An adaptive floor tile laying robot and its laying method

Abstract

This invention relates to the technical field of building construction and discloses an adaptive floor tile-laying robot and its tiling method, comprising: a chassis structure providing support for the entire robot; an internal structure mounted on the chassis structure, including a mortar tank for storing cement and a cement mortar compression spiral pipe connected to the outlet at the bottom of the tank; and an actuation structure mounted at the front end of the chassis structure, including a robotic arm structure, a tile-laying rotary motor mounted at the end of the robotic arm structure, a central fixed platform connected to the shaft of the tile-laying rotary motor, suction cup connecting rods hinged to the bottom of the central fixed platform, suction cups connected to the other end of the suction cup connecting rods, and suction cup telescopic rods hinged to the bottom of the central fixed platform. This invention features high-precision positioning and adaptive tile-laying capabilities, automating floor tile-laying and solving the problems of low efficiency, insufficient precision, and poor quality stability in manual floor tile-laying operations.

Description

Technical Field

[0001] This invention relates to the technical field of building construction, and in particular to an adaptive floor tile-laying robot, as well as a method for the adaptive floor tile-laying robot to lay tiles. Background Technology

[0002] The precision and efficiency of floor tiling construction directly determine the overall quality and delivery time of building floor projects.

[0003] Traditional floor tiling operations rely entirely on manual labor, resulting in low efficiency, difficulty in controlling tiling accuracy, and inconsistent construction quality due to differences in worker experience. Furthermore, it significantly increases the labor intensity of workers and cannot meet the demands of modern building construction for efficient and high-precision operations. Summary of the Invention

[0004] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide an adaptive floor tile laying robot that integrates a lidar, an inertial navigation module, a multi-degree-of-freedom robotic arm, a pressure sensor, a tilt angle module, an adaptive suction cup structure, and an automatic cement mortar mixing and feeding system. It has high-precision positioning and adaptive tile laying capabilities, realizing automated and high-precision floor tile laying operations, thereby solving the problems of low efficiency, insufficient accuracy, poor quality stability, and high labor intensity in traditional manual floor tile laying operations.

[0005] Another objective of this invention is to provide an adaptive floor tile laying robot method to solve the problems of traditional laying processes that rely on human experience, are cumbersome, and have poor construction consistency. This method achieves efficient, accurate, and stable floor tile laying through standardized operating procedures.

[0006] To achieve the above objectives, the present invention employs the following technical measures:

[0007] This invention provides an adaptive floor tile-laying robot, comprising: a chassis structure providing support for the entire robot; an internal structure mounted on the chassis structure, including a power supply, a mortar tank for storing cement required for tile laying, a spiral mixing rod driven by a mixing motor to rotate within the tank, a cement mortar compression spiral pipe connected to the outlet at the bottom of the tank, and a cement mortar connecting pipe installed at the outlet end of the cement mortar compression spiral pipe; and an actuation structure mounted at the front end of the chassis structure, comprising a robotic arm structure, a tile-laying rotary motor mounted at the end of the robotic arm structure, a central fixed platform connected to the shaft of the tile-laying rotary motor, suction cup connecting rods hinged to the bottom periphery of the central fixed platform, a suction cup connected to the other end of the suction cup connecting rods, and a suction cup telescopic rod hinged to the periphery of a suction cup telescopic rod fixed platform located below the central fixed platform, the other end of the suction cup telescopic rod being hinged to the middle of the suction cup connecting rod.

[0008] Preferably, the robotic arm structure includes a primary robotic arm, a secondary robotic arm hinged to the end of the primary robotic arm, and a tertiary robotic arm hinged to the end of the secondary robotic arm; the lower part of the primary robotic arm is hinged to a primary hydraulic rod, the upper part of the secondary robotic arm is hinged to a tertiary hydraulic rod, and its lower part is hinged to a secondary hydraulic rod; the end of the tertiary robotic arm is fixed to a brick-laying rotary motor, and its upper part is hinged to a tertiary hydraulic rod; one end of the primary hydraulic rod is hinged to the lower part of the primary robotic arm, and its other end is connected to the secondary hydraulic rod; one end of the secondary hydraulic rod is connected to the primary hydraulic rod, and the secondary hydraulic rod is connected to a... The first-stage hydraulic rod extends and retracts within the second-stage hydraulic rod, with the other end hinged to the lower part of the second-stage robotic arm. One end of the third-stage hydraulic rod is hinged to the upper part of the second-stage robotic arm, and the other end connects to the fourth-stage hydraulic rod. One end of the fourth-stage hydraulic rod connects to the third-stage hydraulic rod, which extends and retracts within the fourth-stage hydraulic rod. The other end of the fourth-stage hydraulic rod connects to the fifth-stage hydraulic rod. One end of the fifth-stage hydraulic rod is hinged to the fourth-stage hydraulic rod, and the other end connects to the sixth-stage hydraulic rod. One end of the sixth-stage hydraulic rod connects to the fifth-stage hydraulic rod, which extends and retracts within the fifth-stage hydraulic rod. The other end of the sixth-stage hydraulic rod connects to the third-stage robotic arm.

[0009] Furthermore, the primary robotic arm drive motor is mounted on the outer platform of the actuation structure and connected and fixed to the primary robotic arm to drive the primary robotic arm to rotate; the primary robotic arm guide seat is mounted above the outer platform to support the primary robotic arm and realize the guiding function; the lidar mounting seat is mounted above the outer platform to fix the lidar.

[0010] Furthermore, a suction cup telescopic drive motor is fixed below the suction cup telescopic rod fixing platform, and a threaded rod is fixed below the central fixing platform. The threaded rod is threadedly connected to the nut built into the suction cup telescopic drive motor.

