A building wall tile paving positioning device

Abstract

The present invention relates to the field of decoration construction technology, and specifically proposes a device for positioning and paving tiles on building walls; it includes a paving robot for grabbing and paving tiles, and a clip insertion assembly for automatically inserting multiple cross clips into the tile seams is installed on the paving robot; the paving robot includes a main frame, and two horizontally symmetrically arranged grabbing and suction mechanisms are installed on the main frame. The device provided by the present invention can be used as a tile paving execution end and replaced on an existing tile paving robot, solving the problem that the existing automatic tile paving robot can only grasp by adsorption and rely solely on visual capture for positioning. The automatic centering positioning and grasping of tiles can be achieved through the set paving robot; in addition, it is equipped with an automatic insertion structure for gap clips, which can complete the automatic insertion of gap clips synchronously with tile paving, solving the problem that the existing automatic tile paving robot cannot automatically insert gap clips.

Description

Technical Field

[0001] The invention relates to the technical field of decoration construction, and specifically proposes a building wall tile paving positioning device. Background Art

[0002] In building decoration construction, wall paving is a common decoration method. Under the existing technology, in order to free up manpower, reduce labor costs and improve construction efficiency, corresponding automatic wall paving robots are designed to replace manual paving.

[0003] This type of automatic paving robot is usually equipped with multiple coordinated mechanical arms, which can be used for grabbing tiles, automatic plastering of tile paving surfaces, and automatic paving relative to the wall. Similarly, it is also equipped with an existing visual capture positioning system to achieve sequential alignment when paving tiles. In the actual paving construction of wall tiles, whether it is done manually or by an automatic paving robot, in order to improve the aesthetics of the paving and facilitate the subsequent replacement and maintenance of damaged tiles, especially considering that thermal expansion and contraction will cause cracking and arching of tiles, it is necessary to leave gaps when paving tiles.

[0004] With regard to the gaps left when laying tiles, under the existing technology, gap clips are usually inserted between the gaps of tiles. When laying tiles manually, the gap clips can be manually inserted, but when laying tiles on the wall, the existing automatic laying robots can only lay tiles one by one, and the size of the gaps between the tiles is basically determined synchronously by the visual positioning system during laying, and it does not have the function of inserting the gap clips into the gaps between the tiles. Therefore, it is impossible to fix the size of the gaps between the tiles, and it is also impossible to use the gap clips to press the tile surfaces to ensure that the tile surfaces are flat and aligned. The actual situation is that when the gaps between the tiles are not fixed by the gap clips, because the tiles are laid on the wall, and the adhesive materials such as cement slurry cannot solidify quickly, the tiles will automatically fall due to their own gravity, and will have a slight displacement in the vertical direction, resulting in inconsistent gaps between the tiles, which will not only affect the aesthetics, but also cause the gaps to be too small and uneven, and there will also be problems of poor alignment and flatness between the tile surfaces. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a building wall tile laying positioning device, which is used to solve the problems mentioned in the above background technology.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a building wall tile laying positioning device, including a laying robot for grabbing and laying tiles, and a clip insertion assembly for automatically inserting multiple cross clips into the brick joints is installed on the laying robot.

[0007] The paving robot comprises a main frame, on which are mounted two horizontally symmetrically arranged grabbing and suction mechanisms.

[0008] The grabbing and suction mechanism includes a horizontal carry component fixed on the main frame, the displacement direction of the carry end of the horizontal carry component is parallel to the relative arrangement direction of the two grabbing and suction mechanisms, the carry end of the horizontal carry component is equipped with two vertically symmetrically arranged vertical carry components, the carry end of the vertical carry component is equipped with a positioning clamping plate assembly and a vibrating suction cup, the positioning clamping plate assembly is fixed with a gap plug plate, and the gap plug plate is a T-shaped plate structure.

