Multifunctional automatic brick paving machine based on visual segmentation

Abstract

The utility model discloses a multifunctional automatic brick paving machine based on visual segmentation, and relates to the technical field of brick paving equipment, the multifunctional automatic brick paving machine comprises a brick paving machine main body, the brick paving machine main body is provided with a cement vibration module, a three-axis linkage cutting module, a ceramic tile feeding module, a four-axis linkage adsorption module, a cement paving module, a walking module and a control module; the cement vibration module comprises a cement barrel body and a cement barrel vibration device; the three-axis linkage cutting module comprises a three-axis mechanical arm and a cutting device, and the cutting device is installed on a mobile terminal of the three-axis mechanical arm; the ceramic tile feeding module can drive all ceramic tiles to move upwards. The four-axis linkage adsorption module comprises a four-axis mechanical arm, a tail platform is installed on a mobile terminal of the four-axis mechanical arm, and a visual module and a vacuum suction cup are installed on the tail platform; the cement tiling module is used for tiling cement in the cement barrel body on the ground; the walking module is used for driving the brick paving machine body to move. The ceramic tile cutting device can cut ceramic tiles and then install the ceramic tiles.

Description

Technical Field

[0001] This utility model relates to the field of brick-laying equipment technology, and in particular to a multi-functional automatic brick-laying machine based on visual segmentation. Background Technology

[0002] Amidst the rapid global economic development, urbanization is accelerating, and the demand for infrastructure construction is increasing daily. However, many large cities and economically developed regions are facing the severe challenges of rising labor costs and a shortage of skilled workers. In the construction industry, the drawbacks of traditional manual bricklaying are becoming increasingly apparent. It is not only inefficient but also highly susceptible to human error, resulting in inconsistent laying quality. This limitation is particularly evident when laying bricks in complex or oddly shaped areas, significantly increasing construction difficulty and time.

[0003] Currently, tiles on the market are mainly divided into indoor and outdoor types. Although the installation methods are similar, there is a significant difference in size. Indoor tiles are mostly small-sized tiles (300×600mm, 400×800mm, 600×1200mm, etc.) suitable for bathrooms, balconies, etc., and there are also larger-sized tiles such as 400×800mm and 600×600mm (suitable for bedrooms, living rooms, etc.). Outdoor tiles, on the other hand, are less commonly used in small sizes and are mostly medium to large sizes (600×600mm, 800×800mm, 1000×1000mm). Due to the different commonly used sizes and application scenarios, the precision of tile laying also varies. Therefore, a robot that can lay both indoor and outdoor tiles can greatly improve laying efficiency and reduce time and economic costs.

[0004] Currently, while some automated tile-laying equipment has emerged in the market, improving work efficiency and reducing costs to some extent, as exemplified by the "intelligent and efficient tile-laying machine" disclosed in patent number CN102926527A, this patent focuses on continuous tile laying and compaction, lacking the ability to automatically cut tiles. In scenarios requiring precise size matching, manual intervention is still necessary, which not only limits the improvement of mechanization but also easily leads to material waste and additional costs.

[0005] Therefore, there is an urgent need in this field for a new type of multifunctional automatic brick-laying machine based on visual segmentation to solve the above problems. Utility Model Content

[0006] The purpose of this invention is to provide a multi-functional automatic tile laying machine based on visual segmentation to solve the problems existing in the prior art. It can cut tiles as needed and then lay them flat.

[0007] To achieve the above objectives, this utility model provides the following solution:

[0008] This utility model discloses a multi-functional automatic brick laying machine based on visual segmentation, including a brick laying machine body, on which a cement vibration module, a three-axis linkage cutting module, a tile feeding module, a four-axis linkage adsorption module, a cement paving module, a walking module and a control module are installed.

[0009] The cement vibration module includes a cement bucket body and a cement bucket vibration device. The interior of the cement bucket body is used to hold cement, and the cement bucket vibration device is installed at the lower end of the cement bucket body. The cement bucket vibration device can drive the cement bucket body to move up and down.

[0010] The three-axis linkage cutting module includes a three-axis robotic arm and a cutting device. The three-axis robotic arm is installed on the upper surface of the brick laying machine body, and the cutting device is installed on the mobile terminal of the three-axis robotic arm. The cutting device is used to cut ceramic tiles.

[0011] The upper part of the tile feeding module is used to place multiple tiles distributed vertically, and the tile feeding module can drive each tile to move upward.

[0012] The four-axis linkage adsorption module includes a four-axis robotic arm. The mobile terminal of the four-axis robotic arm is equipped with a tail platform. The tail platform is equipped with a vision module and several vacuum suction cups. The vacuum suction cups are used to adsorb ceramic tiles.

[0013] The cement spreading module is used to spread the cement inside the cement bucket onto the ground.

[0014] The walking module is used to drive the main body of the brick paving machine to move;

[0015] The cement vibration module, the three-axis linkage cutting module, the tile feeding module, the four-axis linkage adsorption module, the cement paving module, and the walking module are all electrically connected to the control module.

[0016] Preferably, the cement bucket vibration device includes a crank body, a crank connecting rod, and a spring telescopic sleeve. The crank body is mounted on the rear wheel axle of the walking module. The first end of the crank connecting rod is hinged to the crank body, and the second end of the crank connecting rod is hinged to the lower end of the spring telescopic sleeve. The spring telescopic sleeve passes through the frame base plate of the brick paving machine body. A cement bucket base is provided at the upper end of the spring telescopic sleeve, and the cement bucket body is mounted on the cement bucket base.

[0017] Preferably, the spring telescopic sleeve includes an upper sleeve, a middle sleeve, and a lower sleeve. The upper end of the upper sleeve is connected to the cement bucket base. The upper end of the middle sleeve is slidably connected to the interior of the lower end of the upper sleeve. The lower end of the middle sleeve is slidably connected to the interior of the upper end of the lower sleeve. The lower end of the lower sleeve is used to hinge with the crank connecting rod.

[0018] A central sliding rod is fixed at the center of the upper sleeve. An internal sliding block is slidably connected inside the middle sleeve. The lower end of the central sliding rod extends into the middle sleeve and is fixedly connected to the internal sliding block. A sleeve spring is also provided inside the middle sleeve. The upper end of the sleeve spring is fixedly connected to the inner top of the middle sleeve, and the lower end of the sleeve spring is fixedly connected to the internal sliding block. A cement bucket limiting frame is installed on the top of the frame base plate, and the cement bucket base is slidably connected to the cement bucket limiting frame.

[0019] Multiple shock-absorbing springs are provided between the upper surface of the frame base plate and the lower surface of the cement bucket base.

