CN111894249A

CN111894249A - Tile module and full-automatic wall tile robot thereof

Info

Publication number: CN111894249A
Application number: CN202010821596.7A
Authority: CN
Inventors: 袁碧
Original assignee: Chongqing Wanchongshan Intelligent Technology Co ltd
Current assignee: Chongqing Wanchongshan Intelligent Technology Co ltd
Priority date: 2020-08-15
Filing date: 2020-08-15
Publication date: 2020-11-06

Abstract

The utility model provides a tiling module and full-automatic wall tiling robot thereof, its full-automatic wall tiling robot includes: the plastering module is used for outputting the wall bricks one by one and plastering mortar on the back surfaces of the wall bricks; the tile sticking module is used for taking the wall tiles out of the plastering module, conveying the wall tiles to a position needing tile sticking, rotating the wall tiles and sticking the wall tiles on the wall surface; the paving module is used for detecting whether the wall bricks are paved on the wall surface or not, and if the wall bricks are not paved, knocking the raised parts through the knocking blocks so as to pave the wall bricks on the wall surface; and the lifting mechanism is used for driving the tile module and the paving module to lift. The invention has complete functions and can realize automatic plastering, grabbing wall bricks, conveying wall bricks, rotating wall bricks, pasting wall bricks and detecting whether the wall bricks are paved or not and paving the wall bricks at the same time. The whole process can be fully automated. And through drawing the location line on the wall, can carry out coordinate location with wall brick and needs tiling position through the location line, combine image recognition technology to realize accurately tiling.

Description

Tile module and full-automatic wall tile robot thereof

Technical Field

The invention relates to a building technology and an automation technology, in particular to a robot for realizing automatic operation of a building, and specifically relates to a full-automatic wall surface tile sticking robot.

Background

In building construction, tile sticking is basically a necessary process, the tile sticking mainly comprises wall tiles and floor tiles, the process of tile sticking is simple, and a large amount of prior art can be realized, such as the technical scheme disclosed in the prior application of the applicant, named as a tile sticking module and a full-automatic tile sticking machine thereof, and the technical scheme recorded in the Chinese invention patent application with the application number of 2020106428329. The existing automation equipment of the wall tile is few, and the reason is that the positioning of the wall tile is difficult, and the wall tile needs to be coated with mortar on the back surface, so that how to realize automatic coating and ensure the preset coating standard is a big problem at present. In addition, the wall brick needs to be rotated by 90 degrees when being pasted with the wall brick, so that the problem of how to rotate and grab the wall brick needs to be solved. And four corners need to be knocked after the wall tiles are attached, so that the wall tiles are ensured to be attached tightly and paved, and the hollowing rate is reduced. Based on the above-mentioned problem, do not have at present relevant equipment, technique to carry out effectual solution, this is also the main artificial reason of dependence of present tiling, but present cost of labor increases day by day, relies on the artifical unified standard that can't accomplish in addition, is unfavorable for the unified quality control in later stage.

To this end, the inventor has designed a full-automatic wall tiling robot, and it can realize plastering, snatch wall brick, rotatory wall brick, full-automatic wall brick, detect and pave the wall brick.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present invention is directed to a tile module and a fully automatic wall tile robot thereof, wherein the tile module can suck and paste wall tiles on a wall surface.

In order to achieve the purpose, the invention provides a tile sticking module which comprises a sucker and a sucker plate, wherein two ends of the sucker plate are respectively provided with a sucker hinged plate, the middle part of the sucker plate is provided with a through sucker plate through groove, the sucker hinged plates are sleeved and fixed on a sucker rotating shaft, two ends of the sucker rotating shaft respectively penetrate through a first sucker vertical plate and a second sucker vertical plate and then are respectively assembled and fixed with a second sucker belt wheel and a first sucker belt wheel, the second sucker belt wheel and the first sucker belt wheel are respectively connected with another second sucker belt wheel and the first sucker belt wheel through a second sucker belt and a first sucker belt wheel to form a belt transmission mechanism, the other second sucker belt wheel and the first sucker belt wheel are respectively sleeved and fixed at two ends of the sucker rotating shaft, the sucker rotating shaft is respectively assembled with the first sucker vertical plate and the second sucker vertical plate in a circumferential rotating manner, and the first sucker vertical plate and the second sucker vertical plate are respectively arranged at two ends of the sucker connecting plate;

one end of the sucker rotating shaft is arranged in the sucker electric box and is fixed with the sucker worm wheel in a sleeved mode, the sucker worm wheel is partially meshed with the sucker worm to form a worm wheel and worm transmission mechanism, and the sucker worm is partially fixed on the rotating power shaft in a sleeved mode.

