Modularized ceramic tile paving robot and using method thereof

Abstract

On the basis of a moving module and a mechanical arm module for grabbing ceramic tiles, a coating module is additionally arranged, the module drives a discharging mechanism to move on a working face through a multi-dimensional moving mechanism, automatic coating and slicking of a binder are achieved, meanwhile, a ceramic tile storage module is additionally arranged, and the ceramic tile storage module is used for storing ceramic tiles. A dynamically adaptable containing space is defined through a linkage adjusting positioning baffle mechanism on a base and used for storing ceramic tiles in a stacked mode and achieving automatic positioning and supplying, the whole set of equipment is unified and coordinated through a control system, the motion time sequence and technological parameters of all modules are cooperatively controlled through an execution algorithm, and the production efficiency is improved. Therefore, multiple procedures such as ceramic tile taking and placing, adhesive coating and scraping and paving positioning are seamlessly connected, full-process automatic paving operation is achieved, and the paving efficiency, precision and quality consistency are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology in the construction industry, specifically to a modular tile laying robot and its usage method. Background Technology

[0002] Against the backdrop of the current transformation towards automation in the building decoration industry, the development of automation technology for tile laying, a typical example of traditional labor-intensive operations, has become a focus of the industry. Among existing technologies, laying robots have already achieved automation in some aspects, and the publicly available technologies and product solutions mainly focus on functions such as robotic arm clamping, simple positioning, and basic laying.

[0003] Existing tiling robots require manual adjustment of the positioning mechanism or replacement of special clamps when dealing with tiles of different sizes, which affects tiling efficiency. In addition, there is a lack of coordinated control between the adhesive application and tile gripping processes, and uneven coating thickness and insufficient leveling precision can easily lead to hollow spots. The entire tile tiling process relies on separate control units, making it difficult to achieve dynamic matching of process parameters and motion timing, which restricts the improvement of tiling quality and automation. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the aforementioned technologies by proposing a modular tile laying robot and its usage method, aiming to solve the problem of isolated functional modules that cannot achieve collaborative automation.

[0005] This invention provides a modular tile-laying robot and its method of use, comprising a moving module and a robotic arm module mounted on the moving module for gripping tiles, characterized in that it further comprises: The coating module includes a multi-dimensional moving mechanism mounted on a moving module and a dispensing mechanism driven by the multi-dimensional moving mechanism to move in space. The dispensing mechanism is used to apply and smooth the adhesive. The tile storage module includes a base mounted on a movable module, at least one set of adjustable positioning baffle mechanisms mounted on the base, and a drive mechanism for driving the positioning baffle mechanisms to move. The tiles to be laid are stacked and placed in the accommodating space enclosed by the positioning baffle mechanisms. The control system is electrically connected to each module. It uses algorithms to coordinate the movement timing and process parameters of each module, thereby achieving fully automated tiling operations.

[0006] Preferably, the mobile module includes a support frame, a support platform, and two parallel I-shaped ground rails. Four rollers are rotatably mounted on the surface of the support frame near the ground. The four rollers are located at the four corners of the support frame. The four rollers are slidably connected to the surface of the two I-shaped ground rails away from the ground. Two servo motors are fixedly mounted on the surface of the support frame near the ground. The output ends of the two servo motors are fixedly connected to the rollers on the two I-shaped ground rails. Two parallel guide rails are fixedly installed on the upper surface of the support frame. Several guide sliders are slidably installed on the two guide rails, and the upper surfaces of the guide sliders are fixedly connected to the bottom surface of the support platform. A drive motor is fixedly installed on the surface of the support platform, and a rack is fixedly installed on the upper surface of the support frame. The rack is located on one side of one of the guide rails. An output shaft is fixedly installed on the output end of the drive motor. The output shaft passes through the support platform. A transmission gear is fixedly installed on the outer side of the output shaft below the support platform. The transmission gear meshes with the rack.

[0007] Preferably, the robotic arm module includes a robotic arm assembly and a tile gripping mechanism disposed at the end of the robotic arm assembly; The robotic arm assembly includes a rotating base, on which a first motor is fixedly mounted. A first robotic arm is fixedly mounted to the output end of the first motor. A second motor is fixedly mounted to the other end of the first robotic arm. A second robotic arm is fixedly mounted to the output end of the second motor. A third motor is mounted to the other end of the second robotic arm. A tile gripping mechanism is fixedly mounted to the output end of the third motor. Preferably, the tile gripping mechanism includes a first connector, a second connector, an output motor, a disc, and several suction cups; The first connector is rotatably connected to the second robotic arm via ball bearings. The third motor is fixedly mounted on the first connector, and the output end of the third motor is fixedly connected to the second robotic arm. The second connector is fixedly mounted on the outside of the first connector. The output end of the output motor is rotatably connected to the second connector, and a disc surface that drives several suction cups to rotate is fixedly installed on the output motor; Several suction cups are fixedly connected to the disk surface by special suction cup bolts, and the suction cups are evenly distributed in an array along the disk surface.

[0008] Preferably, the multi-dimensional moving mechanism includes a first power motor, a second power motor, a first mounting bracket, a second mounting bracket, a first ball screw, a second ball screw, a first guide rail, a second guide rail, a first slider, a second slider, and a fixing component; The fastener is fixedly installed on one side of the support platform, and the first mounting bracket is fixedly installed on the fastener; A first power motor is fixedly mounted on the first mounting bracket. The output end of the first power motor is fixedly connected to one end of the first ball screw. The first ball screw is rotatably mounted on the first mounting bracket. A first guide rail is fixedly mounted on the first mounting bracket. A first slider is threadedly connected to the outer side of the first ball screw. The first guide rail passes through the first slider. A second mounting bracket is fixedly installed on the outer side of the first slider, and a second power motor is fixedly installed on the second mounting bracket. The output end of the second power motor is fixedly connected to one end of the second ball screw. The second ball screw is rotatably mounted on the second mounting bracket. A second guide rail is fixedly mounted on the second mounting bracket. The second slider is threadedly connected to the outer side of the second ball screw, and the second guide rail passes through the second slider.

[0009] Preferably, the discharge mechanism includes a storage bin, a screw feeder, and a scraper; The storage box is fixedly installed on the second slider, the screw feeder is fixedly installed on the storage box and is connected to the storage box, the scraper is fixedly connected to the storage box by a connecting rod, and the scraper is located on one side of the bottom of the screw feeder.

[0010] Preferably, the base is fixedly installed on the support platform. Several support columns are fixedly installed on the upper surface of the base along the first horizontal direction and the second horizontal direction perpendicular to the first horizontal direction. The several support columns in the first horizontal direction and the second horizontal direction are connected by sliding rods. The drive mechanism is installed on the lower surface of the base. A through first slide is opened on the surface of the base, and a through second slide is opened on the surface of the support platform. The extension directions of the first slide and the second slide are along the first horizontal direction. The slide bar in the first horizontal direction is located below the slide bar in the second horizontal direction.

