An intelligent tile laying robot that adapts its travel distance

Abstract

The application relates to the technical field of building construction, in particular to an optimized design of an intelligent robot for building construction; the intelligent tile laying robot with self-adaptive marching distance comprises a walking system, a frame, a carrying system, a cement smearing system, a hoisting system, a camera visual recognition device and a man-machine interactive control panel; the walking system is used for carrying the whole machine and driving the whole machine to move on the ground; the frame is installed on the walking system; the carrying system is installed on the frame and is used for carrying the tiles to be laid; the cement smearing system is installed on the carrying system and is used for smearing cement on the bottom of the tiles; the hoisting system is installed on the upper portion of the frame and is used for grabbing the tiles and moving the tiles from the carrying system to a laying position; the camera visual recognition device is installed on the front end of the frame and is used for collecting position image information of the laid tiles; the man-machine interactive control panel is used for receiving external input parameters; and a single-chip microcomputer is electrically connected with the walking system, the carrying system, the hoisting system, the cement smearing system, the camera visual recognition device and the man-machine interactive control panel.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, and in particular to the optimized design of intelligent robots for building construction. Background Technology

[0002] With the rapid development of the construction industry, a large number of buildings are being designed, constructed, and operated, leading to a surge in labor demand. However, in the traditional construction industry, the number of construction workers often far exceeds the urgency of projects, resulting in a significant talent shortage across the industry. In some countries and regions, labor shortages in the construction sector have become a major bottleneck restricting economic growth.

[0003] Chinese patent document CN111636661A discloses an automatic tile laying device with cement brushing function. The core of its technical solution lies in the automation of the entire process of tile picking, plastering, and laying through a purely mechanical transmission mechanism. The device integrates three functional areas within its body: a storage chamber, a laying chamber, and a coating chamber. The storage chamber stores tiles to be laid and automatically replenishes them via a spring pusher. The laying chamber contains a rotatable laying block with a lifting rod equipped with a suction cup underneath. After the suction cup picks up a tile using an air pump, the laying block rotates the tile towards the coating chamber. The coating chamber contains a left-right movable coating plate and a pushing plate. Cement is pumped to the coating area through the outlet by a cement pump, and the reciprocating motion of the coating plate evenly spreads the cement on the back of the tile. After plastering, the laying block rotates again to deliver the tile to the laying position below, and a tracked walking system propels the entire machine forward to complete the laying action. The entire device is powered by a single motor, and multiple actions such as walking, rotating, lifting, and applying are sequentially linked through mechanisms such as gear sets, incomplete gears, and worm gears.

[0004] However, the above-mentioned solution still has the following drawbacks: First, its power system relies on only a single motor, using complex gear sets, incomplete gears, and worm gears to achieve sequential linkage of multiple actions. This mechanical transmission link is lengthy and has limited rigidity, resulting in fixed action rhythms. It is impossible to independently adjust key parameters such as tile placement, plaster thickness, and laying speed. When tile specifications or cement consistency change, the device lacks adaptability, seriously affecting the versatility and flexibility of laying. Second, this solution arranges the cement application process to be completed during the rotating transport of the tile after it is sucked up. The application board can only scrape back and forth in one direction, lacking precise control over the thickness of the cement layer after application and a means of smoothing and leveling it. This easily leads to uneven cement distribution, hollow areas, or overflow, thus affecting the flatness and bonding quality of subsequent laying. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, an intelligent tile laying robot with adaptive travel spacing is provided.

[0006] This invention is achieved through the following technical solution: an intelligent tile laying robot with adaptive travel spacing, comprising: a walking system for carrying the entire machine and driving it to move on the ground; a frame mounted on the walking system; a loading system mounted on the frame for carrying the tiles to be laid; a cement application system mounted on the loading system for applying cement to the bottom of the tiles; a hoisting system mounted on the upper part of the frame for grabbing the tiles and transferring them from the loading system to the laying position; a camera vision recognition device mounted on the front end of the frame for acquiring position image information of the laid tiles; a human-machine interaction control panel for receiving external input parameters; and a microcontroller electrically connected to the walking system, loading system, hoisting system, cement application system, camera vision recognition device, and human-machine interaction control panel.

