Mechatronics building ceramic tile laying device

Abstract

The invention discloses a mechatronics building ceramic tile laying device, and relates to the technical field of ceramic tile laying devices.The mechatronics building ceramic tile laying device comprises a laying moving mechanism, and the laying moving mechanism comprises a station switching assembly and a material carrying assembly used for bearing a tile body; the first connecting mechanism is connected with the station switching assembly, and the other end of the first connecting mechanism is connected with the grabbing mechanism. The second connecting mechanism is connected with the station switching assembly, and the other end of the second connecting mechanism is connected with a knocking mechanism; the knocking mechanism comprises a supporting base fixedly connected with the second connecting mechanism, a first driving unit arranged on the supporting base and a plurality of sets of knocking assemblies in transmission connection with the first driving unit, and the knocking assemblies knock the laid ceramic tiles; an adsorption mechanism is arranged in each knocking assembly, and when the knocking assemblies conduct knocking work, the adsorption mechanisms adsorb dust generated by the knocking assemblies; continuous dust collection is achieved in cooperation with knocking, and the synchronous dust collection function in the knocking process is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field related to tile laying devices, and in particular to a mechatronic building tile laying device. Background Art

[0002] During construction, in order to facilitate people to collect impurities on the ground and not affect the surrounding environment, tiles need to be laid on the ground. After the tiles are laid, in order to ensure that the tiles are more stable and do not affect people's walking, the tiles need to be hammered and reinforced. In order to improve the laying efficiency of tiles, automatic tile laying devices are gradually being used by people.

[0003] Patent publication number CN113202267A discloses an auxiliary tile laying device for construction, relating to the field of construction technology. The device comprises a flat frame, a lifting gantry provided on the flat frame, and a tile grabbing mechanism provided on the lifting gantry. The tile grabbing mechanism has a vertical downward tile laying stroke on the lifting gantry; a rotating member is provided on the tile grabbing mechanism, and a first driving member and a second driving member are arranged sequentially from high to low on the flat frame. During the downward movement of the tile grabbing mechanism, the rotating member is first passively driven by the first driving member to rotate the tile grabbing mechanism to the position of the tile back glue spraying head. In the present invention, when the tile grabbing mechanism moves downward in the lifting gantry to lay tiles, the first driving member cooperates with the rotating member to automatically drive the tile grabbing mechanism to rotate, causing the back of the tile fixed on the tile grabbing mechanism to flip over and face the position of the tile glue spraying head, thereby spraying the tile back glue.

[0004] However, in actual use, the equipment is unable to effectively identify whether there are hollows between the tile adhesive and the base layer, which leads to the inability to timely detect whether there is insufficient bonding after laying, affecting the construction quality; in addition, in a dry or dusty environment, tiles are prone to absorb dust or debris, which not only interferes with the laying accuracy, but also significantly reduces the bonding quality of the adhesive, further aggravating the occurrence of hollowing. Summary of the Invention

[0005] In order to solve the defects of the prior art, the present invention provides a mechatronic building tile laying device.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] The present invention provides a mechatronic building tile laying device, comprising:

[0008] The laying movement mechanism includes a station switching assembly and a loading assembly for carrying bricks;

[0009] A first connecting mechanism, connected to the station switching assembly and having a gripping mechanism connected to the other end;

[0010] A second connecting mechanism, connected to the station switching assembly and having a knocking mechanism connected to the other end;

[0011] The knocking mechanism includes a support base fixedly connected to the second connecting mechanism, a first driving unit provided on the support base, and a plurality of knocking assemblies drivingly connected to the first driving unit. The knocking assemblies are driven by the first driving unit to reciprocate and knock the laid tiles.

[0012] An adsorption mechanism is provided inside each of the knocking components, and the adsorption mechanism adsorbs dust generated by the knocking component when the knocking component performs the knocking work.

[0013] As a preferred technical solution of the present invention, the knocking component includes:

[0014] A lower support box body, the upper end of which is fixedly provided with an upper support box body, and the lower support box body is fixed on the support base;

[0015] There are two groups of cams, which are rotatably arranged on the upper supporting box body respectively;

[0016] A rotating rod is fixedly arranged between the two groups of cams;

[0017] The knocking unit has one end connected to the rotating rod and the other end passing through the lower supporting box body.