[0011] Preferably, the positioning baffle mechanism includes two first linear toothed rails, two second linear toothed rails, a ridge frame, and a clamping plate; Two first linear toothed rails are slidably connected to a slide bar in the first horizontal direction, and two second linear toothed rails are slidably connected to a slide bar in the second horizontal direction; A ridge is fixedly installed on each of the two first linear toothed rails in the first horizontal direction and the two second linear toothed rails in the second horizontal direction. The two ridges in the first horizontal direction and the two ridges in the second horizontal direction are located at the ends of the two first linear toothed rails and the two second linear toothed rails that are far apart from each other. A clamping plate is fixedly installed on each ridge. The drive mechanism includes a driving gear, a driven gear, a gear shaft, and a drive cylinder; The gear shaft is rotatably mounted at the center of the upper surface of the base. A driving gear and a driven gear are fixedly mounted near the upper and lower sides of the gear shaft in the vertical direction, respectively. The driving gear meshes with two first linear toothed rails, and the driven gear meshes with two second linear toothed rails. The cylinder body end of the drive cylinder is fixedly connected to the lower surface of the base. The extension and retraction path of the drive cylinder is the same as that in the first horizontal direction. The drive cylinder passes through the first slide rail and is located below the second slide rail. A connecting column is fixedly mounted on the extension and retraction end of the drive cylinder. The connecting column is slidably connected to the first slide rail and the second slide rail and is fixedly connected to one of the ridges in the first horizontal direction.

[0012] Preferably, the control system is built on a programmable logic controller and is configured to coordinate the execution timing and motion parameters of the moving module, the robotic arm module, the paint module and the tile storage module by executing a ladder diagram control algorithm. Ladder diagram control algorithms include: The multi-axis collaborative control logic is configured to construct a multi-task state machine through internal state registers and auxiliary relays to synchronize the movement of the robotic arm, the positioning of the moving module, the start and stop of the material discharge mechanism, and the end-effector operation. An adaptive decision-making mechanism is configured to make real-time decisions based on vacuum pressure sensor signals and safety distance detection signals. When adsorption failure is detected, the current operation is automatically interrupted and the process jumps to a retry or alarm subroutine. The safety distance signal is embedded in the main control logic as a prerequisite for grasping execution. The software interlock network is configured to set up cross interlocks between the forward and reverse outputs of the motor, dynamically verify the limit status and enable signal of each axis, and directly associate emergency stop and overload fault signals with the system reset logic. The parameter configurable module can be configured to interact with the human-machine interface through data registers, supporting online modification and real-time recall of key process parameters such as compaction time and coating time.

[0013] A method for using a modular tile laying robot includes the following steps: S10. System Initialization: Perform a pre-start safety check, including inspection of the equipment appearance, transmission components and electrical wiring; connect the material storage container of the paint module and place the tiles to be laid in the tile storage module; input the laying parameters through the human-machine interface, including tile size and laying spacing, and start the automated laying program after confirmation; S20, Tile Positioning: The drive mechanism of the tile storage module starts, driving the positioning baffle mechanism around the perimeter to close in linkage to clamp and fix the tile; after the positioning detection system confirms that the tile position is accurate, the drive mechanism stops running, and the tile positioning is completed. S30, Tile Pickup and Transfer: The rotating base of the robotic arm module drives the robotic arm assembly to move, positioning the end-effector tile gripping mechanism above the fixed tile; the tile gripping mechanism picks up the tile and moves it away from the tile storage module, waiting for subsequent coating operations; S40, Adhesive Application and Laying: The multi-dimensional moving mechanism of the coating module drives the dispensing mechanism to move above the laying area; the dispensing mechanism applies adhesive, and the leveling component performs the leveling operation; the robotic arm module transfers the adsorbed tiles to the coated area and performs pressing and laying. S50, Station Switching and Cyclic Operation: The moving module moves along the track, transporting the robotic arm module and tile storage module to the next tiling station; the system repeats steps S20 to S40 to achieve continuous automated tiling cycle; S60. Safety Monitoring and Process Termination: If an operational fault is detected during the tiling process, an emergency stop procedure will be triggered immediately; after all tiling work is completed, the system shutdown procedure will be executed.

[0014] Compared with the prior art, the technical solution of this application has the following beneficial technical effects: This invention achieves automatic coating and leveling of the adhesive by adding a coating module and using its multi-dimensional moving mechanism to drive the material dispensing mechanism to move in space, effectively ensuring the uniformity and consistency of the coating. By integrating a tile storage module and using an adjustable positioning baffle mechanism, it achieves automatic positioning and stable storage of tiles to be laid, providing a guarantee for continuous operation. Furthermore, by using a control system to coordinate the execution sequence and process parameters of each module, it integrates multiple processes such as tile picking, adhesive application, tile laying, and station switching into a fully automated process, improving the overall efficiency and positioning accuracy of the laying operation, while reducing manual intervention and overcoming the problems of discontinuous operation and quality fluctuation caused by poor process connection in traditional laying methods. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only preferred embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the mobile module structure of the present invention; Figure 3 This is a schematic diagram of the remaining structure of the mobile module of the present invention; Figure 4 for Figure 3 Enlarged diagram of part A in the middle; Figure 5 This is a schematic diagram of the robotic arm assembly structure of the present invention; Figure 6 This is a schematic diagram of the tile gripping mechanism of the present invention; Figure 7 This is a schematic diagram of the coating module structure of the present invention; Figure 8 This is a schematic diagram of the ceramic tile storage module structure of the present invention; Figure 9 This is a schematic diagram showing the connection relationship between the drive cylinder and the support platform of the present invention; Figure 10 This is a top view of the ceramic tile storage module of the present invention; Figure 11 for Figure 10 Schematic diagram of cross-section of DD.

[0017] In the diagram, 1. Moving module; 101. Support frame; 102. Support platform; 103. Ground rail; 104. Rolling wheel; 105. Servo motor; 106. Guide slide rail; 107. Guide slider; 108. Drive motor; 109. Rack; 110. Output shaft; 111. Transmission gear; 2. Robotic arm module; 201. Robotic arm assembly; 201a. Rotating base; 201b. First motor; 201c. First robotic arm; 201d. Second motor; 201e. Second robotic arm; 201f. Third motor; 202. Tile gripping mechanism; 202a. First connector; 202b. Second connector; 202c. Output motor; 202d. Disc; 202e. Suction cup; 3. Paint module; 301. Multi-dimensional moving mechanism; 301a. First power motor; 301b. Second power motor; 301c. First safety mechanism. Mounting bracket; 301d, second mounting bracket; 301e, first ball screw; 301f, second ball screw; 301g, first guide rail; 301h, second guide rail; 301i, first slider; 301j, second slider; 301k, fixing component; 302, discharge mechanism; 302a, storage bin; 302b, screw feeder; 302c, scraper; 302d, connecting rod; 4, tile storage module; 401 402. Base; 403. Positioning baffle mechanism; 402a. First linear gear; 402b. Second linear gear; 402c. Ridge; 402d. Clamping plate; 403. Drive mechanism; 403a. Driving gear; 403b. Driven gear; 403c. Gear shaft; 403d. Drive cylinder; 403e. Connecting column; 404. Support column; 405. Slide rod; 406. First slide rail; 407. Second slide rail. Detailed Implementation

[0018] To better understand the structure, functional features, and advantages of the present invention, preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings: like Figures 1 to 11 As shown, the present invention provides a modular tile laying robot, including a moving module 1 and a robotic arm module 2 mounted on the moving module 1 for gripping tiles, characterized in that it further includes: The coating module 3 includes a multi-dimensional moving mechanism 301 disposed on the moving module 1 and a discharging mechanism 302 driven by the multi-dimensional moving mechanism 301 to move in space. The discharging mechanism 302 is used to apply and smooth the adhesive. The tile storage module 4 includes a base 401 disposed on the moving module 1, at least one set of adjustable positioning baffle mechanisms 402 disposed on the base 401, and a driving mechanism 403 for driving the positioning baffle mechanisms 402 to move. The tiles to be laid are stacked and placed in the accommodating space enclosed by the positioning baffle mechanisms 402. The control system is electrically connected to each module. It uses algorithms to coordinate the movement timing and process parameters of each module, thereby achieving fully automated tiling operations.

