Large tile full-automatic paving robot

Abstract

A large-scale tile full-automatic paving robot is characterized by comprising a mounting platform (1) which is mounted on four driving wheels (2); the stranding cage assembly (3) is mounted at the front part of the mounting platform (1); the plastering assembly (4) is mounted on one side of the mounting platform (1) and used for plastering a binder on the bottom surface of the ceramic tile; the rotary platform (5) is installed on the installation platform (1), an X-axis sleeve (6) is fixed to the rotary platform (5), a telescopic X-axis (7) is installed in the X-axis sleeve (6) to rotate, and the telescopic X-axis (7) is driven by a telescopic X-axis motor and a lead screw nut mechanism which are installed in the X-axis sleeve (6); and a sucker hanging basket assembly (8). The device is simple in structure, flexible and reliable in rotation and capable of greatly saving labor cost.

Description

Technical Field

[0001] The present invention relates to a building decoration equipment, in particular to a floor tile laying equipment, specifically a large-scale fully automatic floor tile laying robot. Background Art

[0002] At present, the global human capital cost has increased sharply. Therefore, using mechanical hands to replace manual labor for laying floor tiles in large areas has become the current research and development trend. With the continuous invention of technologies, the floor tile laying robot technology has also experienced a process of rapid development and growth. For example, Chinese Patent 2022107827467 has well solved the problem of automatic floor tile laying. However, the applicant found that the laying machine therein is difficult to meet the production needs and must be improved. Summary of the Invention

[0003] The purpose of the present invention is to design a large-scale fully automatic floor tile laying robot for the problem that the laying machine supporting the existing floor tile laying robot is difficult to meet the usage requirements.

[0004] The technical solution of the present invention is as follows: A large-scale fully automatic floor tile laying robot, characterized in that it includes: An installation platform 1, which is installed on four driving wheels 2; the rear part of the installation platform 1 is a floor tile stacking area, and the stacking area is used to receive floor tiles delivered by a brick transport vehicle; A cage component 3, which is installed at the front part of the installation platform 1 and is used to further process the mortar that has been initially laid flat on the ground, adjust the flatness and height of the mortar to provide a laying platform for floor tiles; A plastering component 4, which is installed on one side of the installation platform 1 and is used to apply an adhesive to the bottom surface of the floor tile; A rotary platform 5, which is installed on the installation platform 1, and an X-axis sleeve 6 is fixed on the rotary platform 5. An extensible X-axis 7 is installed in the X-axis sleeve 6 and rotates. The extensible X-axis 7 is driven by an extensible X-axis motor and a screw-nut mechanism installed in the X-axis sleeve 6; A suction cup basket assembly 8 comprises a lifting main shaft 9, a basket rotation shaft 10, a basket pitch shaft 11, a basket tilt shaft 12, a basket 13, and a suction cup 14. The suction cup 14 is installed at the bottom of the basket 13 and connected to a negative pressure cylinder installed in the basket. The basket 13 is connected to an L-shaped chassis 15 that can tilt. The L-shaped chassis 15 is mounted on the basket tilt shaft 12, which is driven to rotate by a tilt motor 16. The tilt motor 16 is mounted on a tilt motor base 17, and an L-shaped chassis 15 is mounted on the tilt motor base 17. L-shaped pitch block 18 is installed on the pitch shaft 11 of the suspended basket, which is driven to rotate by pitch motor 19. Pitch motor 19 is mounted on pitch motor mounting base 20. Pitch motor mounting base 20 is connected to one end of the suspended basket rotation shaft 10. The suspended basket rotation shaft 10 is driven by coaxial motor 21. The other end of the suspended basket rotation shaft 10 is connected to the lower end of the lifting main shaft 9. The lifting main shaft 9 is driven to lift by a screw nut mechanism and a motor installed in the connecting column 22. The connecting column 22 is fixedly connected to the telescopic end of the telescopic X-axis 7.

[0005] The winch assembly 3 is mounted on a height-adjustable connecting block 23 to adjust the thickness of the mortar layer.