[0018] As a preferred technical solution of the present invention, the knocking unit includes a sleeve slidably connected to the rotating rod, a connecting rod fixedly provided at the lower end of the sleeve and passing through the lower support box body, a knocking head fixedly provided at the lower end of the connecting rod, and a vibration sensor provided at the upper end of the knocking head and fixedly connected to the connecting rod;

[0019] The lower supporting box body is provided with a through hole at a position corresponding to the connecting rod.

[0020] As a preferred technical solution of the present invention, the cams in two adjacent groups of the knocking assemblies are connected by transmission;

[0021] The first driving unit is connected to the outermost group of striking components through a transmission belt.

[0022] As a preferred technical solution of the present invention, the adsorption mechanism includes:

[0023] An airbag unit is fixedly arranged at the inner upper end of the upper support box body;

[0024] An extrusion plate, fixedly arranged on the upper end of the shaft sleeve;

[0025] Intake pipes, wherein a plurality of groups of the intake pipes are fixedly arranged on the outside of the upper box body and extend into the interior of the upper box body and communicate with the airbag unit;

[0026] At least one set of air outlet pipes is provided and is communicated with the lower supporting box body.

[0027] As a preferred technical solution of the present invention, when the striking head moves to the lowermost end, the air nozzle of the air suction pipe is located at the upper end of the striking head and arranged toward the striking head.

[0028] As a preferred technical solution of the present invention, a first blocking plate opened toward the upper end is provided inside the air intake pipe, and a second blocking plate opened toward the lower end is provided inside the air outlet pipe;

[0029] The first blocking plate is arranged inside the air intake pipe via a torsion spring, and the second blocking plate is arranged inside the air outlet pipe via a torsion spring.

[0030] As a preferred technical solution of the present invention, the workstation switching assembly drives the first connecting mechanism and / or the second connecting mechanism to rotate, thereby realizing the workstation switching of the gripping mechanism and the knocking mechanism.

[0031] As a preferred technical solution of the present invention, the workstation switching assembly includes a mobile platform, a second drive unit fixedly arranged on the upper end of the mobile platform, and a rotating disk arranged on the upper end of the second drive unit.

[0032] As a preferred technical solution of the present invention, the first connecting mechanism includes a fixing rod fixedly connected to the rotating disk and a lifting unit connected to one end of the fixing rod.

[0033] The beneficial effects of the present invention are:

[0034] 1. In the present invention, a knocking mechanism is provided to knock on the surface of the ceramic tiles. The knocking component in the knocking mechanism is driven by the first driving unit to perform reciprocating knocking. The mechanical impact makes the ceramic tiles fit more closely to the base layer, thereby improving the bonding uniformity and tightness. The vibration sensor integrated in the knocking unit can detect the knocking feedback signal in real time, identify the response characteristics of the knocking area, and determine whether there are hollows through parameters such as vibration amplitude and frequency, thereby realizing dynamic monitoring of the bonding status during the construction process.

[0035] 2. In the present invention, an adsorption mechanism is integrated inside the knocking assembly. When the cam drives the knocking head to move back and forth, the extrusion plate connected to the sleeve synchronously and reciprocally squeezes the airbag unit, and the gas and dust in the airbag are discharged through the outlet pipe. When the airbag is not squeezed, the intake pipe draws external air and dust into the airbag, and continuous dust suction is achieved in conjunction with knocking, thereby realizing the synchronous dust suction function during the knocking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0037] In the attached figure:

[0038] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0039] Figure 2 It is a schematic diagram of the top structure of the present invention.

[0040] Figure 3 It is a schematic diagram of the local structure of the present invention.

[0041] Figure 4 This is a structural diagram of the knocking component.

[0042] Figure 5 This is a schematic diagram of the internal structure of the knock component.

[0043] Figure 6 A schematic cross-sectional view of the striking assembly.

[0044] Figure 7 It is a cross-sectional schematic diagram of the intake pipe and the exhaust pipe.