[0019] Specifically, by setting up a coating module 3 with multi-dimensional mobility, its dispensing mechanism 302 automatically applies and smooths the adhesive in the area to be paved, effectively ensuring the uniformity and flatness of the adhesive layer. By integrating a tile storage module 4 with an adjustable positioning baffle mechanism 402, automatic positioning and stable storage of tiles of different sizes are achieved, providing a reliable material supply guarantee for continuous paving operations. Furthermore, through the coordinated control of each module by the control system, multiple processes such as the robotic arm's tile gripping action, the adhesive application operation of the coating module 3, the station switching of the moving module 1, and paving positioning are integrated into a complete automated process. During the operation, the control system first coordinates the positioning baffle mechanism 402 of the tile storage module 4 to accurately position the stacked tiles. Then, the robotic arm module 2 accurately grabs the tiles and transfers them to the work area. At the same time, the coating module 3 drives the dispensing mechanism 302 through the multi-dimensional moving mechanism 301 to complete the precise application and smoothing of the adhesive. Finally, the robotic arm accurately lays the tiles in the designated position and applies pressure. The above highly coordinated working method ensures seamless connection between each process, improves the efficiency and consistency of the paving operation, greatly reduces the intensity of manual intervention, and solves the problems of operation interruption, positioning deviation and quality fluctuation caused by the dispersion of processes in traditional paving methods.

[0020] Optionally, the mobile module 1 includes a support frame 101, a support platform 102, and two I-shaped ground rails 103 arranged parallel to each other on the ground; Four rollers 104 are rotatably mounted on the surface of the support frame 101 near the ground. The four rollers 104 are located at the four corners of the support frame 101. The four rollers 104 are slidably connected to the surface of the two I-shaped ground rails 103 away from the ground. Two servo motors 105 are fixedly mounted on the surface of the support frame 101 near the ground. The output ends of the two servo motors 105 are fixedly connected to the rollers 104 on the two I-shaped ground rails 103. Two parallel guide rails 106 are fixedly installed on the upper surface of the support frame 101. Several guide sliders 107 are slidably installed on the two guide rails 106. The upper surfaces of the several guide sliders 107 are fixedly connected to the bottom surface of the support platform 102. A drive motor 108 is fixedly mounted on the surface of the support platform 102. A rack 109 is fixedly mounted on the upper surface of the support frame 101. The rack 109 is located on one side of one of the guide rails 106. An output shaft 110 is fixedly mounted on the output end of the drive motor 108. The output shaft 110 passes through the support platform 102. A transmission gear 111 is fixedly mounted on the outer side of the output shaft 110 below the support platform 102. The transmission gear 111 meshes with the rack 109.

[0021] Specifically, such as Figure 1-4 As shown, the moving module 1 achieves precise positioning in a plane by setting up two mutually perpendicular motion systems. The support frame 101 and the I-shaped ground rail 103 together constitute the first horizontal moving system: four rolling wheels 104 are respectively supported at the four corners of the support frame 101, forming stable rolling support through the contact between the wheel rims and the upper surface of the I-shaped ground rail 103; two servo motors 105 respectively drive the rolling wheels 104 located on the two ground rails 103, and synchronous control ensures that the support frame 101 moves linearly along the length of the ground rail 103. The cooperation between the support platform 102 and the support frame 101 constitutes a second horizontal movement system: the combination of two parallel guide rails 106 and guide sliders 107 provides stable linear guidance for the support platform 102, preventing the platform from deviating during movement. The drive motor 108 drives the transmission gear 111 to rotate through the output shaft 110. The transmission gear 111 and the rack 109 fixed on the support frame 101 form a gear and rack transmission, converting the rotational motion of the motor into linear displacement of the support platform 102 along the direction of the guide rails 106.

[0022] In this embodiment, when position adjustment is required, the control system first coordinates two servo motors 105 to drive the support frame 101 to move along the I-shaped ground rail 103 in the first direction. After reaching the predetermined position, the drive motor 108 starts and drives the support platform 102 to move along the second direction through the gear and rack 109. This orthogonally arranged motion system enables the robot end effector to accurately position itself at any position in the working plane. The symmetrical arrangement of the four rolling wheels 104 ensures the stability of the movement of the support frame 101, while the combination of the guide rail 106 and the gear and rack 109 ensures the accuracy of the movement of the support platform 102 and the repeatability of the positioning, providing a reliable position reference for tile laying operations and effectively avoiding laying quality problems caused by positioning errors.

[0023] Optionally, the robotic arm module 2 includes a robotic arm assembly 201 and a tile gripping mechanism 202 disposed at the end of the robotic arm assembly 201. The robotic arm assembly 201 includes a rotating base 201a, on which a first motor 201b is fixedly mounted. A first robotic arm 201c is fixedly mounted on the output end of the first motor 201b. A second motor 201d is fixedly mounted on the other end of the first robotic arm 201c. A second robotic arm 201e is fixedly mounted on the output end of the second motor 201d. A third motor 201f is mounted on the other end of the second robotic arm 201e. A tile gripping mechanism 202 is fixedly mounted on the output end of the third motor 201f.

[0024] Specifically, such as Figure 5-6 As shown, the robotic arm module 2 achieves flexible movement in three-dimensional space through a multi-joint serial structure. The rotating base 201a forms the horizontal rotation foundation of the robotic arm. The rotating body on the rotating base 201a forms a low-friction, high-precision rotational connection with the support platform 102 through rolling bearings. Through the meshing transmission of the drive gear, the rotating body is driven to rotate 360 ​​degrees in the horizontal plane, providing a basic horizontal working range for the robotic arm. The robotic arm assembly 201 adopts a three-joint design. The first motor 201b drives the first robotic arm 201c to achieve pitch movement, the second motor 201d drives the second robotic arm 201e to achieve extension movement, and the third motor 201f drives the tile gripping mechanism 202 to achieve end-effector posture adjustment. The combination of these three degrees of freedom allows the end of the robotic arm to reach any position in the workspace.

