Floor tile paving robot

Abstract

The floor tile paving robot comprises a robot box body, a mechanical arm, a tool replacing unit, a tool loading unit, a cleaning tool unit and an assemblable tool structure, the mechanical arm, the tool replacing unit and the cleaning tool unit are all arranged on the robot box body, the tool loading unit is arranged on the tool replacing unit, and the tool loading unit is arranged on the tool replacing unit. The tool loading unit is used for loading tools of different types, the tool assembling structure is arranged at the tail end of the mechanical arm, and the mechanical arm works after the tool assembling structure at the tail end is assembled with the corresponding tools. The tool replacing unit is used for being matched with the assemblable tool structure so as to transfer tools between the tool loading unit and the assemblable tool structure, and the tool cleaning unit is used for cleaning the used tools clearly. According to the floor tile paving machine, all basic steps needed by manual floor tile paving can be replaced by one machine, and the situation that a pipe opening is blocked by cement mortar can be prevented.

Description

Technical Field

[0001] The utility model relates to the field of automated transformation and intelligent construction in the construction industry, and in particular to a floor tile paving robot. Background Art

[0002] The basic steps for laying floor tiles include measuring dimensions, preparing cement mortar, applying cement mortar, smoothing, laying tiles and caulking. Laying small and complex floor tiles is difficult and requires high manual skills.

[0003] Existing floor tile laying robots, such as the "A Tile Laying Device and Tile Laying Robot" disclosed by Zhou Qi et al. in the Chinese invention patent CN111779245A, are equipped with a silo conveying device, a gluing device, and a laying device. The silo storing tiles grabs the tiles to the laying device through the conveying device to achieve continuous automatic feeding. A moving scraper is set at the bottom of the front plate of the robot to scrape the tile adhesive. For example, the laying robot designed by Liu Kan ([1] Liu Kan. Design and Research of New Laying Robot [D]. Jiangnan University, 2022. DOI: 10.27169 / d.cnki.gwqgu.2021.000299.) cannot achieve complete laying automation. It requires manual assistance to lay the xy axis of the ground track to the specified area, and then lay regular floor tiles according to the specified straight line trajectory. When it comes to the next laying area, the xy axis needs to be laid again, which is not suitable for complex and irregular environments. Although the paving robots mentioned above can basically measure dimensions, apply cement mortar, smooth and accurately lay tiles, they cannot fill seams. Moreover, the floor tile paving robots are large in size and can only be used for laying on flat terrain, and can only lay the most basic regular-shaped tiles. The residual cement mortar on the outside of the coating nozzle will harden in contact with the air, which often leads to blockage of the nozzle.

[0004] Li Yueqin et al.'s invention patent CN111305532A discloses a robot for laying floor tiles and a method for taking floor tiles, which has a single function and can basically only place floor tiles. Although the Mecanum wheel can move freely in multiple directions, the irregular shape of the wheel will cause a large pressure on the ground, which can easily destroy the flatness of the cement sand bricks, affect the paving quality, and is easy to slip. Utility Model Content

[0005] In order to solve at least one of the problems existing in the prior art and realize building automation, the utility model proposes a small complex floor tile paving robot, which can realize operations such as applying cement mortar, leveling, laying small complex tiles and filling seams, and can clean tools to prevent the occurrence of pipe blockage.

[0006] In order to achieve the purpose of the utility model, the utility model provides a floor tile laying robot, including a robot box, a robot arm, a tool replacement unit, a tool loading unit, a cleaning tool unit and an assembleable tool structure.

[0007] The robotic arm, tool replacement unit and tool cleaning unit are all arranged on the robot box. The tool loading unit is arranged on the tool replacement unit. The tool loading unit is used to load different types of tools. The mountable tool structure is arranged at the end of the robotic arm. The robotic arm operates after assembling the corresponding tool at the mountable tool structure at the end. The tool replacement unit is used to cooperate with the mountable tool structure to transfer the tool between the tool loading unit and the mountable tool structure. The tool cleaning unit is used to clean the tools after use.