[0011] Preferably, a tilting angle module for controlling the angle accuracy of tile laying is installed above the tile-laying rotary motor; an ultrasonic obstacle avoidance module is installed at the rear of the robot.

[0012] Furthermore, a pressure sensor is connected to the shaft of the tile-laying rotary motor. The pressure sensor is installed between the shaft of the tile-laying rotary motor and the central fixed platform to detect the pressure during tile laying.

[0013] Preferably, a camera fixing rod is fixed above the central fixing platform, and the end of the camera fixing rod is connected to a camera for detecting the edges of the left and right tiles during tiling to ensure the accuracy of tile splicing.

[0014] Furthermore, the chassis structure includes wheels, wheel mounting brackets, wheel drive motors, a chassis platform, a machine shell, and a tile baffle. Four wheels are fixed in the wheel mounting brackets and driven by the wheel drive motors. The wheel mounting brackets, which secure the wheels to the wheel drive motors, are installed at the four corners of the chassis platform, providing support. The chassis platform is installed above the wheel mounting brackets, providing support for the entire robot. The machine shell is installed above the chassis platform, with an angled front end. The inclined upper surface of the front end is covered with rubber anti-slip dots to prevent the glossy tiles from sliding and to protect the robot's internal structure. The tile baffle is installed at the bottom of the front slope of the machine shell for placing glossy tiles.

[0015] Preferably, a cement mortar pump is installed at the lower front end of the machine housing, which is connected to the cement mortar connecting pipe, and pumps out cement mortar through the internal pipe; the bottom of the cement mortar pump is provided with cement mortar comb teeth for spreading the cement mortar evenly when it flows out.

[0016] Accordingly, the present invention also provides a tiling method for an adaptive floor tiling robot, the steps of which are as follows:

[0017] S1. Equipment Initialization and Material Preparation

[0018] S1a. Check equipment status: Turn on the power, confirm that the hydraulic station, hydraulic pump drive motor and hydraulic pump are operating normally, ensure that the hydraulic rod can extend and retract flexibly, check the signal connection of the lidar, inertial navigation module and ultrasonic obstacle avoidance module, and ensure that the positioning and obstacle avoidance functions are effective.

[0019] S1b, Material loading: Open the hopper cover and inject cement mortar into the hopper. Close the hopper cover and seal it. Place the smooth ceramic tiles neatly on the tile baffle at the front of the machine casing. Use the rubber anti-slip dot matrix on the machine casing to prevent the tiles from sliding.

[0020] S1c, Start the auxiliary system: Start the mixing motor, drive the spiral mixing rod in the material box to rotate through the mixing motor gearbox, pre-mix the cement mortar to prevent sedimentation, and confirm that the cement mortar compression motor and cement mortar compression spiral tube are in standby mode.

[0021] S2, Environmental Scanning and Path Planning

[0022] S2a: The robot performs a three-dimensional scan of the paving area using a lidar, establishes a spatial coordinate system using an inertial navigation module, and generates a digital map of the paving area. At the same time, the ultrasonic obstacle avoidance module detects surrounding obstacles in real time and marks areas that need to be avoided.

[0023] S2b: Based on a digital map, the paving path is automatically planned, and the paving spacing is preset according to the size of the glossy tiles. The first-level robotic arm drive motor drives the first-level robotic arm, and the guide seat of the first-level robotic arm adjusts the initial posture of the actuation structure to ensure that the working range covers the planned area.

[0024] S3, Cement mortar laying

[0025] S3a. The robot controls the wheels to move to the first paving position through the wheel drive motor, and uses the inertial navigation module to accurately position itself so that the cement mortar pump is aligned with the area to be paved.

[0026] S3b. Start the cement mortar compression motor to drive the compression screw rod inside the cement mortar compression spiral tube to rotate, and pump the cement mortar in the material box into the cement mortar pump outlet through the cement mortar connecting pipe; when the cement mortar flows out from the bottom of the cement mortar pump outlet, it is evenly combed by the cement mortar comb teeth to form a mortar layer of uniform thickness.

[0027] S3c After the mortar layer is laid, the robot moves to the side to wait, so as to avoid crushing the mortar layer that has been laid.

[0028] S4, Tile Grabbing and Attitude Adjustment

[0029] S4a. The robotic arm extends under the drive of the hydraulic rod, moving the suction cup to the top of the smooth tile at the tile baffle. According to the size of the tile, the suction cup extension drive motor moves up and down along the threaded rod. The opening angle of the suction cup connecting rod is adjusted by the suction cup extension rod so that the spacing between adjacent suction cups is adapted to the size of the tile.

[0030] S4b: After the suction cup contacts the tile surface, it generates negative pressure, which firmly adheres to the glossy tile. The camera takes pictures of the edge of the tile through the camera fixing rod and feeds back the position information to the system to ensure that the suction cup is attached to the center area of ​​the tile and avoids tilting.

[0031] S5, Tile Laying and Precision Control

[0032] S5a: The robotic arm carries the tile to the top of the laid mortar layer, detects the current tilt angle of the tile through the tilt angle module, and adjusts the plane angle of the tile in conjunction with the tile-laying rotary motor to make it consistent with the preset laying direction.

[0033] S5b: The robotic arm slowly descends, bringing the tile closer to the mortar layer. The camera captures the edges of adjacent laid tiles or the baseline in real time. The position of the suction cup is finely adjusted through the central fixed platform to ensure that the edge of the tile to be laid is aligned with the baseline, and the error is controlled within the preset range.

[0034] S5c: When the tile comes into contact with the mortar layer, the pressure sensor monitors the laying pressure in real time and adjusts the descent speed of the robotic arm through the feedback of the hydraulic rod to ensure uniform pressure and avoid excessive pressure that may cause tile breakage or insufficient pressure that may cause hollowing. The tile-laying rotary motor, together with the tilt angle module, finely adjusts the tile angle during the laying process to ensure the flatness of the surface.

