TPZ waterproofing membrane automatic laying device and use method

Abstract

The application discloses a kind of TPZ waterproofing membrane automatic laying device and use method, it is related to waterproofing membrane construction equipment technical field.The device includes frame, drive mechanism, unwinding mechanism, film collecting mechanism and compaction mechanism.The bottom of the front end of the frame is provided with an infrared line-sweeper sensor, which is electrically connected with the control box mounted on the frame to realize automatic tracking and action control of the whole machine.The compaction mechanism is arranged with a scraper, a main compaction roller, a side roller and a re-roller in sequence along the direction of travel to form a relay construction structure for pre-evacuation leveling and layered final compaction.The film collecting mechanism includes a main film collecting assembly and an overlapping edge film collecting assembly, which adopts a transmission structure combining active film collecting and passive unwinding in a walking linkage mode, and cooperates with a one-way overrunning clutch and a manual clutch to realize speed synchronization of film collecting and unwinding and convenient roll changing operation.The application realizes efficient operation of TPZ membrane laying, effectively solves the problem of uneven overlapping width in manual laying, and improves construction quality and operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, specifically to an automated laying device for TPZ waterproof membrane. Background Technology

[0002] In construction projects, the application of waterproof membrane is a crucial method for waterproofing buildings. Inadequate construction quality can lead to problems such as mold growth on walls, dampness, water seepage on floors, and ceiling leaks, and in severe cases, even threaten the structural safety of the building.

[0003] TPZ waterproof membrane is a polymer waterproof material with a self-adhesive layer, widely used in waterproofing construction for building roofs, basements, and other projects. Figure 7 As shown, TPZ waterproof membrane includes: an overlap edge release film, an overlap edge adhesive layer, the membrane body, a bottom adhesive layer, and a bottom release film. The overlap edge release film and overlap edge adhesive layer only cover one long edge of the membrane, and their width is much smaller than the width of the membrane. The overlap edge adhesive layer is used for bonding between adjacent membrane sections, and the overlap edge release film protects the overlap edge adhesive layer from contamination before construction. The bottom release film covers the bottom surface of the membrane and is peeled off during installation to allow the bottom adhesive layer to bond with the substrate.

[0004] However, the installation of TPZ waterproof membrane is still mainly done manually. Long-distance installation is prone to deviation, and the overlap width is difficult to control accurately, resulting in inconsistent widths and affecting the waterproof sealing performance.

[0005] In the prior art, patent application number 202111339137.6 discloses a laying device for polymer self-adhesive waterproof membrane. By using rollers and pressing components, the laying quality of waterproof membrane is improved. By setting up transmission components and support cylinders, automatic tearing and automatic laying of waterproof membrane are realized, thus improving laying efficiency.

[0006] However, the above-mentioned patents may still have shortcomings: 1. They still require manual pushing and pressing throughout the process, which can easily lead to deviation during long-distance laying, and the overlap width is difficult to control precisely, resulting in inconsistent widths and affecting waterproof sealing performance; 2. The unwinding lacks stable tension, making the roll material prone to wrinkling and bulging, and the air is not completely released, often causing hollow areas and curling edges; 3. The construction quality is highly dependent on skilled workers, making quality control difficult and increasing the risk of rework.

[0007] In summary, existing TPZ roll material laying methods have shortcomings in terms of construction efficiency, quality stability, overlap accuracy, and reliance on manual labor. There is a need for a construction device that can achieve automated laying, precise control of overlap dimensions, and ensure laying quality on open surfaces. Summary of the Invention

[0008] To solve at least one of the aforementioned technical problems, the inventors, through practice and summarization, derived the technical solution of this invention. This invention discloses an automated TPZ waterproof membrane laying device, including a frame, a drive mechanism, an unwinding mechanism, a winding mechanism, a transmission assembly, and a control box. An infrared line-following sensor is installed at the bottom front end of the frame. This sensor is used to detect the positional deviation of the laid membrane's reference edge line in real time. During operation, the infrared line-following sensor converts the detected offset into an analog voltage signal, which is transmitted to the signal input terminal of the control box through its signal output terminal. After receiving the signal, the control box performs analog-to-digital conversion and deviation calculation, generates corresponding control commands, and outputs speed commands through its control signal output terminal to adjust the speed of the left and right front wheels, thereby achieving real-time correction of the vehicle's trajectory.

[0009] Furthermore, a first bracket and a second bracket are fixedly installed on the upper part of the frame.

[0010] Furthermore, the film-taking mechanism includes a main film-taking assembly and an overlap-edge film-taking assembly. The main film-taking assembly is rotatably connected to the second support and located below the unwinding mechanism, while the overlap-edge film-taking assembly is rotatably connected to the first support. The main film-taking assembly is arranged below the unwinding mechanism to achieve synchronous recovery of the main release film on the current working surface. The overlap-edge film-taking assembly is independently arranged on the front side of the frame and in front of the unwinding mechanism to recover the overlap-edge release film of the roll material already laid on the previous working surface. The winding shafts of both sets of film-taking assemblies follow the vehicle body, passively rotate by the traction force of the roll material, and have no separate drive motor. The structure is simple, the synchronization is good, and it can adaptively match the film-taking rhythm according to the walking speed. Moreover, the film-taking mechanism and the drive mechanism are linked through a transmission component to ensure that the walking, laying, and film-taking actions are highly synchronized, preventing the problem of tearing the roll material due to excessively fast film-taking or wrinkle accumulation due to delayed film-taking. The main film-taking assembly and the overlap-edge film-taking assembly are connected by a synchronous belt.