[0009] The clip slotting assembly comprises a synchronous frame mounted on a main frame and a pushing assembly, wherein the pushing assembly comprises a pushing plate horizontally driven and slidably mounted on the synchronous frame; a plurality of pushing and inserting mechanisms are fixed to the upper end of the pushing plate; the pushing and inserting mechanisms comprise a pushing guide block horizontally fixed to the pushing plate, a material guide channel is horizontally provided on the pushing guide block, a material bin for storing cross clips is provided on the pushing guide block, and a pushing shaft for pushing the cross clip through the material guide channel is provided at one end of the pushing guide block.

[0010] Preferably, the pushing and inserting mechanism is distributed along the advancement direction of the horizontal advancement component; a feeding opening connected to the material guide channel is opened on the side of the upper end of the pushing guide block away from the vibrating suction cup, the silo bin mouth end is docked and installed at the feeding opening, and the pushing end of the pushing shaft extends into the feeding opening.

[0011] Preferably, a reversing block is provided for horizontal rotation driving at one end of the pushing guide block close to the vibrating suction cup, and the pushing shaft is located at the end of the pushing guide block away from the corresponding reversing block. A docking channel that is docked with the material guide channel is horizontally penetrated in the center of the reversing block. Both the material guide channel and the docking channel are rectangular hole structures, and a circular hole structure is provided at the center position of the rectangular hole structure; a bearing plate is driven and installed on the upper end of the push plate along its sliding direction; the pushing shaft includes a round rod and a pushing block fixed on the end of the round rod; the round rods of multiple pushing shafts are jointly horizontally rotated and installed on the bearing plate, and when the pushing shaft moves with the bearing plate to push, the round rod passes through the circular hole structures of both the material guide channel and the docking channel.

[0012] Preferably, a rotary joint coaxial with the material guiding channel is welded on one end of the pushing guide block close to the vibrating suction cup; and the reversing block is coaxially fixed on the rotary joint.

[0013] Preferably, the push plate is also equipped with a reversing drive assembly, which includes a rack that is horizontally driven and slidably mounted on the push plate, a gear ring is fixed on the rotary joint, and a plurality of gear rings are meshed together on the rack.

[0014] Preferably, a cross cavity for stacking and storing cross clips is provided in the silo, and two ends of the silo along the depth direction of the cross cavity are respectively in a closed and an open structure, and the open port of the silo is docked with the feed opening.

[0015] Preferably, the synchronous frame is assembled between the carry ends of two vertical carry assemblies located at the lower position in the two grabbing and suction mechanisms; the synchronous frame includes a synchronous base, and a No. 1 guide plate is horizontally and symmetrically slidably installed on both sides of the synchronous base, and the two No. 1 guide plates are fixed one by one on the carry ends of the two vertical carry assemblies located at the lower position in the two grabbing and suction mechanisms; a No. 2 guide plate is vertically slidably installed below the synchronous base, and the No. 2 guide plate is fixed on the main frame.

[0016] Preferably, positioning ear blocks are symmetrically arranged on the push guide block at positions on both sides of the feed opening, and a positioning pin that is plugged in and out with the two positioning ear blocks one by one is fixed at the open port of the silo.

[0017] Preferably, an electric slider is slidably mounted on the upper end of the propulsion plate along its sliding direction, and the bearing plate is fixed on the electric slider.

[0018] Preferably, a notch cooperating with the cross clip is provided on the pushing block; the cross clip passes through the material guiding channel in a horizontal state, and when the docking channel is reversed along with the reversing block, the cross clip in the docking channel is in a vertical state.

[0019] The above technical scheme has the following advantages or beneficial effects: the present invention provides a building wall tile laying positioning device, which can be used as a corresponding replacement for the tile laying execution end installed on the existing tile laying robot, solving the problem that the existing automatic tile laying robot can only adsorb and grasp and simply rely on visual capture positioning. The automatic centering positioning and grasping of the tile can be realized through the set laying manipulator, so that the laying pressure is evenly distributed, which can improve the strength of the laying adhesion, and at the same time can automatically position and dock with the laid tiles, which can improve the consistency of the tile gap and ensure the aesthetics of the laying; in addition, it is equipped with an automatic insertion structure for the gap clip, which can complete the automatic insertion of the gap clip synchronously with the tile laying, solving the problem that the existing automatic tile laying robot cannot automatically insert the gap clip, so that the width of the tile gap can be fixed, avoiding the problem of uneven gap size caused by the falling of wall tiles, further ensuring the accuracy of tile laying positioning, ensuring the consistency of gap size, and the overall flatness of tile laying, thereby improving the quality and aesthetics of tile laying. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention and its features, configurations and advantages will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings. The same reference numerals indicate the same parts throughout the drawings, which are not drawn to scale, with emphasis on illustrating the subject matter of the present invention.