[0045] Figure 8 This is a structural diagram of the workstation switching component.

[0046] In the figure: 1. laying moving mechanism; 11. work station switching assembly; 111. moving platform; 112. second driving unit; 113. rotating disk; 12. loading assembly; 2. first connecting mechanism; 21. fixing rod; 22. lifting unit; 3. grabbing mechanism; 4. second connecting mechanism; 5. knocking mechanism; 51. supporting base; 52. first driving unit; 53. knocking assembly; 531. lower supporting box body; 532. upper supporting box body; 533. cam; 534. rotating rod; 535. knocking unit; 5351. bushing; 5352. connecting rod; 5353. knocking head; 5354. vibration sensor; 54. transmission belt; 6. adsorption mechanism; 61. airbag unit; 62. extrusion plate; 63. suction pipe; 64. exhaust pipe; 65. air nozzle; 7. first sealing plate; 8. second sealing plate; 9. torsion spring. DETAILED DESCRIPTION

[0047] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0048] like Figure 1-Figure 5As shown, a mechatronic building tile laying device includes a laying mobile mechanism 1, a first connecting mechanism 2, a second connecting mechanism 4, a gripping mechanism 3 and a knocking mechanism 5. The laying mobile mechanism 1 includes a workstation switching component 11 and a loading component 12 for carrying bricks; the first connecting mechanism 2 is connected to the workstation switching component 11 and the other end is connected to the gripping mechanism 3; the second connecting mechanism 4 is connected to the workstation switching component 11 and the other end is connected to the knocking mechanism 5; the knocking mechanism 5 includes a supporting base 51 fixedly connected to the second connecting mechanism 4, a first driving unit 52 arranged on the supporting base 51, and several groups of knocking components 53 transmission-connected to the first driving unit 52, the knocking components 53 are driven by the first driving unit 52 to reciprocate and knock on the laid tiles; each of the knocking components 53 is provided with an adsorption mechanism 6 inside, and the adsorption mechanism 6 adsorbs the dust generated by the knocking component 53 when the knocking component 53 performs the knocking work.

[0049] Among them, the workstation switching component 11 realizes the switching action between multiple workstations, such as switching from the tile grabbing position to the laying position, switching from the laying position to the knocking and compacting position, etc. The loading component 12 is used to carry the tiles to be laid. During the entire operation process, the tiles complete the position adjustment and temporary storage functions through this component.

[0050] The first connecting mechanism 2 connects the grabbing mechanism 3 to the workstation switching assembly 11. The grabbing mechanism 3 usually adopts a vacuum suction cup or an electromagnetic adsorption device to absorb and stably grasp the tiles through negative pressure, so as to complete the actions from taking tiles to positioning and laying. The grabbing mechanism 3 is an existing technology and its specific structure will not be repeated.

[0051] The second connecting mechanism 4 connects the knocking mechanism 5 and the workstation switching assembly 11 to realize the accurate position conversion of the knocking module. The support base 51 in the knocking mechanism 5 provides structural support for the knocking assembly 53 and is fixed on the second connecting mechanism 4. The first driving unit 52 is used to drive the knocking assembly 53 to move up and down. Each group of knocking assemblies 53 can accurately knock on the surface of the ceramic tiles to achieve the purpose of compaction, exhaust and prevention of hollowing.

[0052] In addition, each set of knocking components 53 is integrated with a dust suction function, which can simultaneously absorb the dust generated during the knocking process, effectively improving the construction environment and enhancing the cleanliness and safety of the operation.

[0053] The present invention greatly improves construction efficiency and reduces labor intensity by integrating multiple independent work links into the same device, and integrates the knocking and dust collection functions into one component, which not only saves space but also improves the cleanliness and environmental protection performance during the construction process. The functional modules are independent of each other and work together, which is convenient for later maintenance and system upgrades. It can be quickly adapted and adjusted according to different tile sizes and materials. Optionally, it can be equipped with a high-precision controller and displacement sensor to achieve millimeter-level tile laying accuracy, avoiding the error accumulation in traditional manual operations.