[0008] Furthermore, the tool replacement unit includes a turntable, a telescopic rotating shaft and a rotary tool manipulator. The turntable is rotatably arranged, and different types of tools loaded by the tool loading unit are located at different positions of the turntable. The rotary tool manipulator is connected to the output end of the telescopic rotating shaft and is used to drive the rotary tool manipulator to rotate and reciprocate. The rotary tool manipulator is used to clamp the tool.

[0009] Furthermore, it also includes a protective cover, and the telescopic rotating shaft is arranged in the protective cover.

[0010] The hollow end of the turntable main shaft is connected to a cleaning liquid nozzle, and an external bearing of the cleaning liquid nozzle is fixed to the protective cover.

[0011] Furthermore, it also includes a turntable rotating motor, which is used to drive the turntable to rotate.

[0012] Furthermore, a clamping slot is provided at the end of the rotary tool manipulator, and a first spring and a wedge-shaped pin are provided in the clamping slot, and the tool loading clamp and the tool are loaded and clamped by the action force of the first spring.

[0013] Furthermore, the telescopic rotating shaft includes a tool replacement rotating motor and a telescopic cylinder arranged at the output end of the tool replacement rotating motor.

[0014] Furthermore, the cleaning tool unit includes a turntable housing, a cleaning liquid nozzle, a cleaning liquid return pipe and a cleaning liquid storage tank. A top hole is provided on the turntable housing. The cleaning liquid nozzle is arranged on the turntable through a bearing. One end of the cleaning liquid return pipe is connected to the cleaning liquid storage tank, and the other end can be opposite to the top hole.

[0015] Furthermore, a filter screen is provided at the other end of the cleaning liquid return pipe. The cleaning liquid can be filtered through the filter screen. The cleaning liquid flows back through the filter screen and then flows back into the cleaning liquid storage box for reuse.

[0016] Furthermore, a notch is provided on the turntable housing; the tool loading unit includes a tool loading cylinder and a tool loading clamp, the tool loading clamp can be detachably loaded in the tool loading cylinder, the tool loading cylinder is connected to the turntable, and the tool loading cylinder can be rotated through a rotating shaft so that the head of the tool on the tool loading clamp faces downward and extends out of the notch so that the tool replacement unit can clamp the tool loading clamp.

[0017] Furthermore, a plurality of tool loading units are provided, the tool loading units are arranged at intervals on the turntable, and each tool loading unit is used to load different types of tools. Preferably, the tool loading units are arranged equidistantly on the turntable.

[0018] Furthermore, a pull nail is provided at the tail of the tool loading clamp, and a pull nail groove is provided on the pull nail;

[0019] The assembleable tool structure includes a tool positioning frame, a tool handle pull rod, a second spring, a clamping rotary motor, a clamping claw and a tool fixing ball. The tool positioning frame is hollow inside and a groove is formed in the hollow part. The second spring is located in the tool handle pull rod, and the clamping claw is located on the outside of the tool handle pull rod. A clamping hole is formed on the clamping claw, and the tool fixing ball is clamped in the clamping hole. The tool fixing ball protrudes from the clamping hole and the protruding part can be positioned in the groove of the tool positioning frame. The clamping rotary motor is connected to the clamping claw for driving. When the tool is assembled to the end of the robotic arm, the tool loading clamp loaded with the tool is inserted into the assembleable tool structure through the hollow part of the tool positioning frame and pushes the tool handle pull rod to move away from the tool positioning frame. The clamping rotary motor drives the clamping claw to move to drive the tool fixing ball to leave the groove of the tool positioning frame and clamp it into the rivet groove to achieve clamping of the tool.

[0020] Furthermore, it also includes a material storage and placement unit, which includes a caulking agent storage box, a cement mortar storage box and a tile placement position. The caulking agent storage box and the cement mortar storage box are both located in the robot box and are used to provide caulking agent and cement mortar to the tool set at the end of the robot arm. The tile placement position is set on the outer wall of the robot box for placing tiles.

[0021] Furthermore, the tile placement position includes an inclined plate and a plurality of placement strips fixed on the inclined plate at intervals.

[0022] Compared with the prior art, the present invention can at least achieve the following beneficial effects:

[0023] (1) The utility model can replace all the basic steps required for manual laying of floor tiles with a machine, from preparing tools, laying cement mortar, smoothing, laying floor tiles to filling seams.