[0007] In a preferred embodiment of the present invention, the cargo carrying system includes a cargo platform and a cargo lifting mechanism, wherein the cargo platform is mounted on the cargo lifting mechanism and the cargo lifting mechanism is mounted on the frame.

[0008] In a preferred embodiment of the present invention, the walking system includes a chassis and multiple steering wheels, which are distributed below the chassis. Each steering wheel is respectively provided with a steering wheel rotation motor and a travel motor, and the steering wheel is drivenly connected to the corresponding steering wheel rotation motor and the corresponding travel motor.

[0009] In a preferred embodiment of the present invention, the cement application system includes a cement box and a cement scraper. The cement box is installed on a storage platform, and the cement scraper is installed on the front end face of the cement box.

[0010] In a preferred embodiment of the present invention, the lifting mechanism includes a synchronous pulley set, a stepper motor, two ball screws, and a sliding guide assembly. The two ball screws are symmetrically arranged on both sides of the platform, and each ball screw is fitted with a screw nut. The platform is fixedly connected to each screw nut and the sliding guide assembly. The stepper motor is driven by the two ball screws through the synchronous pulley set.

[0011] In a preferred embodiment of the present invention, the sliding guide assembly includes a slider and a light rod, the light rod is fixed on the frame, and the slider is fitted on the light rod and fixedly connected to the placement platform.

[0012] In a preferred embodiment of the present invention, the hoisting system includes a mobile module, a hoisting lifting mechanism, and a suction cup assembly. The mobile module is installed on the upper part of the frame, the hoisting lifting mechanism is installed on the mobile module, and the suction cup assembly is installed at the lower end of the hoisting lifting mechanism.

[0013] In a preferred embodiment of the present invention, the moving module includes two X-axis linear moving modules, one Y-axis linear moving module, and a second stepper motor and a lead screw motor respectively corresponding to each linear moving module. The two X-axis linear moving modules are symmetrically installed on the left and right sides of the upper part of the frame, and the Y-axis linear moving module is installed on the two X-axis linear moving modules.

[0014] In a preferred embodiment of the present invention, the hoisting and lifting mechanism includes a lifting bracket, a worm gear, a worm, and a worm gear motor. The worm gear motor is mounted on the Y-axis linear motion module. The worm gear is connected to the output end of the worm gear motor. The worm meshes with the worm gear and is vertically arranged. The lifting bracket is fixed to the lower end of the worm.

[0015] In a preferred embodiment of the present invention, the suction cup assembly includes multiple vacuum suction cups and a vacuum pump. The multiple vacuum suction cups are mounted on a lifting bracket, and the vacuum pump is fixed on the lifting bracket and communicates with each vacuum suction cup.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] An intelligent tile-laying robot with adaptive travel spacing achieves autonomous movement through a walking system, a loading system centrally stores tiles to be laid, a cement application system automatically applies cement, a hoisting system automatically picks up and moves tiles, a camera vision recognition device collects the position information of laid tiles, and a microcontroller serves as the control core to enable coordinated operation of all systems. The clearly defined and mutually cooperating functional modules automate the entire tile-laying process, effectively replacing traditional manual labor, significantly improving laying efficiency, and reducing labor costs and intensity.

[0018] Furthermore, by using a lifting mechanism to drive the platform to rise and fall, the tiles on the platform can be raised layer by layer to a height that is easy for the hoisting system to pick up. This avoids the hoisting system having to descend significantly when picking up tiles, thus increasing the travel distance and shortening the picking cycle for a single tile, thereby improving the overall laying efficiency.