[0021] Figure 1 The present invention is a schematic diagram of the three-dimensional structure of a building wall tile laying positioning device provided by the present invention.

[0022] Figure 2 It is a three-dimensional working state diagram of a building wall tile laying and positioning device provided by the present invention under another viewing angle.

[0023] Figure 3 The present invention is a top view of a building wall tile paving and positioning device provided by the present invention.

[0024] Figure 4 It is a three-dimensional structural diagram of the paving robot and the synchronous frame assembly.

[0025] Figure 5 It is a three-dimensional structural diagram of the clip slot assembly.

[0026] Figure 6 It is a three-dimensional structural diagram of the clip slot assembly from another perspective.

[0027] Figure 7 It is a top view of the clip slot assembly.

[0028] Figure 8 yes Figure 7 Sectional view along AA direction.

[0029] Fig. 9 It is a three-dimensional sectional structural diagram of the push guide block, the rotary joint, the reversing block and the push shaft.

[0030] Fig.10 It is a three-dimensional structural diagram of the silo.

[0031] Fig.11 The present invention provides a construction status diagram of a building wall tile paving and positioning device.

[0032] Fig.12 yes Fig.11 A partial enlarged view of point B in the middle.

[0033] In the figure: 01, paving robot; 1, main frame; 11, horizontal slide rail; 2, grabbing and sucking mechanism; 21, horizontal feed assembly; 211, No. 1 cylinder; 212, vertical slide rail; 2121, horizontal slider; 22, vertical feed assembly; 221, No. 2 cylinder; 222, feed slide plate; 23, positioning clamp assembly; 231, clamp seat; 2311, square guide column; 2312, fixed plate; 232, gap insert plate; 2321, vertical plate; 2322, horizontal plate; 233, compression spring; 24, vibration suction cup; 02, clip gap assembly; 3, synchronous frame; 31, synchronous base; 311, slideway; 32, horizontal guide column; 33, No. 1 guide plate; 34 , vertical guide column; 35, guide plate No. 2; 4, push assembly; 41, push plate; 411, upper guide rail; 412, lower guide rail; 413, rack rail; 42, cylinder No. 3; 43, electric slider; 431, bearing plate; 5, push insertion mechanism; 51, push guide block; 511, material guide channel; 512, feed opening; 513, positioning ear block; 52, rotary joint; 521, gear ring; 53, reversing block; 531, docking channel; 54, push shaft; 541, round rod; 542, push block; 55, silo; 551, cross cavity; 552, positioning pin; 6, reversing drive assembly; 61, cylinder No. 4; 62, rack; 03, cross clip. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0036] like Figure 1 , Fig.11 and Fig.12 As shown, a building wall tile laying positioning device includes a laying robot 01 for grabbing and laying tiles, and a clip insertion assembly 02 for automatically inserting three cross clips 03 into the tile joints is installed on the laying robot 01. It should be noted that the positioning device provided by the present invention can be used as a tile laying execution end to replace and assemble on an existing tile laying robot. In actual operation, when the finished plastered tiles are placed in the positioning device, the positioning device is in a horizontal state, and when the tiles are laid, the positioning device is flipped to a vertical state. Therefore, for the convenience of description, the assembly position relationship of each component on the positioning device is described below based on the vertical state.

[0037] like Figure 1 As shown, the paving robot 01 includes a main frame 1, which can be fixed on a robot arm for performing paving on an existing tile paving robot; the main frame 1 is equipped with two horizontally symmetrically arranged grabbing and suction mechanisms 2.

