A multifunctional automatic tile laying machine and method

Abstract

This invention relates to the field of interior decoration technology, and in particular to a multifunctional automatic tile-laying machine and method. The machine includes a body, a moving module mounted on the body, and a tile-laying unit. The moving module drives the machine body to move, and the tile-laying unit applies tiles to the ground. The machine body also includes a vision device, a leveling module, and a mortar-laying mechanism. The vision device acquires spatial information for tile application, the leveling module detects the levelness of the ground within the space, and the mortar-laying mechanism lays cement evenly based on the leveling module's detection results. This invention utilizes the leveling module to acquire the ground height within the space, and then the mortar-laying mechanism adaptively lays cement according to the ground height. Before laying the tiles, they need to be aligned with a positioning frame. The vision device identifies the positioning frame to ensure accurate tile alignment, thereby guaranteeing accurate gaps between adjacent tiles.

Description

Technical Field

[0001] This invention relates to the field of interior decoration technology, and in particular to a multifunctional automatic tile laying machine and method. Background Technology

[0002] Currently, most indoor floor tiling is done manually. This involves not only applying cement to the floor before laying the tiles, but also ensuring that all tiles are at the same height. If unevenness is found during tiling, it needs to be corrected by adding or removing cement.

[0003] Because this work is tedious and inefficient, some companies have developed automatic tile-laying machines to achieve efficient tile laying through automation. For example, a high-precision automatic tile-laying machine disclosed in Chinese invention patent application number 201610750776.4 can achieve the desired tile-laying effect and is easy to use.

[0004] However, there's another important issue with tiling: there will inevitably be gaps between adjacent tiles, and these gaps allow cement to overflow during the tiling process. Although the gaps are very small and the cement overflow is limited, it still obviously has some impact on the tile height and subsequent grouting. Furthermore, automatic tile setters need to ensure the proper positioning of adjacent tiles; simply laying tiles directly might cause them to collide or result in larger gaps, affecting the overall quality. Summary of the Invention

[0005] This invention addresses the problems of existing technologies by providing a multifunctional automatic tile laying machine and method. It can automatically complete leveling and tile laying, and also achieves a positioning effect through the adjustment of the movement and tile structure, making the tile laying process safer.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] This invention provides a multi-functional automatic tile laying machine, comprising a machine body, a moving module and a tile laying unit, all disposed on the machine body. The moving module is used to drive the machine body to move, and the tile laying unit is used to lay the tiles onto the ground. The machine body is also provided with a vision device, a leveling module and a mortar spreading mechanism. The vision device is used to acquire the spatial information of the required tile laying, the leveling module is used to detect the levelness of the ground in the space, and the mortar spreading mechanism is used to spread cement evenly according to the detection results of the leveling module.

[0008] The tile-laying unit includes a feeding mechanism, a bonding mechanism, a conveying mechanism, and a tapping mechanism. The feeding mechanism is used to feed the tiles and positioning frames. The bonding mechanism is used to bond the tiles to the appropriate number and size of positioning frames according to the position of the tiles. The conveying mechanism is used to pick up and convey the tiles. The tapping mechanism is used to tap the tiles on the cement to fix the tiles.

[0009] Furthermore, the feeding mechanism includes a first feeding rack, a second feeding rack, a third feeding rack, a first feeder, a first feeding component, a second feeding component, a first flipping component, and a second flipping component. The first feeding rack is used to accommodate stacked tiles, the second feeding rack and the third feeding rack are respectively used to accommodate positioning frames of different specifications, the first feeder is used to transfer the tiles in the first feeding rack to the bonding mechanism, the first feeding component and the second feeding component are respectively used to transfer positioning frames of different specifications to the bonding mechanism, and the first flipping component and the second flipping component are respectively used to drive the first feeding component and the second feeding component to flip.