[0035] S6. Cyclic Operation and Finishing

[0036] After the first tile is laid, the robot moves to the next laying position by means of its wheels, repeating steps S3-S5 until all tiles in the planned area are laid. After all tiles are laid, the robot returns to the initial position, turns off the mixing motor and the cement mortar compression motor, checks whether the suction cup has been reset, cleans the cement mortar pump and the cement mortar comb teeth of any residual mortar, and completes the operation.

[0037] Therefore, the beneficial effects of the adaptive floor tile-laying robot and its tiling method of the present invention are as follows:

[0038] 1. High degree of automation, integrating automatic cement mortar mixing, feeding and automatic tile grabbing and laying functions, greatly reducing manual intervention and labor intensity.

[0039] 2. Excellent positioning and operation accuracy: High-precision positioning and path planning are achieved through LiDAR and inertial navigation modules. Combined with camera to detect tile edge alignment and real-time adjustment of pressure sensors and tilt angle modules, it ensures accurate laying angle, tight splicing and no hollow spots, thus improving construction quality.

[0040] 3. Highly adaptable: The suction cup spacing can be flexibly adjusted through the suction cup telescopic drive structure, adapting to different sizes of glossy ceramic tiles, enhancing the equipment's versatility and expanding its application range.

[0041] 4. The operation is safe and stable. Equipped with an ultrasonic obstacle avoidance module, it can effectively avoid obstacles during the movement process. The various systems work together stably, improving the safety and quality consistency of the construction process.

[0042] 5. The multi-degree-of-freedom robotic arm of this invention, combined with a hydraulic drive system, enables flexible operation. The pressure sensor and tilt angle module precisely control the laying pressure and angle. The adaptive suction cup structure is compatible with tiles of different sizes. It is also equipped with an automatic cement mortar mixing and feeding system, which can effectively solve the above-mentioned pain points of traditional manual operation, greatly improve laying efficiency, accuracy and quality stability, and reduce the intensity of manual labor. Attached Figure Description

[0043] The accompanying drawings, which are provided to further understand this application and constitute a part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0044] Figure 1 This is a schematic diagram of the front overall structure of the adaptive floor tile-laying robot of the present invention;

[0045] Figure 2 This is a schematic diagram of the rear overall structure of the adaptive floor tile-laying robot of the present invention;

[0046] Figure 3 This is a schematic diagram of a partial structure on the right side inside the outer casing of the present invention;

[0047] Figure 4 This is a schematic diagram of a partial structure on the left side inside the outer casing of the present invention;

[0048] Figure 5 This is a schematic diagram of a partial internal side structure of the outer casing of the present invention;

[0049] Figure 6 This is a schematic diagram of the outer structure of the present invention;

[0050] Figure 7 This is a schematic diagram of the left side structure of the present invention;

[0051] Figure 8 This is a partial schematic diagram of the tile-laying structure of the present invention;

[0052] Figure 9 This is a schematic diagram of the tile position according to the present invention;

[0053] Figure 10 This is a schematic diagram of the overall structure of the present invention when picking up a tile.

[0054] Figure 11 This is a schematic diagram of a partial internal structure of the material bin of the present invention.

[0055] in:

[0056] 100-Chassis Structure:

[0057] 101-Wheel; 102-Wheel bracket; 103-Wheel drive motor; 104-Chassis platform; 105-Machine housing; 106-Tile baffle;

[0058] 200-Internal Structure:

[0059] 201-Power supply; 202-Hydraulic station; 203-Hydraulic pump drive motor; 204-Hydraulic pump; 205-Agitator motor gearbox mounting bracket; 206-Agitator motor gearbox; 207-Agitator motor; 208-Cement mortar compression motor; 209-Cement mortar compression spiral pipe; 210-Cement mortar connecting pipe; 211-Material bin; 212-Material bin cover; 213-Spiral agitator rod;

[0060] 300-Actuation Structure:

[0061] 301 - Outer platform; 302 - First-stage robotic arm drive motor; 303 - First-stage robotic arm guide seat; 304 - LiDAR mounting base; 305 - LiDAR; 306 - Inertial navigation module; 307 - Ultrasonic obstacle avoidance module; 308 - First-stage robotic arm; 309 - Second-stage robotic arm; 310 - Third-stage robotic arm; 311 - First-stage hydraulic rod; 312 - Second-stage hydraulic rod; 313 - Third-stage hydraulic rod; 314 - Fourth-stage hydraulic rod; 315 - Fifth-stage hydraulic rod; 316 - Six-stage hydraulic rod; 317- Tiling angle module; 318- Tile-laying rotary motor; 319- Pressure sensor; 320- Camera mounting rod; 321- Camera; 322- Central mounting platform; 323- Suction cup connecting rod; 324- Suction cup telescopic rod; 325- Suction cup telescopic rod mounting platform; 326- Suction cup telescopic drive motor; 327- Threaded rod; 328- Suction cup; 329- Glossy ceramic tile; 330- Cement mortar pump; 331- Cement mortar comb. Detailed Implementation

[0062] Below, in conjunction with Figures 1 to 11 This invention provides a detailed description of an adaptive floor tile-laying robot and its tiling method.

[0063] Depend on Figure 1 As shown, the adaptive ground tile-laying robot of the present invention mainly consists of a chassis structure 100, an internal structure 200, and an actuation structure 300.