[0038] like Figure 1 , Figure 2 and Figure 4 As shown, two horizontal slide rails 11 corresponding to two grabbing and suction mechanisms 2 are horizontally arranged on the main frame 1; the grabbing and suction mechanism 2 includes a horizontal carry assembly 21, and the horizontal carry assembly 21 includes a No. 1 cylinder 211 horizontally fixed to the side wall of the main frame 1 by bolts and a vertical slide rail 212 fixed to the output end of the No. 1 cylinder 211 by bolts, and a horizontal slider 2121 is welded on the vertical slide rail 212, and the horizontal slider 2121 is slidably mounted on the corresponding horizontal slide rail 11. The upper and lower ends of the vertical slide rail 212 are equipped with vertical carry assemblies 22, and the two vertical carry assemblies 22 are arranged vertically symmetrically. The vertical carry assembly 22 includes a No. 2 cylinder 221 vertically fixed to the end of the vertical slide rail 212 by a cylinder plate and a carry slide 222 fixed to the output end of the No. 2 cylinder 221 by bolts, and the carry slide 222 is slidably arranged along the vertical slide rail 212.

[0039] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the carrying slide 222 is equipped with a positioning clamping plate assembly 23 and a vibrating suction cup 24, the positioning clamping plate assembly 23 includes a clamping plate seat 231, the clamping plate seat 231 includes a square guide column 2311 horizontally slidably mounted on the carrying slide 222, the sliding direction of the square guide column 2311 is perpendicular to the sliding direction of the horizontal slider 2121 and the sliding direction of the carrying slide 222; a fixing plate 2312 is welded to one end of the square guide column 2311, a compression spring 233 is sleeved on the square guide column 2311, and The two ends of the compression spring 233 are welded to the advancing slide plate 222 and the fixed plate 2312 respectively. The fixed plate 2312 is welded with a gap insert plate 232. The gap insert plate 232 is a T-shaped plate structure and is composed of a vertical plate 2321 and a horizontal plate 2322. The vertical plate 2321 and the horizontal plate 2322 have the same thickness, and the thickness corresponds to the gap width of the tile. It should be noted that the vibration suction cup 24 is an existing grasping and paving device for tile paving, which is mainly composed of a suction cup and a vibration motor mounted on the suction cup. There are a total of four gap insert plates 232 in the two grasping and suction mechanisms 2, and the four vibration suction cups 24 are located inside the rectangular area formed by the horizontal plates 2322 in the four gap insert plates 232. The four gap insert plates 232 can be clamped at the four corners of the tile, and the four vibration suction cups 24 can be adsorbed on the tile surface position near the four corners.

[0040] During actual construction, the tiles can be laid out in sequence along the wall. For example, the tiles can be laid in sequence from left to right and from bottom to top along the wall, and the tiles laid on the left and bottom can be used as the paving reference for subsequent tiles. In order to ensure the stability of the reference, the left edge of the tile laid on the far left and the bottom edge of the tile laid on the bottom can be fixed manually. The paving robot 01 in the present invention can accurately lay tiles on the wall. Specifically, in the tile paving robot, the device provided by the present invention is flipped to a horizontal state by a docking-mounted robot arm. At this time, the adsorption surface of the vibrating suction cup 24 faces upward. Then, the material grabbing of the tile is completed by a separately installed robot arm. After the tile is flipped to a horizontal state, the automatic plastering device is used to automatically plaster the paving surface of the tile. Then, the robot arm places the plastered tile flat on the four vibrating suction cups 24. Then, the No. 1 cylinder 211 and the No. 2 cylinder 221 are started synchronously so that the two The vertical slide rails 212 move toward each other, and the two advance slide plates 222 on the same vertical slide rail 212 also slide toward each other, and then the tile is automatically positioned and clamped between the four gap insert plates 232, and the four vibrating suction cups 24 are also distributed on the tile surface positions close to the four corners of the tile. Then, the tile is adsorbed and fixed by the four vibrating suction cups 24. After the vibrating suction cups 24 adsorb the tile, in order to facilitate the subsequent withdrawal of the four gap insert plates 232, the four gap insert plates 232 are immediately loosened and moved to a position close to the side of the tile, just separated until no clamping force is generated.