[0024] (2) The utility model adopts an automatic multi-tool replacement similar to the tool changing system of a machining center, which can realize the replacement of multiple tools.

[0025] (3) The brick-laying robot of the utility model uses crawler wheels for walking. Compared with Mecanum wheels, it has a larger force-bearing area and a smaller pressure on the ground, thereby reducing damage to the ground. At the same time, it can realize multi-directional walking, and the driving is smoother, thereby improving the paving quality.

[0026] (4) The utility model can clean tools after operation, preventing cement mortar residue in the tool nozzle from hardening and clogging the nozzle due to contact with air, and the cleaning liquid can be reused after returning. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the vertical overall structure of a floor tile paving robot provided in an embodiment of the utility model.

[0028] Figure 2 It is a schematic diagram of the three-dimensional structure of the cement mortar nozzle in the tool loading unit in the embodiment of the utility model.

[0029] Figure 3 It is a schematic diagram of the three-dimensional structure of the caulking nozzle in the tool loading unit in the embodiment of the utility model.

[0030] Figure 4 It is a schematic diagram of the three-dimensional structure of the smoothing tool in the tool loading unit in the embodiment of the utility model.

[0031] Figure 5 It is a schematic diagram of the three-dimensional structure of the suction cup in the tool loading unit in the embodiment of the utility model.

[0032] Figure 6 It is a schematic diagram of loading a tool fixture of a tool loading unit in an embodiment of the utility model.

[0033] Figure 7 It is a schematic diagram of the three-dimensional structure of the tool replacement unit in the embodiment of the utility model.

[0034] Figure 8 It is a schematic diagram of the back three-dimensional structure of the tool replacement in the embodiment of the utility model.

[0035] Fig. 9 It is a schematic diagram of the three-dimensional structure of the back side of the tool replacement in the embodiment of the utility model (partial protection cover is omitted).

[0036] Fig.10 This is a schematic diagram of the crawler wheel, stepper motor and tile placement position in the embodiment of the utility model.

[0037] Fig.11 It is a schematic cross-sectional structure diagram of a tool assembly structure at the end of a six-axis robot arm in an embodiment of the present utility model.

[0038] Fig.12It is a structural schematic diagram of the tool structure that can be assembled in the embodiment of the utility model (the tool fixing ball is stuck in the rivet groove).

[0039] Fig.13 It is a schematic diagram of the overall structure of an embodiment of the utility model.

[0040] In the figure, 1. cement mortar nozzle, 2. cement mortar storage box, 3. caulking nozzle, 4. leveling tool, 5. caulking agent storage box, 6. suction cup, 7. turntable, 8. turntable shell, 9. cleaning liquid nozzle, 10. cleaning liquid return pipe, 11. protective cover, 12. telescopic cylinder, 13. tool replacement rotating motor, 14. telescopic rotating tool changing manipulator, 15. tile placement position, 16. clamping rotating motor, 17. tool fixing ball, 18. tool Pull rod with handle, 19. Computer vision control center, 20. Tool loading cylinder, 21. Tool loading clamp, 22. Cleaning liquid storage box, 23. Robot arm, 24. Track wheel, 25. Rotating shaft, 26. Pull nail groove, 27. Second spring, 28. Stepper motor, 29. Track wheel, 30. Turntable rotation motor, 31. Shell rotation motor, 32. Clamping claw, 33. Tool positioning frame, 34. Fixed shaft, 35. Robot box, 36. Groove. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0042] See also Figures 1 to 13 The utility model provides a multifunctional small-sized complex floor tile paving robot for building automation, comprising a robot box 35, a tool loading unit, a tool replacement unit, a cleaning tool unit and a material storage and placement unit, and a six-axis robot arm is arranged on the robot box 35. Track wheels are arranged at the bottom of the robot to realize walking, and the track wheels are driven by a stepper motor. The track wheels and the stepper motor used to drive the track wheels to walk can reduce the pressure on the ground. Compared with the wheel type, the track type has a larger force area and a smaller pressure on the ground, which reduces the damage to the ground, and at the same time improves the grip, prevents the robot from slipping, and makes the robot safer and more stable; at the same time, it can realize multi-directional walking, the driving is more stable, and the paving quality is improved.