[0019] Furthermore, multiple steering wheels distributed beneath the chassis, each with its own independently configured rotary and drive motors, enable each steering wheel to steer and drive independently, achieving omnidirectional movement of the robot, including forward, backward, turning in place, and lateral movement. Compared to traditional differential steering or tracked locomotive systems, the steering wheel structure significantly reduces the robot's turning radius, giving it greater maneuverability and positioning accuracy in confined construction sites, providing a reliable mobile foundation for precise laying.

[0020] Furthermore, by installing cement boxes on the platform and cement scrapers on the front of the cement boxes, the cement scrapers can remove excess cement from the bottom of the tiles when the hoisting system carries the tiles through the cement application system. This ensures the uniformity and flatness of the cement layer at the bottom of the tiles, thereby improving the bonding quality and overall flatness of the tiles after installation and reducing the occurrence of hollow spots.

[0021] Furthermore, a stepper motor synchronously drives two ball screws via a synchronous pulley set, causing the platform to rise and fall smoothly along the two ball screws on both sides, achieving precise height control of the platform. The symmetrical arrangement of the double ball screws ensures the levelness and stability of the platform during lifting, avoiding platform tilting caused by unilateral drive, and ensuring good contact between the suction cup and the tile surface each time the lifting system picks up a tile, thus improving the reliability of the picking process.

[0022] Furthermore, the structure in the sliding guide assembly, where the guide rod is fixed to the frame and the slider is fitted onto the guide rod and fixedly connected to the platform, provides precise vertical guidance for the lifting and lowering movement of the platform. This eliminates any horizontal offset or swaying that may occur during the lifting and lowering process, further ensuring the straightness and stability of the platform's lifting and lowering. Together with the ball screw, it forms a stable lifting transmission system, improving the repeatability and positioning accuracy of the tile feeding position.

[0023] Furthermore, by summarizing the mobile module as the horizontal movement basis of the hoisting system, and sequentially installing the hoisting lifting mechanism and suction cup assembly on the mobile module, the hierarchical relationship between the various components of the hoisting system is clarified. The mobile module enables the suction cup assembly to move to any position in the horizontal plane, while the hoisting lifting mechanism enables the vertical lifting of the suction cup assembly. The cooperation between the two allows the suction cup assembly to be flexibly positioned in three-dimensional space, providing a degree of freedom of movement to ensure precise alignment and laying of tiles.

[0024] Furthermore, through the orthogonal arrangement of two X-axis linear motion modules and one Y-axis linear motion module, and their independent second stepper motors and lead screw motors, high-precision independent motion control of the suction cup assembly in the X and Y directions in the horizontal plane is achieved. The X-axis and Y-axis movements do not interfere with each other, resulting in high positioning accuracy and fast response speed. This allows the hoisting system to quickly and accurately adjust the tile position in the horizontal plane based on feedback signals from the camera visual recognition device, ensuring the alignment accuracy of the grout lines between newly laid tiles and existing tiles.

[0025] Furthermore, a worm gear motor drives the worm gear to rotate, which in turn drives the worm to rise and fall vertically. The lifting bracket, fixed to the lower end of the worm, rises and falls with it, achieving precise lifting control of the hoisting mechanism. The worm gear mechanism has a self-locking characteristic, which can keep the position of the lifting bracket unchanged after power failure, effectively preventing the suction cup assembly and tiles from accidentally sliding down due to gravity during lifting, improving the safety of equipment use, and ensuring the vertical positioning accuracy of the tiles.

[0026] Furthermore, a vacuum pump generates negative pressure, which is transmitted to each vacuum suction cup via connecting pipes, allowing multiple vacuum suction cups to simultaneously adhere to the tile surface, achieving stable gripping of the tile. The multi-point distributed suction cup structure ensures that the adsorption force is evenly distributed on the back of the tile, avoiding the uneven force or even damage that may occur with single-point suction. This ensures reliable gripping of the tile by the hoisting system during handling and laying, improving operational safety.