[0041] After completing the positioning and grabbing of the tiles, the mechanical arm drives the device to flip the tiles to a vertical state, and the visual capture and positioning system of the tile laying robot is used to lay the tiles on the corresponding positions on the wall, so that the two vertical plates 2321 on the left are abutted against the right side edge of the laid left tiles, and the two horizontal plates 2322 at the bottom are abutted against the upper side edge of the laid lower tiles, thereby aligning with the reference tiles. The device drives the tiles to be laid and pressed against the wall. When pressed, the compression spring 233 shrinks adaptively. Finally, the four vibrating suction cups 24 are started synchronously, so that the vibrating suction cups 24 drive the tiles to vibrate, thereby evenly bonding the cement slurry to the wall.

[0042] like Fig.12 The cross clip 03 shown is a kind of gap clip, which is a cross-shaped structure and includes four plug-in strips. When actually used, the cross clip 03 can be placed flat at the corners of four tiles for positioning, or as shown in FIG. Fig.12 As shown in the vertical state, one of the inserting strips is inserted into the gap between two tiles, and the two inserting strips in the vertical direction can be pressed against the brick surfaces of the two tiles to promote the brick surfaces of the two tiles to remain flush. Fig.12 It can be seen that the width of the plug-in strip of the cross clip 03 inserted between the gaps of two tiles determines the width of the tile gaps. The cross clip 03 has different sizes and specifications. The difference between the cross clips 03 of different sizes and specifications is only reflected in the different widths of the plug-in strips. In this embodiment, a cross clip 03 of the required specifications is selected, and the thickness of the gap inserting plate 232 is substantially equal to the width of the plug-in strip of the cross clip 03. The device provided by the present invention is mainly constructed for a cross clip 03 of one width specification. When it is necessary to construct a cross clip 03 of different specifications, the device provided by the present invention can be replaced and debugged accordingly.

[0043] like Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, the clip slot assembly 02 is arranged centrally with respect to the two gripping and suction mechanisms 2. The clip slot assembly 02 includes a synchronous frame 3 assembled on the main frame 1, and the synchronous frame 3 includes a synchronous base 31. The synchronous base 31 is welded with two horizontal guide posts 32 horizontally symmetrically distributed on both sides thereof. The horizontal guide posts 32 are axially arranged parallel to the horizontal slide rail 11. The two horizontal guide posts 32 are both slidably mounted with a No. 1 guide plate 33, and the two No. 1 guide plates 33 are welded one by one on the two carry-in slide plates 222 located at the bottom of the two gripping and suction mechanisms 2; the bottom end of the synchronous base 31 is welded with two vertical guide posts 34, and the two vertical guide posts 34 are both slidably mounted with a No. 2 guide plate 35, and the No. 2 guide plate 35 is welded on the main frame 1. The synchronous base 31 is equipped with a propulsion assembly 4, which includes a No. 3 cylinder 42 fixed to the bottom end of the synchronous base 31 through a cylinder plate and a propulsion plate 41 fixed to the output end of the No. 3 cylinder 42 through a connecting plate. The sliding direction of the propulsion plate 41 is parallel to the sliding direction of the clamping plate seat 231. Two parallel sliding grooves 311 are arranged on the upper end surface of the synchronous base 31, and the guiding direction of the sliding grooves 311 is parallel to the sliding direction of the square guide column 2311; two lower guide rails 412 are welded to the bottom end of the propulsion plate 41, and the two lower guide rails 412 are slidably mounted on the two sliding grooves 311 in a one-to-one corresponding manner; three pushing and insertion mechanisms 5 evenly distributed along the sliding direction of the horizontal slider 2121 are fixed to the upper end of the propulsion plate 41.