[0043] The tool replacement unit is disposed on the robot housing 35 , and the tool loading unit is built in the tool replacement unit.

[0044] The tool loading unit includes a tool loading cylinder and a tool loading clamp 21. The tool loading clamp 21 is loaded in the tool loading cylinder 20. A pair of fixed shafts 34 passing through the center of the turntable are provided in the middle and lower part of the tool loading cylinder 20 and fixed on the turntable. Below the fixed shaft 34, the lower end of the tool loading cylinder 20 clamps the tool loading cylinder 20 through a rotating shaft 25 with a bearing. A pull nail is provided at the end of the tool loading clamp 21, and a pull nail groove 25 is provided on the pull nail. Figure 6 As shown. The front end of the tool loading clamp 21 is used to load tools, including a cement mortar nozzle 1, a caulking nozzle 3, a smoothing tool 4 and a suction cup 6. A plurality of tool loading barrels 20 and tool loading clamps 21 are provided to load different types of tools. The plurality of tool loading barrels 20 loaded with different types of tools are distributed on the turntable 7 in a surrounding array.

[0045] The tool loading clip 21 can be detachably sleeved in the tool loading tube 20, and can be separated from the tool loading tube 20 when replaced. In some embodiments of the present utility model, both the tool loading clip 21 and the tool loading tube 20 are provided with tapers, and the inner conical surface of the tool loading tube 20 has magnetic material, and when the tool loading clip 21 is inserted into the tool loading tube 20, the taper portion of the tool loading clip 21 matches the taper portion of the tool loading tube 20, and the inner conical surface of the tool loading tube 20 fixes the tool loading clip 21 by magnetic attraction and friction.

[0046] In some embodiments of the present invention, the tool loading clamp 21 is in the form of a trapezoidal disc at the upper end and a spherical ball at the lower end (the spherical ball is a pull nail, which plays the role of locking when loading tools), and a through hole is opened on the tool loading clamp 21 so that cement mortar or filler can pass through, and the front end of the tool loading clamp 21 can be loaded with tools.

[0047] The tool replacement unit includes a turntable 7, a telescopic rotating shaft and a rotating tool manipulator 14. The turntable 7 is rotatably arranged. The telescopic rotating shaft includes a telescopic cylinder 12 and a tool replacement rotating motor 13. The telescopic cylinder 12 is arranged at the output end of the tool replacement rotating motor 13. The rotating tool manipulator 14 is arranged at the output end of the telescopic cylinder 12. A spring-loaded slot is arranged at the end of the telescopic rotating tool replacement manipulator 14 for clamping the tool.

[0048] In some embodiments of the present invention, a turntable rotating motor 30 is further included. A gear is arranged in the center of the turntable 7. The turntable rotating motor 30 drives the gear to rotate, thereby driving the turntable 7 to rotate, and further driving the tool loading unit arranged on the turntable 7 to rotate to change its position.

[0049] In some embodiments of the present invention, a housing rotating motor 31 is further included. The turntable housing 8 is connected to the output end of the housing rotating motor 31 and can rotate independently under the drive of the housing rotating motor 31 .

[0050] In some embodiments of the present invention, the telescopic rotating shaft is located in the protective cover 11 , and the telescopic end of the telescopic cylinder 12 extends out of the protective cover 11 and is connected to the rotating tool manipulator 14 .

[0051] In some embodiments of the present invention, the middle position of the rotary tool manipulator 14 is connected to the telescopic cylinder 12, and both ends of the rotary tool manipulator 14 are provided with a slot, and a first spring and a wedge pin are installed in the slot. When changing the tool, the tool loading clamp 21 squeezes the wedge pin together with the tool, and the first spring is squeezed by the inclined force of the wedge pin to form an opening on the rotary tool manipulator 14, and the tool is loaded. The first spring acts on the wedge pin, and the force is squeezed on the tool, thereby clamping the tool.