[0010] Furthermore, the first feeding component includes a main body, a pusher, a lifter, and a stopper. The main body is provided with a first channel, a second channel, and a third channel. The second channel and the third channel are respectively connected to the first channel and are located at both ends of the first channel. The pusher is used to push the two stacked positioning frames into the main body. The input end of the main body is connected to the second loading rack. The lifter is used to drive the output end of the main body to rise and fall. The stopper is used to stop the positioning frame located at the top of the main body from disengaging from the main body when the output end of the main body descends.

[0011] Furthermore, the lifting device includes a lifting cylinder, a support, and a vibrator. The support is rotatably mounted on the piston rod of the lifting cylinder and is used to support the main body. The vibrator is mounted on the support and is in contact with the main body.

[0012] Furthermore, the feeding mechanism also includes a fourth feeding rack and a second feeder. The fourth feeding rack is used to hold the cut and stacked tiles, and the second feeder is used to feed the tiles into the fourth feeding rack.

[0013] Furthermore, the bonding mechanism includes a bonding table, an adhesive table, a bonding lifting module, and an adhesive driver. Both the bonding table and the adhesive table are installed on the machine body. The adhesive table is at a higher height than the bonding table. The adhesive driver is used to drive the adhesive table to move back and forth, and the bonding lifting module is used to drive the bonding table to lift up and down.

[0014] The transfer mechanism is used to pick up the tiles and move them to the adhesive table for adhesive bonding, and after adhesive bonding, it moves the tiles to the positioning frame located on the bonding table for bonding.

[0015] Furthermore, the adhesive application station is equipped with a scraper, which is used to scrape off excess adhesive from the bottom of the tiles.

[0016] Furthermore, the transfer mechanism includes a first robotic arm and a second robotic arm. The first robotic arm is used to pick up the tile and transfer it to a position that fits against the positioning frame, and the second robotic arm is used to attach the tile to the cement on the outside.

[0017] The striking mechanism is installed on the second robotic arm.

[0018] Furthermore, the end of the second robotic arm is provided with a rotary device, the output end of which is equipped with a mounting base, the mounting base is provided with multiple picking-up parts, and there are multiple striking mechanisms, with the multiple picking-up parts located between the multiple striking mechanisms.

[0019] The striking mechanism includes a striking hammer and an electromagnetic module. The bottom of the striking hammer is equipped with a hammer head made of rubber, and the top of the striking hammer is equipped with a permanent magnet. The electromagnetic module is used to cooperate with the permanent magnet to control the raising and lowering of the striking hammer.

[0020] Furthermore, the present invention also includes the following operating methods:

[0021] Use a vision device to obtain the floor area of ​​the space where tiles need to be laid, and calculate the number of tiles needed and their location based on the floor area;

[0022] Plan the path for laying the tiles;

[0023] The leveling mechanism is used to level the floor of the space where tiles are to be laid, so as to calculate the height of different positions in the space relative to the preset reference surface.

[0024] Based on the calculation results, the required thickness of cement to be laid at different locations on the ground of the planned space;

[0025] Lay cement according to the path;

[0026] Depending on the location of the tile, the positioning frame is attached to at least two adjacent sides of the tile.

[0027] Place the first tile onto the cement at the beginning of the path;

[0028] After the first tile is laid, the subsequent tiles are positioned and attached according to the positioning frame of the first tile.

[0029] The beneficial effects of this invention are as follows: This invention utilizes a leveling module to obtain the height of the ground within a space, and then a cement-laying mechanism performs an adaptive cement-laying action according to the ground height; before laying the tiles, the tiles also need to be attached to the positioning frame, and the positioning frame is identified by a vision device to achieve the alignment and installation of the tiles, thereby ensuring accurate gaps between adjacent tiles. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the present invention.

[0031] Figure 2 This is a diagram showing the distribution of the various structures in this invention.

[0032] Figure 3 This is a schematic diagram of the first feeding component of the present invention.

[0033] Figure 4 This is a schematic diagram showing the cooperation of the third loading rack, the second feeding component, and the second flipping component of the present invention.