Preferably, a first sucker limiting plate and a second sucker limiting plate are further mounted between the first sucker vertical plate and the second sucker vertical plate respectively, and the first sucker limiting plate and the second sucker limiting plate are used for limiting the rotation angle of the sucker plate respectively.

Preferably, a negative pressure communicating shell is further mounted on the sucker plate, a hollow negative pressure communicating cavity is formed in the negative pressure communicating shell, the negative pressure communicating cavity is communicated with a first outlet of the electromagnetic directional valve, a first inlet and a second inlet of the electromagnetic directional valve are respectively communicated with the negative pressure tank and the atmosphere, the electromagnetic directional valve is used for enabling one of the first inlet and the second inlet to be communicated with the negative pressure communicating cavity, the negative pressure tank is communicated with an air suction port of a vacuum pump, and an outlet of the vacuum pump is communicated with the atmosphere;

one end of the rotating power shaft and the sucker electrical box can be assembled in a circumferential rotating mode, the other end of the rotating power shaft penetrates through an electrical box partition plate and then is connected and fixed with an output shaft of a rotating motor, and the electrical box partition plate is installed in the sucker electrical box; the second sucker belt is installed in the sucker protection cover, the sucker protection cover is installed on the first sucker vertical plate, and the sucker electrical box is installed on the second sucker vertical plate.

Preferably, the sucker is mounted at one end of the sucker barrel, the sucker barrel is hollow, one end of the sucker barrel penetrates through the sucker plate and then is communicated with the negative pressure communicating cavity, the sucker barrel is mounted on the sucker plate, the sucker shaft, the sucker fixing ring and the sucker sealing ring are mounted in the sucker barrel, the sucker fixing ring and the sucker sealing ring are fixed in the sucker barrel, the sucker shaft is sleeved with the sucker movable ring, two ends of the sucker shaft respectively penetrate through the sucker sealing ring and the sucker fixing ring and can be axially assembled with the sucker shaft in a sliding manner, the sucker movable ring is arranged between the sucker sealing ring and the sucker fixing ring, a part of the sucker shaft between the sucker movable ring and the sucker fixing ring is sleeved with the sucker pressure spring, and the sucker pressure spring is used for generating elastic force for preventing the sucker shaft from moving; one end of the sucker shaft is arranged in the sucker, the sucker shaft is further provided with a sucker communicating groove, and the sucker sealing ring can be assembled with the part, not provided with the sucker communicating groove, of the sucker shaft in a sealing and axially sliding mode.

Preferably, the sucker electrical box is further provided with a sucker power block which is sleeved on the first tile screw and is assembled with the first tile screw in a screwing manner through threads, the two ends of the first tile-sticking screw rod are respectively assembled with the third tile-sticking vertical plate, the second tile-sticking vertical plate and the first tile-sticking vertical plate in a way of rotating circumferentially and not moving axially, the third vertical tile pasting plate, the second vertical tile pasting plate and the first vertical tile pasting plate are respectively arranged on the tile side shifting plate, the upper bottom of the tile side-shifting plate is also provided with a tile side-shifting power block which is sleeved on the second tile screw and is assembled with the second tile screw in a screwing way through threads, two ends of the second tile screw are respectively assembled with the two tile bottom vertical plates in a circumferential rotating and non-axial moving manner, the two tile bottom vertical plates are respectively arranged on a second tile bottom plate, and the second tile bottom plate is arranged on the first tile bottom plate; the first tiling screw rods are provided with two first tiling screw rods, the two first tiling screw rods are positioned on the second tiling vertical plate, and the parts of the first tiling vertical plate are respectively sleeved and fixed with a first tiling belt wheel;

the two second tile screws are respectively sleeved and fixed with a second tile belt wheel, the two second tile belt wheels are connected through a second tile belt to form a belt transmission mechanism, and one second tile screw penetrates through the hollow output shaft of the hollow shaft motor and is assembled with the hollow output shaft in a non-circumferential rotation mode; the second tile bottom plate is further provided with a tile baffle plate, and the tile baffle plate is located between the two tile floor plates and used for preventing the tile from laterally moving the power block to be in contact with the second tile belt wheel.

Preferably, the sucker power block is further fixedly connected with one end of a tile pull rope of the tile pull rope displacement sensor, the other end of the tile pull rope is arranged in the tile pull rope displacement sensor, and the tile pull rope displacement sensor is used for judging the distance between the sucker power block and the second tile vertical plate by detecting the pull-out length of the tile pull rope.