[0044] like Figure 2 , Figure 5 , Figure 6 , Figure 8 , Fig. 9 and Fig.10As shown, the pushing and inserting mechanism 5 includes a pushing guide block 51 horizontally welded on the pushing plate 41, and a material guiding channel 511 arranged along the sliding direction of the pushing plate 41 is horizontally penetrated on the pushing guide block 51, and the material guiding channel 511 is aligned and matched with the horizontal plate 2322 at the lower position. Since the wall tiles will fall due to their own gravity, it is only necessary to fix the horizontal gap of the tiles. Through the setting of the synchronous frame 3, the material guiding channel 511 is always aligned with the horizontal plate 2322 at the lower position without affecting the advance movement of the two grabbing and sucking mechanisms 2; the upper end of the pushing guide block 51 is located on the side away from the vibrating suction cup 24, and an inlet connected to the material guiding channel 511 is provided. The material opening 512 is docked with a material bin 55 for stacking and storing cross clips 03 at the material feeding opening 512, and a cross cavity 551 for stacking and storing cross clips 03 is arranged in the material bin 55. The two ends of the material bin 55 along the depth direction of the cross cavity 551 are respectively closed and open structures, and the open port of the material bin 55 is docked with the material feeding opening 512. In addition, in order to facilitate the rapid disassembly and assembly of the material bin 55, positioning ear blocks 513 are symmetrically arranged on the push guide block 51 at the positions on both sides of the material feeding opening 512, and two positioning pins 552 are welded at the open port of the material bin 55, and the two positioning pins 552 on the material bin 55 are plugged into the two positioning ear blocks 513 one by one.

[0045] like Figure 3 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Fig. 9As shown, a rotary joint 52 coaxial with the material guide channel 511 is welded at one end of the push guide block 51 close to the vibrating suction cup 24, and a cylindrical reversing block 53 is coaxially fixedly installed on the reversing joint 52. A push shaft 54 ​​for pushing the cross clamp 03 is provided at one end of the material guide channel 511 away from the corresponding rotary joint 52; a docking channel 531 docking with the material guide channel 511 is horizontally penetrated through the center of the reversing block 53; the through cross-sections of both the material guide channel 511 and the docking channel 531 are rectangular hole structures, and a circular hole structure is provided at the center of the rectangular hole structure, and the overall size of the rectangular hole is slightly larger than the overall size of the cross clamp 03; two upper guide rails 411 arranged parallel to the lower guide rail 412 are welded to the upper end surface of the push plate 41, and an existing electric slider 4 is installed between the two upper guide rails 411 for sliding cooperation 3, and a bearing plate 431 is welded on the electric slider 43; the push shaft 54 ​​includes a round rod 541 and a push block 542 welded on the end of the round rod 541, and a transitional chamfer is set at the connection between the round rod 541 and the push block 542, and the push block 542 extends to the feed opening 512. When the silo 55 is inserted into the feed opening 512, the cross clip 03 located at the bottom of the silo 55 will automatically fall into the guide channel 511 in the area where the feed opening 512 is located under the action of gravity, and a notch is provided on the push block 542 to match the cross clip 03; the round rods 541 of the three push shafts 54 are installed on the bearing plate 431 for horizontal rotation together. When the push shaft 54 ​​moves with the bearing plate 431 and is pushed, the round rod 541 passes through the circular hole structures of both the guide channel 511 and the docking channel 531. In order to facilitate storage, multiple cross clips 03 are stacked horizontally from top to bottom and stored in the silo 55 (such as Figure 8 shown), while Fig.12 The cross clip 03 shown in the figure is inserted into the gap of the tile in a vertical state, so the cross clip 03 pushed horizontally from the push guide block 51 needs to be switched to a vertical state through the reversing block 53. For this purpose, the push plate 41 is also equipped with a reversing drive assembly 6, which includes a No. 4 cylinder 61 horizontally fixed at the bottom end of the push plate 41 and a rack 62 fixed at the output end of the No. 4 cylinder 61. A rack rail 413 is welded to the bottom end of the push plate 41, and the rack 62 is slidably mounted on the rack rail 413. A gear ring 521 is fixed on the rotary joint 52, and the three gear rings 521 are engaged with the rack 62 together. When the No. 4 cylinder 61 is not output, the docking channel 531 is horizontally aligned with the guide channel 511. When the No. 4 cylinder 61 drives the rack 62, the three reversing blocks 53 can be driven to rotate synchronously by ninety degrees, so that the docking channel 531 rotates to a vertical state.