[0027] Other features and advantages of the present invention will be disclosed in detail in the following detailed description and accompanying drawings. Attached Figure Description

[0028] The invention will be further described below with reference to the accompanying drawings:

[0029] Figure 1 This is a perspective view of the present invention, wherein the human-computer interaction control panel is omitted;

[0030] Figure 2 This is a schematic diagram of the hoisting system of the present invention;

[0031] Figure 3 This is a schematic diagram of the structure of the loading system and cement application system of the present invention;

[0032] Figure 4 This is a schematic diagram of the walking system of the present invention;

[0033] Figure 5 This is a schematic diagram of the steering wheel structure of the present invention;

[0034] The annotations in the attached figures are explained as follows:

[0035] Walking system 1, frame 2, loading system 3, cement coating system 4, hoisting system 5, chassis 11, steering wheel 12, steering wheel rotation motor 121, connecting plate 122, steering wheel stepper motor 123, loading platform 31, loading lifting mechanism 32, cement box 41, cement scraper 42, synchronous belt pulley group 321, stepper motor 322, ball screw 323, screw nut 3231, sliding guide assembly 324, slider 3241, smooth rod 3242, moving module 51, X-axis linear moving module 511, Y-axis linear moving module 512, second stepper motor 513, screw motor 514, hoisting lifting mechanism 52, lifting bracket 521, worm gear 522, worm 523, worm gear motor 524, suction cup assembly 53, vacuum suction cup 531, vacuum pump 532. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.

[0037] In the following description, terms such as “inner,” “outer,” “upper,” “lower,” “left,” and “right” are used only to indicate orientation or positional relationship for the convenience of describing the embodiments and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0038] like Figures 1 to 3 As shown, an intelligent tile-laying robot with adaptive travel spacing has the following overall structure: A walking system 1 serves as the mobile base for the entire machine, supporting it and driving it to move on the ground; a frame 2 is fixedly installed on the walking system 1, serving as the mounting base for each system; a loading system 3 is installed inside the frame 2 to store the tiles to be laid; a cement application system 4 is installed on the loading system 3 to apply cement to the bottom of the tiles; a hoisting system 5 is installed on the upper part of the frame 2 to grab the tiles and transfer them from the loading system 3 to the laying position; a camera vision recognition device is installed at the front of the frame 2 to collect real-time image information of the laid tile position and transmit the image data to a microcontroller for processing; a human-machine interface control panel is installed on the side of the frame 2 for operators to input construction parameters; and the microcontroller, as the control core, is electrically connected to the walking system 1, loading system 3, hoisting system 5, cement application system 4, camera vision recognition device, and human-machine interface control panel to achieve coordinated control of each system.

[0039] like Figures 4 to 5As shown, the specific structure of the walking system 1 includes a chassis 11 and multiple steering wheels 12. The steering wheels 12 are distributed below the chassis 11, and each steering wheel 12 is equipped with a steering wheel rotation motor 121 and a steering wheel travel motor 123. The steering wheel rotation motor 121 controls the steering angle of the steering wheel 12, and the steering wheel travel motor 123 drives the steering wheel 12 to rotate and move. The steering wheel 12 is connected to its corresponding steering wheel rotation motor 121 and its corresponding travel motor. Through the independent steering and driving of each steering wheel 12, the robot can achieve omnidirectional movement, including forward, backward, turning in place, and lateral movement. In specific implementations, the steering wheel rotation motor 121 can precisely control the rotation angle, and the travel motor can precisely control the travel distance, thereby enabling the robot to move with high precision along the planned path. The lower part of the frame 2 is fixedly connected to the chassis 11. In this embodiment, there are four steering wheels 12, which are respectively arranged at the four corners of the chassis 11. A connecting plate 122 for mounting the steering wheel motor 123 is provided above the steering wheel 12.