[0052] The cleaning tool unit includes a turntable housing 8, a cleaning liquid spray head 9, a cleaning liquid storage tank 22 and a cleaning liquid return pipe 10. The turntable housing 8 is rotatably arranged, and the turntable 7 is located in the turntable housing 8. A notch and a top hole are provided on the side wall of the turntable housing 8, and the notch and the top hole are arranged oppositely. The cleaning liquid spray head 9 is located at the hollow end of the main shaft of the turntable 7, and the external bearing of the cleaning liquid spray head 9 is fixed to the protective cover 11. One end of the cleaning liquid return pipe 10 is connected to the cleaning liquid storage tank 22, and the other end is used to be opposite to the notch on the turntable housing 8, and a distance is left between the turntable housing 8. During operation, the notch remains at the bottom. After using the tool, the turntable housing 8 is rotated to rotate the top hole to the bottom position, so that the top hole is opposite to the cleaning liquid return pipe 10 with the filter screen, so that the cleaned water can flow into the cleaning liquid return pipe 10 through the top hole.

[0053] Specifically, during cleaning, the tool to be cleaned is turned to the bottom through the turntable 7, and the turntable shell 8 is turned 180 degrees so that the top hole of the turntable shell 8 is turned to be opposite to the cleaning liquid return pipe 10 located at the bottom, that is, as shown in the figure, it is turned to the bottom, and the cleaning liquid return pipe 10 with a filter is received in the air at a small distance. The cleaning liquid nozzle 9 sprays liquid downward to clean the tool, and the cleaning liquid flows into the cleaning liquid return pipe 10 along the top hole of the turntable shell 8 due to gravity.

[0054] Among them, each tool after use is turned to the bottom, and then the nozzle sprays liquid downward for cleaning, which is conducive to the recovery of the cleaning liquid after cleaning.

[0055] In some embodiments of the present invention, the turntable housing 8 is in the shape of a trapezoidal disc with an inward buckle, and the cleaning liquid flows back along the inner wall of the turntable housing 8 to the notch, then flows into the cleaning liquid reflux pipe 10 through the notch, and then flows back to the cleaning liquid storage tank 22.

[0056] In some embodiments of the present invention, a filter screen is disposed on one end of the cleaning liquid return pipe 10 .

[0057] The storage and placement material unit includes a caulking agent storage box 5, a cement mortar storage box 2 and a tile placement position 15. The tile placement position 15 is located on the outer wall of the box body 35, the caulking agent storage box 5, the cement mortar storage box 2 and the cleaning liquid storage box 22 are all located in the robot box body 35, the caulking agent storage box 5 and the cement mortar storage box 2 are connected in parallel to the bottom of the robot arm, and communicate with the channel located inside the robot arm, and the cement mortar or caulking agent is pumped into the channel located inside the robot arm through an air pump, and then sprayed out through the cement mortar nozzle 1 or the caulking nozzle 3.

[0058] In some embodiments of the present invention, there are openable holes on the top of the caulking agent storage box 5 and the cement mortar storage box 2, and the cement mortar storage box and the caulking agent storage box are connected in parallel to the bottom of the robotic arm.

[0059] In some embodiments of the present invention, the outer wall of the robot box 35 provided with the tile placement position 15 is inclined (or an inclined plate is provided on the outer wall of the robot box 35), and a plurality of placement strips are evenly spaced on the outer wall (inclined plate) of the robot box 35, and the tail ends of the placement strips are inclined upward. The robot box 35 is inclined (or an inclined plate is provided) so that the floor tiles to be laid can be placed against the inclined surface, and the thin side of the floor tiles can be placed perpendicular to the placement strips, and the floor tiles can be sucked from the inclined surface and laid, which is more labor-saving than directly sucking the horizontally placed floor tiles.

[0060] Preferably, the placement strip is a cylindrical strip. The tile placement position adopts a cylindrical equidistant array, and the floor tile placement structure with its back against the inclined surface is conducive to the placement of floor tiles with complex shapes.