[0046] When the laying robot 01 completes the laying of tiles on the wall, the three cross clips 03 can be automatically inserted into the horizontal gap at the lower end of the newly laid tiles by the clip insertion assembly 02. The specific process is as follows: Figure 7 Viewpoint for explanation ( Figure 7 The electric slider 43 is in the upper position and the reversing block 53 is in the lower position). First, the electric slider 43 is started, and the push shaft 54 ​​is driven to move downward by the electric slider 43. The push shaft 54 ​​pushes the cross clip 03 through the material guide channel 511 and enters the docking channel 531 through the push block 542. When the push block 542 completely enters the docking channel 531, the electric slider 43 is paused, and the No. 4 cylinder 61 is started, and the four reversing blocks 53 are driven to rotate through the rack 62, so that the push shaft 54 ​​rotates synchronously with the reversing block 53, and the cross clip 03 is flipped to a vertical state with the reversing block 53. Then, the No. 3 cylinder 42 is started to drive the push plate 41 to slide, so that the three push insertion mechanisms 5 move synchronously with the push plate 41 toward the direction of the tile until the reversing block 53 is moved. 53 is pressed against the tile surface. At this time, the reversing block 53 is pressed between the newly laid tile and the tile below as a pressing block, so that the two tile surfaces remain aligned. Subsequently, the electric slider 43 is started again, and the cross clip 03 is pushed into the gap through the push shaft 54, and the two vertical plug-in strips of the cross clip 03 are pressed against the two tile surfaces. After the insertion is completed, the push plate 41 drives the push insertion mechanism 5 to move to the initial position, the reversing block 53 is separated from the tile surface, and then the docking channel 531 is flipped to a horizontal state again, and the push shaft 54 ​​is driven by the electric slider 43 to pass through the docking channel 531 and the material guide channel 511 in turn, and return to the feed opening 512 again, and the cross clip 03 in the silo 55 automatically completes the material replenishment.

[0047] Finally, release the four vibrating suction cups 24, separate the vibrating suction cups 24 from the tiles through the robot arm driving device, and pull the gap insert plate 232 out of the tile gap. At this point, the positioning and paving of a single tile is completed. Repeat the above operations and then spread out the tiles along the wall in sequence.

[0048] The present invention provides a device for paving and positioning tiles on building walls, which can be used as a replacement for an existing tile paving robot as a corresponding end for paving tiles, thereby solving the problem that the existing automatic tile paving robot can only adsorb and grasp and simply rely on visual capture for positioning. The paving manipulator 01 provided can realize automatic centering positioning and grasping of tiles, so that the paving pressure is evenly distributed, which can improve the strength of paving adhesion, and at the same time can automatically position and dock with the laid tiles, which can improve the consistency of tile gaps and ensure the aesthetics of paving. In addition, an automatic insertion structure for gap clips is equipped, which can automatically insert the gap clips synchronously with the tile paving, thereby solving the problem that the existing automatic tile paving robot cannot automatically insert the gap clips, thereby fixing the width of the tile gap, avoiding the problem of uneven gap size caused by the falling of wall tiles, further ensuring the accuracy of tile paving and positioning, ensuring the consistency of gap size, and the overall flatness of tile paving, thereby improving the quality and aesthetics of tile paving.