[0020] Preferably, the three-axis robotic arm includes an X-axis drive device, a Y-axis drive device, and a Z-axis drive device;

[0021] The X-axis drive device includes two X-axis guide rails, which are arranged parallel to each other and fixed to both sides of the upper surface of the frame base plate of the brick paving machine body. Each X-axis guide rail has an X-axis slider slidably connected to it, and an X-axis connecting rod is rotatably connected between the two X-axis sliders. An X-axis gear is fixed to each end of the X-axis connecting rod. An X-axis rack is fixed to each adjacent side of the two X-axis guide rails. The two X-axis gears mesh with the two X-axis racks respectively. An X-axis drive motor is mounted on one of the X-axis sliders. An X-axis drive wheel is fixed to the output shaft of the X-axis drive motor. The X-axis drive wheel is connected to an X-axis driven wheel through an X-axis synchronous belt. The X-axis driven wheel is fixed to the X-axis connecting rod.

[0022] The Y-axis drive device includes a Y-axis guide rail, which is mounted on two X-axis sliders. A Y-axis slider is slidably connected to the Y-axis guide rail. A Y-axis drive motor is mounted on the Y-axis slider. A Y-axis gear is fixed to the output shaft of the Y-axis drive motor. A Y-axis rack is fixed to one side of the Y-axis guide rail. The Y-axis gear meshes with the Y-axis rack.

[0023] The Z-axis drive device includes a Z-axis connecting plate and a Z-axis drive motor. Both the Z-axis connecting plate and the Z-axis drive motor are fixed on the Y-axis slider. The Z-axis connecting plate is slidably connected to a Z-axis slide rail. A Z-axis rack is fixed on one side of the Z-axis slide rail. The output end of the Z-axis drive motor is provided with a Z-axis gear. The Z-axis gear meshes with the Z-axis rack. The cutting device is fixed on the Z-axis slide rail.

[0024] The cutting device includes a cutting disc motor and a cutting disc body, wherein the cutting disc body is mounted on the output shaft of the cutting disc motor.

[0025] Preferably, the four-axis robotic arm includes an electric rotary table, on which a first servo motor and a second servo motor are fixed.

[0026] The output shaft of the first servo motor is connected to a short rod. The end of the short rod away from the first servo motor is hinged to one end of the first connecting rod. The other end of the first connecting rod is hinged to one end of the long rod. The other end of the long rod is hinged to the motor connector.

[0027] The second servo motor is fixed to the chassis connector. The output shaft of the second servo motor is connected to the main arm. The long rod is hinged to the main arm. The end of the main arm away from the second servo motor is hinged to the top connecting plate. The chassis connector is fixed to the upper surface of the electric rotating disk. The chassis connector is hinged to one end of the second connecting rod. The other end of the second connecting rod is hinged to the top connecting plate. The top connecting plate is also hinged to one end of the forearm. The other end of the forearm is hinged to the motor connecting seat.

[0028] The motor connector is fixedly connected to the rotary motor, and the output shaft of the rotary motor is fixedly connected to the tail platform.

[0029] Preferably, the vision module includes two cameras;

[0030] Several vacuum pumps are installed at the upper end of the tail platform, and the vacuum pumps are connected to the vacuum suction cup through pipelines.

[0031] Preferably, the cement paving module includes a cement pipe, one end of which is connected to the cement bucket body, and the other end of which is provided with multiple spray holes. The brick paving machine body is also fixed with a brush plate, which is located above the end of the cement pipe with the spray holes, and the lower end of the brush plate is provided with multiple brush bodies.

[0032] Preferably, the brick-laying machine body has a feeding groove in the middle, and the tile feeding module is installed in the feeding groove;

[0033] The tile feeding module includes a feeding drive motor. A first feeding pulley is mounted on the output shaft of the feeding drive motor. A feeding transmission shaft is rotatably connected to each side of the feeding groove. One of the feeding transmission shafts has a second feeding pulley. The first and second feeding pulleys are connected by a first synchronous belt. The two feeding transmission shafts are connected by a second synchronous belt. Each feeding transmission shaft has a feeding base at both ends. The feeding base is fixed to the inner wall of the feeding groove and has a slider. The groove contains a lower slider slidably connected to the slider groove. The lower slider is threadedly connected to the end of the feed drive shaft. The upper end of the lower slider has a lower inclined surface, and an upper slider is located above the lower slider. The lower end of the upper slider has an upper inclined surface, and the lower inclined surface contacts the upper inclined surface. A positioning pin is provided on each side of the upper slider. The feed base has feed through holes on both sides, and the positioning pins are slidably connected to the feed through holes. The upper ends of all the upper sliders are fixed together to a feed platform, and the upper surface of the feed platform is used to place the ceramic tile.

[0034] Preferably, a platform control motor is fixed on the main body of the brick paving machine. The output shaft of the platform control motor is connected to the first end of the platform drive component. The second end of the platform drive component is hinged to the cutting platform. A transverse slider is hinged to the end of the cutting platform away from the platform drive component. The main body of the brick paving machine is provided with a transverse groove, and the transverse slider is slidably connected in the transverse groove.

[0035] Preferably, the walking module is fixed to the lower end of the brick paving machine body, and the walking module is a tracked chassis;

[0036] The control module is a single-chip microcontroller.

[0037] The present invention achieves the following technical advantages over the prior art:

[0038] The cement vibration module in this invention vibrates the cement, improving its fluidity and preventing it from solidifying. The three-axis linkage cutting module adjusts the position of the cutting device, enabling precise cutting of tiles from different angles and allowing for customized tile cutting to meet specific laying requirements and facilitate tile placement in special areas. The tile feeding module continuously advances the tile upwards, facilitating cutting by the three-axis linkage cutting module and gripping by the four-axis linkage adsorption module. The four-axis linkage adsorption module grips the tile and installs it in the desired location. The cement leveling module is used to level the cement.

[0039] This utility model integrates the processes of feeding, cutting, cement spreading, and robotic arm rotation, enabling multiple projects to be carried out simultaneously to achieve automated operation. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a structural schematic diagram of a multifunctional automatic brick-laying machine based on visual segmentation, according to an embodiment of this utility model.

[0042] Figure 2 This is a schematic diagram of the cement vibration module in a multi-functional automatic brick paving machine based on visual segmentation, according to an embodiment of this utility model.

[0043] Figure 3 This is a cross-sectional view of the spring telescopic sleeve in the multifunctional automatic brick paving machine based on visual segmentation according to an embodiment of this utility model;

[0044] Figure 4 This is a schematic diagram of the three-axis linkage cutting module in the multi-functional automatic brick laying machine based on visual segmentation, according to an embodiment of this utility model.

