Tile laying robot

Abstract

The utility model discloses a tile laying robot which comprises a walking vehicle body, a bottom frame, a material bearing plate, a tile transferring mechanism, a roller conveying mechanism, a material blocking mechanism and a tile laying mechanism. The bottom frame is installed on the walking vehicle body, the bearing plate is fixedly installed on the bottom frame, and the tile transferring mechanism is used for grabbing tiles located on the bearing plate and transferring the tiles to the roller conveying mechanism and comprises a supporting frame, a horizontal moving module, a vertical moving module, a connecting frame and a first grabbing module. The roller conveying mechanism comprises a plurality of groups of rollers and a driving device for driving the rollers to rotate, the material blocking mechanism comprises a plurality of baffles arranged at the tail end of the tile conveying channel, and the tile laying mechanism is in butt joint with the roller conveying mechanism and is used for laying tiles conveyed in place by the roller conveying mechanism to the road surface. A plurality of functional modules are integrated, the overall automation degree is improved, the laying efficiency is remarkably improved, and the tile laying machine can be suitable for different tile laying requirements and working environments.

Description

Technical Field

[0001] This utility model relates to municipal construction equipment, specifically a tile laying robot. Background Technology

[0002] Paving bricks are a type of paving material widely used in urban roads, squares, gardens, parking lots, and other places. They offer a high degree of freedom in style and shape, enhancing the aesthetics and practicality of roads and creating unique landscape effects.

[0003] Current tiling techniques primarily rely on manual labor, which is not only labor-intensive but also inefficient, making it difficult to meet the demands of large-scale, high-efficiency tiling. To improve tiling efficiency and reduce labor costs, some simple mechanized devices for tiling have emerged. However, most of these devices can only perform single handling or tiling actions, leading to the need for multiple devices to work together in actual projects. This increases operational complexity and costs, and the lack of overall automation and intelligent control results in low work efficiency and requires significant manual intervention. Summary of the Invention

[0004] To address the problems existing in the prior art, this utility model provides a highly automated paving robot that significantly improves paving efficiency and construction quality by integrating multiple functional modules.

[0005] The technical solution adopted by this utility model is as follows: a patterned tile laying robot, including a walking vehicle body, a base frame, a material support plate, a patterned tile transfer mechanism, a roller conveying mechanism, a material blocking mechanism, and a patterned tile laying mechanism;

[0006] The base frame is mounted on the walking vehicle body and serves as the support structure for the entire robot, used for installing and fixing other functional modules;

[0007] The material support plate is fixedly installed on the base frame and is used to support the patterned bricks to be laid;

[0008] The tile transfer mechanism is used to grab the tile located on the support plate and transfer it to the roller conveyor mechanism. It includes a support frame, on both sides of the support frame are horizontal moving modules respectively, the moving end of the horizontal moving module is connected to a vertical moving module, the moving ends of the two vertical moving modules are connected to a connecting frame, and multiple first grabbing modules are installed on the connecting frame.

[0009] The roller conveying mechanism includes multiple sets of rollers and a drive device for driving the rollers to rotate. The rollers are divided into multiple paving brick conveying channels corresponding to multiple first material grabbing modules by multiple partitions.

[0010] The material blocking mechanism includes multiple baffles respectively installed at the tail end of the patterned brick conveying channel;

[0011] The paving brick mechanism is connected to the roller conveyor mechanism and is used to pave the paving bricks conveyed by the roller conveyor mechanism onto the road surface. It includes a moving frame, a drive cylinder, and a second material gripping module. The moving frame is slidably disposed at the tail end of the roller conveyor mechanism. The drive cylinder pushes the moving frame to move back and forth. Multiple second material gripping modules corresponding to the paving brick conveying channel are installed on the moving frame.

[0012] Furthermore, both the first and second gripping modules include cylinders, and the piston rod end of the cylinder is connected to a negative pressure suction cup, which is connected to a negative pressure system.