[0011] Furthermore, the drive mechanism includes a front wheel assembly and a rear wheel assembly. The front wheel assembly includes left and right front wheels and a steering motor. The steering motor is electrically connected to the control box. The control box outputs speed commands to the left and right front wheel motors respectively based on the detection signals from the infrared line-following sensor. By adjusting the different speeds of the left and right front wheels, the vehicle's trajectory is corrected. This steering control method is existing technology in the field of robotics and electric vehicles, and can be referenced in Chinese Patent CN109080722B. The rear wheel assembly includes an integrated rear axle and a drive motor, providing stable forward power for the vehicle. The integrated rear axle is a single axle with rear wheels mounted at both ends, and the left and right rear wheels rotate synchronously on the same axle. The rear wheels are mounted at both ends of the integrated rear axle and extend outwards. The film-collecting mechanism is linked to the extended ends of the integrated rear axle through a transmission assembly.

[0012] Furthermore, the transmission assembly includes a drive pulley, a driven pulley, and a transmission belt. The drive pulley is coaxially arranged with the integrated rear wheel axle, and the driven pulley is located on the film taking-up mechanism. The drive pulley and the driven pulley are connected by the transmission belt to transmit the power of the integrated rear wheel axle to the film taking-up mechanism, so that the film taking-up mechanism is synchronized with the walking speed.

[0013] Furthermore, the first bracket includes a first left column, a second left column, a first right column, and a second right column. The overlap edge film take-up assembly also includes a first take-up shaft, which passes through the upper ends of the first left column, the second left column, the first right column, and the second right column. The main take-up assembly also includes a second take-up shaft, and both the first and second take-up shafts are equipped with adjustable tension sleeves. The first bracket and the second bracket are arranged sequentially along the vehicle frame from front to back, forming an overlap edge film take-up assembly positioned in front of the unwinding mechanism. This allows the overlap edge release film of the previously laid roll material to be retrieved before the new roll material is laid, ensuring that the adhesive surface of the overlap edge is immediately exposed and covered by the new roll material, preventing prolonged exposure to dust contamination. Two sets of infrared line-following sensors are provided, respectively located on the left and right sides of the front end of the vehicle frame. During construction, the operator selects to pull the overlapping edge isolation membrane to the left or right side of the film taking-up shaft according to the construction direction. The control box then activates the infrared line-following sensor on the left or right side to achieve adaptive switching of the left and right references.

[0014] Furthermore, the compaction mechanism includes a scraper, a main compaction roller, side rollers, and a secondary compaction roller. The scraper is fixedly connected to the frame. A first crossbeam and a second crossbeam are provided below the frame to provide a stable mounting base for each compaction roller and pressing component, ensuring the overall structural rigidity and assembly accuracy of the compaction mechanism. Elastic support members are provided at both ends of the first and second crossbeams. The two sides of the main compaction roller are rotatably connected to the crossbeam through the elastic support members. The side rollers are rotatably connected to the second crossbeam through the elastic support members. The secondary compaction roller is rotatably connected to the rear of the frame. The scraper, main compaction roller, side rollers, and secondary compaction roller are installed sequentially below the frame from front to back, forming a step-by-step scraping, compaction, and re-compacting film-laying structure. This completes the entire process of venting, leveling, compaction, and shaping in stages, effectively eliminating internal voids in the roll material and improving the flatness and adhesion of the laying.

[0015] Furthermore, multiple sets of clamping components are installed between the first crossbeam and the main compaction roller to press the shaft body downwards, and multiple sets of clamping components are also installed between the second crossbeam and the side pressure roller to press the shaft body downwards. This allows both the main compaction roller and the side pressure roller to adaptively float and clamp, and can finely adjust the clamping amount in real time according to the thickness of the roll material and the undulation of the base surface, maintaining a constant pressure compaction state throughout the process, and avoiding local voids and incomplete compaction caused by uneven pressure.

[0016] Furthermore, the clamping assembly includes a vertical guide column, a compression spring, and a roller. The vertical guide column is a telescopic sleeve structure, with its upper end fixedly connected to the lower surface of the crossbeam and its lower end fixedly connected to a roller support. The roller is a free-rolling cylindrical structure, installed inside the roller support, which can reduce the frictional resistance with the roller body during the pressing process and avoid wear on the roller surface. The compression spring is sleeved on the outside of the vertical guide column, with its upper end abutting against the lower surface of the crossbeam and its lower end abutting against the roller support, keeping the compression spring in a compressed state, thereby elastically pressing the roller downward against the outer surface of the corresponding compaction roller through the roller support. The roller freely abuts against the outer surface of the corresponding compaction roller, only transmitting pressure without hindering the normal rotation of the compaction roller. When the compaction roller encounters a base surface protrusion or a change in the thickness of the roll material, the vertical guide column passively retracts, and the compression spring is further compressed, achieving adaptive floating clamping. The above structure allows the main compaction roller and side pressure roller to finely adjust the clamping amount in real time according to the undulation of the base surface and the thickness of the roll material, maintaining a compacted state throughout the process and avoiding local voids and incomplete compaction caused by uneven pressure.