[0034] Figure 5 This is a schematic diagram of the bonding mechanism of the present invention.

[0035] Figure 6 This is a schematic diagram of the transfer mechanism of the present invention.

[0036] Figure 7 This is a schematic diagram of the striking mechanism of the present invention.

[0037] Figure 8 This is a schematic diagram of the process of the present invention.

[0038] Figure 9 This is a schematic diagram of the ceramic tile and positioning frame of the present invention.

[0039] Figure 10 This is a diagram showing the state of the positioning frame described in the present invention in the second / third loading rack.

[0040] Figure 11 This is a schematic diagram of the positioning frame of the present invention from another perspective.

[0041] Reference numerals: 1—Machine body, 2—Moving module, 3—Tile-laying unit, 4—Vision device, 5—Leveling module, 6—Mud-laying mechanism, 7—Tile, 8—Positioning frame, 31—Feeding mechanism, 32—Laying mechanism, 33—Transfer mechanism, 34—Tapping mechanism, 81—Base component, 82—Positioning component, 83—Through hole, 311—First loading rack, 312—Second loading rack, 313—Third loading rack, 314—First feeder, 315—First feeding component, 316—Second feeding component, 317—First flipping component, 318—Second flipping component, 319—Fourth loading rack, 320—Second feeder, 321—Laying table, 322—Glue-adhesive table, 32 3—Adhesive lifting module, 324—Adhesive driver, 325—Scraper, 331—First robot arm, 332—Second robot arm, 333—Rotator, 334—Mounting base, 335—Pick-up component, 341—Hammer, 342—Electromagnetic module, 343—Hammer head, 344—Permanent magnet, 3151—Main body, 3152—Pusher, 3153—Lifter, 3154—Blocking component, 3155—First channel, 3156—Second channel, 3157—Third channel, 3171—Outer shell, 3172—Tilting motor, 3173—Gear module, 31531—Lifting cylinder, 31532—Support, 31533—Vibrator. Detailed Implementation

[0042] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention. The present invention will be described in detail below with reference to the accompanying drawings.

[0043] like Figures 1 to 9 As shown, the present invention provides a multifunctional automatic tile laying machine 7, including a machine body 1, a moving module 2 and a tile laying unit 3, all disposed on the machine body 1. The moving module 2 is used to drive the machine body 1 to move, and the tile laying unit 3 is used to lay the tile 7 onto the ground. The machine body 1 is also provided with a vision device 4, a leveling module 5 and a mortar laying mechanism 6. The vision device 4 is used to obtain the spatial information of the tile 7 to be laid, the leveling module 5 is used to detect the levelness of the ground in the space, and the mortar laying mechanism 6 is used to lay cement evenly according to the detection result of the leveling module 5.

[0044] The slurry spreading mechanism 6 mainly consists of a container, a valve, and a nozzle. The nozzle may have a swing mechanism to control the position of the nozzle output, thereby making the cement as uniform as possible. The container is used to hold the nozzle, and the valve is located between the container and the nozzle.

[0045] In practical use, the present invention also includes the following operating modes:

[0046] Use vision device 4 to obtain the floor area of ​​the space where tiles 7 need to be laid, and calculate the number of tiles 7 and the distribution of the tiles 7 based on the floor area;

[0047] Plan the path for laying tile 7;

[0048] The leveling mechanism is used to level the floor of the space where tiles need to be laid, so as to calculate the height of different positions in the space relative to the preset reference surface.

[0049] Based on the calculation results, the required thickness of cement to be laid at different locations on the ground of the planned space;

[0050] Lay cement according to the path;

[0051] Depending on the location of the tile 7, the positioning frame 8 is attached to at least two adjacent sides of the tile 7 respectively;

[0052] Place the first tile 7 onto the cement at the beginning of the path;

[0053] After the first tile 7 is laid, the subsequent tiles 7 are positioned according to the positioning frame 8 of the first tile 7 for bonding.