[0064] Specifically, such as Figure 3As shown, the chassis structure 100 of the present invention comprises wheels 101, wheel mounting brackets 102, wheel drive motors 103, a chassis platform 104, a machine housing 105, and tile baffles 106. Four wheels 101 are fixed in the wheel mounting brackets 102 and driven by the wheel drive motors 103. Each wheel 101 can move independently, providing flexible mobility for the machine. The wheel mounting brackets 102 fix the wheels 101 to the wheel drive motors 103 and are installed at the four corners of the chassis platform 104, providing support for the chassis platform 104. The wheel drive motors 103 are installed in the wheel mounting brackets 102 and are used to drive the wheels 101 to rotate. The chassis platform 104 is installed above the wheel mounting brackets 102, providing support for the entire robot. The machine housing 105 is installed above the chassis platform 104, and its front part has an angle. The inclined upper surface of the front part is covered with rubber anti-slip dots to prevent the smooth tile 329 from sliding and to protect the robot's internal structure 200. A tile baffle 106 is installed at the bottom of the front slope of the machine housing 105 and can hold smooth tiles 329.

[0065] Specifically, such as Figure 3 , Figure 4 and Figure 5 As shown. The internal structure 200 of this invention consists of a power supply 201, a hydraulic station 202, a hydraulic pump drive motor 203, a hydraulic pump 204, a mixing motor gearbox mounting bracket 205, a mixing motor gearbox 206, a mixing motor 207, a cement mortar compression motor 208, a cement mortar compression spiral tube 209, a cement mortar connecting pipe 210, a material box 211, a material box cover 212, and a spiral mixing rod 213. The power supply 201 is installed in the groove in the center of the chassis platform 104, providing electrical energy to the entire device. The hydraulic station 202 is installed on the upper left side of the chassis platform 104, providing hydraulic oil to the hydraulic rod of this machine. The hydraulic pump drive motor 203 is installed on the upper right side of the chassis platform 104, powered by the power supply 201, and is used to drive the hydraulic pump 204. The hydraulic pump 204 is installed on the upper right side of the chassis platform 104, and is used to drive the hydraulic rod. A gearbox mounting bracket 205 is installed on the upper right side of the chassis platform 104 to secure the gearbox 206. The gearbox 206, mounted on the bracket 205, is driven by a stirring motor 207, with its other end connected to a spiral stirring rod 213 inside the hopper 211, allowing the spiral stirring rod 213 to rotate within the hopper 211. The stirring motor 207 is connected to the gearbox 206 to drive it, and is powered by a power supply 201.

[0066] A cement mortar compression motor 208 is installed on the upper rear side of the chassis platform 104 to drive the cement mortar compression spiral tube 209, and is powered by a power supply 201. The cement mortar compression spiral tube 209 is installed at the upper center of the chassis platform 104, with its upper inlet connected to the lower outlet of the material box 211. Cement mortar can enter the cement mortar compression spiral tube 209, and the compression spiral rod inside it can continuously and stably pump out the cement mortar. A cement mortar connecting pipe 210 is installed at the outlet end of the cement mortar compression spiral tube 209, connecting the cement mortar compression spiral tube 209 to the cement mortar pump 330.

[0067] The hopper 211 is installed above the cement mortar compression spiral pipe 209 and stores the cement mortar needed for tiling. An internal spiral mixing rod 213 is installed to agitate the cement mortar and prevent sedimentation and hardening. The hopper cover 212 screws into the opening of the hopper 211 to seal the cement mortar. The spiral mixing rod 213, installed inside the hopper 211, is driven by the mixing motor reduction gearbox 206 and agitates the cement mortar.

[0068] Specifically, such as Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown. The actuation structure 300 of the present invention comprises an outer platform 301, a first-stage robotic arm drive motor 302, a first-stage robotic arm guide seat 303, a laser radar mounting seat 304, a laser radar 305, an inertial navigation module 306, an ultrasonic obstacle avoidance module 307, a first-stage robotic arm 308, a second-stage robotic arm 309, a third-stage robotic arm 310, a first-stage hydraulic rod 311, a second-stage hydraulic rod 312, a third-stage hydraulic rod 313, a fourth-stage hydraulic rod 314, a fifth-stage hydraulic rod 315, a sixth-stage hydraulic rod 316, a tilt angle module 317, a tile-laying rotary motor 318, a pressure sensor 319, a camera mounting rod 320, a camera 321, a central fixed platform 322, a suction cup connecting rod 323, a suction cup telescopic rod 324, a suction cup telescopic rod fixing platform 325, a suction cup telescopic drive motor 326, a threaded rod 327, a suction cup 328, a smooth ceramic tile 329, a cement mortar pump 330, and cement mortar comb teeth 331. The outer platform 301 is installed and fixed to the upper part of the machine housing 105 and the material box 211, providing support for the actuation structure 300.

[0069] A primary robotic arm drive motor 302 is mounted on the outer platform 301 and connected and fixed to the primary robotic arm 308, used to drive the primary robotic arm 308 to rotate. A primary robotic arm guide seat 303 is mounted above the outer platform 301, supporting the primary robotic arm 308 and providing guidance. A lidar mounting seat 304 is mounted above the outer platform 301, used to mount the lidar 305. The lidar 305 is mounted above the lidar mounting seat 304, used to enable the robot's autonomous navigation function. An inertial navigation module 306 is mounted above the outer platform 301, used to assist the robot in positioning and path tracking, ensuring motion accuracy and stable control. An ultrasonic obstacle avoidance module 307 is mounted on the rear side of the machine casing 105, which can assist in avoiding obstacles during movement, ensuring operational safety.