[0045] Figure 5 This is a schematic diagram of the four-axis linkage adsorption module in the multi-functional automatic brick laying machine based on visual segmentation, according to an embodiment of this utility model.

[0046] Figure 6 This is a side view of a multi-functional automatic brick-laying machine based on visual segmentation, according to an embodiment of the present invention.

[0047] Figure 7 This is a schematic diagram of the cement paving module in the multifunctional automatic brick paving machine based on visual segmentation, according to an embodiment of this utility model.

[0048] Figure 8 This is a schematic diagram of the tile feeding module in a multi-functional automatic tile laying machine based on visual segmentation, according to an embodiment of this utility model.

[0049] Figure 9 This is a schematic diagram showing the connection between the upper and lower sliders in a multi-functional automatic brick-laying machine based on visual segmentation, according to an embodiment of this utility model.

[0050] In the diagram: 1-Cement vibration module; 2-Three-axis linkage cutting module; 3-Tile feeding module; 4-Four-axis linkage adsorption module; 5-Cement paving module; 6-Crank body; 7-Crank connecting rod; 8-Spring telescopic sleeve; 801-Upper sleeve; 802-Middle sleeve; 803-Lower sleeve; 804-Internal sliding block; 805-Central sliding rod; 806-Sleeve spring; 9-Crawler chassis; 10-Cement bucket base; 11-Cement bucket body; 12 - Shock-absorbing spring; 13- Cement bucket limit bracket; 14- X-axis guide rail; 15- X-axis slider; 16- X-axis drive motor; 17- X-axis synchronous belt; 18- X-axis rack; 19- Y-axis guide rail; 20- Y-axis slider; 21- X-axis driven wheel; 22- Y-axis drive motor; 23- Y-axis gear; 24- Y-axis rack; 25- Z-axis connecting plate; 26- Z-axis slide rail; 27- Z-axis rack; 28- Z-axis gear; 29- Cutting disc motor; 30- Cutting disc body Body; 31-X-axis gear; 32-Big arm; 33-Chassis connecting piece; 34-Short rod; 35-Long rod; 36-Top connecting plate; 37-Tail platform; 38-Camera; 39-Vacuum suction cup; 40-Electric rotating disk; 41-Crawler bracket; 42-Rear axle; 43-Frame base plate; 44-Crawler body; 45-Drive wheel; 46-Bearing wheel; 47-Cement pipe; 48-Brush plate; 49-Brush body; 50-Feed drive motor; 51- 52-First synchronous belt; 53-Feed base; 54-Positioning pin; 55-Upper slider; 56-Horizontal slider; 57-Cutting platform; 58-Platform drive component; 59-Feed platform; 60-Feed drive shaft; 61-Lower slider; 62-Z-axis drive motor; 63-Forearm; 64-First connecting rod; 65-Second connecting rod; 66-First servo motor; 67-Second servo motor; 68-Rotary motor; 69-Vacuum pump; 70-Second synchronous belt. Detailed Implementation

[0051] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0052] The purpose of this invention is to provide a multi-functional automatic tile laying machine based on visual segmentation to solve the problems existing in the prior art. It can cut tiles as needed and then lay them flat.

[0053] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] like Figures 1-9 As shown, this embodiment provides a multi-functional automatic brick laying machine based on visual segmentation, including a brick laying machine body. The brick laying machine body is equipped with a cement vibration module 1, a three-axis linkage cutting module 2, a tile feeding module 3, a four-axis linkage adsorption module 4, a cement paving module 5, a walking module, and a control module. The cement vibration module 1 is located at the rear end of the upper surface of the brick laying machine body, the four-axis linkage adsorption module 4 is located at the front end of the upper surface of the brick laying machine body, the tile feeding module 3 is located at the center of the upper surface of the brick laying machine body, the three-axis linkage cutting module 2 is located between the cement vibration module 1 and the tile feeding module 3, and the cement paving module 5 and the walking module are located at the lower end of the brick laying machine body.

[0055] The cement vibration module 1 includes a cement bucket body 11 and a cement bucket vibration device. The interior of the cement bucket body 11 is used to hold cement in a flowing state. The cement bucket vibration device is installed at the lower end of the cement bucket body 11. The cement bucket vibration device can drive the cement bucket body 11 to move up and down and can give the cement bucket body 11 a certain vibration, thereby ensuring the fluidity of the cement inside the cement bucket body 11.

[0056] The three-axis linkage cutting module 2 includes a three-axis robotic arm and a cutting device. The three-axis robotic arm is installed on the upper surface of the brick laying machine body, and the cutting device is installed on the moving terminal of the three-axis robotic arm. The moving terminal of the three-axis robotic arm is used to drive the cutting device to the required position, and the cutting device is used to cut the tiles.

[0057] The upper part of the tile feeding module 3 is used to place multiple tiles distributed vertically. The tile feeding module 3 can drive the stacked tiles to move upward, so that the three-axis linkage cutting module 2 and the four-axis linkage adsorption module 4 can more easily contact the top tile.

[0058] The four-axis linkage adsorption module 4 includes a four-axis robotic arm. The mobile terminal of the four-axis robotic arm is equipped with a tail platform 37, which can move the tail platform 37 to the required position. The tail platform 37 is equipped with a vision module and several vacuum suction cups 39. The vision module is used to monitor road conditions in real time, while the vacuum suction cups 39 are used to adsorb tiles.

[0059] The cement spreading module 5 is used to spread the cement inside the cement bucket body 11 on the ground.

[0060] The walking module is used to drive the main body of the brick paving machine to move.

[0061] The cement vibration module 1, the three-axis linkage cutting module 2, the tile feeding module 3, the four-axis linkage adsorption module 4, the cement paving module 5, and the walking module are all electrically connected to the control module, which controls the operation of each device.

[0062] In actual use, the walking module moves the main body of the brick-laying machine to the area where bricks need to be laid. During this movement, the cement vibration module 1, the three-axis linkage cutting module 2, the tile feeding module 3, the four-axis linkage adsorption module 4, and the cement leveling module 5 also perform their respective tasks. The cement vibration module 1, accompanying the walking module, constantly pushes and vibrates the cement bucket 11, ensuring the flowability of the cement. The cement leveling module 5 spreads the cement from the bucket 11 evenly on the ground. The tile feeding module 3 moves the top tile to the required height for the three-axis linkage cutting module 2 to cut, while the four-axis linkage adsorption module 4 places the cut tile at the desired installation location. This completes a full brick-laying process.