[0054] This invention is applied to tiling the ground with tiles 7, such as tiling a room with tiles 7. First, the area and shape of the room are measured to determine the location distribution of different tiles 7. Then, the room floor is leveled. That is, a plane needs to be input or set first, and then the distance between different positions of the room floor and the plane is measured by the leveling mechanism. Thus, the thickness of cement to be laid at different positions of the room floor can be obtained.

[0055] After the above-mentioned details are determined, the invention begins to operate. For example, starting from the innermost corner of the room, tiles 7 are laid. The required thickness of cement is then applied to the area where tiles 7 need to be laid. Simultaneously, tiles 7 are attached to positioning frames 8, with one positioning frame 8 attaching to one side and the bottom of each tile 7. Once the cement has solidified to a certain degree (judged by the time elapsed after cement application), tiles 7 are placed in their corresponding positions. Some positioning frames 8 are in contact with the wall, while others are identified by the invention, allowing subsequent tiles 7 to be installed according to these frames, preventing collisions between adjacent tiles 7. The positioning frame 8 of the previous tile 7 is in direct contact with the subsequent tile 7, and the two are bonded through cement solidification, achieving the positioning effect. Through this method, tile laying 7 can be automated, ensuring that each tile 7 is at approximately the same height and that adjacent tiles 7 do not collide or have excessive gaps, making subsequent grouting and other operations easier to complete.

[0056] The positioning frame 8 described in this invention, such as Figure 10The structure is an inverted "T" or "L" shape. The first tile 7 needs to be attached to the positioning frame 8 on all four sides, with two sides attached to the "L" shaped positioning frame 8 and the other two sides attached to the inverted "T" shaped positioning frame 8. Subsequent tiles 7 are attached to two or three sides, so that there is a positioning frame 8 between each pair of adjacent tiles 7.

[0057] Because this invention has a movable module 2, it can move according to the progress of tiling 7. Tiling 7 can be completed in multiple stages, that is, a certain amount of tiles 7, cement, and positioning frame 8 are placed in each stage. When the tiles 7 / cement / positioning frame 8 are used up, the invention moves to the loading position, where a person or equipment completes the loading, ensuring that the weight of the invention is not too large, making it suitable for interior decoration.

[0058] In this embodiment, the tile-laying unit 3 includes a feeding mechanism 31, a bonding mechanism 32, a transfer mechanism 33, and a tapping mechanism 34. The feeding mechanism 31 is used to feed the tiles 7 and the positioning frame 8. The bonding mechanism 32 is used to bond the tiles 7 to the positioning frames 8 of appropriate quantity and specifications according to the position of the tiles 7. The transfer mechanism 33 is used to pick up and transfer the tiles 7. The tapping mechanism 34 is used to tap the tiles 7 on the cement to fix the tiles 7.

[0059] When applying the tile 7, the main steps include: attaching the tile 7 to the positioning frame 8, transferring the tile 7 attached to the positioning frame 8 to the cement, and tapping the tile 7 to strengthen the adhesion between the tile 7 and the cement. This technical effect can be achieved through the feeding mechanism 31, the attaching mechanism 32, the transferring mechanism 33, and the tapping mechanism 34 of the present invention.

[0060] Specifically, the feeding mechanism 31 includes a first feeding rack 311, a second feeding rack 312, a third feeding rack 313, a first feeder 314, a first feeding component 315, a second feeding component 316, a first flipping component 317, and a second flipping component 318. The first feeding rack is used to accommodate stacked tiles 7. The second feeding rack 312 and the third feeding rack 313 are used to accommodate positioning frames 8 of different specifications. The first feeder 314 is used to transfer the tiles 7 in the first feeding rack 311 to the bonding mechanism 32. The first feeding component 315 and the second feeding component 316 are used to transfer positioning frames 8 of different specifications to the bonding mechanism 32. The first flipping component 317 and the second flipping component 318 are used to drive the first feeding component 315 and the second feeding component 316 to flip.