[0049] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0050] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0051] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can make many possible changes and modifications without departing from the technical solution of the present invention, or modify them into equivalent embodiments with equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. A building wall tile paving positioning device, characterized in that: It includes a laying robot for grabbing and laying tiles, and the laying robot is equipped with a clip insertion assembly for automatically inserting multiple cross clips into the tile joints; wherein: the laying robot includes a main frame, and the main frame is equipped with two horizontally symmetrically arranged grabbing and suction mechanisms; The grabbing and sucking mechanism comprises a horizontal carrying assembly fixed on the main frame, and the carrying end of the horizontal carrying assembly is equipped with two vertical carrying assemblies arranged vertically symmetrically; the carrying end of the vertical carrying assembly is equipped with a positioning clamping plate assembly and a vibrating suction cup; a gap insert is fixed on the positioning clamping plate assembly, and the gap insert is a T-shaped plate structure; The clip slotting assembly comprises a synchronous frame and a pushing assembly mounted on a main frame; the pushing assembly comprises a pushing plate which is horizontally driven and slidably mounted on the synchronous frame, and a plurality of pushing and inserting mechanisms are fixed on the upper end of the pushing plate; the pushing and inserting mechanisms comprise a pushing guide block which is horizontally fixed on the pushing plate, and a material guide channel is horizontally provided on the pushing guide block, and a material bin for storing cross clips is provided on the pushing guide block, and a pushing shaft for pushing the cross clip through the material guide channel is provided at one end of the pushing guide block; A rotary joint coaxial with the material guide channel is welded on one end of the push guide block close to the vibrating suction cup, and a reversing block is provided on the one end of the push guide block close to the vibrating suction cup for horizontal rotation drive, and the reversing block is coaxially fixed on the rotary joint; The push plate is also equipped with a reversing drive assembly, which includes a rack that is horizontally driven and slidably mounted on the push plate, a gear ring is fixed on the rotary joint, and a plurality of gear rings are meshed with the rack.

2. A building wall tile paving and positioning device according to claim 1, characterized in that: The pushing and inserting mechanism is distributed along the advancement direction of the horizontal advancement component; a feeding opening connected to the material guide channel is provided on the side of the upper end of the pushing guide block away from the vibrating suction cup, the silo bin mouth end is docked and installed at the feeding opening, and the pushing end of the pushing shaft extends into the feeding opening.

3. A building wall tile paving and positioning device according to claim 2, characterized in that: The push shaft is located at one end of the push guide block away from the corresponding commutation block. A docking channel that docks with the material guide channel is horizontally penetrated through the center of the commutation block. The material guide channel and the docking channel are both rectangular hole structures, and a circular hole structure is arranged at the center of the rectangular hole structure.

4. A building wall tile paving and positioning device according to claim 3, characterized in that: A bearing plate is installed on the upper end of the push plate for driving along its sliding direction; an electric slider is installed on the upper end of the push plate for sliding along its sliding direction, and the bearing plate is fixed on the electric slider; the pushing shaft includes a round rod and a pushing block fixed on the end of the round rod; the round rods of multiple pushing shafts are installed on the bearing plate for horizontal rotation together, and when the pushing shaft moves with the bearing plate for pushing, the round rod passes through the circular hole structures of both the material guide channel and the docking channel.

5. The device for paving and positioning building wall tiles according to claim 2, characterized in that: The silo is provided with a cross cavity for stacking and storing cross clips, and the two ends of the silo along the depth direction of the cross cavity are respectively in a closed and an open structure, and the open port of the silo is butted against the feed opening.

6. A building wall tile paving and positioning device according to claim 1, characterized in that: The synchronous frame is assembled between the carry ends of the two vertical carry assemblies located at the lower position in the two grabbing and suction mechanisms; the synchronous frame includes a synchronous base, and a No. 1 guide plate is horizontally and symmetrically slidably installed on both sides of the synchronous base, and the two No. 1 guide plates are fixed one by one on the carry ends of the two vertical carry assemblies located at the lower position in the two grabbing and suction mechanisms; a No. 2 guide plate is vertically slidably installed below the synchronous base, and the No. 2 guide plate is fixed on the main frame.

7. A building wall tile paving and positioning device according to claim 2, characterized in that: Positioning ear blocks are symmetrically arranged on the push guide block at the positions on both sides of the feed opening, and a positioning pin that is plugged in and matched with the two positioning ear blocks one by one is fixed at the open port of the silo.

8. The device for paving and positioning building wall tiles according to claim 4, characterized in that: The pushing block is provided with a notch matched with the cross clip; the cross clip passes through the material guiding channel in a horizontal state, and when the docking channel is reversed with the reversing block, the cross clip in the docking channel is in a vertical state.

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