[0040] like Figure 5 As shown, the loading system 3 includes a loading platform 31 and a loading lifting mechanism 32. The loading platform 31 is mounted on the loading lifting mechanism 32, which is mounted on the frame 2 and is used to drive the loading platform 31 to rise and fall. Before construction, the operator stacks the tiles to be laid on the loading platform 31 layer by layer. As the top layer of tiles is removed, the loading lifting mechanism 32 drives the loading platform 31 to rise gradually, so that the top layer of tiles is always kept at a height that is easy for the hoisting system 5 to pick up, avoiding the need for the hoisting system 5 to descend significantly and increase its stroke when picking up materials.

[0041] The specific structure of the lifting mechanism 32 includes a synchronous pulley set 321, a stepper motor 322, two ball screws 323, and a sliding guide assembly 324. The two ball screws 323 are symmetrically arranged on both sides of the platform 31, and each ball screw 323 is fitted with a screw nut 3231. The sliding guide assembly 324 includes a slider 3241 and a guide rod 3242. The guide rod 3242 is fixed to the frame 2, and the slider 3241 is fitted onto the guide rod 3242. The platform 31 is fixedly connected to both the screw nuts 3231 and the sliders 3241. The stepper motor 322 is connected to the two ball screws 323 via the synchronous pulley set 321.

[0042] Specifically, the stepper motor 322 is fixedly mounted on the frame 2. The synchronous pulley assembly 321 includes a driving pulley, two driven pulleys, and a synchronous belt. The driving pulley is mounted on the output shaft of the stepper motor 322, and the two driven pulleys are respectively mounted on two ball screws 323. The driving pulley is connected to the two driven pulleys via the synchronous belt. After the stepper motor 322 starts, it transmits power synchronously to the two ball screws 323 through the synchronous pulley assembly 321. The two ball screws 323 rotate synchronously, driving the screw nut 3231 to move vertically along the ball screws 323, thereby driving the platform 31 to rise and fall smoothly. The guide rod 3242 in the sliding guide assembly 324 is fixed on the frame 2, and the slider 3241 is fitted onto the guide rod 3242 and fixedly connected to the platform 31, providing precise vertical guidance for the lifting and lowering movement of the platform 31 and eliminating horizontal deviation or swaying.

[0043] The cement coating system 4 includes a cement tank 41 and a cement scraper 42. The cement tank 41 is installed on the platform 31 and is used to store the prepared cement slurry. The cement scraper 42 is installed on the front face of the cement tank 41. When the hoisting system 5 carries the tiles over the cement coating system 4, the bottom of the tiles first contacts the cement slurry in the cement tank 41 to complete the coating, and then passes over the cement scraper 42. The cement scraper 42 removes excess cement from the bottom of the tiles, ensuring the uniformity and smoothness of the cement layer.

[0044] like Figure 2 As shown, the hoisting system 5 includes a moving module 51, a hoisting lifting mechanism 52, and a suction cup assembly 53. The moving module 51 is mounted on the upper part of the frame 2 and is used to move the suction cup assembly 53 in the horizontal plane. The hoisting lifting mechanism 52 is mounted on the moving module 51 and is used to vertically lift the suction cup assembly 53. The suction cup assembly 53 is mounted on the lower end of the hoisting lifting mechanism 52 and is used to adhere to the tiles.

[0045] The specific structure of the moving module 51 includes two X-axis linear moving modules 511 and one Y-axis linear moving module 512. The two X-axis linear moving modules 511 are symmetrically mounted on the left and right sides of the upper part of the frame 2, and the Y-axis linear moving module 512 is mounted on the two X-axis linear moving modules 511. Each linear moving module adopts a ball screw and nut mechanism, including a ball screw, a ball screw nut, a ball screw motor, and a guide rail slider mechanism. Each linear moving module is correspondingly driven by a second stepper motor 513 and a ball screw motor 514. The X-axis linear moving module 511 drives the Y-axis linear moving module 512 to move along the X direction, and the Y-axis linear moving module 512 drives the hoisting lifting mechanism 52 to move along the Y direction. The two work together to achieve spatial movement of the suction cup assembly 53.