[0061] The positioning frame 8 used in this embodiment includes a base 81 and a positioning member 82. The positioning member 82 is installed on the top of the base 81, and the lengths of the base 81 at both ends of the positioning member 82 are different. The longer end of the base 81 is attached to the tile 7 in this invention, while the shorter end of the base 81 is attached to another tile 7 on the cement. In addition, for the positioning frame 8 that contacts the wall, the base 81 is set on the bottom side of the positioning member 82. Regardless of the type of positioning frame 8, its positioning member 82 is provided with several through holes 83 to achieve spatial compensation and allow cement to pass through the through holes 83 to grasp and fix the positioning frame 8, ensuring the stability of the tile 7.

[0062] Specifically, the first feeding component 315 includes a main body 3151, a pusher 3152, a lifter 3153, and a stopper 3154. The main body 3151 is provided with a first channel 3155, a second channel 3156, and a third channel 3157. The second channel 3156 and the third channel 3157 are respectively connected to the first channel 3155 and are located at both ends of the first channel 3155. The pusher 3152 is used to push the two stacked positioning frames 8 into the main body 3151. The input end of the main body 3151 is connected to the second loading frame 312. The lifter 3153 is used to drive the output end of the main body 3151 to rise and fall. The stopper 3154 is used to stop the positioning frame 8 located at the top of the main body 3151 from disengaging from the main body 3151 when the output end of the main body 3151 descends.

[0063] like Figure 11 The above is a diagram showing the storage state of the positioning frame 8 of the present invention, that is, two positioning frames 8 are stacked and simultaneously transferred into the transmission body 3151. There are two first channels 3155, which respectively accommodate the positioning components 82 of the two positioning frames 8. During operation, the output end of the body 3151 is lowered by the lifting device 3153, so that the bottom positioning frame 8 slides along the body 3151 to the fitting mechanism 32 by gravity. The material stop 3154 blocks the upper positioning frame 8 to prevent it from sliding down together. When another positioning frame 8 needs to be unloaded, the body 3151 can be rotated 180° by the first flipping component 317. The structure is ingenious and easy to implement.

[0064] Since the positioning frame 8 is irregularly shaped, the method described in this invention is used for storage, which helps to save storage space and allows the positioning frame 8 to be stacked for convenient use.

[0065] Specifically, the first flipping component 317 includes a housing 3171, a flipping motor 3172, and a gear module 3173. The housing 3171 is fitted over the first flipping component 317, and the flipping motor 3172 is mounted over the housing 3171. The flipping motor 3172 drives the flipping component 317 through the gear module 3173. The flipping motor 3172 can be connected to the gear module 3173 through a reducer (not shown in the figure) to ensure power. The first feeding component 315 is preferably cylindrical to ensure stable rotation.

[0066] Specifically, the lifting device 3153 includes a lifting cylinder 31531, a support 31532, and a vibrator 31533. The support 31532 is rotatably mounted on the piston rod of the lifting cylinder 31531 and is used to support the main body 3151. The vibrator 31533 is mounted on the support 31532 and is in contact with the main body 3151.

[0067] It should be noted that the support 31532 of the present invention only serves to support the main body 3151. The input end of the main body 3151 is rotatably connected to the second loading rack 312, so that when the lifting cylinder 31531 is activated, the input end of the main body 3151 will rotate accordingly. In addition, the vibrator 31533 is set to make the main body 3151 vibrate slightly to prevent the positioning frame 8 from getting stuck in the main body 3151 and being unable to slide down by gravity to detach from the main body 3151, thereby ensuring that the positioning frame 8 can be loaded smoothly.

[0068] Because the room floor has corners, a complete tile 7 may not be able to fit in one of these corners. In this case, the tile 7 needs to be cut and laid on the cement floor. To address this issue, the present invention offers three solutions:

[0069] The first method involves using this invention to bond complete tiles 7, while tiles 7 that need to be cut are bonded manually.