[0025] In this embodiment, when tile gripping and laying operations are required, the control system first coordinates the rotating base 201a to drive the robotic arm to rotate as a whole to the target direction. Then, the first motor 201b drives the first robotic arm 201c to adjust the pitch angle, the second motor 201d controls the extension length of the second robotic arm 201e to achieve coarse positioning, and the third motor 201f precisely adjusts the posture of the tile gripping mechanism 202 to ensure parallel contact with the tile surface. This multi-stage motion control not only ensures positioning accuracy but also improves motion efficiency. The use of rolling bearings ensures the smooth operation of the rotating base 201a under heavy load conditions, while gear transmission provides reliable torque transmission to prevent slippage when carrying tiles. The coordinated work of the three joint motors enables the robotic arm to complete the transfer of tiles from the storage position to the laying position along the optimal path and maintain stable downward pressure during the laying process to ensure the bonding effect. The entire motion process is smooth and precise, effectively avoiding laying quality problems caused by vibration or positioning deviation.

[0026] Optionally, the tile gripping mechanism 202 includes a first connector 202a, a second connector 202b, an output motor 202c, a disc surface 202d, and a plurality of suction cups 202e; The first connector 202a is rotatably connected to the second robotic arm 201e via ball bearings. The third motor 201f is fixedly installed on the first connector 202a. The output end of the third motor 201f is fixedly connected to the second robotic arm 201e. The second connector 202b is fixedly installed on the outer side of the first connector 202a. The output end of the output motor 202c is rotatably connected to the second connector 202b, and a disk 202d that drives several suction cups 202e to rotate is fixedly installed on the output motor 202c; Several suction cups 202e are fixedly connected to the disk surface 202d by special bolts for suction cups 202e, and several suction cups 202e are evenly distributed in an array along the disk surface 202d.

[0027] Specifically, such as Figure 5-6As shown, the tile gripping mechanism 202 achieves stable gripping and precise posture adjustment of the tile through a combination of dual-motor drive and vacuum adsorption. The first connecting member 202a is rotatably connected to the end of the second robotic arm 201e via a ball bearing, forming the first rotational degree of freedom. The third motor 201f serves as the drive source, its housing fixed to the first connecting member 202a, and its output shaft 110 fixed to the second robotic arm 201e. This structure constitutes a reaction drive; when the third motor 201f operates, its housing drives the first connecting member 202a... 02a and the entire end effector rotate around the end axis of the second robotic arm 201e. The second connector 202b is fixed to the outside of the first connector 202a, providing a mounting base for the output motor 202c. The output motor 202c directly drives the disk surface 202d to rotate, forming a second rotational degree of freedom, thereby realizing the attitude adjustment of the suction cup 202e assembly in space. Several suction cups 202e are evenly distributed on the disk surface 202d by special bolts. The array layout can reasonably distribute the adsorption force according to the size of the tile and the center of gravity, ensuring the stability of the gripping process.

[0028] In this embodiment, when the robotic arm positions the gripping mechanism above the tile, the control system first coordinates the third motor 201f to adjust the horizontal azimuth angle of the first connecting member 202a, so that the disk surface 202d is parallel to the long side of the tile, ensuring that the suction cup 202e is completely attached to the tile surface. Then, the output motor 202c drives the disk surface 202d to rotate to an angle suitable for the construction area. During the adsorption process, the evenly distributed suction cups 202e work simultaneously to form a stable negative pressure adsorption force, preventing the tile from tilting or falling off due to uneven force. The dual-degree-of-freedom rotation design allows the gripping mechanism to adapt to various complex tiling angle requirements, maintaining the ideal adhesion posture between the tile and the tiling surface. The use of ball bearings ensures the smoothness and accuracy of the rotation process, and the special bolts for the suction cups 202e provide reliable connection strength, ensuring the functionality of the entire gripping mechanism and improving the adaptability and reliability of the tiling operation.

[0029] Optionally, the multi-dimensional moving mechanism 301 includes a first power motor 301a, a second power motor 301b, a first mounting bracket 301c, a second mounting bracket 301d, a first ball screw 301e, a second ball screw 301f, a first guide rail 301g, a second guide rail 301h, a first slider 301i, a second slider 301j, and a fixing member 301k; The fastener 301k is fixedly installed on one side of the support platform 102, and the first mounting bracket 301c is fixedly installed on the fastener 301k; A first power motor 301a is fixedly mounted on the first mounting bracket 301c. The output end of the first power motor 301a is fixedly connected to one end of the first ball screw 301e. The first ball screw 301e is rotatably mounted on the first mounting bracket 301c. The first guide rail 301g is fixedly mounted on the first mounting bracket 301c. The outer side of the first ball screw 301e is threadedly connected to the first slider 301i. The first guide rail 301g passes through the first slider 301i. A second mounting bracket 301d is fixedly mounted on the outer side of the first slider 301i. A second power motor 301b is fixedly mounted on the second mounting bracket 301d. The output end of the second power motor 301b is fixedly connected to one end of the second ball screw 301f. The second ball screw 301f is rotatably mounted on the second mounting bracket 301d. A second guide rail 301h is fixedly mounted on the second mounting bracket 301d. A second slider 301j is threadedly connected to the outer side of the second ball screw 301f. The second guide rail 301h passes through the second slider 301j.

[0030] Specifically, such as Figure 7 As shown, the multi-dimensional moving mechanism 301 achieves high-precision positioning of the discharging mechanism 302 in a two-dimensional plane through two sets of orthogonally arranged linear motion units. The fixing component 301k serves as the mounting base for the entire mechanism, securely connecting the first mounting bracket 301c to the side of the support platform 102, forming the support structure for the first-stage motion system. The first power motor 301a directly drives the first ball screw 301e to rotate, converting the rotational motion into the linear displacement of the first slider 301i. The first guide rail 301g and the first slider 301i... The combined motion guiding system effectively suppresses off-center loading and vibration during the motion process, ensuring that the first-stage motion system runs smoothly along the set trajectory. The second-stage motion system is fixedly connected to the first slider 301i through the second mounting bracket 301d and moves synchronously with the first slider 301i. The second power motor 301b drives the second ball screw 301f to move the second slider 301j. The second guide rail 301h also provides precise guidance for the second slider 301j, thereby realizing the composite motion of the discharge mechanism 302 in two orthogonal directions.

[0031] In this embodiment, when adhesive application is required, the control system first coordinates the first power motor 301a to drive the first slider 301i, which in turn moves the entire second-stage motion system along the first direction to the target area. Subsequently, the second power motor 301b drives the second slider 301j to precisely position along the second direction. The ball screw transmission mechanism ensures the accuracy of movement and repeatability of positioning, while the dual guide rail support structure improves the rigidity and stability of the system, preventing deformation and vibration caused by cantilever load. This layered motion structure enables the material discharge mechanism 302 to quickly and accurately reach the designated position within the paving plane, ensuring both the trajectory accuracy of adhesive application and the stability of the smoothing operation. The design of two motion directions also facilitates motion planning and control algorithm implementation, enabling the coating module 3 to adapt to various complex paving pattern requirements and providing reliable technical support for high-quality paving operations.