[0054] Further, if Figure 3-Figure 6 As shown, the knocking component 53 includes:

[0055] The lower support box body 531 has an upper support box body 532 fixedly provided on its upper end. The lower support box body 531 is fixed on the support base 51. The lower support box body 531 is the base structure of the entire striking assembly 53, carrying the upper mechanism while providing support rigidity. The structure is a closed box design with certain strength and stability. The lower support box body 531 adopts a hollow structure rather than a solid structure, which is convenient for the subsequent storage of dust discharged by the adsorption mechanism 6.

[0056] The upper support box 532 is installed on the lower support box 531 and is used to fix the internal cam 533 system and rotating components. It is the supporting frame of the entire knock drive structure.

[0057] The cams 533 are provided in two groups and are respectively rotatably provided on the upper support box body 532. The rotation action drives the rotating rod 534 connected in the middle to produce reciprocating swing, thereby realizing the knocking action;

[0058] The rotating rod 534 is fixedly disposed between the two groups of cams 533 and is laterally connected between the two groups of cams 533 to act as a connecting bridge. The rotation of the rotating rod 534 directly drives the up and down movement of the striking unit 535.

[0059] The knocking unit 535 has one end connected to the rotating rod 534 and the other end passing through the lower support box body 531. It is the main actuator for realizing the compaction and vibration functions of the tiles. One end is connected to the rotating rod 534 and the other end passes vertically through the lower support box body 531 for impacting and knocking the tile surface.

[0060] The striking assembly 53 adopts a double cam 533 + rotating rod 534 structure. Compared with the traditional single-point impact mechanism, it can provide a more uniform and stable striking effect. The structural layout is reasonable, easy to maintain and replace, and suitable for high-intensity continuous operation.

[0061] Further, if Figure 5As shown in FIG. 5 , the knocking unit 535 includes a sleeve 5351 slidably connected to the rotating rod 534, a connecting rod 5352 fixedly provided at the lower end of the sleeve 5351 and passing through the lower support box 531, a knocking head 5353 fixedly provided at the lower end of the connecting rod 5352, and a vibration sensor 5354 provided at the upper end of the knocking head 5353 and fixedly connected to the connecting rod 5352.

[0062] The lower support box body 531 is provided with a through hole at a position corresponding to the connecting rod 5352 .

[0063] The shaft sleeve 5351 is slidably connected to the rotating rod 534 to maintain guidance and restriction during the rotation process, prevent lateral deviation, and improve the stability of the knocking;

[0064] The connecting rod 5352 extends vertically from the lower end of the shaft sleeve 5351 and passes through the lower support box 531 to transmit the striking force;

[0065] The striking head 5353 is fixed to the lower end of the connecting rod 5352 and directly contacts the tiles for striking. It is usually made of rubber or special alloy to adapt to different types of tile surfaces.

[0066] The vibration sensor 5354 is provided at the upper end of the knocking head 5353 and fixed to the connecting rod 5352. It monitors the vibration signal during the knocking process in real time and is used to judge the knocking effect and provide feedback control. The knocking effect is as follows:

[0067] Real-time monitoring of vibration frequency and amplitude changes during tapping, analysis of hollowing, resonance and other phenomena, and help determine whether the tiles are tapped properly;

[0068] Through the vibration signal, the sensor can analyze the degree of fit between the tile and the base surface, thereby inferring the laying quality of the tile;

[0069] The data collected by the vibration sensor 5354 can be fed back to the control system to implement closed-loop control, ensuring that the tapping action is performed accurately without over-tapping or under-tapping;

[0070] The lower support box body 531 is provided with a through hole at a position corresponding to the connecting rod 5352 to ensure that the connecting rod 5352 can move freely up and down, and is also convenient for later maintenance and installation.

[0071] Optionally, common models of vibration sensors 5354 include MEMS acceleration sensors and piezoelectric sensors, which are selected based on different application scenarios:

[0072] MEMS accelerometers: These have the advantages of high precision, small size, and fast response speed. They are suitable for rapid monitoring and feedback of tapping movements. These sensors can usually detect tiny vibration changes and are ideal for smart tapping systems.