[0070] The second method involves using the present invention to measure the floor information of the room, calculate the order and size of the tiles 7 that need to be cut, and then have external personnel or equipment cut the tiles 7. The tiles 7 are then stacked in order, so that the present invention can complete the laying of the cut tiles 7.

[0071] The third type adopts the following structure: the feeding mechanism 31 further includes a fourth feeding rack 319 and a second feeder 320. The fourth feeding rack 319 is used to accommodate the cut and stacked tiles 7, and the second feeder 320 is used to feed the tiles 7 in the fourth feeding rack 319.

[0072] In the third scheme, a dedicated fourth loading rack 319 is set up to transport the tiles 7, and the second feeder 320 is used to push the tiles 7 away from the fourth loading rack 319, so that the transfer mechanism 33 can smoothly pick up the cut tiles 7 and lay them.

[0073] Since the number of cut tiles 7 required is much smaller than that of whole tiles 7, the size of the fourth loading rack 319 does not need to be too large.

[0074] The first feeder 314 and the second feeder 320 of the present invention are preferably pneumatic cylinders or electric cylinders, and the output of the ceramic tile 7 is achieved by using the pneumatic cylinder to lift the ceramic tile 7 at the first loading rack 311 / fourth loading rack 319. At the same time, the pusher 3152 and the lifting device 3153 are also preferably pneumatic cylinders or electric cylinders.

[0075] In this embodiment, the bonding mechanism 32 includes a bonding table 321, an adhesive table 322, a bonding lifting module 323, and an adhesive driver 324. Both the bonding table 321 and the adhesive table 322 are mounted on the body 1. The adhesive table 322 is at a higher height than the bonding table 321. The adhesive driver 324 is used to drive the adhesive table 322 to move back and forth, and the bonding lifting module 323 is used to drive the bonding table 321 to rise and fall.

[0076] The transfer mechanism 33 is used to pick up the tile 7 and move the tile 7 to the adhesive table 322 for adhesive bonding, and after adhesive bonding, it moves the tile 7 to the positioning frame 8 located on the bonding table 321 for bonding. Specifically, the adhesive table 322 uses rotating rollers to apply adhesive to the tile 7.

[0077] Taking a complete tile 7 as an example, after the transfer mechanism 33 takes the tile 7 out of the first loading rack 311, it transfers the tile 7 to the top of the bonding table 321. At this time, the corresponding positioning frame 8 will be transferred to the bonding table 321 and placed in a suitable position. Then, the adhesive driver 324 drives the adhesive table 322 to extend, so that the corresponding side of the tile 7 is coated with adhesive on the adhesive table 322. Then the adhesive table 322 is reset, and the tile 7 continues to descend until it contacts the positioning frame 8. By pressing down the tile 7 using the transfer mechanism 33, the tile 7 and the positioning frame 8 are reliably bonded, preventing them from loosening during the process of laying cement.

[0078] Specifically, the adhesive application table 322 is equipped with a scraper 325, which is used to scrape off excess adhesive from the bottom of the tile 7.

[0079] The scraper 325 is located on the edge of the adhesive table 322 and can be raised and lowered by the linear module. After the tile 7 is coated with adhesive, the scraper 325 rises and contacts the bottom of the tile 7 to scrape off some of the adhesive, so as to prevent the adhesive from dripping and causing pollution during the movement of the tile 7. At the same time, the appropriate amount of adhesive can also cure more efficiently to complete the bonding.

[0080] In this embodiment, the transfer mechanism 33 includes a first robotic arm 331 and a second robotic arm 332. The first robotic arm 331 is used to pick up the tile 7 and transfer the tile 7 to be attached to the positioning frame 8. The second robotic arm 332 is used to attach the tile 7 to the cement on the outside.

[0081] The striking mechanism 34 is installed on the second robotic arm 332.