[0032] Optionally, the discharge mechanism 302 includes a storage bin 302a, a screw feeder 302b, and a scraper 302c; The storage box 302a is fixedly installed on the second slider 301j, the screw feeder 302b is fixedly installed on the storage box 302a and is connected to the storage box 302a, the scraper 302c is fixedly connected to the storage box 302a through the connecting rod 302d, and the scraper 302c is located on one side of the bottom of the screw feeder 302b.

[0033] Specifically, such as Figure 7 As shown, the discharge mechanism 302 integrates storage, feeding, and leveling functions to achieve quantitative supply and uniform application of adhesive. The storage tank 302a, as the adhesive storage container, is rigidly fixed to the second slider 301j and moves within the paving plane with the multi-dimensional moving mechanism 301. The screw feeder 302b and the outlet of the storage tank 302a are sealed by flange or welding. The internal screw conveying mechanism is driven by a motor to rotate, continuously and quantitatively pushing the adhesive from the storage tank 302a to the discharge port. The scraper 302c is fixedly connected to the side wall of the storage tank 302a through the connecting rod 302d. Its working surface maintains a specific angle with the paving surface and is located behind the discharge port of the screw feeder 302b. During the movement of the mechanism, it scrapes and levels the applied adhesive.

[0034] More specifically, the spiral blades of the spiral feeder 302b adopt a variable pitch design. The pitch of the feed section is larger to ensure sufficient material supply, and the pitch of the discharge section gradually decreases to form a compression zone, ensuring that the adhesive output is dense and uniform. The angle between the scraper 302c and the paving surface can be adjusted within the range of 15-45 degrees. The length of the connecting rod 302d can be adjusted to meet the leveling requirements of adhesives with different viscosities. The inner wall of the storage box 302a is equipped with an anti-stick coating to prevent adhesive from adhering and remaining on the inner wall of the box, ensuring maximum material utilization.

[0035] In this embodiment, when the mechanism moves to the laying position, the control system first starts the screw feeding device 302b. By controlling the rotation speed and direction of the screw shaft, the quantitative output of adhesive is achieved. Subsequently, the multi-dimensional moving mechanism 301 drives the entire discharge mechanism 302 to move at a uniform speed along a preset path, so that the adhesive is evenly coated on the base surface in strips. The scraper 302c that follows immediately performs a leveling process on the coating, scrapes off excess material and fills the depressions, forming an adhesive layer of uniform thickness. This ensures the precise control of the coating thickness and avoids quality defects such as bubbles and hollows that are easily generated by traditional manual coating. The sealing structure of the screw feeding device 302b prevents the adhesive from solidifying and clumping during the transportation process, while the adjustable angle design of the scraper 302c allows it to adapt to different construction process requirements, improving the quality stability and construction efficiency of adhesive coating.

[0036] Optionally, the base 401 is fixedly installed on the support platform 102. Several support columns 404 are fixedly installed on the upper surface of the base 401 along the first horizontal direction and the second horizontal direction perpendicular to the first horizontal direction. The several support columns 404 in the first horizontal direction and the second horizontal direction are connected by slide rods 405. The drive mechanism 403 is installed on the lower surface of the base 401. A through first slide rail 406 is opened on the surface of the base 401, and a through second slide rail 407 is opened on the surface of the support platform 102. The extension directions of the first slide rail 406 and the second slide rail 407 are opened along the first horizontal direction. The slide bar 405 in the first horizontal direction is located below the slide bar 405 in the second horizontal direction.

[0037] Specifically, such as Figure 8-11As shown, the tile storage module 4 achieves adaptive positioning and stable storage of multi-specification tiles through a double-layer orthogonal slide bar 405 structure. The base 401 serves as the load-bearing foundation of the entire module and is rigidly connected to the support platform 102 by bolts. The support columns 404 are arranged on the upper surface of the base 401 along two orthogonal directions, forming support frames in the first and second horizontal directions, respectively. The slide bars 405 connect to the support columns 404 in the same direction to form guide rails. The slide bars 405 in the first horizontal direction are set in the lower layer, and the slide bars 405 in the second horizontal direction are set in the upper layer, forming a spatial staggered layout to avoid motion interference. The drive mechanism 403 is installed on the lower surface of the base 401 and transmits power to the positioning baffle mechanism 402 through the through design of the first slide rail 406 and the second slide rail 407. The first slide rail 406 and the second slide rail 407 are arranged parallel to each other in the first horizontal direction, providing a motion channel for kinetic energy transmission.

[0038] In this embodiment, when the tile storage space needs to be adjusted, the drive mechanism 403 transmits power to the positioning baffle mechanism 402 through the first slide rail 406 and the second slide rail 407, driving it to move synchronously along the slide bar 405 track. The double-layer slide bar 405 structure enables the four baffles to achieve synchronous linkage. Whether moving along the first horizontal direction or the second horizontal direction, a strict geometric relationship can be maintained to ensure that the formed accommodating space is always a regular rectangle. When tiles of different sizes are placed, the baffle mechanism can automatically adjust the enclosing space to always maintain a uniform clamping force on the periphery of the tile, preventing the tile from shifting during transportation and avoiding tile breakage caused by excessive local pressure.

[0039] Optionally, the positioning baffle mechanism 402 includes two first linear toothed rails 402a, two second linear toothed rails 402b, a ridge frame 402c, and a clamping plate 402d; Two first linear toothed rails 402a are slidably connected to a slide bar 405 in the first horizontal direction, and two second linear toothed rails 402b are slidably connected to a slide bar 405 in the second horizontal direction; A ridge 402c is fixedly installed on each of the two first linear toothed rails 402a in the first horizontal direction and the two second linear toothed rails 402b in the second horizontal direction. The two ridges 402c in the first horizontal direction and the two ridges 402c in the second horizontal direction are respectively located at the ends of the two first linear toothed rails 402a and the two second linear toothed rails 402b that are far apart from each other. A clamping plate 402d is fixedly installed on each ridge 402c. The drive mechanism 403 includes a drive gear 403a, a driven gear 403b, a gear shaft 403c, and a drive cylinder 403d; The gear shaft 403c is rotatably mounted at the center of the upper surface of the base 401. The driving gear 403a and the driven gear 403b are fixedly mounted near the upper and lower sides of the gear shaft 403c in the vertical direction, respectively. The driving gear 403a meshes with two first linear gear rails 402a, and the driven gear 403b meshes with two second linear gear rails 402b. The cylinder end of the drive cylinder 403d is fixedly connected to the lower surface of the base 401. The extension and retraction path of the drive cylinder 403d is the same as that in the first horizontal direction. The drive cylinder 403d passes through the first slide rail 406 and is located below the second slide rail 407. A connecting column 403e is fixedly mounted on the extension and retraction end of the drive cylinder 403d. The connecting column 403e is slidably connected to the first slide rail 406 and the second slide rail 407 and is fixedly connected to one of the ridges 402c in the first horizontal direction.