[0061] The end of the robot arm 23 is provided with a tool-mountable structure, through which tools are assembled to load the required tools on the robot arm. The tool-mountable structure includes a tool positioning frame 33, a tool handle rod 18, a second spring 27, a clamping rotary motor 16, a clamping claw 33 and a tool fixing ball 17. The tool positioning frame 33 is hollow inside, and a plurality of grooves 36 are formed in the concave circumference of the hollow part (in some embodiments of the utility model, 4 grooves are formed); the second spring 27 is provided in the tool handle rod 18, one end of the second spring 27 abuts against the tool handle rod 18, and the other end abuts against the tool-mountable structure. The internal fixing points of the structure are used to provide tensioning force for the tool handle pull rod 18; the clamping rotating motor 16 is connected to the clamping claw 33 through a crank connecting rod, and the clamping claw 33 is located outside the tool handle pull rod 18, and the ends of the tool handle pull rod 18 and the clamping claw 33 are both located in the hollow part of the tool positioning frame 33; the clamping claw 33 is provided with a clamping hole, each clamping hole is provided with a tool fixing ball 17, and the tool fixing ball 17 protrudes from the clamping hole, and the protruding part can be clamped into the groove 36. In the initial position, the protruding part of the tool fixing ball 17 is located in the groove 36. When the tool loading clamp 21 is inserted into the mountable tool structure through the hollow part of the tool positioning frame 33, as the tool loading clamp 21 continues to be inserted inward, the tool handle pull rod 18 is pushed by the tool loading clamp 21 and moves in the direction away from the tool positioning frame 33 (the head of the mountable tool structure) under the action of the second spring 27. At the same time, the clamping rotation motor 16 works, and drives the clamping claw 33 to move toward the head of the mountable tool structure through the crank pull rod, so that the tool fixing ball 17 can be driven to disengage from the groove 36 and move into the rivet groove 26 of the tool loading clamp 21. The tool loading clamp 21 is clamped by clamping a plurality of tool fixing balls 17 arranged circumferentially in the rivet groove 26 of the tool loading clamp 21 at the same time. Fig.12 As shown, the required tools can be loaded onto the robot arm.

[0062] In some embodiments of the present invention, the tool fixing ball is a steel ball, and the second spring is a butterfly spring.

[0063] When the robot provided in the above embodiment is working, the end of the robot arm 23 stops at a side of the protective cover 11 that is not close to the turntable 7, and the turntable rotating motor 30 drives the turntable 7 to rotate, so that the tool loading barrel 20 loaded with the cement mortar nozzle 1 rotates to the bottom of the turntable 1 to face the notch on the turntable housing 8. The tool loading barrel 20 is driven by an independent motor to rotate 120 degrees outside the axial center of its rotating shaft 25, so that the cement mortar nozzle 1 is vertically downward and extends out of the notch on the turntable housing 8. The telescopic rotating tool changing manipulator 14 connected to the tool replacement rotating motor 13 rotates 90 degrees counterclockwise, so that the tool loading clamp 21 loaded with the cement mortar nozzle 1 is clamped by the telescopic rotating tool manipulator 14, and the telescopic cylinder 12 extends downward to pull the tool loading clamp 21 out of the tool loading barrel 20, and the tool replacement rotating motor 13 rotates 180 degrees so that the tool loading clamp 21 is facing the robot arm 23. The tool holder 21 is then moved into engagement with the tool loader 21 and the tool loader 21 is moved into engagement with the tool loader 21. The second spring 27 is tightened inward, and the tool fixing balls 17 in the circumferential direction clamp the pull nails to clamp the tool loading clamp 21, so that the cement mortar nozzle 1 is loaded on the end of the robot arm, and the telescopic rotating tool changing manipulator 14 is rotated 90 degrees clockwise to return to the original position. When cleaning is required, the cement mortar nozzle 1 is transferred from the end of the robot arm back to the turntable 7 for cleaning. Generally, cleaning is performed after all tools are used and all tools are transferred to the turntable for cleaning.

[0064] The computer vision control center 19 is used to capture the floor tiles and the working area images, the floor tile features are extracted and compared with the ideal images, and the crawler wheels 29 are used to drive to the designated position. The mechanical arm 23 vibrates at a frequency of 10 to 30 Hz and an amplitude of 1 to 5 mm, while the cement mortar nozzle 1 outputs cement mortar and applies it on a specific track to obtain a specific shape. Among them, the method of extracting features and comparing adopts the existing method, and the utility model does not involve the improvement of the algorithm.