[0070] The first-stage robotic arm 308 is driven by the first-stage robotic arm drive motor 302 and mounted on the first-stage robotic arm guide seat 303. Its front end is connected to the second-stage robotic arm 309, and its lower part is hinged to the first-stage hydraulic rod 311. One end of the second-stage robotic arm 309 is hinged to the end of the first-stage robotic arm 308, and its other end is hinged to the third-stage robotic arm 310. The upper part of the second-stage robotic arm 309 is hinged to the third-stage hydraulic rod 313, and its lower part is hinged to the second-stage hydraulic rod 312. The front end of the third-stage robotic arm 310 is hinged to the end of the second-stage robotic arm 309, and its end is fixed to the brick-laying rotary motor 318. Its upper part is hinged to the sixth-stage hydraulic rod 316. One end of the first-stage hydraulic rod 311 is hinged to the lower part of the first-stage robotic arm 308, and its other end is connected to the second-stage hydraulic rod 312. One end of the secondary hydraulic rod 312 is connected to the primary hydraulic rod 311, and the secondary hydraulic rod 312 extends and retracts within the primary hydraulic rod 311. The other end of the secondary hydraulic rod 312 is hinged to the lower part of the secondary robotic arm 309. One end of the tertiary hydraulic rod 313 is hinged to the upper part of the secondary robotic arm 309, and the other end is connected to the quaternary hydraulic rod 314. One end of the quaternary hydraulic rod 314 is connected to the tertiary hydraulic rod 313, and the tertiary hydraulic rod 313 extends and retracts within the quaternary hydraulic rod 314. The other end of the quaternary hydraulic rod 314 is connected to the quintary hydraulic rod 315. One end of the quintary hydraulic rod 315 is hinged to the quaternary hydraulic rod 314, and the other end is connected to the septum hydraulic rod 316. One end of the septum hydraulic rod 316 is connected to the quintum hydraulic rod 315, and the septum hydraulic rod 316 extends and retracts within the quintum hydraulic rod 315. The other end of the septum hydraulic rod 316 is hinged to the tertiary robotic arm 310.

[0071] A tilt angle module 317 is installed above the tile-laying rotary motor 318 to precisely control the angle accuracy of tile laying. The tile-laying rotary motor 318 is installed at the end of the three-stage robotic arm 310 and is driven by the power supply 201. Its shaft is connected to the pressure sensor 319 below. The pressure sensor 319 is installed between the shaft of the tile-laying rotary motor 318 and the central fixed platform 322, which can detect the pressure during laying to avoid hollow spots and damage to the tiles. A camera fixing rod 320 is fixed above the central fixed platform 322, and its end is connected to the camera 321. The camera 321 is installed at the end of the camera fixing rod 320 and can detect the left and right edges of the tiles during laying to ensure the accuracy of tile splicing. A pressure sensor 319 is fixed above the central fixed platform 322, and its bottom is hinged to the suction cup connecting rod 323 around its perimeter. A threaded rod 327 is fixed at the center below it. One end of the suction cup connecting rod 323 is hinged to the lower part of the central fixed platform 322, and the other end is connected to the suction cup 328. The middle part is hinged to the suction cup telescopic rod 324.

[0072] One end of the suction cup telescopic rod 324 is hinged to the middle of the suction cup connecting rod 323, and the other end is hinged to the suction cup telescopic rod fixing platform 325 located below the central fixing platform 322. There are four suction cup telescopic rods 324, hinged around the suction cup telescopic rod fixing platform 325. A suction cup telescopic drive motor 326 is fixed below the suction cup telescopic rod fixing platform 325. The suction cup telescopic drive motor 326 is fixed below the suction cup telescopic rod fixing platform 325 and is driven by the power supply 201. The suction cup telescopic drive motor 326 is a through-type lead screw stepper motor. Its motor rotor drives the nut built into it and threadedly connected to the threaded rod 327 to rotate, enabling linear movement along the axial direction of the threaded rod 327. When the suction cup extension drive motor 326 rises along the threaded rod 327, the suction cup extension rod 324 gradually becomes horizontal, pushing the four suction cup connecting rods 323 outward. At this time, the distance between adjacent suction cups 328 gradually increases. When the suction cup extension drive motor 326 descends along the threaded rod 327, the suction cup extension rod 324 gradually tilts, stretching the four suction cup connecting rods 323 inward. At this time, the distance between adjacent suction cups 328 gradually decreases. Therefore, this robot can adapt to laying different sizes of glossy tiles 329 within a certain range. The top of the threaded rod 327 is fixed below the central fixed platform 322, and its lower part is threaded into the built-in nut of the suction cup extension drive motor 326. The suction cups 328 are installed at the ends of the suction cup connecting rods 323 and can pick up or release the glossy tiles 329 for laying operations. The glossy tiles 329 can be picked up by the suction cups 328. The cement mortar pump 330 is installed at the lower front end of the robot (machine housing 105) and connected to the cement mortar connecting pipe 210, pumping out cement mortar through the internal pipe. The cement mortar comb teeth 331 are located at the bottom of the cement mortar pump 330. When the cement mortar flows out, the comb teeth can spread the cement mortar evenly, which is convenient for subsequent paving work.

[0073] Accordingly, the tiling method of the adaptive floor tile laying robot provided by the present invention includes the following steps:

[0074] S1. Equipment Initialization and Material Preparation

[0075] S1a. Check equipment status: Turn on power supply 201, confirm that hydraulic station 202, hydraulic pump drive motor 203 and hydraulic pump 204 are operating normally, and ensure that the hydraulic rods (311-316) from level one to level six extend and retract flexibly. Check the signal connection of lidar 305, inertial navigation module 306 and ultrasonic obstacle avoidance module 307 to ensure that the positioning and obstacle avoidance functions are effective.

[0076] S1b, Material Loading: Open the hopper cover 212, inject cement mortar into the hopper 211, and close the hopper cover 212 to seal it. Place the smooth ceramic tile 329 neatly on the tile baffle 106 at the front of the machine housing 105, and use the rubber anti-slip dot matrix on the machine housing 105 to prevent the tile from sliding.