[0017] Furthermore, the scraper is a single thin plate structure in the shape of a V. The scraper includes a protruding front corner, which is rounded to avoid sharp edges scratching the roll material. This forms a line contact scraping structure where the center makes initial contact and gradually homogenizes and vents air from both sides, effectively preventing defects such as film lamination voids and wrinkles. The bottom contact surface of the scraper is a detachable flexible wear-resistant scraper strip, which not only ensures flexible adhesion to the roll material and prevents scratching the film surface, but also has the characteristics of wear resistance and long service life. At the same time, the detachable structure facilitates later wear and replacement, reducing maintenance costs.

[0018] Furthermore, the unwinding mechanism includes an unwinding shaft with an adjustable tension sleeve on its outer surface. This sleeve can accommodate roll cores of different inner diameters, ensuring reliable clamping and positioning, and is suitable for various roll specifications. Adjustable limit baffles and positioning marks are provided on both sides of the unwinding shaft. The adjustable limit baffles restrict the lateral movement of the roll on the unwinding shaft, preventing lateral deviation or misalignment during unwinding. The positioning marks are aligned with the center of the infrared alignment sensor on the same side, ensuring that the roll matches the infrared alignment system during installation.

[0019] Furthermore, the transmission assembly includes a one-way overrunning clutch and a manual clutch. The one-way overrunning clutch is coaxially mounted on the outside of the rear wheel, automatically engaging when moving forward and automatically disengaging when moving backward. The manual clutch includes a clutch body and a manual lever. The clutch body is coaxially mounted on the outside of the rear wheel, and the manual lever is mounted on the frame, allowing manual control of the linkage between the rear wheel axle and the film take-up mechanism. The transmission can be manually cut off during roll changing or manually disengaged in case of malfunction.

[0020] This invention also discloses a method for using an automated TPZ waterproof membrane laying device:

[0021] S1. Base surface pretreatment: Clean up debris and protrusions on the construction base surface to ensure that the cement base is flat, clean, dry and free of water accumulation, so as to meet the requirements of TPZ roll material dry laying and bonding construction.

[0022] S2. Equipment loading and alignment: Install the TPZ waterproof membrane onto the unwinding shaft through the adjustable tension sleeve, adjust the membrane posture, and align it with the side fixed reference edge to complete the pre-positioning. Then, calibrate the relative position of the membrane and the infrared line-following sensor through the positioning mark.

[0023] S3. Manual reference laying: The first section of roll material is laid manually and precisely to calibrate the straightness of the roll material and form a regular reference boundary on the side of the laid roll material, providing an identification reference for the subsequent automatic tracking of the equipment.

[0024] S4. Pre-treatment of overlapping edges: Before laying the next working surface of the roll material, the operator first manually peels off the protective film that was left on the overlapping edge of the previous working surface of the roll material, and pulls it to the winding shaft of the overlapping edge film winding assembly, so that the adhesive surface of the overlapping edge is exposed.

[0025] S5. Automatic Tracking Laying: When the equipment is activated in constant speed cruise mode, the infrared line-following sensor identifies the baseline edge of the laid roll material. The device moves at a constant speed and, relying on the linkage structure of the transmission components, synchronously completes the unwinding, waste film peeling, scraper pre-venting and leveling, and step-by-step compaction operations of the main compaction roller, side pressure roller, and secondary pressure roller, with automatic deviation correction throughout the process.

[0026] S6. Shutdown and Material Change: When a single roll of material is laid and the end of the roll is detached from the unwinding shaft, the entire machine stops. The operator manually disengages the transmission via the clutch, allowing the take-up shaft to rotate freely to remove the waste film. After manually replacing the roll with a new one and moving the equipment to the next work area, the machine is precisely repositioned to establish a reference, the manual clutch is reset to restore transmission, and the above steps are repeated to complete the automated laying of the entire area.

[0027] Compared with the prior art, the present invention can achieve the following technical effects:

[0028] 1. This device first uses an infrared line-following sensor to detect the baseline edge of the laid roll material in real time. Then, the control box adjusts the speed of the left and right front wheels according to the detection signal to realize the real-time adjustment of the overlap width, effectively solving the problems of easy deviation and inconsistent overlap width when laying manually.

[0029] 2. This device uses an overlap edge take-up assembly to peel off the protective film from the overlap edge of the previous roll of material before laying the next roll, ensuring a clean adhesive surface during bonding and preventing dust contamination from prolonged exposure to air, which could lead to weak overlaps. At the same time, it adopts a structure that combines a walking linkage active take-up with a passive damping unwinding mechanism, along with a one-way overrunning clutch and a friction slippage assembly, to achieve synchronized take-up and unwinding speeds, preventing the roll from stretching and wrinkling or the release liner from tearing.

[0030] 3. When the device moves forward, the film taking mechanism and the traveling mechanism work together to actively take the film. When moving backward, the one-way overrunning clutch automatically disengages to prevent backwinding. When the film roll diameter increases, the friction slippage component automatically compensates for the speed difference. The unwinding mechanism passively unwinds the film by relying on traction force, so as to achieve synchronous film taking and unwinding speed throughout the process and avoid the film from stretching and wrinkling or tearing.

[0031] 4. This device first uses a V-shaped scraper for pre-venting and leveling, and then the main compaction roller, side pressure roller and secondary pressure roller roll layer by layer to finally compact, forming a relay operation logic of venting first and then compacting, which effectively avoids defects such as hollowing and warping. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of the present invention;

[0034] Figure 2 This is a side view of the present invention;

[0035] Figure 3 This is a bottom view of the present invention;

[0036] Figure 4 for Figure 3 Enlarged view of the A-section structure;

[0037] Figure 5 This is a top view of the present invention;

[0038] Figure 6 This is a schematic diagram of the clamping assembly structure of the present invention;

[0039] Figure 7 This is a schematic diagram of the structure of the TPZ waterproof membrane of the present invention.