[0040] Specifically, such as Figure 8-11 As shown, the positioning baffle mechanism 402 achieves four-way synchronous adjustment through gear and toothed rail linkage. The first linear toothed rail 402a slides against the lower slide bar 405, and the second linear toothed rail 402b slides against the upper slide bar 405, forming two orthogonal guiding systems. The ridge frame 402c acts as a connecting component, rigidly connecting the linear toothed rails to the clamping plate 402d to form a complete baffle unit. The gear shaft 403c is vertically mounted at the center of the base 401, and rotates at the top of the gear shaft 403c. A base plate is installed, which directly contacts the bottom surface of the tile and bears the main weight of the tile. A top support frame is also installed between the base plate and the base 401. The top support frame is distributed around the circumference of the gear shaft 403c to distribute the pressure of the tile. The driving gear 403a and the driven gear 403b mesh with linear gear rails in two directions respectively to form a transmission relationship. The drive cylinder 403d is connected to one of the ridges 402c through the connecting column 403e. Its telescopic movement is converted into the synchronous movement of the four baffles through gear transmission.

[0041] More specifically, the driving gear 403a and the driven gear 403b adopt the same module design to ensure that the transmission ratio in the two directions is consistent, so that the four baffles can maintain synchronous movement. The ridge frame 402c adopts an L-shaped structure, with its vertical arm connected to the clamping plate 402d and its horizontal arm fixed to the linear gear rail, forming a stable force transmission path. The installation position of the drive cylinder 403d has been optimized so that its extension and retraction direction is completely parallel to the first horizontal direction, avoiding the generation of lateral force. The connection column 403e and the first slide rail 406 and the second slide rail 407 adopt a precision clearance design to ensure smooth movement and prevent excessive shaking.

[0042] In this embodiment, when the tile storage space needs to be adjusted, the drive cylinder 403d pushes the first horizontal ridge 402c to move through the connecting column 403e, causing the first linear gear 402a connected to it to slide along the slide rod 405. The movement of the first linear gear 402a is transmitted to the gear shaft 403c through the drive gear 403a, causing the driven gear 403b to rotate synchronously, thereby driving the second linear gear 402b to move accordingly in the vertical direction. This ensures that the four baffles always maintain a centrally symmetrical movement. No matter which direction the adjustment is made, the resulting accommodating space can maintain a strictly unchanged geometric center. When the drive cylinder 403d extends or retracts, the two first linear gears 402a move towards or away from each other, and at the same time, the two second linear gears 402b are also adjusted synchronously accordingly, so that the four clamping plates 402d can simultaneously move closer to or away from the center position. This ensures that the tiles are subjected to uniform force during the positioning process, avoids tile offset or breakage caused by unilateral clamping, and improves the stability and positioning accuracy of tile storage.

[0043] Optionally, the control system is built on a programmable logic controller and configured to coordinate the execution timing and motion parameters of the moving module 1, the robotic arm module 2, the paint module 3 and the tile storage module 4 by executing a ladder diagram control algorithm. Ladder diagram control algorithms include: The multi-axis collaborative control logic is configured to construct a multi-task state machine through internal state registers and auxiliary relays to synchronize the movement of the robotic arm, the positioning of the moving module 1, the start and stop of the discharging mechanism 302, and the end-effector operation. An adaptive decision-making mechanism is configured to make real-time decisions based on vacuum pressure sensor signals and safety distance detection signals. When adsorption failure is detected, the current operation is automatically interrupted and the process jumps to a retry or alarm subroutine. The safety distance signal is embedded in the main control logic as a prerequisite for grasping execution. The software interlock network is configured to set up cross interlocks between the forward and reverse outputs of the motor, dynamically verify the limit status and enable signal of each axis, and directly associate emergency stop and overload fault signals with the system reset logic. The parameter configurable module can be configured to interact with the human-machine interface through data registers, supporting online modification and real-time recall of key process parameters such as compaction time and coating time.

[0044] Specifically, the control system achieves precise coordination and safe management of each execution module through a hierarchical intelligent control architecture. Among them, the multi-axis collaborative control logic, as the core scheduling unit of the system, records the real-time working status of each module through the status register, and uses auxiliary relays to construct a control sequence with state holding function to form a complete process flow diagram control. The adaptive decision-making mechanism collects the analog signal from the vacuum pressure sensor and the digital signal from the safety distance detector in real time. When insufficient tile adsorption force or collision risk is detected, it immediately triggers the preset safety response strategy. The software interlock network establishes multiple protection barriers at the program level, and ensures the safety of the motor drive signal through logical judgment to prevent equipment conflicts caused by misoperation. The parameter configurable module stores key process parameters in the data register and provides a parameter modification interface through the human-machine interface to realize rapid switching of different process requirements.

[0045] More specifically, the multi-task state machine adopts a step-by-step sequential control structure. Each process step has independent enable conditions and completion flags to ensure that each process is executed accurately in the preset order. The adaptive decision-making mechanism sets multi-level response thresholds. When the vacuum pressure is lower than the set value, the system first attempts to increase the adsorption force. If it fails three times in a row, it will switch to an alarm program. The software interlock network adopts the logic principle of disconnecting before reconnecting. Before any motor direction switch, the original output signal will be disconnected first, and the new direction signal will be connected after a safety delay. The parameter configuration interface adopts the process formula management mode and can store multiple sets of preset parameter combinations. The operator only needs to select the corresponding tile specification to automatically load the relevant parameters.

[0046] In this embodiment, when the system starts the tiling operation process, the control system first coordinates the movement module 1 to position itself at the brick-picking location through multi-axis collaborative control logic. At the same time, it verifies whether the safety distance signal meets the operating conditions. After confirming that the working environment is safe, the robotic arm module 2 performs the brick-picking action. At this time, the vacuum pressure sensor monitors the adsorption status in real time. If the adsorption force reaches the rated value within the set time, the system continues to execute the subsequent process. If adsorption failure is detected, the adaptive decision mechanism immediately pauses the movement of the robotic arm and makes multiple attempts according to the preset retry sequence. During the coating and tiling stages, the software interlock network continuously monitors the operating status of each motor to ensure that the coating module 3 is started only after the movement platform is positioned, thus avoiding motion interference. Throughout the operation, the operator can adjust the process parameters in real time through the human-machine interface. The system will automatically update the modified parameter values ​​to the corresponding data registers and immediately apply them to the current control logic, reducing the risk of production accidents caused by program errors or operational mistakes.

[0047] The present invention discloses a method for using a modular tile laying robot, comprising the following steps: S10. System initialization: Perform a pre-start safety check, including inspection of equipment appearance, transmission components and electrical wiring; connect the material storage container of paint module 3 and place the tiles to be laid in tile storage module 4; input the laying parameters through the human-machine interface, including tile size and laying spacing, and start the automated laying program after confirmation. S20, Tile positioning: The drive mechanism 403 of the tile storage module 4 is started, which drives the positioning baffle mechanism 402 around the perimeter to close in linkage to clamp and fix the tile; after the positioning detection system confirms that the tile position is accurate, the drive mechanism 403 stops running, and the tile positioning is completed. S30, Tile Pickup and Transfer: The rotating base 201a of the robotic arm module 2 drives the robotic arm assembly 201 to move, so that the tile gripping mechanism 202 at the end is positioned above the fixed tile; the tile gripping mechanism 202 adsorbs the tile and moves it away from the tile storage module 4, waiting for subsequent coating operations. S40, Adhesive application and laying: The multi-dimensional moving mechanism 301 of the coating module 3 drives the dispensing mechanism 302 to move above the laying area; the dispensing mechanism 302 applies adhesive and the scraping component performs the scraping operation; the robotic arm module 2 transfers the adsorbed tile to the coated area and performs pressing and laying. S50, Station Switching and Cyclic Operation: The moving module 1 moves along the track, transporting the robotic arm module 2 and the tile storage module 4 to the next tiling station; the system repeats steps S20 to S40 to achieve continuous automated tiling cycle; S60. Safety Monitoring and Process Termination: If an operational fault is detected during the tiling process, an emergency stop procedure will be triggered immediately; after all tiling work is completed, the system shutdown procedure will be executed.