Preferably, the two tile floor standing plates and the tile partition plate are also respectively assembled with the lateral movement guide shaft, and the tile lateral movement power block can be axially and slidably sleeved on the lateral movement guide shaft; still through the assembly of slide rail set spare between board and the electric box of sucking disc is moved to the tiling side, slide rail set spare includes the slide rail, and the slide rail is installed on the board is moved to the tiling side and its both sides are provided with the slide rail recess respectively, slide rail recess and slide rail gyro wheel block assembly, but the suit is epaxial at first slide rail wheel to the circumferencial rotation ground of slide rail gyro wheel, first slide rail wheel shaft is installed on gyro wheel installation piece, and gyro wheel installation piece is installed in the electric box bottom of sucking disc, slide rail top surface and supporting roller press fit, but the suit is epaxial at second slide rail wheel to the circumferencial rotation ground of supporting roller, second slide rail wheel shaft is installed on.

Preferably, the mortar plastering machine further comprises a lifting mechanism, the lifting mechanism comprises a first lifting vertical plate and a second lifting bottom plate, the bottoms of the first lifting vertical plate and the second lifting bottom plate are both arranged on the plastering bottom plate, the tops of the first lifting vertical plate and the second lifting bottom plate are respectively assembled and fixed with the lifting top plate, a camera head plate is arranged on the lifting bottom plate, a binocular camera is arranged on the camera head plate, the tops of the two second lifting bottom plates are respectively assembled with the first lifting power shaft in a circumferential rotating manner, a first lifting belt wheel is fixedly sleeved on the first lifting power shaft, the first lifting belt wheel is connected with a first auxiliary lifting belt wheel through a first lifting belt to form a belt transmission mechanism, the first auxiliary lifting belt wheel is sleeved on the second lifting power shaft in a circumferential rotating manner, and the second lifting power shaft is arranged on the two lifting shaft plates, the two lifting shaft plates are respectively arranged on the plastering bottom plate;

the second lifting bottom plate is also respectively provided with a first lifting installation block and a second lifting installation block, the first lifting installation block and the second lifting installation block are respectively assembled with the lifting driving shafts in a circumferential rotating manner, the lifting driving shafts are provided with two lifting driving shafts, the two lifting driving shafts are respectively sleeved with a second lifting belt wheel, the two second lifting belt wheels are connected through a second lifting belt and form a belt transmission mechanism, and one end of one lifting driving shaft is connected with an output shaft of the lifting motor and forms the belt transmission mechanism; the lifting driving shaft is sleeved and fixed with a lifting worm part, the lifting worm part is meshed with a lifting worm wheel to form a worm wheel and worm wheel transmission mechanism, and the lifting worm wheel is sleeved and fixed on the first lifting power shaft.

The invention also discloses a full-automatic wall tile-sticking robot, which is applied with the tile sticking module.

The invention has the beneficial effects that:

1. the invention has complete functions and can realize automatic plastering, grabbing wall bricks, conveying wall bricks, rotating wall bricks, pasting wall bricks and detecting whether the wall bricks are paved or not and paving the wall bricks at the same time. The whole process can be fully automated. And through drawing the location line on the wall, can carry out the coordinate location with wall brick and needs tiling position through the location line, combine image recognition technology to realize accurately tiling, solve present location problem. The invention can realize the full-automatic tiling of the wall tiles, which can provide a foundation for the subsequent full-automatic tiling technology, namely, the subsequent AI tiling technology.

2. The plastering module can realize one-by-one output, automatic sizing and automatic plastering of the wall bricks, thereby providing a foundation for subsequent tiling.

3. The tile module can realize automatic grabbing, conveying, rotating and tile-sticking of the wall tiles, thereby providing a foundation for full-automatic tile-sticking.

4. The paving module can detect the tiled wall bricks to judge whether the wall bricks are paved or not, and if the tiled wall bricks are not paved, the knocking block is started to knock the wall bricks, so that the wall bricks are paved.

Drawings

Fig. 1-2 are schematic structural views of the present invention.

Fig. 3-8 are schematic structural diagrams of the plastering module. Wherein FIG. 4 is a cross-sectional view at the center plane of the squeegee A920; FIG. 6 is a cross-sectional view at the center plane of the axis of the blocking shaft.

Fig. 9 is a schematic structural view of the detection shaft and the detection switch.

Fig. 10 is a schematic view of the structure of the vibration motor, the vibration sleeve, and the vibration shaft.

Fig. 11 is a schematic view of the structure of the end travel switch and the end slide plate.

FIG. 12 is a schematic structural view of the movable blocking plate, the blocking block and the sliding blocking shaft.

Fig. 13 is a schematic view of the construction of a tile module, a tiling module.

Fig. 14 is a schematic view of the construction of a tile module.

Fig. 15 is a schematic view of the construction of the tile module, the paving module, and the lifting mechanism.