[0013] Furthermore, the walking vehicle body is equipped with a rotating mechanism, the base frame is connected to the rotating mechanism and is driven to rotate by the rotating mechanism, and two or more first vision positioning modules are installed on both sides of the support frame. The rotating mechanism drives the base frame to rotate according to the signals of the vision positioning modules, thereby realizing the precise positioning and posture adjustment of the robot.

[0014] Furthermore, the material blocking mechanism also includes multiple push cylinders, and multiple baffles are respectively installed on the piston rod end of the push cylinders. The push cylinders adjust the position of the baffles according to the preset target to position each patterned brick conveyed by the roller conveyor mechanism, so that it is staggered or placed flat.

[0015] Furthermore, the mobile frame is provided with multiple strip-shaped mounting slots, and multiple second material gripping modules are installed in the corresponding strip-shaped mounting slots in a staggered or flush manner according to a preset target.

[0016] Furthermore, a second visual positioning module is installed on the mobile frame, which is used to assist in determining the laying position of the patterned tiles.

[0017] Furthermore, a pressing cylinder is installed on each side of the movable frame, and a material placement platform is connected to the tail end of the roller conveyor mechanism. Before the paving bricks are laid on the road, the paving brick laying mechanism transfers the paving bricks to the material placement platform and pushes the paving bricks from both sides through the pressing cylinders, so that each paving brick fits tightly together.

[0018] Furthermore, support legs are provided on both sides of the vehicle body.

[0019] Furthermore, it also includes a mortar leveling mechanism for leveling mortar. The mortar leveling mechanism includes a mounting bracket, a pushing device, a lifting device, and a scraper. The mounting bracket is located below the roller conveying mechanism and slides in cooperation with the roller conveying mechanism. The pushing device is used to drive the mounting bracket to move back and forth. The lifting device is installed at both ends of the mounting bracket. The two ends of the scraper are respectively connected to the moving ends of the lifting device.

[0020] Furthermore, the mounting bracket is also equipped with a ground distance sensing module for obtaining the relative distance between the scraper and the ground.

[0021] This utility model's paving robot integrates multiple functional modules, enabling automatic grasping, transfer, conveying, and laying of paving bricks, thus significantly improving laying efficiency. Utilizing high-precision positioning and grasping technology, it ensures accurate placement of each paving brick, enhancing laying precision and consistency. By adjusting the position of the baffles in the material-blocking mechanism and the installation position of the second material-grabbing module, it can flexibly adjust to different laying requirements, achieving staggered or flush placement of paving bricks, enhancing its flexibility and adaptability. With auxiliary equipment such as a mortar leveling mechanism, the robot can effectively process mortar, ensuring a smooth and firm surface after laying. Integrating multiple sensors and control systems, the robot can achieve precise positioning, grasping, conveying, and laying operations, thereby improving the overall level of automation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0023] Figure 2 This is a schematic diagram of the tile laying mechanism of this utility model.

[0024] Figure 3 This is a schematic diagram of the structure of the roller conveying mechanism, the material blocking mechanism, and the mortar leveling mechanism of this utility model.

[0025] Figure 4 yes Figure 3 A schematic diagram from another perspective. Detailed Implementation

[0026] To facilitate understanding of this utility model, it will be described more comprehensively and in detail below with reference to the accompanying drawings and preferred embodiments. However, the scope of protection of this utility model is not limited to the following specific embodiments.

[0027] like Figures 1-4 As shown, the tile laying robot provided in this embodiment includes a walking vehicle body 1, a base frame 2, a material support plate 3, a tile transfer mechanism 4, a roller conveyor mechanism 5, a material blocking mechanism 9, and a tile laying mechanism 6.

[0028] The mobile vehicle body 1 is the foundation for the robot's movement, enabling the entire robot to move within the work area. Figure 1 The walking vehicle 1 shown is driven by tracks. Support legs 101 are attached to the four corners of the walking vehicle 1. The support legs 101 can be extended and retracted by motors to enhance the stability of the robot during construction operations.

