel. The upper end of the shock absorber is rotatably connected to the inner wall of the upper plate of the frame structure via a pin, and the other end is rotatably connected to the corresponding hole in the middle of the lower support arm via a pin.

2. A construction robot suitable for thin-laying of multi-size floor tiles according to claim 1, characterized in that: The positioning and navigation assembly includes a probe frame, a laser SLAM radar, an RGBD vision camera, and an inertial measurement unit (IMU). The probe frame is located at the front end of the vehicle body in the direction of the front and is fixedly connected to the vehicle body with bolts. The laser SLAM radar is fixedly installed on the upper surface of the probe frame. The RGBD vision camera is fixedly installed on the lower surface of the probe frame. The inertial measurement unit (IMU) is horizontally fixedly installed in the corresponding hole inside the vehicle body with bolts. The elevation reference assembly includes an elevation reference generator and an elevation reference receiver. There are two elevation reference receivers, which are fixedly installed on corresponding holes on the left and right sides of the rear end of the vehicle body by bolts. The elevation reference generator is placed on the reference plane of the ground.

3. A construction robot suitable for thin-laying of multi-size floor tiles according to claim 1, characterized in that: The glue supply subsystem includes a ground detection component and a glue supply mechanism. The ground detection component includes a line laser generator, a line laser generator mounting plate, and an RGB camera. The line laser generator mounting plate is fixedly installed at the bottom of the vehicle body. The line laser generators are fixedly installed on the line laser generator mounting plate in a cross-shaped arrangement. The RGB camera is fixedly installed at the bottom of the rear end of the vehicle body using its own bracket. The glue supply mechanism includes: a glue supply hopper screw, a glue supply hopper screw nut, a glue supply hopper slider assembly, a servo geared motor, a glue supply hopper, a screw feeder, a servo glue supply motor, a glue supply channel, a lower screw support, a screw nut support, and an upper screw support. The glue supply hopper has a wedge-shaped shell structure. One side of the glue supply hopper is equipped with a glue supply hopper slider assembly that slides in conjunction with the glue supply hopper guide rail. The upper and lower screw supports are fixedly installed on the glue supply hopper and located between the two glue supply hopper slider assemblies. Both ends of the glue supply hopper screw are rotatably connected to the upper and lower screw supports respectively via bearings. The servo geared motor is mounted on the upper screw support, and its output shaft is fixedly connected to the input shaft of the glue supply hopper screw. The glue supply hopper screw nut is fitted onto the glue supply hopper screw and forms a helical transmission pair. The outer side wall of the glue supply hopper screw nut is fixedly installed in the corresponding hole of the screw nut support by bolts. The lever nut support is fixedly installed in the corresponding hole at the rear end of the vehicle body; the outer wall of the glue supply bin facing the front of the vehicle is a vertical plane; the outer wall facing the rear of the vehicle is a sloping surface that is wider at the top and narrower at the bottom, and has a rectangular opening at the bottom. Multiple glue supply channels are arranged in a straight line and installed at their rectangular openings; each glue supply channel is equipped with a servo glue supply motor at its upper part, and its output shaft is fixedly installed coaxially with the input shaft of a screw feeder through a coupling. Each screw feeder is located in a glue supply channel, and the input shaft of each screw feeder is rotatably connected to the corresponding hole at the upper end of its corresponding glue supply channel through a bearing.

4. A construction robot suitable for thin-laying of multi-size floor tiles according to claim 1, characterized in that: The paving subsystem includes a tile clamping assembly and a tile picking and placing assembly. The tile clamping assembly is connected to the moving subsystem, and the tile picking and placing assembly is connected to the actuator of a six-degree-of-freedom robot.

5. A construction robot suitable for thin-laying of multi-size floor tiles according to claim 4, characterized in that: The tile clamping assembly includes a clamping base, a turntable motor bracket, a turntable motor, a belt drive, a crank turntable, a turntable connecting rod, slider grippers, gripper slides, a support column, and a load-bearing cover plate. The clamping base is a rectangular flat plate structure, fixedly connected to the load-bearing platform. The lower end of the crank turntable's shaft is rotatably connected to the center hole of the clamping base via a bearing. The outer end face of the crank turntable has four cranks arranged symmetrically in a cross shape. One end of each turntable connecting rod is rotatably connected to the end of its corresponding crank, and the other end of each turntable connecting rod is rotatably connected to the convex shaft of a slider gripper. Each slider gripper is slidably connected to its corresponding gripper slide. The turntable motor is fixedly mounted on the clamping base via the turntable motor bracket, and its output end is connected to the crank turntable's shaft via a belt drive, driving the crank turntable to rotate under the control of the tile laying subsystem's control unit. The load-bearing cover plate is a square flat plate structure, consisting of four plates, arranged along the edges of the clamping base and gripper slides. Each load-bearing cover plate is fixedly connected to the clamping base via a support column.

6. A construction robot suitable for thin-laying of multi-size floor tiles according to claim 4, characterized in that: The tile picking and placing assembly includes a picking and placing structure, a rotating central shaft, a camera support arm, a white light camera bracket, a white light camera, a camera servo motor, a gear and rack drive C, a sensor support arm A, a sensor bracket A, a line laser sensor, a sensor servo motor A, a gear and rack drive A, a sensor support arm B, a sensor bracket B, a sensor servo motor B, a gear and rack drive B, a sensor bracket C, a contact sensor, a suction cup support arm, an electromagnetic telescopic rod, and a vacuum suction cup. The pick-and-place structure is a rectangular frame. The lower end of the rotation center shaft passes through the upper plate and is inserted into the middle of the lower plate of the pick-and-place structure. The upper end of the rotation center shaft is fixedly connected to the execution end of the six-degree-of-freedom manipulator. One end of the camera support arm is fixedly connected to the middle of the upper surface of the pick-and-place structure. The white light camera is mounted on the camera support arm via a white light camera bracket. The white light camera bracket can slide along the length of the camera support arm. The camera servo motor is connected to the side wall of the white light camera bracket. The output shaft of the camera servo motor is fixedly connected to the gear center hole of the gear rack transmission C. The rack of the gear rack transmission C is fixedly mounted on the camera support arm and meshes with the gear. The end of the sensor support arm A is fixedly mounted on the side wall of the upper plate of the pick-and-place structure. The line laser sensor is slidably connected to the sensor support arm A via the sensor bracket A. The sensor servo motor A is fixedly mounted on the side wall of the sensor bracket A. Its output shaft is fixedly connected to the gear center hole in the gear rack transmission A. The rack in the gear rack transmission A is fixedly mounted on the sensor support arm A and meshes with the gear. The end of sensor support arm B is connected to the upper plate side wall of the pick-and-place structure. The line laser sensor is slidably connected to sensor support arm B through sensor bracket B. Sensor bracket C is installed on the bottom surface of the end of sensor support arm B. A Y-shaped bracket is provided at the bottom of its vertical short side for installing three contact sensors. Sensor servo motor B is fixedly installed on the upper middle side wall of sensor bracket B. Its output shaft is fixedly connected to the gear center hole in gear rack drive B. The rack in gear rack drive B is fixedly installed on sensor support arm B and meshes with the gear. The suction cup support arms are beam-shaped structures, with a total of four arms symmetrically arranged on the side wall of the lower plate of the pick-and-place structure. Each suction cup support arm is connected to the vacuum suction cup via an electromagnetic telescopic rod. Two electromagnetic telescopic rods are connected to the bottom of the lower plate of the pick-and-place structure, and each electromagnetic telescopic rod is connected to a vacuum suction cup.

Images