[0063] In this embodiment, as Figure 2 As shown, the cement bucket vibration device includes a crank body 6, a crank connecting rod 7, and a spring telescopic sleeve 8. The crank body 6 is mounted on the rear wheel axle 42 of the walking module. When the walking module is running, the rear wheel axle 42 of the walking module will also rotate. The first end of the crank connecting rod 7 is hinged to the crank body 6. Specifically, there are two crank bodies 6, and the first end of the crank connecting rod 7 is hinged between the two crank bodies 6. The second end of the crank connecting rod 7 is hinged to the lower end of the spring telescopic sleeve 8 through a pin. The spring telescopic sleeve 8 passes through the frame base plate 43 of the brick paving machine body. Therefore, the frame base plate 43 has a corresponding through hole that allows the spring telescopic sleeve 8 to pass through, and the spring telescopic sleeve 8 can only move up and down. In addition, the upper end of the spring telescopic sleeve 8 is provided with a cement bucket base 10. The cement bucket body 11 is mounted on the cement bucket base 10. The cement bucket base 10 is a rectangular block structure with a placement groove. The cross-sectional dimensions of the placement groove match the cross-sectional dimensions of the cement bucket body 11 to accommodate the cement bucket body 11.

[0064] In actual use, as the walking module moves, the rear wheel axle 42 of the walking module will also rotate, thereby driving the crank body 6 to rotate. The crank body 6 then drives the spring telescopic sleeve 8 to move up and down through the crank connecting rod 7, thereby driving the cement bucket body 11 to move up and down, causing a certain degree of vibration inside, which helps to improve the fluidity of the cement.

[0065] In this embodiment, the specific structure of the spring telescopic sleeve 8 is as follows: Figure 3As shown, the spring telescopic sleeve 8 comprises three parts: an upper sleeve 801, a middle sleeve 802, and a lower sleeve 803. The diameters of both the upper sleeve 801 and the lower sleeve 803 are larger than the diameter of the middle sleeve 802. The upper end of the upper sleeve 801 is connected to the cement bucket base 10. The upper end of the middle sleeve 802 is slidably connected to the lower end of the upper sleeve 801 via an internal channel. The lower end of the middle sleeve 802 is slidably connected to the upper end of the lower sleeve 803 via an internal channel. The lower end of the lower sleeve 803 is hinged to the crank connecting rod 7 via a pin.

[0066] A central sliding rod 805 is fixed at the center of the upper sleeve 801. An internal sliding block 804 is slidably connected inside the middle sleeve 802. The lower end of the central sliding rod 805 extends into the middle sleeve 802 and is fixedly connected to the internal sliding block 804. A sleeve spring 806 is also provided inside the middle sleeve 802. The sleeve spring 806 is sleeved on the outside of the central sliding rod 805. The upper end of the middle sleeve 802 is a closed structure (with only one hole in the center through which the central sliding rod 805 passes). The upper end of the sleeve spring 806 is fixedly connected to the inner top of the middle sleeve 802, and the lower end of the sleeve spring 806 is fixedly connected to the internal sliding block 804.

[0067] In actual use, as the crank connecting rod 7 moves, it drives the lower sleeve 803 to move up and down. As the lower sleeve 803 moves upward, the upper sleeve 801 also moves downward relative to the middle sleeve 802, causing the upper sleeve 801 and lower sleeve 803 to gradually approach each other. During this process, the central sliding rod 805 pushes the internal sliding block 804 downward along the central sleeve, causing the sleeve spring 806 to gradually be in a stretched state. Conversely, as the lower sleeve 803 moves downward, the upper sleeve 801 also moves upward relative to the middle sleeve 802, causing the upper sleeve 801 and lower sleeve 803 to gradually move away from each other. During this process, the central sliding rod 805 pushes the internal sliding block 804 upward along the central sleeve, causing the sleeve spring 806 to gradually be in a compressed state.

[0068] A cement bucket limiting frame 13 is installed on the top of the frame base plate 43. The cement bucket limiting frame 13 is a rectangular frame structure, and the central cross-sectional dimension of the cement bucket limiting frame 13 is the same as the cross-sectional dimension of the cement bucket base 10, thereby limiting the cement bucket base 10 so that the cement bucket base 10 can only slide up and down on the cement bucket limiting frame 13 and will not move in other directions.

[0069] like Figure 2As shown, multiple damping springs 12 are provided between the upper surface of the frame base plate 43 and the lower surface of the cement bucket base 10. Specifically, four springs are provided, located at the four lower corners of the cement bucket base 10. The reason for providing damping springs 12 is to resist the telescopic spring sleeve, converting the low-frequency, high-amplitude vibration applied by the telescopic spring sleeve to the cement bucket base 10 into high-frequency, low-amplitude vibration, thereby further improving the vibration effect on the cement.

[0070] In this embodiment, as Figure 4 As shown, the three-axis robotic arm includes an X-axis drive unit, a Y-axis drive unit, and a Z-axis drive unit. The X-axis drive unit is mounted on the frame base plate 43, the Y-axis drive unit is mounted on the X-axis drive unit, and the Z-axis drive unit is mounted on the Y-axis drive unit. The specific structures of the X-axis drive unit, Y-axis drive unit, and Z-axis drive unit are as follows:

[0071] The X-axis drive device includes two X-axis guide rails 14, which are arranged parallel to each other and fixed to both sides of the upper surface of the frame base plate 43 of the brick paving machine body. Each X-axis guide rail 14 has an X-axis slider 15 slidably connected to it. An X-axis connecting rod is rotatably connected between the two X-axis sliders 15, passing through the corresponding through hole of the X-axis slider 15 and rotatably connected to it. An X-axis gear 31 is fixed to each end of the X-axis connecting rod. An X-axis rack 18 is fixed to each adjacent side of the two X-axis guide rails 14 (i.e., the side closer to the other X-axis guide rail 14), and the two X-axis gears 31 mesh with the two X-axis racks 18 respectively. One of the X-axis sliders 15 (… Figure 4 An X-axis drive motor 16 is mounted on the X-axis slider 15 in the lower left corner. The X-axis drive motor 16 is electrically connected to the control module. An X-axis drive wheel is fixed on the output shaft of the X-axis drive motor 16. The X-axis drive wheel is connected to an X-axis driven wheel 21 through an X-axis synchronous belt 17. The X-axis driven wheel 21 is located below the X-axis drive wheel and is also fixed on the X-axis connecting rod.

[0072] In actual use, the X-axis drive motor 16 is turned on by the control module. The X-axis drive motor 16 drives the X-axis driven wheel 21 to rotate through the X-axis drive wheel and the X-axis synchronous belt 17. The X-axis driven wheel 21 drives the X-axis connecting rod and the two X-axis gears 31 to rotate synchronously. Under the meshing action of the X-axis gears 31 and the X-axis rack 18, the X-axis slider 15 can be driven to move linearly along the X-axis guide rail 14.