[0029] The base frame 2 is mounted on the walking vehicle body 1 and serves as the support structure for the entire robot, used for installing and fixing other functional modules.

[0030] In this embodiment, a rotating mechanism is also provided on the vehicle body 1, and the base frame 2 is connected to the rotating mechanism and driven to rotate by the rotating mechanism. Two first vision positioning modules 8 are installed on both sides of the support frame 401. After the first vision positioning modules 8 calibrate the coordinates of the curb position, they convert the calculated coordinate values ​​and send them to the rotating mechanism, so that the robot rotates according to the coordinate position, so that the robot is adjusted to be parallel to the curb and paving bricks on the left and right sides, thereby achieving precise positioning and posture adjustment.

[0031] The support plate 3 is fixedly installed on the base frame 2 to support the patterned bricks to be laid. The patterned brick material frame containing the stacked patterned bricks can be placed onto the support plate 3 by a forklift. In addition, a positioning mechanism can be set on the support plate 3 for precise positioning and placement of the patterned brick material frame.

[0032] The tile transfer mechanism 4 is used to grab the tiles located on the support plate 3 and transfer them to the roller conveyor mechanism 5. It includes a support frame 401, on which horizontal moving modules 402 are respectively installed on both sides. The moving ends of the horizontal moving modules 402 are connected to vertical moving modules 403. The moving ends of the two vertical moving modules 403 are connected to a connecting frame 404. Multiple first grabbing modules 405 are installed on the connecting frame 404. Through the coordinated work of the horizontal moving modules 402 and the vertical moving modules 403, the first grabbing modules 405 can move precisely above the tiles to grab them and smoothly transfer them to the roller conveyor mechanism.

[0033] The roller conveyor mechanism 5 is an important bridge connecting the patterned tile transfer mechanism 4 and the patterned tile laying mechanism 6. The roller conveyor mechanism 5 includes multiple sets of rollers 501 and a drive device for driving the rollers 501 to rotate. The rollers are divided into multiple patterned tile conveying channels corresponding to multiple first material grabbing modules 405 by multiple partitions 502. The patterned tiles grabbed by each first material grabbing module 405 can be conveyed to the corresponding channel, realizing the orderly conveying of patterned tiles.

[0034] The material blocking mechanism 9 includes multiple baffles 901 respectively set at the end of the conveying channel of the patterned brick 10, which can prevent the patterned brick 10 from rushing out of the channel due to inertia during the conveying process, and ensure that the patterned brick 10 can accurately stop at the end of the roller conveying mechanism, so as to prepare for subsequent paving work.

[0035] The paving brick laying mechanism 6 is connected to the roller conveyor mechanism 5 and is used to lay the paving bricks conveyed by the roller conveyor mechanism 5 onto the road surface. It includes a movable frame 601, a drive cylinder 602, and a second material-grabbing module 603. The movable frame 601 is slidably mounted at the tail end of the roller conveyor mechanism 5. The drive cylinder 602 pushes the movable frame 601 to move back and forth. Multiple second material-grabbing modules 603, corresponding to the paving brick conveying channel, are mounted on the movable frame 601. After the paving brick 10 is conveyed to the position by the roller conveyor mechanism 5, the drive cylinder 602 pushes the movable frame 601 to move so that the second material-grabbing modules 603 correspond to the paving brick 10. After the second material-grabbing modules 603 start grabbing the paving brick 10, the drive cylinder 602 pushes the movable frame 601 forward. After moving to the correct position, the second material-grabbing modules 603 descend and grab the paving brick 10 onto the mortar surface to complete the laying.

[0036] In this embodiment, a second visual positioning module 605 for assisting in determining the laying position of the patterned bricks is installed on the movable frame 601. The second visual positioning module 605 calibrates the position of the mortar surface, and then calculates and converts the calibrated coordinate values ​​and sends them to the patterned brick laying mechanism 6. The mechanism, through the drive cylinder 602 and the second material gripping module 603, lays the patterned bricks 10 onto the mortar according to their positions.