Fig. 16-21 are schematic views of the construction of a tile module. Wherein figure 19 is a cross-sectional view at the center plane of the axis of the suction cup shaft.

Fig. 22-29 are schematic structural views of the paving module. Wherein, fig. 25 and 26 are respectively the section views of the central plane where the axis of the displacement detecting shaft is located under the two rotating states of the paving component; fig. 27 is an enlarged view at F1 in fig. 26. Figure 28 is a cross-sectional view at the center plane of the axis of the paving roller shaft.

Fig. 30-32 are schematic structural views of the flooring assembly.

Fig. 33-35 are schematic structural views of the elevating mechanism.

FIG. 36 is a schematic view of a location line drawn on a wall surface.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1 to 36, the fully automatic wall tile robot of the present embodiment includes:

the plastering module A is used for outputting the wall bricks 100 one by one and plastering mortar on the back surfaces of the wall bricks;

the tile sticking module B is used for taking the wall tiles out of the plastering module, conveying the wall tiles to a position needing tile sticking, rotating the wall tiles and sticking the wall tiles to the wall surface 300;

the paving module C is used for detecting whether the wall bricks are paved on the wall surface 300 or not, and if the wall bricks are not paved, knocking the raised parts through the knocking blocks so as to pave the wall bricks on the wall surface;

and the lifting mechanism D is used for driving the tile module B and the paving module C to lift.

Referring to fig. 36, before the present invention is used, it is necessary to first draw positioning lines 310 on the wall surface 300 according to the sizes of the wall tiles, and the positioning lines are criss-cross, so that the staggered positions form the tile positions 301. Each tile location is for a wall tile 100. In this embodiment, a binocular camera D210 is installed on a lifting mechanism D, an image and a depth of a wall surface 300 are obtained through the binocular camera D210, then a positioning line 310, a tile position 301, a minimum distance (a vertical distance) between the wall surface 300 and the binocular camera is obtained by using an image recognition technology, a two-dimensional coordinate system is established by using a most marginal longitudinal and transverse positioning line 310 as coordinates (in this embodiment, a lowermost transverse positioning line 310 is used as an X axis, and a most left longitudinal positioning line 310 is used as a Y axis), a three-dimensional coordinate system is established by using a direction perpendicular to the wall surface as a Z axis, a zero point is located at an intersection of the longitudinal and transverse positioning lines 310 for establishing the coordinate system, so as to perform coordinate distribution on each tile position 301, and simultaneously calculate coordinate offset of a tile module, a lifting mechanism and a detection module relative to each tile position 301, and convert the offset into a control quantity of each device, to control the corresponding device so that the wall tile reaches the tile location 301 and abuts against the tile location 301, the location line should have a significant color difference from the wall surface in this embodiment, thereby facilitating identification. Of course, the embodiment can also acquire the wall images through the binocular camera, and then adopt manual remote control operation.

Referring to fig. 1-12, the plastering module a includes a plastering bottom plate 210, a wheel shaft plate 220 and a wheel shaft plate 220 are mounted at the bottom of the plastering bottom plate 210, the wheel shaft 230 passes through the wheel shaft plate 220 and then is assembled with a mecanum wheel 240, one end of the wheel shaft 230 is further connected and fixed with an output shaft of a walking motor 250 through a coupling, and the walking motor 250 can drive the mecanum wheel 240 to rotate after being started, so as to drive the walking, lateral moving and turning of the present invention. The number of the mecanum wheels 240 of the present embodiment is four, and the forward, backward, steering and side-shifting of the present invention can be controlled by controlling the steering of the four mecanum wheels 240, which is a conventional technology, and reference can be made to the conventional technology for controlling mecanum wheels.

The plastering bottom plate 210 is further provided with a feed back box A170 and a plastering support (not shown in the figure), the feed back box A170 is internally provided with a second grout guide plate A550, and the second grout guide plate A550 is provided with two second grout guide plates A550 which are gradually close to each other from top to bottom and are obliquely arranged. This design can direct the mortar into the return chamber a171 of return tank a 170. The feed back cavity A171 is communicated with one end of a feed back pipe A310, and the feed back pipe A310 is connected with an inlet and an outlet of a slurry pump A230 in series in sequence and then is connected into a mortar cavity A141 of a mortar box A140. When the slurry pump is used, the slurry pump A230 is started, so that the mortar in the feed back inner cavity A171 is pumped back to the mortar inner cavity A141 for storage, the cyclic utilization is realized, and the mortar waste amount is reduced. The mortar discharging device is characterized in that a mortar discharging shell A520 is installed at the bottom of the mortar inner cavity A141, a mortar discharging roller A530 is installed in the mortar discharging shell A520 in a sealed and circumferentially rotatable mode, a plurality of mortar discharging grooves A531 are evenly distributed along the circumference of the mortar discharging roller A530 in the circumferential direction, the mortar discharging roller A530 is sleeved on a mortar discharging shaft A340, two ends of the mortar discharging shaft A340 are respectively assembled with the side wall of the mortar box A140 in a circumferentially rotatable mode, one end of the mortar discharging shaft A340 penetrates out of the mortar box A140 and then is fixedly connected with an output shaft of a mortar discharging motor A220 through a coupler, and the mortar discharging motor A220 drives the mortar discharging roller A530 to rotate circumferentially during use, so that the mortar discharging roller A530 discharges mortar from the bottom of the mortar inner cavity A141 through the mortar discharging grooves A531 continuously. The design can effectively control the output quantity of the mortar, so that the output quantity of the mortar is not influenced by the volume of the mortar in the mortar cavity A141, and the output quantity of the mortar to each wall brick 100 is consistent.