[0046] The hoisting mechanism 52 includes a lifting bracket 521, a worm gear 522, a worm 523, and a worm motor 524. The worm motor 524 is mounted on the Y-axis linear motion module 512. The worm gear 522 is connected to the output end of the worm motor 524. The worm 523 meshes with the worm gear 522 and is vertically positioned. The lifting bracket 521 is fixed to the lower end of the worm 523. The worm motor 524 drives the worm gear 522 to rotate, which in turn drives the worm 523 to rise and fall vertically. The lifting bracket 521 rises and falls with the worm 523. The worm gear mechanism has a self-locking characteristic, which allows the lifting bracket 521 to remain in its position even after power is cut off, preventing the suction cup assembly 53 and the tiles from accidentally sliding down.

[0047] The suction cup assembly 53 includes multiple vacuum suction cups 531 and a vacuum pump 532. The multiple vacuum suction cups 531 are mounted on a lifting bracket 521, and the vacuum pump 532 is fixed to the lifting bracket 521 and connected to each vacuum suction cup 531. After the vacuum pump 532 is started, it generates negative pressure, which is transmitted to each vacuum suction cup 531 through the connecting pipes, causing the multiple vacuum suction cups 531 to simultaneously adhere to the tile surface. The multi-point distributed suction cup structure ensures that the adsorption force is evenly distributed on the back of the tile, guaranteeing the stability of the suction.

[0048] The working principle of an intelligent tile-laying robot with adaptive travel spacing is as follows:

[0049] Before construction, the operator inputs the ground dimensions and tile size parameters to be laid through the human-machine interface control panel. The microcontroller plans the path based on the input parameters and transmits the planned path to the walking system 1. At the same time, the prepared cement slurry is added to the cement box 41, and the tiles to be laid are placed layer by layer on the placement platform 31.

[0050] After the robot starts, the walking system 1 moves to the starting laying position according to the size of the tile and the planned path. After the robot stops moving, the hoisting system 5 starts working: the moving module 51 moves the suction cup assembly 53 to above the placement platform 31, the hoisting lifting mechanism 52 drives the suction cup assembly 53 to descend, the vacuum pump 532 starts, and each vacuum suction cup 531 adsorbs the topmost tile to be laid. After the suction cup assembly 53 adsorbs the tile, it rises, and the moving module 51 moves the tile towards the cement coating system 4. When the tile moves above the cement box 41, the hoisting lifting mechanism 52 drives the tile to descend a certain distance so that the bottom of the tile contacts the cement slurry to complete the coating. Then the tile rises and continues to move forward. When it passes the cement scraper 42, the cement scraper 42 scrapes off the excess cement from the bottom of the tile to ensure that the cement layer is uniform and flat. After the cement coating is completed, the mobile module 51 transports the tile to a height of approximately 3 cm above the area to be laid. The camera vision recognition device then activates, capturing image information of the tile's position. The microcontroller analyzes the image to determine if the current tile is aligned with the previous tile. If a discrepancy exists, the microcontroller controls the mobile module 51 and the lifting mechanism 52 to make fine adjustments until alignment is achieved. Once aligned, the lifting mechanism 52 lowers the tile to its designated laying position to complete the installation. The robot then proceeds along the planned path to the next laying position, repeating the above process until all tiles are laid.

[0051] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. An intelligent tile laying robot with adaptive travel spacing, characterized in that, include: The walking system (1) is used to carry the whole machine and drive it to move on the ground; The frame (2) is mounted on the walking system (1); The load-bearing system (3), installed on the frame (2), is used to carry the tiles to be laid; A cement application system (4), installed on the loading system (3), is used to apply cement to the bottom of the tile; A hoisting system (5), installed on the upper part of the frame (2), is used to grab the tiles and move them from the load system (3) to the laying position; A camera visual recognition device is installed at the front end of the frame (2) to collect image information of the location of the laid tiles; The human-computer interaction control panel is used to receive external input parameters; The microcontroller is electrically connected to the walking system (1), the carrying system (3), the hoisting system (5), the cement coating system (4), the camera visual recognition device, and the human-machine interaction control panel, respectively.