[0073] Piezoelectric sensor: This type of sensor uses the piezoelectric effect of the material and can respond highly sensitively to vibration signals. It is suitable for scenarios with high-frequency vibration or strong knocking, and is suitable for heavy loads or high-intensity knocking.

[0074] Working principle: The vibration sensor 5354 is usually fixed to the upper end of the knocking head 5353 and is tightly combined with the connecting rod 5352. The sensor captures the vibration signal in real time during the knocking process and converts the signal into an electrical signal, which is analyzed by the data processing unit. If the system detects abnormal vibration, such as hollowness or irregular vibration frequency, the system will automatically adjust the knocking force or operation progress.

[0075] Further, if Figure 3 As shown, the cams 533 in the two adjacent groups of the knocking assemblies 53 are transmission-connected;

[0076] The first driving unit 52 is connected to the outermost group of striking components 53 via a transmission belt 54 .

[0077] The cams 533 in two adjacent groups of knocking components 53 are synchronously connected to each other (through a gear set or a sprocket set, or a direct fixed connection). This structure ensures that multiple knocking components 53 coordinate their movements at the same rhythm to avoid construction defects caused by asynchrony. The first drive unit 52 can be an electric motor or a servo drive, which is connected to the cam 533 of the outermost group of knocking components 53 through a transmission belt 54. The pulley system can achieve overall synchronous drive, simplifying the structural complexity and improving the overall consistency. In this way, only one drive unit is required to drive multiple knocking mechanisms 5 to work together, reducing energy consumption and cost, and through precise mechanical synchronization structure, the force and time of each knock are completely consistent, thereby improving the quality of tile laying.

[0078] Further, if Figure 5-Figure 7 As shown, the adsorption mechanism 6 includes:

[0079] The airbag unit 61 is fixedly mounted on the upper end of the upper support box body 532. The airbag unit 61 is an important part of the adsorption mechanism 6 and is usually fixed on the upper end of the upper support box body 532. The airbag unit 61 can provide a continuous airflow to the suction pipe 63 by generating pressure or suction. The advantage of this design is that it can stably maintain the suction effect, ensuring that the dust generated during the knocking and handling process is continuously and effectively adsorbed.

[0080] The extrusion plate 62 is fixedly disposed on the upper end of the shaft sleeve 5351. The extrusion plate 62 not only plays a supporting role, but also compresses or pushes the air through mechanical force, thereby achieving suction of the airbag unit 61.

[0081] Suction pipes 63, several groups of the suction pipes 63 are fixedly arranged on the outside of the upper box body and extend into the interior of the upper box body and are connected to the airbag unit 61. The suction pipes 63 are responsible for sucking air from the working area and discharging the adsorbed dust through the connected airbag unit 61. One end of the suction pipe 63 is fixed to the outside of the upper box body and extends into the interior of the upper box body and is connected to the airbag unit 61. The configuration design of multiple groups of suction pipes 63 makes the adsorption area wider, can effectively cover more working areas, and improve the dust adsorption efficiency. The layout of the suction pipes 63 can be adjusted according to specific work needs so that it can accurately align with the source of dust for adsorption;

[0082] At least one set of air outlet pipes 64 is provided and is communicated with the lower support box body 531 , and is used to discharge air and dust inside the airbag unit 61 to the lower support box body 531 .

[0083] Further, if Figure 4 As shown, when the striking head 5353 moves to the lowermost end, the air nozzle 65 of the suction pipe 63 is located at the upper end of the striking head 5353 and is arranged toward the striking head 5353. In this way, when the striking head 5353 contacts the surface of the tile, the air nozzle 65 of the suction pipe 63 can be accurately aligned with the dust source near the striking head 5353. In this way, the dust can be sucked into the suction pipe 63 as soon as it is generated, thereby preventing the dust from spreading in the air.

[0084] Further, if Figure 7 As shown, the interior of the air intake pipe 63 is provided with a first blocking plate 7 opened toward the upper end, and the interior of the air outlet pipe 64 is provided with a second blocking plate 8 opened toward the lower end;

[0085] The first blocking plate 7 is disposed inside the air intake pipe 63 via a torsion spring 9 , and the second blocking plate 8 is disposed inside the air outlet pipe 64 via a torsion spring 9 .