[0037] In this embodiment, both the first material gripping module 405 and the second material gripping module 603 include cylinders. The piston rod end of the cylinder is connected to a negative pressure suction cup, which is connected to a negative pressure system and grips the patterned bricks by negative pressure adsorption.

[0038] To meet different paving needs and achieve staggered or flush placement of the patterned tiles, the material-blocking mechanism 9 also includes multiple push cylinders 902, with multiple baffles 901 respectively installed on the piston rod ends of the push cylinders 902. The push cylinders 902 move the baffles 901 by adjusting the extension and retraction of their piston rods according to a preset target position. This design allows the material-blocking mechanism 9 to flexibly adjust the position of each patterned tile 10, achieving staggered or flush placement effects.

[0039] The mobile frame 601 is provided with multiple strip-shaped mounting slots 604, and multiple second material grabbing modules 603 are installed in the corresponding strip-shaped mounting slots 604 according to preset targets, either staggered or flush, so as to grab and lay patterned bricks with different arrangement requirements.

[0040] In this embodiment, to eliminate the gaps between the paving bricks, a pressing cylinder 606 is installed on both sides of the moving frame 601, and a material placement platform 11 is connected to the tail end of the roller conveying mechanism 5. Before the paving bricks are laid on the road, the paving brick laying mechanism 6 transfers the paving bricks to the material placement platform 11 and pushes the paving bricks from both sides through the pressing cylinder 606, so that each paving brick fits tightly together.

[0041] In this embodiment, a mortar leveling mechanism 7 is also provided, which can level the mortar before laying the paving bricks to ensure that the paved surface is flat and firm. The mortar leveling mechanism 7 includes a mounting bracket 701, a pushing device 702, a lifting device 703, and a scraper 704. The mounting bracket 701 is located below the roller conveying mechanism 5 and slides in cooperation with the roller conveying mechanism 5. The pushing device 702 is used to drive the mounting bracket 701 to move back and forth. The lifting device 703 is installed at both ends of the mounting bracket 701, and both ends of the scraper 704 are respectively connected to the moving ends of the lifting device 703. In this embodiment, the pushing device 702 adopts a rack and pinion drive mechanism. A rack is fixedly installed on the side of the roller conveying mechanism 5. The mounting bracket 701 is provided with a gear that meshes with the rack and a drive motor that drives the gear to rotate. The lifting device 703 can be a cylinder or an electric cylinder. In this embodiment, a ground distance sensing module 705 for obtaining the relative distance between the scraper 704 and the ground is also installed on the mounting bracket 701. The ground distance sensing module 705 converts the calculated relative position coordinates of the scraper 704 and the ground and sends them to the lifting devices 703 on the left and right sides to level the parallelism of the scraper 704 relative to the ground. Then, the scraper 704 moves back and forth under the drive of the flat pushing device 702 to scrape a certain length of mortar surface.

[0042] With the aid of the teachings present in the foregoing description and related drawings, those skilled in the art will conceive of many modifications and other embodiments of the present invention. Therefore, it is to be understood that the present invention is not limited to the specific embodiments disclosed, and modifications and other embodiments are considered to be included within the scope of the appended claims. Although specific terms are used herein, they are used in a general and descriptive sense only and are not intended to be limiting.