2. The intelligent tile laying robot with adaptive travel spacing according to claim 1, characterized in that, The loading system (3) includes a loading platform (31) and a loading lifting mechanism (32). The loading platform (31) is mounted on the loading lifting mechanism (32), and the loading lifting mechanism (32) is mounted on the frame (2).

3. The intelligent tile laying robot with adaptive travel spacing according to claim 1, characterized in that, The walking system (1) includes a chassis (11) and multiple steering wheels (12). The multiple steering wheels (12) are distributed below the chassis (11). Each steering wheel (12) is respectively provided with a steering wheel rotation motor (121) and a travel motor. The steering wheel (12) is connected to the corresponding steering wheel rotation motor (121) and the corresponding travel motor.

4. The intelligent tile laying robot with adaptive travel spacing according to claim 2, characterized in that, The cement application system (4) includes a cement box (41) and a cement scraper (42). The cement box (41) is installed on the storage platform (31), and the cement scraper (42) is installed on the front end face of the cement box (41).

5. The intelligent tile laying robot with adaptive travel spacing according to claim 2, characterized in that, The lifting mechanism (32) includes a synchronous pulley set (321), a stepper motor (322), two ball screws (323), and a sliding guide assembly (324). The two ball screws (323) are symmetrically arranged on both sides of the platform (31). Each ball screw (323) is fitted with a screw nut (3231). The platform (31) is fixedly connected to each screw nut (3231) and the sliding guide assembly (324). The stepper motor (322) is connected to the two ball screws (323) through the synchronous pulley set (321).

6. The intelligent tile laying robot with adaptive travel spacing according to claim 5, characterized in that, The sliding guide assembly (324) includes a slider (3241) and a light rod (3242). The light rod (3242) is fixed on the frame (2). The slider (3241) is fitted onto the light rod (3242) and is fixedly connected to the storage platform (31).

7. The intelligent tile laying robot with adaptive travel spacing according to claim 1, characterized in that, The hoisting system (5) includes a mobile module (51), a hoisting lifting mechanism (52), and a suction cup assembly (53). The mobile module (51) is installed on the upper part of the frame (2), the hoisting lifting mechanism (52) is installed on the mobile module (51), and the suction cup assembly (53) is installed on the lower end of the hoisting lifting mechanism (52).

8. The intelligent tile laying robot with adaptive travel spacing according to claim 7, characterized in that, The moving module (51) includes two X-axis linear moving modules (511), one Y-axis linear moving module (512), and a second stepper motor (513) and a lead screw motor (514) respectively corresponding to each of the linear moving modules (51). The two X-axis linear moving modules (511) are symmetrically installed on the left and right sides of the upper part of the frame (2), and the Y-axis linear moving module (512) is installed on the two X-axis linear moving modules (511).

9. The intelligent tile laying robot with adaptive travel spacing according to claim 8, characterized in that, The hoisting and lifting mechanism (52) includes a lifting bracket (521), a worm gear (522), a worm (523), and a worm motor (524). The worm motor (524) is mounted on the Y-axis linear motion module (512). The worm gear (522) is connected to the output end of the worm motor (524). The worm (523) meshes with the worm gear (522) and is vertically arranged. The lifting bracket (521) is fixed to the lower end of the worm (523).

10. The intelligent tile laying robot with adaptive travel spacing according to claim 8, characterized in that, The suction cup assembly (53) includes a plurality of vacuum suction cups (531) and a vacuum pump (532). The plurality of vacuum suction cups (531) are mounted on the lifting bracket (521), and the vacuum pump (532) is fixed on the lifting bracket (521) and communicates with each of the vacuum suction cups (531).

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