[0040] Figure label:

[0041] 1. Frame; 11. First crossbeam; 12. Second crossbeam; 13. First bracket; 131. First left upright; 132. Second left upright; 133. First right upright; 134. Second right upright; 14. Second bracket; 151. First elastic support; 152. Second elastic support; 23. Rear wheel drive motor; 24. Integrated rear wheel axle; 31. Main film take-up assembly; 311. Second film take-up shaft; 32. Overlap edge film take-up assembly; 321. First film take-up shaft; 4. Unwinding Mechanism; 41. Unwinding shaft; 44. Adjustable limit baffle; 45. Positioning mark; 5. Compaction mechanism; 51. Scraper; 52. Main compaction roller; 53. Side pressure roller; 54. Secondary pressure roller; 55. Front protrusion angle; 56. Pressing assembly; 561. Vertical guide column; 562. Compression spring; 563. Roller; 564. Roller support; 6. Infrared line-following sensor; 7. Control box; 8. Transmission assembly; 81. One-way overrunning clutch; 82. Manual clutch; 9. Vehicle power supply. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0043] The application principle of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0044] Example 1:

[0045] like Figure 1-7 As shown in the figure, this embodiment discloses an automated TPZ waterproof membrane laying device, suitable for standardized dry-laying and bonding construction of TPZ self-adhesive waterproof membranes on building roofs and basement surfaces. The whole machine mainly includes a frame 1, a drive mechanism, an unwinding mechanism 4, a film winding mechanism, and a compaction mechanism 5. The frame 1 serves as the overall load-bearing foundation, and all functional mechanisms work together. The TPZ waterproof membrane has a self-adhesive layer, so there is no need to apply cement slurry during construction. A dry-laying bonding process is adopted, and the membrane is tightly bonded to the substrate through mechanical compaction.

[0046] The first crossbeam 11 and the second crossbeam 12, arranged in a front-to-back configuration, are fixedly mounted under the frame 1 to provide a stable mounting reference for the compaction mechanism 5. A first bracket 13 and a second bracket 14 are fixedly mounted on the upper end of the frame 1. An infrared line-following sensor 6 is fixedly mounted at the bottom front end of the frame 1. The infrared line-following sensor 6 is electrically connected to a control box 7 mounted on the frame 1. The control box 7 is electrically connected to the drive mechanism to realize signal acquisition and action control of the entire machine. The film-taking mechanism includes a main film-taking assembly 31 and an overlapping edge film-taking assembly 32. The main film-taking assembly 31 is rotatably connected to the second bracket 14 and located below the unwinding mechanism 4. The overlapping edge film-taking assembly 32 is rotatably connected to the first bracket 13.

[0047] This embodiment employs a walking-linked active film take-up structure and a passive unwinding structure, perfectly matching the equipment's operational linkage. Specifically, it includes a main film take-up assembly 31 and an overlap-edge film take-up assembly 32. Both take-up structures are driven and linked to the device's walking mechanism, providing active film take-up functionality. The unwinding mechanism 4 uses a passive traction unwinding structure. The main film take-up assembly 31 is mounted on the lower part of the unwinding mechanism 4 and is used for the recycling and peeling of the waste film from the main body of the roll. The overlap-edge film take-up assembly 32 is independently arranged at the front of the frame 1, in front of the unwinding mechanism 4. When laying the next working surface roll, the protective film pre-reserved on the overlap edge of the previous working surface roll is first manually peeled off and rolled onto the overlap-edge film take-up assembly 32 before the device performs the operation. This sequence ensures that the adhesive surface of the overlap edge is cleanly exposed during bonding and is immediately covered and compacted by the next roll, preventing prolonged exposure to air and dust contamination.

[0048] The film-taking mechanism and the drive mechanism are linked via a transmission assembly 8. Specifically, a drive pulley is mounted on the integrated rear wheel axle 24, and a driven pulley is mounted on the main film-taking assembly 31, achieving linkage through a transmission belt. The main film-taking assembly 31 and the overlapping edge film-taking assembly 32 rotate synchronously via a synchronous belt. It should be noted that although the rotational speed of the second film-taking shaft 311 of the main film-taking assembly 31 is higher than that of the rear wheel axle, because the diameter of the film roll is much smaller than the diameter of the rear wheel, after calculation and matching, the linear velocity of the film roll surface is basically consistent with the roll material laying and walking speed, ensuring that the release film is retracted at a uniform speed without being torn or piled up.

[0049] Meanwhile, the first take-up shaft 321 and the second take-up shaft 311 are equipped with adjustable tension sleeves. After the paper roll core is installed on the first take-up shaft 321 and the second take-up shaft 311, the maximum static friction between the paper roll and the take-up shaft can be adjusted by adjusting the radial tension of the tension sleeve. During take-up, the paper roll core rotates synchronously with the take-up shaft. As the take-up operation progresses, the roll diameter of the take-up roll gradually increases, and the linear speed will also increase accordingly at the same rotation speed. At this time, an appropriate amount of relative sliding is automatically generated between the paper roll core and the take-up shaft, so that the actual take-up linear speed of the take-up shaft always matches the travel speed, avoiding excessive stretching or tearing of the release film due to the increase in roll diameter.