[0006] The connecting block 23 is mounted on a rotating shaft, which is connected to a drive motor. The drive motor is mounted on the mounting platform 1, and the horizontality of the winch assembly 3 can be adjusted by rotating the rotating shaft.

[0007] Each of the four drive wheels 2 is equipped with a steering motor to drive its rotation and a walking motor to drive its forward and backward movement.

[0008] The plastering assembly 4 consists of a plastering bucket 401 and a roller 402. The plastering bucket 401 contains adhesive. The roller 402 is installed in the plastering bucket 401 and is driven to rotate by a motor. A ring of adhesive strip clips 403 is installed on the surface of the roller 402.

[0009] Cameras are installed around the top of the suspended platform 13. The control computer repeatedly analyzes and calculates the images captured by the cameras to adjust the rotation direction and angle of each control motor so that the laid tiles can meet the design requirements.

[0010] The suction cup 14 is equipped with a high-frequency vibration motor 24. The high-frequency vibration motor drives the suction cup to apply high-frequency vibration to the tile, vibrating and compacting the cement mortar under the tile, so that the tile laying surface is level, avoiding local hollow or protruding defects on the mortar surface, and improving the levelness of the tile laying.

[0011] The beneficial effects of this invention are: This invention has a simple structure, flexible and reliable rotation, solves urgent production needs, and can be used independently with a complete set of equipment. Attached Figure Description

[0012] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0013] Figure 2 This is a schematic diagram of the plastering component structure of the present invention.

[0014] Figure 3 This is a three-dimensional structural diagram of the suspended basket assembly of the present invention.

[0015] Figure 4 This is a three-dimensional structural diagram of the suspended basket of the present invention.

[0016] Figure 5 This is a three-dimensional structural diagram of the suction cup of the present invention. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] The structures, proportions, and sizes illustrated in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art in understanding and reading the invention. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of implementation. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0019] like Figure 1-5 As shown.

[0020] A large-scale fully automated tile laying robot includes: an installation platform 1, a auger assembly 3, a plastering assembly 4, a rotating platform 5, and a suction cup suspended platform assembly 8, such as... Figure 1As shown, the installation platform is mounted on four drive wheels 2, each equipped with a steering motor for rotation and a travel motor for forward and backward movement. The rear of the installation platform 1 is a tile stacking area for receiving tiles delivered by brick trucks. The auger assembly 3 is mounted at the front of the installation platform 1 to further process the pre-laid mortar on the ground, adjusting its flatness and height to provide a platform for tile placement. The auger assembly 3 is mounted on a height-adjustable connecting block 23 (achieved through hydraulic lifting or a screw-nut structure) to adjust the mortar layer thickness. The connecting block 23 is mounted on a rotating shaft connected to a drive motor, which is mounted on the installation platform 1. Rotation of the rotating shaft adjusts the levelness of the auger assembly 3, ensuring it remains horizontal and thus keeping the treated mortar surface level. The plastering assembly 4 is mounted on one side of the installation platform 1 to apply adhesive to the bottom surface of the tiles. Figure 2 As shown, the plastering assembly 4 consists of a plastering bucket 401 and a roller 402. The plastering bucket 401 contains adhesive, and the roller automatically alarms when the adhesive level is lower than a set value, prompting the operator to add more adhesive. The roller 402 is installed in the plastering bucket 401 and is driven to rotate by a motor. A ring of adhesive strip clips 403 is installed on the surface of the roller 402. The rotary platform 5 is installed on the installation platform 1, and an X-axis sleeve 6 is fixed on the rotary platform 5. A telescopic X-axis 7 is installed in the X-axis sleeve 6 for rotation. The telescopic X-axis 7 is driven by a telescopic X-axis motor and a lead screw and nut mechanism installed in the X-axis sleeve 6. The suction cup basket assembly 8 is as follows: Figure 3 As shown, it mainly consists of a lifting main shaft 9, a basket rotation shaft 10, a basket pitch shaft 11, a basket tilt shaft 12, a basket 13, and a suction cup 14. The suction cup 14 is installed at the bottom of the basket 13 and connected to a negative pressure cylinder installed in the basket. The basket 13 is mounted on an L-shaped chassis 15 that can tilt. The L-shaped chassis 15 is mounted on the basket tilt shaft 12, which is driven to rotate by a tilt motor 16. The tilt motor 16 is mounted on a tilt motor base 17, and an L-shaped pitch block 1 is installed on the tilt motor base 17. 8. The L-shaped pitch block 18 is installed on the pitch shaft 11 of the suspended platform, which is driven to rotate by the pitch motor 19. The pitch motor 19 is mounted on a pitch motor mounting base 20, which is connected to one end of the suspended platform rotation shaft 10. The suspended platform rotation shaft 10 is driven by a coaxial motor 21, and the other end of the suspended platform rotation shaft 10 is connected to the lower end of the lifting main shaft 9. The lifting main shaft 9 is driven to lift by a screw nut mechanism and a motor installed in the connecting column 22. The connecting column 22 is fixedly connected to the telescopic end of the telescopic X-axis 7. In specific implementation, in order to improve the paving quality, paving efficiency and automation level, cameras can also be installed around the perimeter of the suspended platform 13, such as... Figure 4As shown, the control computer repeatedly analyzes and calculates the images captured by the camera to adjust the rotation direction and angle of each control motor, ensuring that the laid tiles meet the design requirements. Simultaneously, a high-frequency vibration motor 24 is installed on the suction cup 14, such as... Figure 5 As shown, the high-frequency vibration motor drives the suction cup to apply high-frequency vibration to the tile, vibrating and compacting the cement mortar under the tile, ensuring that the tile surface is level, avoiding local hollows and protrusions in the mortar surface, and improving the levelness of the tile laying.