[0077] S1c, Start the auxiliary system: Start the mixing motor 207, which drives the spiral mixing rod 213 in the material box 211 to rotate through the mixing motor reduction gearbox 206, pre-mixing the cement mortar to prevent sedimentation. Confirm that the cement mortar compression motor 208 and the cement mortar compression spiral tube 209 are in standby mode.

[0078] S2, Environmental Scanning and Path Planning

[0079] S2a: The robot uses LiDAR 305 to perform a 3D scan of the paving area, and combines this with the inertial navigation module 306 to establish a spatial coordinate system and generate a digital map of the paving area. At the same time, the ultrasonic obstacle avoidance module 307 detects surrounding obstacles such as walls and pipelines in real time and marks areas that need to be avoided.

[0080] S2b: Based on a digital map, the system automatically plans the paving path and presets the paving spacing according to the size of the glossy ceramic tile 329. The primary robotic arm drive motor 302 drives the primary robotic arm 308, and in conjunction with the primary robotic arm guide seat 303, adjusts the initial posture of the actuation structure 300 to ensure that the working range covers the planned area.

[0081] S3, Cement mortar laying

[0082] S3a, the robot controls the wheels 101 to move to the first paving position through the wheel drive motor 103, and uses the inertial navigation module 306 to accurately position and align the cement mortar pump 330 with the area to be paved.

[0083] S3b. Start the cement mortar compression motor 208 to drive the compression screw rod in the cement mortar compression spiral tube 209 to rotate, and pump the cement mortar in the material box 211 into the cement mortar pump outlet 330 through the cement mortar connecting pipe 210. When the cement mortar flows out from the bottom of the cement mortar pump outlet 330, it is evenly combed by the cement mortar comb teeth 331 to form a mortar layer of uniform thickness (the spacing between the comb teeth can be adjusted according to the preset thickness).

[0084] S3c After the mortar layer is laid, the robot moves to the side to wait, so as to avoid crushing the mortar layer that has been laid.

[0085] S4, Tile Grabbing and Attitude Adjustment

[0086] S4a, the first to third level robotic arms (308-310) extend under the drive of hydraulic rods (311-316), moving the suction cups 328 above the smooth ceramic tile 329 at the ceramic tile baffle 106. Depending on the tile size, the suction cup extension drive motor 326 rises and falls along the threaded rod 327, and the opening angle of the suction cup connecting rod 323 is adjusted via the suction cup extension rod 324, so that the spacing between adjacent suction cups 328 matches the tile size.

[0087] S4b: After the suction cup 328 contacts the tile surface, it generates negative pressure, firmly adhering to the glossy tile 329. The camera 321 captures images of the tile edge via the camera mounting rod 320, feeding back position information to the system to ensure that the suction cup 328 is adsorbed in the center area of ​​the tile, preventing tilting.

[0088] S5, Tile Laying and Precision Control

[0089] S5a, The robotic arm carries the tile to the top of the laid mortar layer, detects the current tilt angle of the tile through the tilt angle module 317, and adjusts the tile plane angle in conjunction with the tile laying rotary motor 318 to make it consistent with the preset laying direction.

[0090] S5b: The robotic arm slowly descends, bringing the tile closer to the mortar layer. Camera 321 captures real-time images of the edges of adjacent laid tiles or the baseline. The position of the suction cup is finely adjusted via the central fixed platform 322 to ensure that the edge of the tile to be laid is aligned with the baseline, with the error controlled within a preset range.

[0091] S5c: When the tile comes into contact with the mortar layer, the pressure sensor 319 monitors the laying pressure in real time and adjusts the descent speed of the robotic arm via feedback from the hydraulic rods (311-316) to ensure uniform pressure and avoid excessive pressure that could damage the tile or insufficient pressure that could cause hollow spots. The tile-laying rotary motor 318, in conjunction with the tilt angle module 317, fine-tunes the tile angle during the laying process to ensure flatness.

[0092] S6. Cyclic Operation and Finishing

[0093] After the first tile is laid, the robot moves to the next tile location using wheels 101, repeating steps S3-S5 until all tiles in the planned area are laid. Once all tiles are laid, the robot returns to its initial position and shuts off the mixing motor 207, cement mortar compression motor 208, and other power systems. It then checks if the suction cup 328 has reset, cleans any residual mortar from the cement mortar pump 330 and cement mortar comb teeth 331, and completes the operation.

[0094] This invention relates to an adaptive floor tile-laying robot and its laying method, aiming to achieve automated and high-precision floor tile laying. The machine is composed of a chassis structure 100, an internal structure 200, and an actuation structure 300, working together to achieve adaptive laying through the integration of multiple modules. The chassis structure 100 provides overall movement and support, including wheels 101 and wheel drive motors 103. The wheels 101 can move independently to ensure flexible movement. The front of the machine casing 105 has an angle, and the upper surface has rubber anti-slip dots to place tiles and prevent slippage. The internal structure 200 is responsible for power supply and material handling. The power supply provides electrical energy, and the hydraulic station 202 and hydraulic pump drive the hydraulic rods. The material bin 211 stores cement mortar. The mixing motor 207 drives the spiral mixing rod 213 via a reduction gearbox to prevent mortar sedimentation. The cement mortar compression motor 208 pumps the mortar out stably through a compression spiral tube. The actuation structure 300 enables precise operation, while the lidar 305 and inertial navigation module 306 complete positioning and path planning. The ultrasonic obstacle avoidance module 307 ensures safe movement. A multi-degree-of-freedom robotic arm, in conjunction with hydraulic rods, operates flexibly. The suction cup 328, through its telescopic drive structure, adapts to tiles of different sizes. The tilt angle module 317, pressure sensor 319, and camera 321 work together to control the laying angle, pressure, and edge alignment accuracy. Based on the above structure, the laying method follows a process of initial preparation, environmental scanning and planning, mortar laying, tile gripping and adjustment, precise laying, and cyclical operation, achieving fully automated, high-quality floor tile laying.