[0050] The transmission assembly 8 also includes a one-way overrunning clutch 81 and a manual clutch 82, both coaxially mounted on the outside of the rear wheel. When the equipment is moving forward, the one-way overrunning clutch 81 is engaged, transmitting power from the rear wheel to the take-up shaft for coordinated film take-up. When the equipment is reversing or manually pushed after stopping, the one-way overrunning clutch 81 automatically disengages, allowing the take-up shaft to rotate freely, preventing reverse rotation that could cause waste film to wrap backward or damage to the roll. The manual clutch 82 includes a clutch body and a manual lever. The clutch body is coaxially mounted on the outside of the rear wheel, and the manual lever is mounted on the frame 1. When a roll needs to be changed, the operator moves the manual lever to disengage the manual clutch 82, cutting off the linkage between the rear wheel axle and the take-up mechanism, facilitating the removal of waste film rolls and the installation of new roll cores. After the roll change is completed, the manual lever is reset to re-engage the manual clutch 82, restoring power transmission.

[0051] The unwinding mechanism 4 has no active drive structure; during operation, it relies on the device's movement to passively unwind the roll material. The outer surface of the unwinding shaft 41 is equipped with an adjustable tension sleeve, which can adapt to different paper tube inner diameters and accommodate various roll material installation requirements. The entire machine achieves synchronized speeds for movement, unwinding, and film take-up through a matched structure of active film take-up and passive unwinding, simplifying the transmission structure while improving the flatness of the roll material laying.

[0052] Example 2:

[0053] like Figure 1-5 As shown in Figure 7, this embodiment is based on the basic structure of Embodiment 1, and focuses on explaining the specific implementation methods of automatic tracking and correction, real-time control of overlap width, and multi-mechanism linkage control.

[0054] In this embodiment, the control box independently controls the speed of the left and right front wheels, and achieves fully automatic trajectory correction in conjunction with infrared material recognition technology. The infrared line-following sensor 6 at the front end of the frame 1 can reliably distinguish between exposed ground and the boundary of the laid membrane by utilizing the inherent difference in infrared reflectivity between the cement base and the TPZ waterproof membrane, achieving autonomous tracking without the need for manual marking of ink lines. This recognition method is a well-known and mature technology in the field, with high recognition accuracy and strong adaptability to working conditions.

[0055] A first support 13 is provided at the front of the frame 1. The first support 13 includes a first left column 131, a second left column 132, a first right column 133, and a second right column 134, with the four columns symmetrically arranged on the left and right sides of the front end of the frame 1. The overlap edge film taking-up assembly 32 includes a film taking-up shaft, which passes through the upper ends of the four columns and runs horizontally. A film taking-up roll can be fitted in the area of ​​the film taking-up shaft between the two left columns and the two right columns. Depending on the construction direction, the overlap edge isolation film is pulled onto the left or right roll. When the film taking-up roll is fitted onto the film taking-up shaft, the two columns on both sides form an axial limit on the roll, preventing the waste film from deviating during the film taking-up process and ensuring neat and stable film taking-up.

[0056] The first bracket 13 and the second bracket 14 are arranged sequentially from front to back along the frame 1 to form an overlap edge take-up assembly 32 positioned in front of the unwinding mechanism 4. This allows the overlap edge release film that has been laid on the previous work surface to be taken back before the new roll material is laid, so that the overlap edge adhesive surface is immediately exposed and covered by the new roll material, thus preventing the overlap edge adhesive surface from being exposed to air and contaminated for a long time.

[0057] An infrared line-following sensor 6 is installed on each of the left and right sides of the front bottom of the frame 1, respectively for detecting the left and right reference edges. During construction, the operator selects to pull the overlapping edge isolation film to the left or right side of the film-receiving shaft according to the construction direction. The control box 7 activates the left or right infrared line-following sensor 6 accordingly, realizing adaptive switching between left and right references. When the left reference is selected, the device uses the detection signal of the left infrared line-following sensor 6 as the reference, maintaining the left overlap width; when the right reference is selected, the device uses the detection signal of the right infrared line-following sensor 6 as the reference, maintaining the right overlap width.

[0058] Before operation, the operator sets the preset overlap width S in the control box 7 according to actual needs. The control box 7 has an adjustable knob, which contains a potentiometer. Rotating the knob changes the voltage value output from the sliding end. The control box 7 reads this voltage value and converts it into the corresponding overlap width S, thus achieving adjustable overlap width settings. The standard overlap width S for TPZ roll material is 50 to 100 mm. The control box 7 also has a left / right reference switch, which can switch the infrared sensor position according to the actual working surface direction. This switch is a single-pole double-throw switch, with the two contacts connected to high and low levels respectively. When the switch is switched to different positions, the detection port of the control box 7 receives different signals. The control box 7 determines the currently selected reference edge based on the high and low levels of the signals and calls the corresponding pre-stored sensor working mode in the system, causing the trajectory offset direction to be reversed while keeping the overlap width S value unchanged.

[0059] During operation, the infrared line-following sensor 6 continuously monitors the edge position of the rolled material laid in front of the vehicle, transmitting a simulated signal of the actual overlap width D to the control box 7 in real time. The control box 7 has a built-in deviation calculation program that calculates the deviation value e=DS between the real-time overlap width D and the preset overlap width S. Based on the calculated deviation value e, the control box 7 outputs simulated voltage signals to the left and right front wheel motors respectively through its control signal output terminal to control the rotational speed of the left and right front wheels.