[0048] Specifically, the system achieves automated operation of the entire tile laying process through standardized work procedures. In the system initialization phase, a stable working benchmark is established for subsequent automated operations through comprehensive equipment status checks and process parameter presets. In the tile positioning phase, the linkage baffle mechanism is used to accurately position the stacked tiles, ensuring the uniformity of tile position each time they are picked up. During the tile picking and transfer process, the robotic arm uses multi-degree-of-freedom motion in conjunction with a vacuum adsorption device to achieve stable tile picking and spatial transfer. In the adhesive application and laying phase, the process sequence of applying adhesive first and then smoothing is adopted. The multi-dimensional moving mechanism 301 ensures the uniformity of adhesive distribution, and then the robotic arm completes the precise alignment and laying. In the station switching phase, the precise displacement of the moving platform enables continuous operation of multiple laying stations, forming a complete production cycle.

[0049] In this embodiment, after the system starts, a self-test program is first executed to verify the status of each module. The operator sets the tiling parameters through the human-machine interface, and the system automatically calculates the corresponding motion trajectory and process parameters. During the positioning stage, the drive cylinder 403d drives the four baffles to move synchronously through the gear and rack linkage mechanism 109, forming an accommodating space that matches the size of the tile. When the robotic arm picks up the tile, the vacuum suction cup 202e starts the adsorption program after contacting the tile surface. The pressure sensor monitors the adsorption status in real time to ensure the reliability of the gripping. The coating module 3 applies adhesive according to the preset path, and the scraper 302c maintains a fixed distance from the discharge port to ensure consistent coating thickness. During the tiling process, the pressure sensor at the end of the robotic arm provides real-time feedback on the pressing force data, and the control system dynamically adjusts the downward stroke to ensure the tiling quality. Throughout the entire operation process, the safety monitoring system continuously monitors the equipment operating status to ensure the safety of personnel and equipment. The above operation method improves the efficiency of tile tiling and ensures the stability of tiling quality through precise control of process parameters, providing a complete technical solution for automated construction in the building decoration industry.

[0050] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technology of the present invention without departing from the scope of the present invention are within the protection scope of the present invention.

Claims

1. A modular tile-laying robot, comprising a moving module (1) and a robotic arm module (2) disposed on the moving module (1) for gripping tiles, characterized in that, Also includes: The coating module (3) includes a multi-dimensional moving mechanism (301) disposed on the moving module (1) and a discharging mechanism (302) driven by the multi-dimensional moving mechanism (301) to move in space. The discharging mechanism (302) is used to coat and smooth the adhesive. The tile storage module (4) includes a base (401) disposed on the moving module (1), at least one set of adjustable positioning baffle mechanisms (402) disposed on the base (401), and a driving mechanism (403) for driving the positioning baffle mechanisms (402) to move. The tiles to be laid are stacked and placed in the accommodating space enclosed by the positioning baffle mechanisms (402). The control system is electrically connected to each module and uses algorithms to coordinate the movement timing and process parameters of each module to achieve fully automated tiling operations.

2. The modular tile laying robot according to claim 1, characterized in that, The mobile module (1) includes a support frame (101), a support platform (102), and two parallel I-shaped ground rails (103) set on the ground. Four rollers (104) are rotatably mounted on the surface of the support frame (101) near the ground. The four rollers (104) are located at the four corners of the support frame (101). The four rollers (104) are slidably connected to the surface of the two I-shaped ground rails (103) away from the ground. Two servo motors (105) are fixedly mounted on the surface of the support frame (101) near the ground. The output ends of the two servo motors (105) are fixedly connected to the rollers (104) on the two I-shaped ground rails (103). The upper surface of the support frame (101) is fixedly installed with two parallel guide slide rails (106), and a number of guide sliders (107) are slidably installed on the two guide slide rails (106). The upper surfaces of the guide sliders (107) are fixedly connected to the bottom surface of the support platform (102). A drive motor (108) is fixedly mounted on the surface of the support platform (102), and a rack (109) is fixedly mounted on the upper surface of the support frame (101). The rack (109) is located on one side of one of the guide rails (106). An output shaft (110) is fixedly mounted on the output end of the drive motor (108). The output shaft (110) passes through the support platform (102). A transmission gear (111) is fixedly mounted on the outer side of the output shaft (110) below the support platform (102). The transmission gear (111) meshes with the rack (109).

3. The modular tile laying robot according to claim 2, characterized in that, The robotic arm module (2) includes a robotic arm assembly (201) and a tile gripping mechanism (202) disposed at the end of the robotic arm assembly (201). The robotic arm assembly (201) includes a rotating base (201a), on which a first motor (201b) is fixedly mounted. A first robotic arm (201c) is fixedly mounted on the output end of the first motor (201b). A second motor (201d) is fixedly mounted on the other end of the first robotic arm (201c). A second robotic arm (201e) is fixedly mounted on the output end of the second motor (201d). A third motor (201f) is mounted on the other end of the second robotic arm (201e). A tile gripping mechanism (202) is fixedly mounted on the output end of the third motor (201f).

4. The modular tile laying robot according to claim 3, characterized in that, The tile gripping mechanism (202) includes a first connector (202a), a second connector (202b), an output motor (202c), a disc (202d), and several suction cups (202e). The first connector (202a) is rotatably connected to the second robotic arm (201e) via ball bearings. The third motor (201f) is fixedly mounted on the first connector (202a). The output end of the third motor (201f) is fixedly connected to the second robotic arm (201e). A second connector (202b) is fixedly mounted on the outer side of the first connector (202a). The output end of the output motor (202c) is rotatably connected to the second connector (202b), and a disk (202d) that drives a plurality of suction cups (202e) to rotate is fixedly installed on the output motor (202c). Several suction cups (202e) are fixedly connected to the disk surface (202d) by special bolts for suction cups (202e), and several suction cups (202e) are evenly distributed in an array along the disk surface (202d).