The mortar applying frame is further provided with a first mortar discharging side plate A110 and a second mortar discharging side plate A150 which are arranged in parallel, the two first mortar discharging side plates A110 and the two second mortar discharging side plates A150 are respectively arranged at one ends of the mortar box A140 and the wall brick box A130, two wall brick conveying plates A120 are arranged between the two first mortar discharging side plates A110 and the two second mortar discharging side plates A150, a wall brick conveying gap is formed between the two wall brick conveying plates A120, a wall brick conveying belt A510 is respectively arranged between each wall brick conveying plate A120 and the first mortar discharging side plate A110 close to the wall brick conveying plate A120, the wall brick conveying belt A510 respectively winds a first wall brick conveying belt pulley A511 and a second wall brick conveying belt pulley A512 to form a belt transmission mechanism, the first wall brick conveying belt pulley A511 and the second wall brick conveying belt pulley A512 are respectively sleeved on a first wall brick belt wheel shaft A321 and a second wall brick belt wheel shaft A322, the first wall brick belt wheel shaft A321 is provided with a shaft A321, But second wall brick band pulley axle A322 is respectively with two first thick liquid curb plates A110, two second thick liquid curb plates A150 circumferential rotation assembly, first wall brick band pulley axle A321 one end is worn out behind one of them first thick liquid curb plate A110 and is fixed through the coupling joint with the output shaft of row thick liquid conveying motor A210, arrange thick liquid conveying motor A210 and can drive first thick liquid band pulley axle A321 circumferential rotation after starting to drive wall brick conveying belt A510 operation. The wall brick conveying belt A510 is further provided with a plurality of conveying protrusions A513, the height of the conveying protrusions A513 protruding out of the outer side face of the wall brick conveying belt A510 is not more than the thickness of one wall brick, so that the wall brick conveying belt A510 is started and can continuously scrape the wall bricks 100 from the bottom of the wall brick box A130 one by one, a wall brick output gap A131 is formed between the bottom of the wall brick box A130 and the wall brick conveying plate A120, the height of the wall brick output gap A131 is 1-1.5 times of the thickness of one wall brick, and therefore it can be ensured that only one wall brick can be output at each time, and after the bottommost wall brick is output, the last but second wall brick can fall to a compensation position.

Still install between mortar box A140 and the second wall brick band pulley axle A322 and scrape pulp board A920, scrape and be provided with the several on the pulp board A920 and scrape pulp tooth A921, scrape pulp clearance between every two and scrape pulp tooth A921. When the mortar scraping tooth A921 is used, mortar on the wall brick 100 can be scraped flat and a continuous fluctuant gully is formed, so that the wall brick can be more favorably leveled, and hollowing can be effectively avoided. Mortar case A140 installs the bottom and spreads thick liquid piece A540, spreads thick liquid piece A540 and is provided with towards wall brick case A130 one side and spreads thick liquid inclined plane A541, spread thick liquid inclined plane A541 to be close to scraping the setting that leans out gradually of board A920 one end by being close to wall brick case A130 one end. The design enables mortar discharged to the wall bricks through the mortar discharge grooves A531 to be respectively paved on two sides of the wall bricks through the mortar paving inclined planes A541, so that the whole wall brick 100 is ensured to be fully paved with the mortar, and the subsequent hollowing is avoided.