[0060] When e>0, that is, the overlap distance is too wide, the control box 7 controls the speed of the left and right front wheels, so that the speed of the front wheel on the side closer to the unlaid roll material decreases and the speed of the front wheel on the other side increases, and the device moves closer to the side where the roll material is not laid.

[0061] When e < 0, that is, the overlap distance is too narrow, the control box 7 controls the speed of the left and right front wheels, so that the speed of the front wheel on the side closer to the unlaid roll material increases and the speed of the front wheel on the other side decreases, and the device moves closer to the side where the roll material has been laid.

[0062] When e approaches zero, the real-time distance recovers to the preset value S, and the device continues to travel in a straight line.

[0063] The aforementioned control method, which involves independent drive of the left and right front wheels and steering by adjusting the rotation speed, is existing technology in the fields of robotics and electric vehicles. For reference, see patent CN109080722B. Based on this, this device can achieve automatic line-following paving by combining the detection signal of the infrared line-following sensor 6.

[0064] Through the above-mentioned program control, the actual walking trajectory of the device always maintains a set dynamic distance S with the baseline of the laid roll material, so as to achieve a certain width of overlap and straight laying of the real-time laid roll material.

[0065] Furthermore, the feed end of the frame 1 is equipped with an adjustable limit baffle 44, which adopts a single-sided reference plus adjustable limit structure. One side is a fixed reference baffle, which is aligned with the center of the infrared line-following sensor 6, serving as the reference edge line for the actual movement of the device, while reserving the overlap edge width to maintain straight movement.

[0066] Meanwhile, the control box 7, relying on the linkage transmission structure of the film take-up mechanism, realizes the linkage control of the device's movement, roll unwinding, and main film take-up assembly 31's film take-up, maintaining synchronized speed matching throughout the process. By controlling the uniform operating speed of the entire machine through constant speed cruise control, and in conjunction with the transmission adaptation characteristics of the one-way overrunning clutch 81, the film take-up is only linked when the device is moving forward, and automatically disengages to protect the roll when moving backward, avoiding excessively fast movement that causes the roll to stretch, and excessively slow movement that causes the roll to pile up and wrinkle, ensuring the flatness of the roll laying throughout the process.

[0067] In addition, the control box 7 may be equipped with a wireless receiving module for receiving control commands from the handheld remote control. After the operator issues a movement command via the remote control, the control box 7 decodes the command and drives the rear wheel motor and the front wheel motor to move, realizing free low-speed movement and differential steering of the device. This remote control movement method is a well-known technology in the field, and can be found in patents such as CN202596182U, which will not be described in detail in this embodiment.

[0068] Example 3:

[0069] like Figure 1-7 As shown, this embodiment is based on the basic structure of Embodiment 1 and Embodiment 2, and focuses on describing the intelligent protection implementation method of the compaction mechanism 5 with flexible compaction and automatic shutdown when material is cut off, so as to improve the density of roll material laying and the intelligence and safety of the equipment.

[0070] The compaction mechanism 5 of this device adopts a relay construction structure design with a front-mounted scraper for pre-venting and leveling, and a middle and rear-mounted distributed compaction mechanism. Along the travel direction, from front to back, the scraper 51, main compaction roller 52, side roller 53, and secondary compaction roller 54 are arranged sequentially. The scraper 51 is a single thin plate structure, V-shaped, with rounded corners at its front end to avoid stress concentration. Because TPZ waterproof membrane is relatively thin, highly flexible, and has a self-adhesive layer, dry-laying construction is fast, making it very easy for air to get trapped between the membrane and the substrate, causing hollow defects.

[0071] As the first bonding structure at the front end, scraper 51 utilizes its centrally located tip to preferentially contact the middle of the roll material. As the equipment moves forward, it rapidly and obliquely exhausts most of the air generated during the roll material bonding process along both sides of the scraper, completing the initial pre-venting operation. Simultaneously, it smooths the roll material, corrects its laying posture, and prevents misalignment and wrinkle accumulation, ensuring an initial bonding state free of wrinkles and air accumulation. Subsequently, through the layered pressing and squeezing of the rear main compaction roller 52, side pressure roller 53, and secondary pressure roller 54, residual trace amounts of air are thoroughly expelled, and the roll material is tightly compacted and shaped. This step-by-step operation of scraper pre-venting, leveling, and pressure roller compaction and sealing, with repeated rolling, prevents defects such as air pockets, curling edges, and incomplete bonding. A flexible, wear-resistant scraper strip is detachably mounted at the bottom of scraper 51, which can be replaced individually after wear, making maintenance convenient.

[0072] To address the defects of uneven compaction and central collapse under pressure on long rubber rollers, multiple sets of equally spaced clamping components 56 are installed between the first crossbeam 11 and the main compaction roller 52, and between the second crossbeam 12 and the side pressure roller 53. Each clamping component 56 consists of a vertical guide column 561, a compression spring 562, and rollers 563. The vertical guide column 561 is a telescopic sleeve structure, with its upper end fixedly connected to the crossbeam and its lower end fixedly connected to a roller support 564. The compression spring 562 is sleeved on the outside of the vertical guide column 561, forming a constant-pressure elastic pressing structure. The roller 563 is a free-rolling cylindrical structure that freely abuts against the outer surface of the corresponding compaction roller via the roller support 564. Each set of clamping components 56 can independently and elastically extend and retract, adapting to the slight deformation of the rubber roller under pressure, achieving flexible and uniform compaction along the entire length of the roller, ensuring tight compaction of the entire roll and overlapping edges. Meanwhile, the main compaction roller 52 and the side pressure roller 53 are rotated and assembled at both ends through the elastic support at the end of the crossbeam, which further improves the pressure buffering effect of the roller body and adapts to the construction of uneven base surfaces.