[0082] The first robotic arm 331 is equipped with a rotating module. It uses negative pressure to pick up the tile 7 and then rotates the tile 7 to the corresponding side of the adhesive table 322, thus completing the adhesive application. The second robotic arm 332 is positioned at a lower height than the first robotic arm 331. It picks up the tile 7 from the adhesive table 321 and transfers it to the outside for installation. Because the two robotic arms are not at the same height, a corresponding lifting module can be used to control the lifting and lowering of the adhesive table 321, making efficient use of vertical space and resulting in a more compact structure.

[0083] Specifically, the end of the second robotic arm 332 is provided with a rotator 333, the output end of the rotator 333 is provided with a mounting base 334, the mounting base 334 is provided with multiple picking parts 335, and the number of striking mechanisms 34 is multiple, with the multiple picking parts 335 located between the multiple striking mechanisms 34.

[0084] Since the tiles 7 laid in this invention involve tiles 7 in contact with the wall, it has been verified that using a negative pressure suction cup to pick up the tiles 7 is preferable. This is because the negative pressure suction cup can adhere to the top of the tile 7, which is more flexible and adaptable to the adhesion of the tile 7 to the wall than clamping the side of the tile 7. The striking mechanism 34 preferably includes a striking hammer 341 and an electromagnetic module 342. The bottom of the striking hammer 341 is provided with a hammer head 343 made of rubber, and the top of the striking hammer 341 is provided with a permanent magnet 344. The electromagnetic module 342 is used to cooperate with the permanent magnet 344 to control the raising and lowering of the striking hammer 341. That is, the striking hammer 341 is raised and lowered by the electromagnetic module 342 to lift the tile 7. Combined with the rubber hammer head 343, the rigid collision between the hammer head 343 and the tile 7 is effectively reduced, ensuring reliable adhesion of the tile 7 to the cement while minimizing the risk of the tile 7 being broken.

[0085] It should be noted that the leveling mechanism described in this invention can be an infrared level or other conventional instruments, while the vision device 4 is preferably a camera.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the present invention without departing from the scope of the present invention are within the scope of the present invention.

Claims

1. A multifunctional automatic tile-laying machine, comprising a machine body, movable modules disposed on the machine body, and a tile-laying unit, wherein the movable modules are used to drive the machine body to move, and the tile-laying unit is used to apply tiles to the ground, characterized in that, The machine body is also equipped with a vision device, a leveling module and a mud-laying mechanism. The vision device is used to obtain the spatial information of the area to be tiled, the leveling module is used to detect the levelness of the ground in the space, and the mud-laying mechanism is used to lay cement flat according to the detection results of the leveling module. The tile laying unit includes a feeding mechanism, a bonding mechanism, a transfer mechanism, and a tapping mechanism. The feeding mechanism is used to feed the tiles and positioning frames. The bonding mechanism is used to bond the tiles to the positioning frames of appropriate quantity and size according to the position of the tiles. The transfer mechanism is used to pick up and transfer the tiles. The tapping mechanism is used to tap the tiles on the cement to fix the tiles. The feeding mechanism includes a first feeding rack, a second feeding rack, a third feeding rack, a first feeder, a first feeding component, a second feeding component, a first flipping component, and a second flipping component. The first feeding rack is used to accommodate stacked tiles. The second and third feeding racks are used to accommodate positioning frames of different specifications, which are stacked. The first feeder is used to transfer the tiles in the first feeding rack to the bonding mechanism. The first and second feeding components are used to transfer positioning frames of different specifications to the bonding mechanism. The first and second flipping components are used to drive the first and second feeding components to flip. The first feeding component includes a main body, a pusher, a lifter, and a stopper. The main body is provided with a first channel, a second channel, and a third channel. The second channel and the third channel are respectively connected to the first channel and are located at both ends of the first channel. The pusher is used to push two stacked positioning frames into the main body. The input end of the main body is connected to the second loading frame. The lifter is used to drive the output end of the main body to rise and fall. The stopper is used to prevent the positioning frame located at the top of the main body from disengaging from the main body when the output end of the main body descends. The bonding mechanism includes a bonding table, an adhesive table, a bonding lifting module, and an adhesive driver. Both the bonding table and the adhesive table are installed on the machine body. The adhesive table is at a higher height than the bonding table. The adhesive driver is used to drive the adhesive table to move back and forth, and the bonding lifting module is used to drive the bonding table to lift up and down. The transfer mechanism is used to pick up the tiles and move them to the adhesive table for adhesive bonding. After adhesive bonding, it moves the tiles to the positioning frames located on the bonding table for bonding. One positioning frame is bonded to one side and the bottom of the tile respectively. The positioning frame is an inverted "T" or "L" shaped structure. The first tile needs to be attached to the positioning frame on all four sides, with two sides attached to the "L" shaped positioning frame and the other two sides attached to the inverted "T" shaped positioning frame. Subsequent tiles are attached to the positioning frame on two or three sides, so that there is a positioning frame between every two adjacent tiles. The positioning frame includes a base and positioning components. The positioning components are installed on the top of the base and each positioning component has several through holes for spatial compensation. The through holes also allow cement to pass through and be gripped and fixed to the positioning frame, ensuring the stability of the tile installation.