[0073] The Y-axis drive device includes a Y-axis guide rail 19, which is mounted on the upper end of two X-axis sliders 15 and is perpendicular to the X-axis guide rail 14. A Y-axis slider 20 is slidably connected to the Y-axis guide rail 19, and a Y-axis drive motor 22 is mounted on the Y-axis slider 20. The Y-axis drive motor 22 is electrically connected to the control module. A Y-axis gear 23 is fixed to the output shaft of the Y-axis drive motor 22. A Y-axis rack 24 is fixed to one side of the Y-axis guide rail 19. The Y-axis rack 24 is fixed above the X-axis slider 15 by a bracket, and the Y-axis gear 23 meshes with the Y-axis rack 24.

[0074] In actual use, the control module drives the Y-axis drive motor 22 to run. The Y-axis drive motor 22 drives the Y-axis gear 23 to roll on the Y-axis rack 24, thereby driving the Y-axis slider 20 to slide along the Y-axis guide rail 19. The sliding direction of the Y-axis slider 20 is perpendicular to the sliding direction of the X-axis slider 15.

[0075] The Z-axis drive device includes a Z-axis connecting plate 25 and a Z-axis drive motor 62, both of which are fixed to the Y-axis slider 20. The Z-axis drive motor 62 is electrically connected to the control module. A Z-axis slide rail 26 is slidably connected to the Z-axis connecting plate 25. Specifically, the Z-axis slide rail 26 has a vertical groove, and the Z-axis connecting plate 25 has a small protrusion that slidably connects to the groove, thus achieving a sliding connection between the two. A Z-axis rack 27 is fixed to one side of the Z-axis slide rail 26, and both the Z-axis slide rail 26 and the Z-axis rack 27 are vertically arranged. A Z-axis gear 28 is provided at the output end of the Z-axis drive motor 62, which meshes with the Z-axis rack 27. The cutting device is fixed to the Z-axis slide rail 26.

[0076] In actual use, the control module drives the Z-axis drive motor 62 to run, and the Z-axis drive motor 62 drives the Z-axis gear 28 to rotate. Since the Z-axis gear 28 meshes with the Z-axis rack 27 and the Z-axis gear 28 does not move up and down, the Z-axis rack 27 starts to drive the Z-axis slide rail 26 to move up and down, thereby driving the cutting device to move up and down.

[0077] Regarding the specific structure of the cutting device, the cutting device includes a cutting disc motor 29 and a cutting disc body 30. The cutting disc body 30 is mounted on the output shaft of the cutting disc motor 29, and the cutting disc motor 29 is electrically connected to the control module.

[0078] During operation, the cutting disc motor 29 is started by the control module, which drives the cutting disc body 30 to rotate, thereby cutting the tiles.

[0079] In this embodiment, as Figure 5As shown, the four-axis robotic arm includes an electric rotary table 40. The electric rotary table 40 is an existing device, driven by its own motor, so its structure will not be described in detail here. A first servo motor 66 and a second servo motor 67 are fixed on the electric rotary table 40.

[0080] The first servo motor 66 is fixed to the electric rotary disk 40 via a servo motor mount. The output shaft of the first servo motor 66 is connected to a short rod 34. One end of the short rod 34 away from the first servo motor 66 is hinged to one end of the first connecting rod 64 via a pin. The other end of the first connecting rod 64 is hinged to one end of the long rod 35 via a pin. The other end of the long rod 35 is hinged to the motor mounting base.

[0081] Additionally, the second servo motor 67 is fixed to the chassis connector 33. The output shaft of the second servo motor 67 is connected to the upper arm 32. The long rod 35 is hinged to the upper end of the upper arm 32, and the lower end of the upper arm 32 is hinged to a bottom hinge seat, which is fixed to the electric rotating disk 40. The end of the upper arm 32 away from the second servo motor 67 is hinged to the top connecting plate 36, which is an inverted triangular plate. The chassis connector 33 is fixed to the upper surface of the electric rotating disk 40, so it is easy to understand that the second servo motor 67 is fixed to the electric rotating disk 40 via the chassis connector 33. The chassis connector 33 is hinged to one end of the second connecting rod 65, and the other end of the second connecting rod 65 is hinged to the top connecting plate 36. The top connecting plate 36 is also hinged to one end of the forearm 63, and the other end of the forearm 63 is hinged to the motor connector.

[0082] In actual use, when the first servo motor 66 is activated, it drives the short rod 34 to rotate. The short rod 34 then drives the first connecting rod 64, the long rod 35, and the motor connector to swing accordingly. Simultaneously, the motor connector also drives the upper arm 32, the top connecting plate 36, the second connecting rod 65, and the lower arm 63 to swing adaptively. At this time... Figure 6 Taking direction as an example, the tail platform 37 will move in a straight line from the lower left to the upper right.

[0083] Conversely, when the second servo motor 67 is activated, it will drive the main arm 32 to rotate, which in turn will cause the top connecting plate 36, the second connecting rod 65, the forearm 63, and the motor connecting seat to swing accordingly. Simultaneously, the motor connecting seat will also cause the short rod 34, the first connecting rod 64, and the long rod 35 to swing adaptively. At this time, if... Figure 6 Taking direction as an example, the tail platform 37 will move in a straight line from the upper left to the lower right.

[0084] The second link 65, the upper arm 32, the top connector 36 and the chassis connector 33 form a parallelogram. The forearm 63, the long rod 35, the tail platform 37 and the top connector 36 also form a parallelogram. The purpose of this arrangement is to ensure that the tail platform 37 remains horizontal during its movement.

[0085] The motor connector is fixedly connected to the rotary motor 68, and the output shaft of the rotary motor 68 is fixedly connected to the tail platform 37. The rotary motor 68 will drive the tail platform 37 to rotate.

[0086] In this embodiment, the electric rotary disk 40, the first servo motor 66, the second servo motor 67, and the rotary motor 68 are all electrically connected to the control module, which controls the operation of each device to achieve four-axis movement of the tail platform 37.

[0087] In this embodiment, as Figure 5 As shown, the vision module includes two cameras 38, which are respectively mounted on both sides of the front end of the rear platform 37. The cameras 38 are used to monitor road conditions in real time and transmit relevant road condition information to the control module, which then controls the walking module to move accordingly.

[0088] Several vacuum pumps 69 are installed on the upper end of the tail platform 37. There are four vacuum pumps 69 and four vacuum suction cups 39, which are distributed at the four corners of the tail platform 37. The vacuum pumps 69 are located at the upper end of the tail platform 37, and the vacuum suction cups 39 are located at the lower end of the tail platform 37. The vacuum pumps 69 are connected to the vacuum suction cups 39 through pipelines, and the vacuum pumps 69 are also electrically connected to the control module, which controls their operation.