[0095] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. An adaptive floor tiling robot, characterized by, include: The chassis structure (100) provides support for the entire robot; The internal structure (200), mounted on the chassis structure (100), includes a power supply (201), a hydraulic station (202), a hydraulic pump drive motor (203), a hydraulic pump (204), a mixing motor gearbox (206), a cement mortar compression motor (208), a mortar bin (211) for storing cement required for tiling, a bin cover (212), a spiral mixing rod (213) driven by the mixing motor (207) to rotate inside the mortar bin (211), a cement mortar compression spiral pipe (209) connected to the outlet at the bottom of the mortar bin (211), and a cement mortar connecting pipe (210) installed at the outlet end of the cement mortar compression spiral pipe (209). An actuation structure (300) is installed at the front end of the chassis structure (100), comprising an outer platform (301), an inertial navigation module (306) mounted on the outer platform (301), a robotic arm structure, a tile-attaching rotary motor (318) mounted at the end of the robotic arm structure, a central fixed platform (322) connected to the rotating shaft of the tile-attaching rotary motor (318), a suction cup connecting rod (323) hinged to the bottom periphery of the central fixed platform (322), and another... The robotic arm structure includes a suction cup (328) connected at one end, a suction cup telescopic rod (324) hinged around the suction cup telescopic rod fixing platform (325) located below the central fixed platform (322), and the other end of the suction cup telescopic rod (324) hinged to the middle of the suction cup connecting rod (323); the robotic arm structure includes a first-level robotic arm (308), a second-level robotic arm (309) hinged to the end of the first-level robotic arm (308), and a third-level robotic arm (310) hinged to the end of the second-level robotic arm (309). The first-level robotic arm drive motor (302) is mounted on the outer platform (301) of the actuation structure (300) and connected and fixed to the first-level robotic arm (308) to drive the first-level robotic arm (308) to rotate; the first-level robotic arm guide seat (303) is mounted above the outer platform (301) to lift the first-level robotic arm (308) and realize the guiding function. The lidar mounting bracket (304) is installed above the outer platform (301) to fix the lidar (305). A tilting angle module (317) for controlling the angle accuracy of tile laying is installed above the tile-laying rotary motor (318); an ultrasonic obstacle avoidance module (307) is installed on the rear side of the robot. The rotating shaft of the tile-laying rotary motor (318) is connected to a pressure sensor (319). The pressure sensor (319) is installed between the rotating shaft of the tile-laying rotary motor (318) and the central fixed platform (322) to detect the pressure during tile laying.

2. The adaptive floor tile-laying robot according to claim 1, characterized in that, The lower part of the first-level robotic arm (308) is hinged to the first-level hydraulic rod (311), the upper part of the second-level robotic arm (309) is hinged to the third-level hydraulic rod (313), and the lower part is hinged to the second-level hydraulic rod (312). The end of the third-level robotic arm (310) is fixed to the brick-laying rotary motor (318), and the upper part is hinged to the sixth-level hydraulic rod (316). One end of the first-level hydraulic rod (311) is hinged to the lower part of the first-level robotic arm (308), and the other end is connected to the second-level hydraulic rod (312). One end of the secondary hydraulic rod (312) is connected to the primary hydraulic rod (311), and the secondary hydraulic rod (312) extends and retracts within the primary hydraulic rod (311). The other end of the secondary hydraulic rod (312) is hinged to the lower part of the secondary robotic arm (309). One end of the tertiary hydraulic rod (313) is hinged to the upper part of the secondary robotic arm (309), and its other end is connected to the quaternary hydraulic rod (314). One end of the quaternary hydraulic rod (314) is connected to the tertiary hydraulic rod (313). The fourth-stage hydraulic rod (314) performs telescopic movement, and the other end of the fourth-stage hydraulic rod (314) is connected to the fifth-stage hydraulic rod (315). One end of the fifth-stage hydraulic rod (315) is hinged to the fourth-stage hydraulic rod (314), and the other end is connected to the sixth-stage hydraulic rod (316). One end of the sixth-stage hydraulic rod (316) is connected to the fifth-stage hydraulic rod (315), and the sixth-stage hydraulic rod (316) performs telescopic movement in the fifth-stage hydraulic rod (315). The other end of the sixth-stage hydraulic rod (316) is hinged to the third-stage robotic arm (310).

3. The adaptive floor tiling robot of claim 2, wherein, A suction cup telescopic rod fixing platform (325) is fixed below a suction cup telescopic drive motor (326), and a threaded rod (327) is fixed below a central fixing platform (322). The threaded rod (327) is threadedly connected to a nut built into the suction cup telescopic drive motor (326).

4. The adaptive floor tiling robot of claim 3, wherein, A camera fixing rod (320) is fixed above the central fixed platform (322), and a camera (321) is connected to the end of the camera fixing rod (320) to detect the edges of the left and right tiles during the tiling process to ensure the accuracy of tile splicing.

5. The adaptive floor tiling robot of claim 4, wherein, The chassis structure (100) includes wheels (101), wheel brackets (102), wheel drive motors (103), chassis platform (104), machine housing (105), and tile baffles (106). The four wheels (101) are fixed in the wheel brackets (102) and driven by the wheel drive motors (103). The wheel brackets (102) fix the wheels (101) to the wheel drive motors (103) and are installed at the four corners of the chassis platform (104) to provide support for the chassis platform (104). The chassis platform (104) is installed above the wheel fixing frame (102) to provide support for the entire robot. The machine shell (105) is installed above the chassis platform (104) with an incline at the front. The inclined upper surface at the front is covered with rubber anti-slip dots to prevent the smooth ceramic tile (329) from sliding and to protect the internal structure (200) of the robot. The ceramic tile baffle (106) is installed at the bottom of the front slope of the machine shell (105) for placing the smooth ceramic tile (329).