2. The multifunctional automatic tile-laying machine according to claim 1, characterized in that, The lifting device includes a lifting cylinder, a support, and a vibrator. The support is rotatably mounted on the piston rod of the lifting cylinder and is used to support the main body. The vibrator is mounted on the support and is in contact with the main body.

3. The multifunctional automatic tile-laying machine according to claim 1, characterized in that, The feeding mechanism also includes a fourth feeding rack and a second feeder. The fourth feeding rack is used to hold the cut and stacked tiles, and the second feeder is used to feed the tiles in the fourth feeding rack.

4. The multi-functional automatic tile-laying machine according to claim 1, characterized in that, Therefore, the adhesive application station is equipped with a scraper, which is used to scrape off excess adhesive from the bottom of the tiles.

5. The multi-functional automatic tile-laying machine according to claim 1, characterized in that, The transfer mechanism includes a first robotic arm and a second robotic arm. The first robotic arm is used to pick up the tile and transfer it to a position that fits against the positioning frame. The second robotic arm is used to attach the tile to the cement on the outside. The striking mechanism is installed on the second robotic arm.

6. The multifunctional automatic tile-laying machine according to claim 5, characterized in that, The second robotic arm is equipped with a rotary device at its end, and a mounting base is installed at the output end of the rotary device. The mounting base is equipped with multiple picking-up parts, and there are multiple striking mechanisms. All the picking-up parts are located between the multiple striking mechanisms. The striking mechanism includes a striking hammer and an electromagnetic module. The bottom of the striking hammer is equipped with a hammer head made of rubber, and the top of the striking hammer is equipped with a permanent magnet. The electromagnetic module is used to cooperate with the permanent magnet to control the raising and lowering of the striking hammer.

7. An automatic tile-laying method applied to the multifunctional automatic tile-laying machine according to any one of claims 1-6, characterized in that, It also includes the following working methods: Use a vision device to obtain the floor area of ​​the space where tiles need to be laid, and calculate the number of tiles needed and their location based on the floor area; Plan the path for laying the tiles; The leveling mechanism is used to level the floor of the space where tiles are to be laid, so as to calculate the height of different positions in the space relative to the preset reference surface. Based on the calculation results, the required thickness of cement to be laid at different locations on the ground of the planned space; Lay cement according to the path; Depending on the location of the tile, the positioning frame is attached to at least two adjacent sides of the tile. Place the first tile onto the cement at the beginning of the path; After the first tile is laid, the subsequent tiles are positioned and attached according to the positioning frame of the first tile.

Images