[0065] After the smearing is completed, the end of the mechanical arm 23 stops at the side of the protective cover 11 that is not close to the turntable 7, and the telescopic rotating tool changing manipulator 14 connected to the tool replacement rotating motor 13 rotates 90 degrees, so that the tool loading clamp 21 loaded with the cement mortar nozzle 1 is clamped by the telescopic rotating tool manipulator 14, and the telescopic cylinder 12 extends downward, and the tool replacement rotating motor 13 rotates 180 degrees to make the tool loading clamp 21 face the tool loading tube 20, and the telescopic cylinder 12 is retracted upward to its original position, and the tool loading clamp 21 equipped with the cement mortar nozzle 1 is fixed with the soft rubber fit in the tool loading tube 20, and the tool loading tube 20 rotates 120 degrees within the center of the bottom axis to load the cement mortar nozzle 1 back onto the turntable 7; the turntable rotating motor 30 drives the turntable 7 to rotate, so that the tool loading tube 20 loaded with the smoothing tool 4 rotates to be opposite to the notch of the turntable housing 8, and the tool loading tube 20 is rotated 120 degrees outside the center of the bottom axis, and the head of the smoothing tool 4 is vertically downward, and the telescopic rotating tool changing manipulator The tool holder 14 is rotated 90 degrees counterclockwise so that the tool loading clamp 21 loaded with the smoothing tool 4 is clamped by the telescopic rotary tool manipulator 14, the telescopic cylinder 12 extends downward, the tool replacement rotary motor 13 rotates 180 degrees counterclockwise so that the tool loading clamp 21 is directly opposite to the end of the mechanical arm 23, the telescopic cylinder 12 is retracted upward to its original position and the tool loading clamp 21 is inserted into the assembleable tool structure, the tool handle pull rod 18 is pushed by the tool loading clamp 21 and moves in a direction away from the tool positioning frame 33 under the action of the second spring 27, the clamping rotary motor 16 and the crank connecting rod in the end of the mechanical arm 23 act to make the clamping claw 32 extend outward (that is, move toward the head direction of the assembleable tool structure), the tool fixing ball 17 is clamped in the rivet groove 26, and the rivet is clamped by multiple tool fixing balls 17 in the circumferential direction to achieve the clamping of the tool loading clamp 21, and the loading of the smoothing tool on the mechanical arm 23 is completed, and the telescopic rotary tool changing manipulator 14 rotates 90 degrees clockwise to return to its original position, and the tool switching operation is simple, concise and clear.

[0066] The smoothing tool 4 follows the route of applying cement mortar in the previous step, and performs preliminary application at a preset elevation angle such as 45 degrees to initially smooth the cement, and then performs fine application at a preset elevation angle such as 20 degrees to eliminate the traces and unevenness left by the preliminary smoothing one by one.

[0067] After smoothing, the tool on the robot arm 23 is replaced with the suction cup 6 in a similar way to replacing the cement mortar nozzle 1 and the smoothing tool 4. The computer vision control center 19 extracts the floor tile features and compares them with the ideal image. The robot arm 23 lifts the tile from the tile placement position 15 through the suction cup 6 and places it at the designated position. In this way, complex floor tiles such as fishtail tiles, herringbone tiles, irregular splicing tiles, etc. can be laid.

[0068] After all the tiles are placed, the tool loaded on the robot arm 23 is replaced with a caulking nozzle 3 in a similar manner to replacing the cement mortar nozzle 1 and the smoothing tool 4. The caulking nozzle 3 outputs caulking agent from the caulking agent storage box 5 for caulking.

[0069] After using the tool, the outer shell rotating motor 31 rotates the turntable outer shell 8 to rotate until the top hole faces downward, and the cleaning liquid nozzle 9 sprays cleaning liquid outward to clean the tool head to prevent the cement mortar from hardening in contact with the air and blocking the tool port. The liquid flows back into the top hole due to gravity and along the inner wall of the turntable outer shell 8, and flows back into the cleaning liquid storage tank 22 from the cleaning liquid reflux pipe 10 through the filter mesh.

[0070] The above is a basic introduction to the robot for building automation and laying small complex floor tiles provided in the embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The above embodiment description is only used to help understand the technical solution and core idea of ​​the present application; so that ordinary technicians in the relevant field can better understand and utilize the utility model, or modify or replace some of the technical features therein.