[0021] The working process of this invention is as follows: First, drive the paving machine of this invention to the paving position where the sand has already been laid by the sand-dispersing truck. Start the auger assembly 3 to the set height, and then start the auger motor in the auger assembly 3 (whose structure can be found in 2022107827467 or designed by yourself) to auger the sand layer again. When the paving machine moves backward while auging to the height (or width) of a tile, the paving machine stops moving. The telescopic X-axis 7 extends and drives the suction cup to be directly above the large tile that has been placed on the installation platform 1 by the brick transport truck. Then, start the lifting motor to lift the tile. The main shaft 9 is lowered so that the suction cup comes into contact with the large ceramic tile. The negative pressure pump is started so that the suction cup holds the tile. Then the lifting motor is started so that the main shaft 9 is raised. The height of the rise should ensure that the bottom of the tile is below the highest point of the adhesive strip clamp 403 on the plastering component 4. The roller motor is started so that the roller 402 rotates, which drives the adhesive to flow into the surface of the adhesive strip clamp. At the same time, the rotating platform 5 is started to rotate so that the bottom edge of the tile comes into contact with the adhesive strip clamp 4 and passes through the plastering component, thus applying the adhesive for the ground mortar to the bottom of the tile. The rotating platform 5 continues to rotate until the tile is directly above the desired laying position. Then, the lifting motor is activated to lower the lifting main shaft 9 to the mortar surface. During descent, the rotation angles of the basket's rotation axis 10, tilt axis 11, and tilt axis 12 can be controlled via a visual recognition device (not shown in the diagram, can be purchased commercially or designed independently) mounted on the suspended basket 13. This ensures the tile is horizontally and positively pressed against the mortar surface, further applying downward pressure to align the tile surface with the reference plane. The suction cup is then released, and the lifting motor is activated to raise it. The raising height should avoid the suction cup colliding with the adhesive strip or tile during rotation. The rotating platform 5 is then returned to its initial state, ready for the next tile to be laid. The entire laying process requires only one person for remote control operation. With the addition of artificial intelligence or automated laying, it saves manpower and resources, reducing labor costs.