[0086] The first blocking plate 7 is arranged inside the suction pipe 63 and opens toward the upper end. The blocking plate is connected to the suction pipe 63 by a torsion spring 9. It can automatically open when the suction pipe 63 needs ventilation, and close by the action of the spring when ventilation is not required. The design of the first blocking plate 7 effectively avoids unstable air flow or excessive leakage in the suction pipe 63, ensuring the efficiency and stability of the adsorption process.

[0087] The second blocking plate 8 is arranged inside the air outlet pipe 64 and opens toward the lower end. Its function is to adjust the exhaust path of the air outlet pipe 64 to ensure that the exhausted air flows smoothly during normal operation. When the air outlet pipe 64 does not need ventilation, the second blocking plate 8 can close the air outlet pipe 64 through the action of the torsion spring 9 to prevent waste or backflow in the exhaust channel.

[0088] Further, if Figure 8 As shown, the work station switching component 11 drives the first connecting mechanism 2 and / or the second connecting mechanism 4 to rotate, thereby realizing the work station switching of the adsorption mechanism 6 and the knocking mechanism 5. In actual use, the first connecting mechanism 2 and the second connecting mechanism 4 can be set to be transmission-connected with the work station switching component 11 at the same time according to the use requirements (that is, when the work station switching component 11 is working, it will synchronously drive the first connecting mechanism 2 and the second connecting mechanism 4 to rotate) or the first connecting mechanism 2 and the second connecting mechanism 4 are respectively transmission-connected with the work station switching component 11 (a dual-axis system can be set, the first connecting mechanism 2 is transmission-connected to one of the axes, and the second connecting mechanism 4 is transmission-connected to the other axis. This setting allows the work station switching component 11 to control the first connecting mechanism 2 and the second connecting mechanism 4 respectively. The above two connecting mechanisms are both existing technologies and will not be repeated here;

[0089] The workstation switching assembly 11 includes a mobile platform 111 , a second driving unit 112 fixedly disposed on an upper end of the mobile platform 111 , and a rotating disk 113 disposed on an upper end of the second driving unit 112 .

[0090] When the equipment is performing a laying operation, the adsorption function may be required first at a certain stage (for example, when moving tiles), and the knocking function may be required later (for aligning and compacting tiles). At this time, through the workstation switching component 11, the adsorption mechanism 6 can exit the current workstation, and the knocking mechanism 5 can quickly enter the original position for seamless switching operations.

[0091] Further, if Figure 8 As shown, the first connecting mechanism 2 includes a fixed rod 21 fixedly connected to the rotating disk 113 and a lifting unit 22 connected to one end of the fixed rod 21. The lifting unit 22 is installed at the end of the fixed rod 21 and is used to vertically lift and lower the mounted mechanism (adsorption mechanism 6 or knocking mechanism 5). This structure can use an electric screw, a hydraulic cylinder or a pneumatic push rod to achieve high-precision lifting. The structure of the first connecting mechanism 2 is the same as that of the second connecting mechanism 4.

[0092] Working process:

[0093] To prepare for brick removal, the loading assembly 12 supports the tiles, and the gripping mechanism 3 contacts and absorbs the tiles, ready for transportation;

[0094] Tile handling and positioning: the gripping mechanism 3 moves the tiles to the laying area, positions them accurately, and then releases them;

[0095] The tiles are knocked and compacted. The knocking mechanism 5 knocks the tiles up and down to ensure that the tiles are firmly attached to the base surface;

[0096] Synchronous dust collection operation, the adsorption mechanism 6 works synchronously to absorb the dust generated during the knocking process and keep the construction area clean;

[0097] Knocking quality monitoring and feedback: the vibration sensor 5354 monitors the knocking situation and adjusts the force in real time to ensure the quality of the tiles;

[0098] The workstation is reset and the operation is cyclic. After the knocking is completed, the system is reset and enters the next operation cycle.