[0073] To address the issues of segmented laying of short rolls and wear and tear on the end-effector during idle operation, this embodiment includes a photoelectric sensor on the second support 14 corresponding to the unwinding mechanism 4. During normal laying, the roll material is continuously discharged, blocking the sensor's optical path, and the equipment maintains normal operation. When a single roll of material is laid and the end of the roll detaches from the unwinding shaft 41, the photoelectric sensor's optical path is activated, detecting a no-material signal and feeding it back to the control box 7 in real time. The control box 7 immediately triggers a complete machine shutdown, simultaneously locking the movement of the traveling, unwinding, and film-rewinding mechanisms to prevent the equipment from laying material-free and eliminating the need for manual monitoring during shutdown.

[0074] Instructions for use with the TPZ waterproof membrane automated laying device:

[0075] S1. Base surface pretreatment: Clean up debris and protrusions on the construction base surface to ensure that the cement base is flat, clean, dry and free of water accumulation, so as to meet the requirements of TPZ roll material dry laying and bonding construction.

[0076] S2. Equipment loading and alignment: Install the TPZ waterproof membrane onto the unwinding shaft 41 through the adjustable expansion sleeve, adjust the membrane posture, and complete the pre-positioning by adhering to the side fixed reference edge. Then, calibrate the relative position of the membrane and the infrared line-following sensor 6 through the positioning mark 45.

[0077] S3. Manual reference laying: The first section of roll material is laid manually and precisely to calibrate the straightness of the roll material and form a regular reference boundary on the side of the laid roll material, which provides an identification reference for the subsequent automatic tracking of the equipment.

[0078] S4. Pre-treatment of overlapping edges: Before laying the next working surface roll material, the operator first manually peels off the protective film that was left on the overlapping edge of the previous working surface roll material, and pulls it to the winding shaft of the overlapping edge film winding assembly 32, so that the adhesive surface of the overlapping edge is exposed.

[0079] S5. Automatic Tracking Laying: Start the equipment in constant speed cruise mode. The infrared line sensor 6 identifies the baseline edge of the laid roll material. The device moves at a constant speed and, relying on the linkage structure of the transmission component 8, completes the unwinding, waste film peeling, scraper 51 pre-venting and leveling, main compaction roller 52, side pressure roller 53, and secondary pressure roller 54 step-by-step compaction operations, with automatic deviation correction throughout the process.

[0080] S6. Shutdown and Material Change: When a single roll of material is laid and the end of the roll is detached from the unwinding shaft 41, the entire machine stops. The operator uses the manual clutch 82 to cut off the transmission, allowing the take-up shaft to rotate freely to remove the waste film. After manually replacing the new roll of material and moving the equipment to the next work area, the machine is re-aligned precisely to establish a reference, the manual clutch 82 is reset to restore transmission, and the above steps are repeated to complete the automated laying of the entire area.

Claims

1. An automated laying device for TPZ waterproof membrane, characterized in that: It includes a frame (1), a drive mechanism, an unwinding mechanism (4), a take-up mechanism, a transmission assembly (8), and a control box (7); The front end of the frame (1) is provided with an infrared line-following sensor (6), which is electrically connected to the control box (7) and is used to transmit detection signals to the control box (7); the control box (7) is electrically connected to the drive mechanism and is used to control the drive mechanism according to the detection signals. The upper end of the frame (1) is fixedly provided with a first bracket (13) and a second bracket (14). The film taking-up mechanism includes a main film taking-up assembly (31) and an overlapping edge film taking-up assembly (32). The main film taking-up assembly (31) is rotatably connected to the second support (14) and located below the unwinding mechanism (4). The overlapping edge film taking-up assembly (32) is rotatably connected to the first support (13). The main film taking-up assembly (31) and the overlapping edge film taking-up assembly (32) are connected by a synchronous belt. The drive mechanism includes a front wheel assembly and a rear wheel assembly. The rear wheel assembly includes an integrated rear wheel axle (24). The two ends of the integrated rear wheel axle (24) are respectively equipped with rear wheels and extend outward. The film collection mechanism is linked to the extended end of the integrated rear wheel axle (24) through the transmission assembly (8).

2. The automated TPZ waterproof membrane laying device according to claim 1, characterized in that: The front wheel assembly includes left and right front wheels and a steering motor, and the rear wheel assembly also includes a rear wheel drive motor (23). The two ends of the integrated rear wheel axle (24) are respectively equipped with rear wheels. It also includes an on-board power supply (9), which is mounted on the vehicle frame.

3. The automated TPZ waterproof membrane laying device according to claim 1, characterized in that: The transmission assembly (8) includes a drive pulley, a driven pulley, and a transmission belt. The drive pulley is coaxially arranged with the integrated rear wheel axle (24). The driven pulley is located on the film receiving mechanism. The drive pulley and the driven pulley are connected by the transmission belt.