Claims

1. A tile laying robot, comprising a walking vehicle (1), characterized in that: It also includes a base frame (2), a material support plate (3), a patterned brick transfer mechanism (4), a roller conveyor mechanism (5), a material blocking mechanism (9), and a patterned brick laying mechanism (6). The base frame (2) is mounted on the walking vehicle body (1) and serves as the support structure for the entire robot; The material support plate (3) is fixedly installed on the base frame (2) to support the paving bricks to be laid; The tile transfer mechanism (4) is used to grab the tile located on the support plate (3) and transfer it to the roller conveyor mechanism (5). It includes a support frame (401), on both sides of the support frame (401) are horizontal moving modules (402), the moving end of the horizontal moving module (402) is connected to a vertical moving module (403), the moving ends of the two vertical moving modules (403) are connected to a connecting frame (404), and multiple first grabbing modules (405) are installed on the connecting frame (404). The roller conveying mechanism (5) includes multiple sets of rollers (501) and a drive device for driving the rollers (501) to rotate. The rollers are divided into multiple paving brick conveying channels corresponding to multiple first material grabbing modules (405) by multiple partitions (502). The material blocking mechanism (9) includes multiple baffles (901) respectively disposed at the tail end of the conveying channel of the paving brick (10). The paving brick laying mechanism (6) is connected to the roller conveying mechanism (5) and is used to lay the paving bricks conveyed by the roller conveying mechanism (5) onto the road surface. It includes a moving frame (601), a driving cylinder (602), and a second material grabbing module (603). The moving frame (601) is slidably disposed at the tail end of the roller conveying mechanism (5). The driving cylinder (602) pushes the moving frame (601) to move back and forth. Multiple second material grabbing modules (603) corresponding to the paving brick conveying channel are installed on the moving frame (601).

2. The tile laying robot as described in claim 1, characterized in that: Both the first material gripping module (405) and the second material gripping module (603) include cylinders, and the piston rod end of the cylinder is connected to a negative pressure suction cup, which is connected to a negative pressure system.

3. The tile laying robot as described in claim 1, characterized in that: The walking vehicle body (1) is equipped with a rotating mechanism. The base frame (2) is connected to the rotating mechanism and is driven to rotate by the rotating mechanism. Two or more first vision positioning modules (8) are installed on both sides of the support frame (401). The rotating mechanism drives the base frame (2) to rotate according to the signal of the vision positioning module, thereby realizing the precise positioning and posture adjustment of the robot.

4. The tile laying robot as described in claim 1, characterized in that: The material blocking mechanism (9) also includes multiple push cylinders (902), and multiple baffles (901) are respectively installed on the piston rod end of the push cylinder (902). The push cylinder (902) adjusts the position of the baffle according to the preset target to position each flower brick (10) conveyed by the roller conveyor mechanism (5) so that it is staggered or placed flat.

5. The tile laying robot as described in claim 1 or 4, characterized in that: The movable frame (601) is provided with multiple strip-shaped mounting slots (604), and multiple second material gripping modules (603) are installed in the corresponding strip-shaped mounting slots (604) according to preset targets, either staggered or flush.

6. The tile laying robot as described in claim 1, characterized in that: The mobile frame (601) is equipped with a second visual positioning module (605), which is used to assist in determining the laying position of the paving bricks.

7. The tile laying robot as described in claim 1, characterized in that: The movable frame (601) is equipped with pressing cylinders (606) on both sides respectively. The roller conveyor mechanism (5) is connected to the material placement platform (11). Before the paving bricks are laid on the road, the paving brick laying mechanism (6) transfers the paving bricks to the material placement platform (11) and pushes the paving bricks from both sides through the pressing cylinders (606) so that each paving brick fits tightly together.

8. The tile laying robot as described in claim 1, characterized in that: Support legs (101) are provided on both sides of the vehicle body (1).

9. The tile laying robot as described in claim 1, characterized in that: It also includes a mortar leveling mechanism (7) for leveling mortar. The mortar leveling mechanism (7) includes a mounting bracket (701), a flat pushing device (702), a lifting device (703), and a scraper (704). The mounting bracket (701) is located below the roller conveying mechanism (5) and slides in cooperation with the roller conveying mechanism (5). The flat pushing device (702) is used to drive the mounting bracket (701) to move back and forth. The lifting device (703) is installed at both ends of the mounting bracket (701). The two ends of the scraper (704) are respectively connected to the moving end of the lifting device (703).

10. The tile laying robot as described in claim 9, characterized in that: The mounting bracket (701) is also equipped with a ground distance sensing module (705) for obtaining the relative distance between the scraper (704) and the ground.

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