[0099] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A mechatronic building tile laying device, characterized in that: include: A laying mobile mechanism (1) comprising a station switching assembly (11) and a loading assembly (12) for carrying bricks; A first connecting mechanism (2) is connected to the workstation switching assembly (11) and has a gripping mechanism (3) connected to the other end; A second connecting mechanism (4) is connected to the workstation switching assembly (11) and has a knocking mechanism (5) connected to the other end; The knocking mechanism (5) comprises a support base (51) fixedly connected to the second connecting mechanism (4), a first driving unit (52) arranged on the support base (51), and a plurality of knocking assemblies (53) drivingly connected to the first driving unit (52); the knocking assemblies (53) are driven by the first driving unit (52) to reciprocate and knock on the laid tiles; An adsorption mechanism (6) is provided inside each of the knocking components (53), and the adsorption mechanism (6) adsorbs dust generated by the knocking component (53) when the knocking component (53) performs a knocking operation.

2. The mechatronic building tile laying device according to claim 1, characterized in that: The knocking assembly (53) comprises: A lower support box body (531), the upper end of which is fixedly provided with an upper support box body (532), and the lower support box body (531) is fixed on the support base (51); Cams (533) are provided in two groups and are rotatably provided on the upper supporting box body (532); A rotating rod (534) is fixedly arranged between the two groups of cams (533); A knocking unit (535) has one end connected to the rotating rod (534) and the other end passing through the lower supporting box body (531).

3. The mechatronic building tile laying device according to claim 2, characterized in that: The knocking unit (535) includes a shaft sleeve (5351) slidably connected to the rotating rod (534), a connecting rod (5352) fixedly arranged at the lower end of the shaft sleeve (5351) and passing through the lower supporting box body (531), a knocking head (5353) fixedly arranged at the lower end of the connecting rod (5352), and a vibration sensor (5354) arranged at the upper end of the knocking head (5353) and fixedly connected to the connecting rod (5352); The lower support box body (531) is provided with a through hole at a position corresponding to the connecting rod (5352).

4. The mechatronic building tile laying device according to claim 3, characterized in that: The cams (533) in two adjacent groups of the knocking assemblies (53) are connected by transmission; The first driving unit (52) is connected to the outermost group of knocking components (53) via a transmission belt (54).

5. The mechatronic building tile laying device according to claim 3, characterized in that: The adsorption mechanism (6) comprises: An airbag unit (61) is fixedly arranged at the inner upper end of the upper support box body (532); An extrusion plate (62) is fixedly arranged on the upper end of the shaft sleeve (5351); Suction pipes (63), wherein a plurality of groups of the suction pipes (63) are fixedly arranged on the outside of the upper box body and extend into the interior of the upper box body and are connected to the airbag unit (61); At least one set of air outlet pipes (64) is provided and is in communication with the lower support box body (531).

6. The mechatronic building tile laying device according to claim 5, characterized in that: When the knocking head (5353) moves to the lowermost end, the air nozzle (65) of the air suction pipe (63) is located at the upper end of the knocking head (5353) and is arranged toward the knocking head (5353).

7. The mechatronic building tile laying device according to claim 5, characterized in that: A first blocking plate (7) opened toward the upper end is provided inside the air intake pipe (63), and a second blocking plate (8) opened toward the lower end is provided inside the air outlet pipe (64); The first blocking plate (7) is arranged inside the air intake pipe (63) via a torsion spring (9), and the second blocking plate (8) is arranged inside the air outlet pipe (64) via a torsion spring (9).

8. The mechatronic building tile laying device according to claim 1, characterized in that: The workstation switching assembly (11) drives the first connecting mechanism (2) and / or the second connecting mechanism (4) to rotate, thereby realizing the workstation switching of the grasping mechanism (3) and the knocking mechanism (5).

9. The mechatronic building tile laying device according to claim 8, characterized in that: The workstation switching assembly (11) comprises a mobile platform (111), a second drive unit (112) fixedly arranged at the upper end of the mobile platform (111), and a rotating disk (113) arranged at the upper end of the second drive unit (112).

10. The mechatronic building tile laying device according to claim 9, characterized in that: The first connecting mechanism (2) comprises a fixing rod (21) fixedly connected to the rotating disk (113) and a lifting unit (22) connected to one end of the fixing rod (21).

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