[0089] In actual use, when the control module starts the vacuum pump 69, the vacuum pump 69 will draw away the air at the vacuum suction cup 39, creating a negative pressure state at the vacuum suction cup 39, which makes it easier for the vacuum suction cup 39 to adsorb the tiles.

[0090] In this embodiment, the specific structure of the cement paving module 5 is as follows: Figure 7 As shown, the cement paving module 5 includes cement pipes 47. Several cement pipes 47 can be provided, typically 1-3, but those skilled in the art can provide more. One end of the cement pipe 47 is connected to the cement bucket body 11, and the other end of the cement pipe 47 has multiple spray holes. Valves can also be installed on the cement pipe 47 to facilitate control of the flow within it. A brush plate 48 is also fixed to the front end of the brick paving machine body. The brush plate 48 is located above the end of the cement pipe 47 with the spray holes, and multiple brush bodies 49 are located at the lower end of the brush plate 48.

[0091] In actual use, the cement in the cement bucket body 11 will flow into the cement pipe 47, and the cement in the cement pipe 47 will eventually flow out from the spray hole. The brush body 49 can then sweep the sprayed cement to make it easier for subsequent tile installation.

[0092] In this embodiment, a rectangular feed groove is provided in the middle of the brick laying machine body, and the tile feeding module 3 is installed in the feed groove.

[0093] The specific structure of the tile feeding module 3 is as follows: Figures 8-9 As shown, the tile feeding module 3 includes a feed drive motor 50, which is electrically connected to the control module. The output shaft of the feed drive motor 50 is equipped with a first feed pulley, and a feed transmission shaft 60 is rotatably connected to each side of the feed groove. One of the feed transmission shafts 60 (… Figure 8 The right-side feed drive shaft 60 is equipped with a second feed pulley, and the first feed pulley and the second feed pulley are connected by a first synchronous belt 51. The two feed drive shafts 60 are connected by a second synchronous belt 70 to achieve the transmission connection between the two feed drive shafts 60. Each feed drive shaft 60 has a feed base 52 at both ends, and the feed base 52 is fixed to the inner wall of the feed groove. A slider groove is provided at the center of the upper end of the feed base 52, and a lower slider 61 is slidably connected in the slider groove. The slider groove restricts the two sides of the lower slider 61, so that the lower slider can only move along the axial direction of the feed drive shaft 60. The two ends of the feed drive shaft 60 are provided with external threads, and the lower slider 61 is provided with a through threaded hole. The lower slider 61 is threadedly connected to the end of the feed drive shaft 60. The upper end of the lower slider 61 has a lower inclined surface, and an upper slider 54 is located above the lower slider 61. The lower end of the upper slider 54 has an upper inclined surface, and the lower inclined surface contacts the upper inclined surface. A positioning pin 53 is fixed on both sides of the upper slider 54. A corresponding feed through hole is provided on both sides of the feed base 52. The two positioning pins 53 are slidably connected in the corresponding feed through holes, thereby restricting the upper slider 54 to only move up and down. A feed platform 58 is fixed to the upper end of each upper slider 54. The upper surface of the feed platform 58 is used to place multiple vertically distributed tiles.

[0094] In actual use, the control module starts the feed drive motor 50. The feed drive motor 50 drives one of the feed transmission shafts 60 to rotate via the first synchronous belt 51. Then, the feed transmission shaft 60 drives the other feed transmission shaft 60 to rotate synchronously via the second synchronous belt 70. When the feed transmission shaft 60 rotates, it drives the lower slider 61 to move linearly along its axial direction. The lower slider 61 and the upper slider 54 are in contact through the lower and upper inclined surfaces. Therefore, when the lower slider 61 moves linearly, it drives the upper slider 54 to move up and down, further pushing the feed platform 58 to move up and down, thereby pushing the tile upward.

[0095] In this embodiment, a platform control motor 59 is fixed on the main body of the brick paving machine. The platform control motor 59 is electrically connected to the control module. The output shaft of the platform control motor 59 is connected to the first end of the platform drive component 57, which is a C-shaped component. The second end of the platform drive component 57 is hinged to the cutting platform 56 via a pin. A transverse slider 55 is hinged to the end of the cutting platform 56 away from the platform drive component 57. The main body of the brick paving machine is provided with a transverse groove, and the transverse slider 55 is slidably connected within the transverse groove.

[0096] The control module controls the platform to operate the motor 59, which in turn drives the platform drive component 57 to rotate. In conjunction with the horizontal slider 55, this drives the cutting platform 56 to rotate. The cutting platform 56 has two working states: first, it is in a horizontal state, positioned at the opening of the feed groove, with the tile feed module 3 below and blocked; second, it is in a vertical state, used for tile feeding.

[0097] In actual use, the platform control motor 59 is activated to change the cutting platform 56 from a horizontal to a vertical position. At this time, the tile feeding module 3 moves upward a short distance, causing the top tile to move upward a short distance as well. Then, the four-axis linkage adsorption module 4 adsorbs the top tile and temporarily removes it. The platform control motor 59 is then activated again to level the cutting platform 56. The four-axis linkage adsorption module 4 then places the removed tile back onto the cutting platform 56 and positions it at the desired cutting angle. Finally, the cutting device performs the tile cutting operation. This design ensures that during the tile cutting process, the cutting platform 56, rather than other tiles, lies beneath the top tile, thus preventing damage to the bottom tile when cutting the top tile.

[0098] In this embodiment, the walking module is fixed to the lower end of the brick paving machine body. The walking module can use a common tracked chassis 9. The advantage of using a tracked chassis 9 is that it can still run smoothly on uneven ground. The specific structure of the tracked chassis 9 includes two track supports 41, which are fixed to both sides of the brick paving machine body. Each track support 41 is rotatably connected to a drive wheel 45, two load-bearing wheels 46, a guide wheel, and a track roller. The drive wheel 45, the two load-bearing wheels 46, the guide wheel, and the track roller are externally engaged with the track body 44. The drive wheel 45 and the guide wheel are located on both sides of the track body 44, the two load-bearing wheels 46 are located in the middle, and the track roller is located at the upper inside of the track body 44. The drive wheel 45 is connected to a hydraulic motor, which is electrically connected to the control module to control the operation of the tracked chassis 9. These devices are all existing technologies, so their structure will not be described in detail here.

[0099] The control module is an existing microcontroller controller, which can be installed on the upper surface of the frame base plate 43.