6. The adaptive floor tiling robot of claim 5, wherein, A cement mortar pump (330) connected to the cement mortar connecting pipe (210) is installed below the front end of the machine housing (105) to pump out cement mortar through the internal pipe; the bottom of the cement mortar pump (330) is provided with cement mortar comb teeth (331) for spreading the cement mortar evenly when it flows out.

7. A laying method of a self-adapting floor tiling robot as claimed in claim 6, characterized in that, The steps are as follows: S1. Equipment Initialization and Material Preparation S1a. Check equipment status: Start the power supply (201), confirm that the hydraulic station (202), hydraulic pump drive motor (203) and hydraulic pump (204) are operating normally, ensure that the hydraulic rod can extend and retract flexibly, check the signal connection of the laser radar (305), inertial navigation module (306) and ultrasonic obstacle avoidance module (307), and ensure that the positioning and obstacle avoidance functions are effective. S1b, Material loading: Open the hopper cover (212), inject cement mortar into the mortar hopper (211), close the hopper cover (212) to seal, and neatly place the smooth ceramic tile (329) at the ceramic tile baffle (106) at the front of the machine housing (105). Use the rubber anti-slip dot matrix on the machine housing (105) to prevent the ceramic tile from sliding. S1c, Start the auxiliary system: Start the mixing motor (207), drive the spiral mixing rod (213) in the mortar tank (211) to rotate through the mixing motor reduction gearbox (206) to pre-mix the cement mortar to prevent sedimentation, and confirm that the cement mortar compression motor (208) and cement mortar compression spiral tube (209) are in standby mode. S2, Environmental Scanning and Path Planning S2a. The robot performs a three-dimensional scan of the paving area using a lidar (305), establishes a spatial coordinate system using an inertial navigation module (306), and generates a digital map of the paving area. At the same time, the ultrasonic obstacle avoidance module (307) detects surrounding obstacles in real time and marks areas that need to be avoided. S2b: Based on the digital map, the paving path is automatically planned, and the paving spacing is preset according to the size of the glossy ceramic tile (329). The first-level robotic arm drive motor (302) drives the first-level robotic arm (308), and the first-level robotic arm guide seat (303) adjusts the initial posture of the actuation structure (300) to ensure that the working range covers the planned area. S3, Cement mortar laying S3a, The robot controls the wheels (101) to move to the first paving position through the wheel drive motor (103), and uses the inertial navigation module (306) to accurately position the cement mortar pump (330) so that it is aligned with the area to be paved. S3b. Start the cement mortar compression motor (208) to drive the compression screw rod in the cement mortar compression spiral tube (209) to rotate, and pump the cement mortar in the mortar box (211) into the cement mortar pump outlet (330) through the cement mortar connecting pipe (210); when the cement mortar flows out from the bottom of the cement mortar pump outlet (330), it is evenly combed by the cement mortar comb teeth (331) to form a mortar layer of uniform thickness; S3c After the mortar layer is laid, the robot moves to the side to wait, so as to avoid crushing the mortar layer that has been laid. S4, Tile Grabbing and Attitude Adjustment S4a, the robotic arm extends under the drive of the hydraulic rod, so that the suction cup (328) moves to the top of the smooth tile (329) at the tile baffle (106). According to the size of the tile, the suction cup extension drive motor (326) moves up and down along the threaded rod (327). The opening angle of the suction cup connecting rod (323) is adjusted by the suction cup extension rod (324) so ​​that the spacing between adjacent suction cups (328) is adapted to the size of the tile. S4b, after the suction cup (328) contacts the tile surface, it generates negative pressure and firmly adheres to the glossy tile (329). The camera (321) takes pictures of the edge of the tile through the camera fixing rod (320) and feeds back the position information to the system to ensure that the suction cup (328) is attached to the center area of ​​the tile and avoids tilting. S5, Tile Laying and Precision Control S5a, The robotic arm carries the tile to the top of the laid mortar layer, detects the current tilt angle of the tile through the tilt angle module (317), and adjusts the tile plane angle in conjunction with the tile-laying rotary motor (318) so that it is consistent with the preset laying direction; S5b, the robotic arm slowly descends, bringing the tile close to the mortar layer. The camera (321) captures the edge of the adjacent tile or the baseline in real time. The position of the suction cup is finely adjusted by the central fixed platform (322) to ensure that the edge of the tile to be laid is aligned with the baseline and the error is controlled within the preset range. S5c When the tile comes into contact with the mortar layer, the pressure sensor (319) monitors the laying pressure in real time and adjusts the descent speed of the robotic arm through the feedback of the hydraulic rod to ensure uniform pressure and avoid excessive pressure causing tile breakage or insufficient pressure causing hollowing. The tile-laying rotary motor (318) works with the tilt angle module (317) to finely adjust the tile angle during the laying process to ensure the flatness of the surface. S6. Cyclic Operation and Finishing After the first tile is laid, the robot moves to the next laying position by means of the wheels (101), repeating steps S3-S5 until all tiles in the planned area are laid; after all tiles are laid, the robot returns to the initial position, turns off the mixing motor (207) and the cement mortar compression motor (208), checks whether the suction cup (328) has been reset, cleans the residual mortar on the cement mortar pump (330) and the cement mortar comb (331), and completes the operation.

Images