Claims

1. A floor tile laying robot, characterized in that: It includes a robot box, a robot arm, a tool replacement unit, a tool loading unit, a cleaning tool unit and an assembleable tool structure. The robotic arm, tool replacement unit and tool cleaning unit are all arranged on the robot box. The tool loading unit is arranged on the tool replacement unit. The tool loading unit is used to load different types of tools. The mountable tool structure is arranged at the end of the robotic arm. The robotic arm operates after assembling the corresponding tool at the mountable tool structure at the end. The tool replacement unit is used to cooperate with the mountable tool structure to transfer the tool between the tool loading unit and the mountable tool structure. The tool cleaning unit is used to clean the tool after use.

2. A floor tile paving robot according to claim 1, characterized in that: The tool replacement unit includes a turntable, a telescopic rotating shaft and a rotary tool manipulator. The turntable is arranged to rotate. Different types of tools loaded by the tool loading unit are located at different positions of the turntable. The rotary tool manipulator is connected to the output end of the telescopic rotating shaft to drive the rotary tool manipulator to rotate and reciprocate. The rotary tool manipulator is used to clamp the tool.

3. A floor tile paving robot according to claim 2, characterized in that: The end of the rotary tool manipulator is provided with a clamping slot, in which a first spring and a wedge-shaped pin are arranged, and the tool loading clamp and the tool are loaded and clamped by the action force of the first spring.

4. A floor tile paving robot according to claim 2, characterized in that: The telescopic rotating shaft comprises a tool replacement rotating motor and a telescopic cylinder arranged at the output end of the tool replacement rotating motor.

5. A floor tile paving robot according to claim 1, characterized in that: The cleaning tool unit includes a turntable shell, a cleaning liquid nozzle, a cleaning liquid return pipe and a cleaning liquid storage tank. The turntable shell is provided with a top hole. The cleaning liquid nozzle is arranged on the turntable through a bearing. One end of the cleaning liquid return pipe is connected to the cleaning liquid storage tank, and the other end can be opposite to the top hole.

6. A floor tile paving robot according to claim 5, characterized in that: A notch is provided on the turntable shell; the tool loading unit includes a tool loading cylinder and a tool loading clamp, the tool loading clamp can be detachably loaded in the tool loading cylinder, the tool loading cylinder is connected to the turntable, and the tool loading cylinder can be rotated by a rotating shaft so that the head of the tool on the tool loading clamp faces downward and extends out of the notch so that the tool replacement unit can clamp the tool loading clamp.

7. A floor tile paving robot according to claim 6, characterized in that: A pull nail is arranged at the tail of the tool loading clamp, and a pull nail groove is arranged on the pull nail; The assembleable tool structure includes a tool positioning frame, a tool handle pull rod, a second spring, a clamping rotary motor, a clamping claw and a tool fixing ball. The tool positioning frame is hollow inside and a groove is formed in the hollow part. The second spring is located in the tool handle pull rod, and the clamping claw is located on the outside of the tool handle pull rod. A clamping hole is formed on the clamping claw, and the tool fixing ball is clamped in the clamping hole. The tool fixing ball protrudes from the clamping hole and the protruding part can be positioned in the groove of the tool positioning frame. The clamping rotary motor is connected to the clamping claw for driving. When the tool is assembled to the end of the robotic arm, the tool loading clamp loaded with the tool is inserted into the assembleable tool structure through the hollow part of the tool positioning frame and pushes the tool handle pull rod to move away from the tool positioning frame. The clamping rotary motor drives the clamping claw to move to drive the tool fixing ball to leave the groove of the tool positioning frame and clamp it into the rivet groove to achieve clamping of the tool.

8. A floor tile paving robot according to claim 1, characterized in that: It also includes a material storage and placement unit, which includes a caulking agent storage box, a cement mortar storage box and a tile placement position. The caulking agent storage box and the cement mortar storage box are both located inside the robot box and are used to provide caulking agent and cement mortar to the tool set at the end of the robot arm. The tile placement position is set on the outer wall of the robot box and is used to place tiles.

9. A floor tile paving robot according to claim 8, characterized in that: The tile placement position comprises an inclined plate and a plurality of placement strips fixed on the inclined plate at intervals.

10. A floor tile paving robot according to any one of claims 1 to 9, characterized in that: Track wheels are arranged at the bottom of the robot.

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