4. The automated TPZ waterproof membrane laying device according to claim 1, characterized in that: The first bracket (13) includes a first left column (131), a second left column (132), a first right column (133), and a second right column (134). The overlapping edge film gathering assembly (32) also includes a first film gathering shaft (321), which passes through the upper ends of the first left column (131), the second left column (132), the first right column (133), and the second right column (134). The main film gathering assembly (31) also includes a second film gathering shaft (311), and the first film gathering shaft (321) and the second film gathering shaft (311) are provided with adjustable tension sleeves. The first bracket (13) and the second bracket (14) are arranged sequentially from front to back along the frame (1). The infrared line-following sensor (6) includes a left infrared line-following sensor and a right infrared line-following sensor, which are respectively arranged on the left and right sides of the front end of the frame (1).

5. The automated TPZ waterproof membrane laying device according to claim 1, characterized in that: It also includes a compaction mechanism (5), which includes a main compaction roller (52), a side compaction roller (53), a secondary compaction roller (54), and a scraper (51). The scraper (51) is fixedly connected to the frame (1). A first crossbeam (11) and a second crossbeam (12) are fixedly arranged in the middle of the frame (1). A first elastic support member (151) is provided at both ends of the first crossbeam (11). The main compaction roller (52) is rotatably connected to the lower end of the first elastic support member (151). A second elastic support member (152) is provided at both ends of the second crossbeam (12). The side compaction roller (53) is rotatably connected to the lower end of the second elastic support member (152). A connecting rod is rotatably arranged at the rear of the frame (1). The secondary compaction roller (54) is rotatably connected to the lower end of the connecting rod. The scraper (51), the main compaction roller (52), the side compaction roller (53), and the secondary compaction roller (54) are installed in sequence from front to back under the frame (1).

6. The automated TPZ waterproof membrane laying device according to claim 5, characterized in that: Multiple sets of clamping components (56) are installed between the first crossbeam (11) and the main compaction roller (52), and multiple sets of clamping components (56) are also installed between the second crossbeam (12) and the side pressure roller (53). The clamping components (56) include a vertical guide column (561), a compression spring (562), and a roller (563). The vertical guide column (561) is a telescopic sleeve structure, with its upper end fixedly connected to the crossbeam and its lower end fixedly connected to a roller support (564). The compression spring (562) is sleeved on the outside of the vertical guide column (561), with its upper end abutting against the lower surface of the crossbeam and its lower end abutting against the roller support (564). The roller (563) is installed inside the roller support (564) and freely abuts against the outer surface of the corresponding compaction roller.

7. The automated TPZ waterproof membrane laying device according to claim 5, characterized in that: The scraper (51) is a V-shaped integral thin plate structure. The scraper (51) includes a front protruding corner (55), which is rounded.

8. The automated TPZ waterproof membrane laying device according to claim 1, characterized in that: The unwinding mechanism (4) includes an unwinding shaft (41), and an adjustable tension sleeve is provided on the outer surface of the unwinding shaft (41). Adjustable limiting baffles (44) and positioning marks (45) are provided on both sides of the unwinding shaft (41). The adjustable limiting baffles (44) are used to limit the lateral installation position of the roll material on the unwinding shaft (41). The positioning marks (45) are aligned with the center of the infrared line-following sensor (6) on the same side.

9. The automated TPZ waterproof membrane laying device according to claim 3, characterized in that: The transmission assembly (8) also includes a one-way overrunning clutch (81) and a manual clutch (82); the one-way overrunning clutch (81) is coaxially mounted on the outside of the rear wheel, and the manual clutch (82) includes a clutch body and a manual lever. The clutch body is coaxially mounted on the outside of the rear wheel, and the manual lever is mounted on the frame (1).

10. A method for using an automated TPZ waterproof membrane laying device, characterized in that, Includes the following steps: S1. Base surface pretreatment: Clean up debris and protrusions on the construction base surface to ensure that the cement base is flat, clean, dry and free of water accumulation, so as to meet the requirements of TPZ roll material dry laying and bonding construction. S2, Equipment loading and positioning: Install the TPZ waterproof membrane on the unwinding shaft (41) through the adjustable expansion sleeve, adjust the membrane posture, and fix the side reference edge to complete the pre-positioning. Then, calibrate the relative position of the membrane and the infrared line-following sensor (6) through the positioning mark (45). S3. Manual reference laying: The first section of roll material is laid manually and precisely to calibrate the straightness of the roll material and form a regular reference boundary on the side of the laid roll material, which provides an identification reference for the subsequent automatic tracking of the equipment. S4. Pre-treatment of overlapping edge: Before laying the roll material of the next working surface, the operator first manually peels off the protective film that was left on the overlapping edge of the roll material of the previous working surface, and pulls it to the winding shaft of the overlapping edge film winding assembly (32) so that the adhesive surface of the overlapping edge is exposed. S5. Automatic Tracking Laying: Start the equipment in constant speed cruise mode. The infrared line sensor (6) identifies the baseline edge of the laid roll material. The device moves at a constant speed and, relying on the transmission component (8) linkage structure, completes unwinding, waste film peeling, scraper (51) pre-venting and leveling, main compaction roller (52), side pressure roller (53), and secondary pressure roller (54) step-by-step compaction operations, with automatic deviation correction throughout the process. S6. Shutdown and Material Change: When a single roll of material is laid and the end of the roll is detached from the unwinding shaft (41), the entire machine is stopped. The operator cuts off the transmission using the manual clutch (82) to allow the take-up shaft to rotate freely and remove the waste film. After manually replacing the new roll of material and moving the equipment to the next work area, the machine is re-aligned precisely to establish a reference, the manual clutch (82) is reset to restore the transmission, and the above steps are repeated to complete the automated laying of the entire area.

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