The two second grout discharging side plates A150 are respectively assembled with a detection shaft A330 in a circumferential rotating mode, the detection shaft A330 is installed between the wall brick box A130 and the grout discharging shell A520, and a detection block A332 is installed on the part, located between the two second grout discharging side plates A150, of the detection shaft A330; one end of the detection shaft A330 penetrates through one of the second grout discharging side plates A150 and then is assembled and fixed with one end of a torsion spring A610, the other end of the torsion spring A610 is assembled with the second grout discharging side plate A150, the torsion spring A610 is used for generating torsion force which enables the detection block A332 to keep perpendicular to the wall brick conveying plate A120, the wall brick can drive the detection block A332 to rotate towards the grout spreading block A540 when passing through the detection block, the detection shaft A330 is also driven to rotate synchronously, the torsion spring A610 stores elasticity in the rotating process, and the wall brick drives the detection shaft and resets the detection block through the rear torsion spring. The other end of the detection shaft A330 penetrates through the other second slurry discharge side plate A150 and then is fixedly assembled with the detection trigger block A331, the detection trigger block A331 corresponds to the detection switch A250, the detection switch A250 is installed on the detection switch plate A151, and the detection switch plate A151 is installed on the second slurry discharge side plate A150. When the wall brick passes through detection piece A332, the detection piece drives the detection axle and rotates, and detection axle A330 drives and surveys and trigger piece A331 and rotate in step to trigger detection switch A250, detection switch A250 is triggered and then carries the signal of telecommunication to the industrial computer, and the industrial computer judges that the wall brick passes through, and the signal of telecommunication judges that the wall brick has passed after disappearing, marks as wall brick and discharges one. And the detection switch can be a travel switch or a microswitch. After the detection switch is triggered, the slurry discharging motor A220 is started, and the slurry discharging motor A220 drives the slurry discharging roller to rotate, so that the mortar is continuously and uniformly discharged onto the wall brick 100 through the slurry discharging groove A531.

And end detection assemblies and blocking assemblies are respectively arranged at one ends, close to the second wall brick pulley shaft A522, of the two second mortar side plates A150, the end detection assemblies are used for detecting whether the wall bricks reach one end close to the second wall brick pulley shaft A522 or not, and the blocking assemblies are used for blocking the wall bricks to move upwards, so that the suction cups of the tile sticking modules can tightly suck the wall bricks. The detection assembly comprises a detection movable plate A810 and a detection seat A820, the detection seat A820 is installed on a second mortar side plate A150 close to the detection seat A820, a detection seat vertical plate A821 is arranged on the detection seat A820, one end of a detection sliding shaft A390 penetrates through the detection seat vertical plate A821 and then is assembled and fixed with the detection movable plate A810, the other end of the detection sliding shaft A390 penetrates through the detection seat vertical plate A821 and then is assembled with a detection nut A391, the detection nut A391 cannot penetrate through the detection seat vertical plate A821, a detection pressure spring A630 is sleeved on a part, located between the detection seat vertical plate A821 and the detection movable plate A810, of the detection sliding shaft A390, and the detection pressure spring A630 is used for applying elastic force on the detection movable plate A810 to prevent the detection movable plate A810 from moving. Still install detection switch A260 on detecting seat riser A821, detection switch A260's trigger end is just to detecting fly leaf A810, detects fly leaf A810 and can trigger detection switch A260 after removing certain distance to detecting seat riser A821, and detection switch A260 triggers the back and carries the signal to the industrial computer, and the industrial computer judges that the wall brick removes to target in place, can snatch through the tiling module. The detection switch of the embodiment can be a travel switch or a microswitch.

The blocking assembly comprises a blocking block A430, one end of the blocking block A430 is arranged on a blocking movable plate A420, the other end of the blocking block A430 penetrates through a second slurry discharge side plate A150 close to the blocking block A430 to enter the upper part of a wall brick conveying belt A510, a blocking inclined surface A431 is arranged on the end, the blocking movable plate A420 can be axially and slidably sleeved on the blocking sliding shaft A380, one end of the blocking sliding shaft A380 is fixedly assembled with the second slurry discharging side plate A150 close to the blocking sliding shaft A380, the other end of the blocking sliding shaft A380 passes through the blocking vertical plate A412 and then is assembled with the blocking nut A381, the blocking nut cannot pass through the blocking vertical plate a412, a blocking spring a620 is sleeved on a part of the blocking sliding shaft a380 located between the blocking vertical plate a412 and the blocking movable plate a420, the blocking spring a620 is used for generating an elastic force for blocking the active movable plate a420 from moving to the blocking vertical plate a412, the blocking vertical plate A412 is arranged on the second slurry discharging side plate A150 close to the blocking vertical plate A411 through a blocking horizontal plate A411. During the initial state, block that the fly leaf A420 is located the nearest second row thick liquid curb plate A150 one end under the effect that blocks the spring, absorb wall brick 100 and drive the in-process that wall brick 100 moved up at the tiling module, the side of wall brick 100 can paste with blockking the inclined plane and tightly to the drive blocks the inclined plane and makes and blocks piece A430 and overcome the elasticity that blocks the spring and to blockking riser A412 and remove, until wall brick 100 passes and blocks the piece. This can give the sucking disc sufficient space, displacement, time, pressure and wall brick and compress tightly to guarantee that the sucking disc inhales tight wall brick.