[0100] This embodiment also provides a working process of a multi-functional automatic brick-laying machine based on visual segmentation, including the following steps:

[0101] After entering the work area, the camera 38 collects data from the work area and transmits it back to the MCU (control module) for analysis. The MCU calculates the optimal route and controls the drive wheel 45 to engage the track body 44 to move to the designated position. During motion engineering, the rotation of the drive wheel 45 drives the crank body 6 and crank connecting rod 7 to rotate. Through the connection between the crank body 6, crank connecting rod 7, and spring telescopic sleeve 8, the rotational motion is converted into up-and-down linear reciprocating motion. The extension and retraction of the spring telescopic sleeve 8 and the impedance of the damping spring 12 convert low-frequency, high-amplitude vibration into high-frequency, low-amplitude vibration. Cement from the cement bucket body 11 is transported through the cement pipe 47 to the area below and in front of the brush plate 48. Then, as the vision-segmentation-based multi-functional automatic brick-laying machine moves backward, the brush body 49 spreads the cement evenly. The platform control motor 59 in the middle of the frame base plate 43 controls the rotation of the feed drive shaft 60 via the first synchronous belt 51 and the second synchronous belt 70. The lower slider 61, connected to the feed drive shaft 60, pushes the upper slider 54 upward under the limiting action of the feed base 52, realizing the feeding action of the feed platform 58. At the same time, the platform drive component 57 rotates, and the cutting platform 56 opens under the action of the platform drive component 57 and the horizontal slider 55 (if used with the four-axis linkage adsorption module 4, the tile can be placed on the cutting platform 56). If cutting is required, the X-axis drive motor 16 starts and controls the X-axis gear 31 to move on the X-axis rack 18, thereby driving the movement of the X-axis slider 15. At the same time, the Y-axis drive motor 22 and the Z-axis drive motor 62 on the Y-axis slider 20 can also control the movement of the Y-axis slider 20 and the Z-axis slide rail 26 through structures such as the Y-axis gear 23 and the Z-axis gear 28, respectively, to realize the cutting of the X, Y, and Z axes. The location of the tile is determined by data collection and analysis from the camera 38 on the tail platform 37. The electric rotary table 40 controls the upper robotic arm to turn to the three-axis linkage cutting module 2. Under the constraints of the chassis connector 33 and the top connecting plate 36, and the pulling of the long rod 35 and the short rod 34, the upper arm 32 rotates downward. At the same time, under the constraints of the top connecting plate 36 and the tail platform 37, and the pulling of the long rod 35 and the short rod 34, the lower arm 63 also begins to move. The tail platform 37 is translated to the designated position under the movement of the upper arm 32 and the lower arm 63 and the rotation of the electric rotary table 40. Then, the vacuum suction cup 39 begins to pick up the tile. Then, through the motion analysis of the four-axis linkage adsorption module 4 and the camera 38, the cut tile is placed in the designated position.

[0102] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A multi-functional automatic brick laying machine based on visual segmentation, characterized in that: The paving machine body is provided with a cement vibrating module (1), a three-axis linkage cutting module (2), a tile feeding module (3), a four-axis linkage adsorption module (4), a cement paving module (5), a walking module and a control module; The cement vibrating module (1) comprises a cement bucket body (11) and a cement bucket vibrating device, the inside of the cement bucket body (11) is used for containing cement, the cement bucket vibrating device is installed at the lower end of the cement bucket body (11), and the cement bucket vibrating device can drive the cement bucket body (11) to move up and down; The three-axis linkage cutting module (2) comprises a three-axis mechanical arm and a cutting device, the three-axis mechanical arm is installed on the upper surface of the paving machine body, and the cutting device is installed at the moving terminal of the three-axis mechanical arm and used for cutting tiles; The upper end of the tile feeding module (3) is used for placing a plurality of tiles distributed upwards and downwards, and the tile feeding module (3) can drive each tile to move upwards; The four-axis linkage adsorption module (4) comprises a four-axis mechanical arm, the moving terminal of the four-axis mechanical arm is provided with a tail platform (37), the tail platform (37) is provided with a visual module and a plurality of vacuum suction cups (39), and the vacuum suction cups (39) are used for adsorbing tiles; The cement paving module (5) is used for paving the cement in the cement bucket body (11) on the ground; The walking module is used for driving the paving machine body to move; The cement vibrating module (1), the three-axis linkage cutting module (2), the tile feeding module (3), the four-axis linkage adsorption module (4), the cement paving module (5) and the walking module are electrically connected with the control module.

2. The multi-functional automatic tile laying machine based on visual segmentation according to claim 1, characterized in that: The cement bucket vibrating device comprises a crank body (6), a crank connecting rod (7) and a spring telescopic sleeve (8), the crank body (6) is installed on the rear wheel shaft (42) of the walking module, the first end of the crank connecting rod (7) is hinged to the crank body (6), the second end of the crank connecting rod (7) is hinged to the lower end of the spring telescopic sleeve (8), the spring telescopic sleeve (8) penetrates through the rack bottom plate (43) of the paving machine body, the upper end of the spring telescopic sleeve (8) is provided with a cement bucket base (10), and the cement bucket body (11) is installed on the cement bucket base (10).

3. The multi-functional automatic tile laying machine based on visual segmentation according to claim 2, characterized in that: The spring telescopic sleeve (8) comprises an upper sleeve (801), a middle sleeve (802) and a lower sleeve (803), the upper end of the upper sleeve (801) is connected with the cement bucket base (10), the upper end of the middle sleeve (802) is slidingly connected to the inside of the lower end of the upper sleeve (801), the lower end of the middle sleeve (802) is slidingly connected to the inside of the upper end of the lower sleeve (803), and the lower end of the lower sleeve (803) is used for being hinged to the crank connecting rod (7). The center of the upper sleeve (801) is fixed with a center sliding rod (805), the upper and lower sliding blocks (804) are slidably connected in the middle sleeve (802), the lower end of the center sliding rod (805) extends into the middle sleeve (802) and is fixedly connected with the inner sliding block (804), the sleeve spring (806) is also arranged in the middle sleeve (802), the upper end of the sleeve spring (806) is fixedly connected with the inner top end of the middle sleeve (802), and the lower end of the sleeve spring (806) is fixedly connected with the inner sliding block (804); the top of the rack bottom plate (43) is provided with a cement bucket limiting frame (13), and the cement bucket base (10) is slidably connected to the cement bucket limiting frame (13); A plurality of damping springs (12) are arranged between the upper surface of the rack bottom plate (43) and the lower surface of the cement bucket base (10).