[0022] The above embodiments are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make several improvements and equivalent substitutions without departing from the principle of the present invention. All such improvements and equivalent substitutions to the claims of the present invention fall within the protection scope of the present invention.

[0023] All parts not covered in this invention are the same as or can be implemented using existing technologies.

Claims

1. A large-scale fully automated tile laying robot, characterized in that: it include: An installation platform (1) is mounted on four drive wheels (2); the rear of the installation platform (1) is a tile stacking area for receiving tiles delivered by a brick transport vehicle; A winch assembly (3) is installed at the front of the installation platform (1) to further process the mortar that has been initially laid on the ground, and to adjust the flatness and height of the mortar to provide a platform for laying tiles. A plastering assembly (4) is installed on one side of the mounting platform (1) for applying adhesive to the bottom of the tile; A rotary platform (5) is installed on the mounting platform (1). An X-axis sleeve (6) is fixed on the rotary platform (5). A telescopic X-axis (7) is installed in the X-axis sleeve (6) and is driven by a telescopic X-axis motor and a screw nut mechanism installed in the X-axis sleeve (6). A suction cup basket assembly (8) is composed of a lifting main shaft (9), a basket rotation shaft (10), a basket pitch shaft (11), a basket tilt shaft (12), a basket (13), and a suction cup (14). The suction cup (14) is installed at the bottom of the basket (13) and connected to a negative pressure cylinder installed in the basket. The basket (13) is connected to an L-shaped chassis (15) that can tilt. The L-shaped chassis (15) is installed on the basket tilt shaft (12) that is driven to rotate by a tilt motor (16). The tilt motor (16) is installed on a tilt motor base (17). There is an L-shaped pitch block (18), which is installed on the pitch shaft (11) of the suspended basket driven by the pitch motor (19). The pitch motor (19) is installed on the pitch motor mounting seat (20). The pitch motor mounting seat (20) is connected to one end of the suspended basket rotating shaft (10). The suspended basket rotating shaft (10) is driven by the coaxial motor (21). The other end of the suspended basket rotating shaft (10) is connected to the lower end of the lifting main shaft (9). The lifting main shaft (9) is driven to lift by the screw nut mechanism and the motor installed in the connecting column (22). The connecting column (22) is fixedly connected to the telescopic end of the telescopic X-axis (7).

2. The fully automatic paving machine according to claim 1, characterized in that: The winch assembly (3) is mounted on a height-adjustable connecting block (23) to adjust the thickness of the mortar layer.

3. The fully automated paving robot according to claim 2, characterized in that: The connecting block (23) is mounted on a rotating shaft, which is connected to a drive motor. The drive motor is mounted on the mounting platform (1), and the level of the winch assembly (3) is adjustable by rotating the rotating shaft.

4. The fully automated paving robot according to claim 1, characterized in that: The four drive wheels (2) are each equipped with a steering motor to drive their rotation and a walking motor to drive them forward and backward.

5. The fully automated paving robot according to claim 1, characterized in that: The plastering assembly (4) consists of a plastering bucket (401) and a roller (402). The plastering bucket (401) contains adhesive. The roller (402) is installed in the plastering bucket (401) and is driven to rotate by a motor. A ring of adhesive strip clips (403) is installed on the surface of the roller (402).

6. The fully automated paving robot according to claim 1, characterized in that: Cameras are installed around the upper edge of the suspended basket (13). The control computer repeatedly analyzes and calculates the images captured by the cameras to adjust the rotation direction and angle of each control motor so that the laid tiles can meet the design requirements.

7. The fully automated paving robot according to claim 1, characterized in that: The suction cup (14) is equipped with a high-frequency vibration motor (24). The high-frequency vibration motor drives the suction cup to apply high-frequency vibration to the tile, and vibrates and tamps the cement mortar under the tile, so that the tile laying surface is level, avoiding local hollow and protruding defects on the tile laying mortar surface, and improving the levelness of the tile laying.

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