The two ends of the wall brick conveying plate A120 are assembled with a plastering frame, a gap is formed among the wall brick conveying plate A120, a wall brick conveying belt A510 and a detection movable plate A810, a guide inclined plate A560 is arranged below the gap and used for continuously guiding mortar falling above the guide inclined plate A560 to a mortar guiding inclined plate A710 so that the mortar enters the mortar guiding inclined plate A710, one end, close to a second wall brick belt wheel shaft A322, of the mortar guiding inclined plate A710 is hinged with two second mortar discharge side plates A150 through a silver mortar guiding rotating shaft A350, the other end of the mortar guiding inclined plate A710 enters the upper portion of a slurry return box A170, one end of the mortar guiding inclined plate A710 is tightly pressed on a mortar guiding ball A930, the mortar guiding inclined plate A710 is installed in the mortar guiding box A160, and the top and the bottom of the mortar guiding box A160 are respectively assembled and fixed with the second mortar discharge side plates A150 and the mortar return box A170; the slurry guiding ball A930 is arranged on the top of the slurry guiding support shaft A370 in a spherical rolling manner, the bottom of the slurry guiding support shaft A370 is arranged in the slurry guiding cylinder A360 and can be assembled with the slurry guiding cylinder A360 in an axial sliding manner, a slurry guiding spring A640 is arranged between one end of the slurry guiding support shaft A370, which is arranged in the slurry guiding cylinder A360, and the slurry guiding bottom plate A161, the slurry guiding bottom plate A161 is arranged on the bottom of the slurry guiding box A160, and the bottom of the slurry guiding cylinder A360 is arranged on the slurry guiding bottom plate A161. The slurry guiding inclined plate A710 is further provided with a slurry guiding hinged plate A711, the slurry guiding hinged plate A711 is hinged to one end of a slurry guiding connecting rod A720 through a first slurry guiding pin A741, the other end of the slurry guiding connecting rod A720 is eccentrically hinged (hinged at a non-axial line) to a slurry guiding rotary plate A730 through a second slurry guiding pin A742, the slurry guiding rotary plate A730 is mounted at one end of a slurry guiding output shaft A241, the other end of the slurry guiding output shaft A241 is mounted in a slurry guiding motor A240, and the slurry guiding motor A240 can drive the slurry guiding output shaft to rotate circumferentially after being started, so that the slurry guiding inclined plate A710 is driven by the slurry guiding rotary plate A730 and the slurry guiding connecting rod A720 to continuously rotate up and down by taking a slurry guiding rotary shaft A350 as a center, mortar on the slurry guiding inclined plate A710 is shaken continuously and finally falls.

Preferably, the brush a910 is respectively installed above the material return box a170 and on the two second slurry discharge side plates a150, and bristles of the brush a910 are respectively attached to the outer surface of the wall brick conveying belt a510, so that the wall brick conveying belt a510 can be continuously brushed.

The operation process of the plastering module of the embodiment is as follows: 1. the slurry discharging and conveying motor is started to scrape the wall bricks 100 out of the bottom of the wall brick box A130 one by one; 2. when the wall brick passes through the detection block A332, the detection trigger block triggers the detection switch, the slurry discharge motor is started to discharge slurry to the wall brick, and the slurry discharge motor is stopped after 1-2 seconds of delay until the detection switch is not triggered any more. 3. Mortar is piled up at the end part of the wall brick and then is continuously extruded and paved towards the two sides of the wall brick through a mortar paving inclined plane A541. The wall brick enters under the scraping plate A920, and the scraping plate A920 continuously scrapes the gap in the mortar through the scraping teeth A921. 4. The wall brick pushes the detection movable block to trigger the detection switch A260, the slurry discharge conveying motor stops, and the slurry plastering and outputting of the wall brick are completed. 5. The tile module tightly sucks the wall tile from the bottom, then drives the wall tile to move upwards, the wall tile provides blocking force through the blocking block A430 to ensure that the sucking disc is tightly sucked with the wall tile, and finally the wall tile passes through the blocking block A430, so that the tile is conveyed and pasted through the tile module. 6. The mortar dropped from the wall brick continuously enters the mortar sloping plate A710, the mortar guide motor is started, the mortar guiding sloping plate continuously vibrates, the mortar is continuously input into the return box A170, and after the mortar in the return box A170 reaches a certain amount, the slurry pump is started to pump the mortar to the mortar box for domestication.