4. The multi-functional automatic tile laying machine based on visual segmentation according to claim 1, characterized in that: The three-axis mechanical arm comprises an X-axis driving device, a Y-axis driving device and a Z-axis driving device; The X-axis driving device comprises two X-axis guide rails (14), which are arranged in parallel and fixed to the upper surfaces of the rack bottom plate (43) of the brick laying machine body on both sides, respectively, each X-axis guide rail (14) is slidably connected with an X-axis sliding block (15), and an X-axis connecting rod is rotatably connected between the two X-axis sliding blocks (15), the two ends of the X-axis connecting rod are respectively fixed with an X-axis gear (31), the adjacent sides of the two X-axis guide rails (14) are fixed with an X-axis gear rack (18), and the two X-axis gears (31) are respectively engaged with the two X-axis gear racks (18), one of the X-axis sliding blocks (15) is provided with an X-axis driving motor (16), an X-axis driving motor (16) is arranged on the output shaft of the X-axis driving motor (16), an X-axis driving motor (16) is arranged on the output shaft of the X-axis driving motor (16), an X-axis driving motor (16) is arranged on the output shaft of the X-axis driving motor (16), and an X-axis driving motor (16) is arranged on the output shaft of the X-axis driving motor (16). The Y-axis driving device comprises a Y-axis guide rail (19), the Y-axis guide rail (19) is mounted on the two X-axis sliding blocks (15), the Y-axis guide rail (19) is slidably connected with a Y-axis sliding block (20), the Y-axis sliding block (20) is provided with a Y-axis driving motor (22), the output shaft of the Y-axis driving motor (22) is fixed with a Y-axis gear (23), one side of the Y-axis guide rail (19) is fixed with a Y-axis gear rack (24), and the Y-axis gear (23) is engaged with the Y-axis gear rack (24). The Z-axis driving device comprises a Z-axis connecting plate (25) and a Z-axis driving motor (62), both of which are fixed on the Y-axis sliding block (20), the Z-axis connecting plate (25) is slidingly connected with a Z-axis sliding rail (26), one side of the Z-axis sliding rail (26) is fixed with a Z-axis rack (27), the output end of the Z-axis driving motor (62) is provided with a Z-axis gear (28), the Z-axis gear (28) is engaged with the Z-axis rack (27), and the cutting device is fixed on the Z-axis sliding rail (26); The cutting device comprises a cutting blade motor (29) and a cutting blade body (30), and the cutting blade body (30) is installed on the output shaft of the cutting blade motor (29).

5. The multi-functional automatic tile laying machine based on visual segmentation according to claim 1, characterized in that: The four-axis mechanical arm comprises an electric rotary disc (40), and the first steering wheel (66) and the second steering wheel (67) are fixed on the electric rotary disc (40); The output shaft of the first steering wheel (66) is connected with a short rod (34), one end of the short rod (34) away from the first steering wheel (66) is hingedly connected with one end of a first connecting rod (64), the other end of the first connecting rod (64) is hingedly connected with one end of a long rod (35), and the other end of the long rod (35) is hingedly connected with the motor connecting seat. The second steering wheel (67) is fixed on a chassis connecting piece (33), the output shaft of the second steering wheel (67) is connected with a large arm (32), the long rod (35) is hingedly connected with the large arm (32), one end of the large arm (32) away from the second steering wheel (67) is hingedly connected with a top connecting plate (36), the chassis connecting piece (33) is fixed on the upper surface of the electric rotary disc (40), the chassis connecting piece (33) is hingedly connected with one end of a second connecting rod (65), the other end of the second connecting rod (65) is hingedly connected with the top connecting plate (36), the top connecting plate (36) is also hingedly connected with one end of a small arm (63), and the other end of the small arm (63) is hingedly connected with the motor connecting seat. The motor connecting seat is fixedly connected with a rotary motor (68), and the output shaft of the rotary motor (68) is fixedly connected with the tail platform (37).

6. The multi-functional automatic tile laying machine based on visual segmentation according to claim 1, characterized in that: The visual module comprises two cameras (38); A plurality of vacuum pumps (69) are installed on the upper end of the tail platform (37), and the vacuum pumps (69) are connected with the vacuum chuck (39) through pipelines.

7. The multi-functional automatic tile laying machine based on visual segmentation according to claim 1, characterized in that: The cement paving module (5) comprises a cement pipe (47), one end of the cement pipe (47) is connected with the cement barrel body (11), the other end of the cement pipe (47) is provided with a plurality of spray holes, the paving machine body is further fixed with a brush plate (48), the brush plate (48) is located above one end of the cement pipe (47) provided with the spray holes, and the lower end of the brush plate (48) is provided with a plurality of brush bodies (49).

8. The multi-functional automatic tile laying machine based on visual segmentation according to claim 1, characterized in that: The middle part of the paving machine body is provided with a feeding groove, and the ceramic tile feeding module (3) is installed in the feeding groove. The tile feeding module (3) comprises a feeding drive motor (50), the output shaft of the feeding drive motor (50) is provided with a feeding first pulley, two feeding transmission shafts (60) are rotatably connected to the two sides in the feeding groove respectively, one of the feeding transmission shafts (60) is provided with a feeding second pulley, the feeding first pulley and the feeding second pulley are drivingly connected through a first synchronous belt (51), the two feeding transmission shafts (60) are drivingly connected through a second synchronous belt (70), the two ends of each feeding transmission shaft (60) are provided with a feeding base (52), the feeding base (52) is fixed to the inner wall of the feeding groove, the feeding base (52) is provided with a sliding block groove, a lower sliding block (61) is slidingly connected in the sliding block groove, the lower sliding block (61) is threadedly connected with the end of the feeding transmission shaft (60), the upper end of the lower sliding block (61) is provided with a lower inclined surface, an upper sliding block (54) is arranged above the lower sliding block (61), the lower end of the upper sliding block (54) is provided with an upper inclined surface, the lower inclined surface is in contact with the upper inclined surface, the two sides of the upper sliding block (54) are provided with a positioning pin (53) respectively, the feeding base (52) is provided with a feeding through hole on the two sides, the positioning pin (53) is slidingly connected in the feeding through hole, the upper ends of the upper sliding blocks (54) are commonly fixed with a feeding platform (58), and the upper surface of the feeding platform (58) is used for placing tiles.

9. The multi-functional automatic tile laying machine based on visual segmentation according to claim 1, characterized in that: The platform control motor (59) is fixed on the paving machine body, the output shaft of the platform control motor (59) is connected with the first end of the platform driving part (57), the second end of the platform driving part (57) is hingedly connected with the cutting platform (56), the end, away from the platform driving part (57), of the cutting platform (56) is hingedly connected with a transverse sliding block (55), and the paving machine body is provided with a transverse sliding groove, and the transverse sliding block (55) is slidingly connected in the transverse sliding groove.

10. The multi-functional automatic tile laying machine based on visual segmentation according to claim 1, characterized in that: The walking module is fixed to the lower end of the paving machine body, and the walking module is a track chassis (9). The control module is a single-chip microcomputer controller.

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