5. A modular tile laying robot according to claim 2, characterized in that, The multi-dimensional moving mechanism (301) includes a first power motor (301a), a second power motor (301b), a first mounting bracket (301c), a second mounting bracket (301d), a first ball screw (301e), a second ball screw (301f), a first guide rail (301g), a second guide rail (301h), a first slider (301i), a second slider (301j), and a fixing member (301k). The fastener (301k) is fixedly installed on one side of the support platform (102), and a first mounting bracket (301c) is fixedly installed on the fastener (301k). A first power motor (301a) is fixedly mounted on the first mounting bracket (301c). The output end of the first power motor (301a) is fixedly connected to one end of the first ball screw (301e). The first ball screw (301e) is rotatably mounted on the first mounting bracket (301c). The first guide rail (301g) is fixedly mounted on the first mounting bracket (301c). The outer side of the first ball screw (301e) is threadedly connected to a first slider (301i). The first guide rail (301g) passes through the first slider (301i). A second mounting bracket (301d) is fixedly mounted on the outer side of the first slider (301i). A second power motor (301b) is fixedly mounted on the second mounting bracket (301d). The output end of the second power motor (301b) is fixedly connected to one end of the second ball screw (301f). The second ball screw (301f) is rotatably mounted on the second mounting bracket (301d). The second guide rail (301h) is fixedly mounted on the second mounting bracket (301d). The outer side of the second ball screw (301f) is threadedly connected to the second slider (301j). The second guide rail (301h) passes through the second slider (301j).

6. A modular tile-laying robot according to claim 5, characterized in that, The discharge mechanism (302) includes a storage bin (302a), a screw feeder (302b), and a scraper (302c); The storage bin (302a) is fixedly installed on the second slider (301j), the screw feeder (302b) is fixedly installed on the storage bin (302a) and communicates with the storage bin (302a), the scraper (302c) is fixedly connected to the storage bin (302a) through the connecting rod (302d), and the scraper (302c) is located on one side of the bottom of the screw feeder (302b).

7. A modular tile laying robot according to claim 2, characterized in that, The base (401) is fixedly installed on the support platform (102). A plurality of support columns (404) are fixedly installed on the upper surface of the base (401) along a first horizontal direction and a second horizontal direction perpendicular to the first horizontal direction. The plurality of support columns (404) in the first horizontal direction and the second horizontal direction are respectively connected by slide rods (405). The drive mechanism (403) is installed on the lower surface of the base (401). A through first slide rail (406) is opened on the surface of the base (401), and a through second slide rail (407) is opened on the surface of the support platform (102). The extension directions of the first slide rail (406) and the second slide rail (407) are opened along the first horizontal direction. The first horizontal slide bar (405) is located below the second horizontal slide bar (405).

8. A modular tile laying robot according to claim 7, characterized in that, The positioning baffle mechanism (402) includes two first linear toothed rails (402a), two second linear toothed rails (402b), a ridge frame (402c), and a clamping plate (402d). The two first linear toothed rails (402a) are slidably connected to the slide bar (405) in the first horizontal direction, and the two second linear toothed rails (402b) are slidably connected to the slide bar (405) in the second horizontal direction; A ridge (402c) is fixedly installed on each of the two first linear toothed rails (402a) in the first horizontal direction and the two second linear toothed rails (402b) in the second horizontal direction. The two ridges (402c) in the first horizontal direction and the two ridges (402c) in the second horizontal direction are respectively located at the ends of the two first linear toothed rails (402a) and the two second linear toothed rails (402b) that are far apart from each other. A clamping plate (402d) is fixedly installed on each ridge (402c). The drive mechanism (403) includes a drive gear (403a), a driven gear (403b), a gear shaft (403c), and a drive cylinder (403d). The gear shaft (403c) is rotatably mounted at the center of the upper surface of the base (401). A driving gear (403a) and a driven gear (403b) are fixedly mounted near the upper and lower sides of the gear shaft (403c) in the vertical direction, respectively. The driving gear (403a) meshes with two first linear gear tracks (402a), and the driven gear (403b) meshes with two second linear gear tracks (402b). The cylinder end of the drive cylinder (403d) is connected to the lower surface of the base (401). The surface is fixedly connected, the extension and retraction path of the drive cylinder (403d) is the same as the first horizontal direction, the drive cylinder (403d) passes through the first slide rail (406) and is located below the second slide rail (407), a connecting column (403e) is fixedly installed on the extension and retraction end of the drive cylinder (403d), the connecting column (403e) is slidably connected to the first slide rail (406) and the second slide rail (407) and is fixedly connected to one of the ridges (402c) in the first horizontal direction.

9. A modular tile laying robot according to claim 1, characterized in that, The control system is built on a programmable logic controller and is configured to coordinate the execution timing and motion parameters of the moving module (1), the robotic arm module (2), the paint module (3) and the tile storage module (4) by executing a ladder diagram control algorithm. The ladder diagram control algorithm includes: The multi-axis collaborative control logic is configured to construct a multi-task state machine through an internal state register and an auxiliary relay to synchronize the movement of the robotic arm, the positioning of the moving module (1), the start and stop of the material discharge mechanism (302), and the end-effector operation. An adaptive decision-making mechanism is configured to make real-time decisions based on vacuum pressure sensor signals and safety distance detection signals. When adsorption failure is detected, the current operation is automatically interrupted and the process jumps to a retry or alarm subroutine. The safety distance signal is embedded in the main control logic as a prerequisite for grasping execution. The software interlock network is configured to set up cross interlocks between the forward and reverse outputs of the motor, dynamically verify the limit status and enable signal of each axis, and directly associate emergency stop and overload fault signals with the system reset logic. The parameter configurable module can be configured to interact with the human-machine interface through data registers, supporting online modification and real-time recall of key process parameters such as compaction time and coating time.

10. A method of using a modular tile-laying robot according to any one of claims 1-9, characterized in that, Includes the following steps: S10, System Initialization: Perform a pre-start safety inspection, including inspection of equipment appearance, transmission components and electrical circuits; connect the material storage container of the paint module (3) and place the tiles to be laid in the tile storage module (4); input the laying parameters through the human-machine interface, including tile size and laying spacing, and start the automated laying program after confirmation; S20, Tile positioning: The drive mechanism (403) of the tile storage module (4) is started, driving the positioning baffle mechanism (402) around the perimeter to close in linkage to clamp and fix the tile; after the positioning detection system confirms that the tile position is accurate, the drive mechanism (403) stops running, and the tile positioning is completed; S30, Tile Picking and Transfer: The rotating base (201a) of the robotic arm module (2) drives the robotic arm assembly (201) to move, so that the tile gripping mechanism (202) at the end is positioned above the fixed tile; the tile gripping mechanism (202) adsorbs the tile and moves it away from the tile storage module (4) to wait for subsequent coating operations; S40, Adhesive application and laying: The multi-dimensional moving mechanism (301) of the coating module (3) drives the dispensing mechanism (302) to move above the laying area; the dispensing mechanism (302) applies adhesive and the scraping component performs the scraping operation; the robotic arm module (2) transfers the adsorbed tile to the coated area and performs pressing and laying. S50, Station switching and cyclic operation: The moving module (1) moves along the track to transport the robotic arm module (2) and the tile storage module (4) to the next tiling station; The system repeats steps S20 to S40 to achieve continuous automated tiling cycle; S60. Safety Monitoring and Process Termination: If an operational fault is detected during the tiling process, an emergency stop procedure will be triggered immediately; after all tiling work is completed, the system shutdown procedure will be executed.

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