Referring to fig. 1-6 and 13-28, the tile module B includes a suction cup B210 and a suction cup plate B110, the two ends of the suction cup plate B110 are respectively provided with a suction cup hinge plate B112, the middle of the suction cup plate hinge plate B is provided with a suction cup through groove B111, the suction cup hinge plate B112 is fixed on a suction cup rotating shaft B320 in a sleeving manner, the two ends of the suction cup rotating shaft B320 respectively penetrate through a first suction cup vertical plate B121 and a second suction cup vertical plate B122 and then are respectively assembled and fixed with a second suction cup belt wheel B551 and a first suction cup belt wheel B511, the second suction cup belt wheel B551 and the first suction cup belt wheel B511 are respectively connected with another second suction cup belt wheel B551 and the first suction cup belt wheel B511 to form a belt transmission mechanism, the other second suction cup belt wheel B551 and the first suction cup belt wheel B511 are respectively fixed at the two ends of the suction cup rotating shaft B330 respectively assembled with a first suction cup vertical plate B121 and a second suction cup vertical plate B122 in a circumferential rotation manner, the first sucking disc vertical plate B121 and the second sucking disc vertical plate B122 are respectively installed at two ends of a sucking disc connecting plate B153, a first sucking disc limiting plate B151 and a second sucking disc limiting plate B152 are further respectively installed between the first sucking disc vertical plate B121 and the second sucking disc vertical plate B122, and the first sucking disc limiting plate B151 and the second sucking disc limiting plate B152 are respectively used for limiting the rotating angle of the sucking disc plate B110. The suction cup plate B110 is further provided with a negative pressure communicating shell B220, a hollow negative pressure communicating cavity B221 is formed in the negative pressure communicating shell B220, the negative pressure communicating cavity B221 is communicated with a first outlet of an electromagnetic reversing valve B460, a first inlet and a second inlet of the electromagnetic reversing valve B460 are respectively communicated with a negative pressure tank B430 and the atmosphere, the electromagnetic reversing valve B460 is used for enabling the first inlet and the second inlet to be communicated with the negative pressure communicating cavity B221 alternatively, the negative pressure tank B430 is communicated with a suction opening of a vacuum pump B440, an outlet of the vacuum pump B440 is communicated with the atmosphere, and the inside of the negative pressure tank B430 can be sucked after the vacuum pump is started, so that a certain vacuum degree is kept in the negative pressure tank B430. The utility model discloses a sucker electric box, including electric box baffle B132, sucking disc rotation axis B330 one end, sucking disc worm wheel B520 and sucking disc worm part B530, the sucking disc worm part B530 suit is fixed with sucking disc worm wheel B520 suit in the sucking disc electric box B130, sucking disc worm wheel B520 meshes and constitutes worm wheel worm drive mechanism with sucking disc worm part B530, sucking disc worm part B530 suit is fixed on rotation power axle B350, but rotation power axle B350 one end and sucking disc electric box B130 circumference rotation assembly, the other end pass behind the electric box baffle B132 with the output shaft of rotating electrical machines B450 pass through the coupling joint and fix, electric box baffle B132. When the sucker plate B110 is used, the rotating motor B450 is started to drive the sucker rotating shaft B330 to rotate circumferentially, and the sucker rotating shaft B330 drives the sucker rotating shaft B320 to rotate circumferentially, so that the whole sucker plate B110 is driven to rotate. In the initial state, the suction plate B110 is parallel to the bottom surface, and at this time, the suction plate B110 is closely attached to the second suction limiting plate B152. After the sucker plate rotates by 90 degrees, the sucker plate B110 is attached to the first sucker limiting plate B151, so that the maximum rotating angle of the sucker plate is limited. The second suction cup belt B550 is installed in the suction cup protection cover B140, the suction cup protection cover B140 is installed on the first suction cup vertical plate B121, and the suction cup electrical box B130 is installed on the second suction cup vertical plate B122.

The sucking disc B210 is arranged at one end of the sucking disc cylinder B230, the sucking disc cylinder B230 is hollow, one end of the sucking disc cylinder B230 penetrates through the sucking disc plate B110 and then is communicated with the negative pressure communicating cavity B221, the sucking disc cylinder B230 is arranged on the sucking disc plate B110, and the sucking disc cylinder B230 is internally provided with a sucking disc shaft B310, a sucking disc fixing ring B250 and a sucking disc sealing ring B240, the sucker fixing ring B250 and the sucker sealing ring B240 are fixed in the sucker cylinder B230, the sucker shaft B310 is sleeved with a sucker movable ring B312, two ends of the sucker shaft B310 respectively penetrate through the sucker sealing ring B240 and the sucker fixing ring B250 and can be axially assembled with the sucker movable ring B312 in a sliding manner, the sucker movable ring B312 is arranged between the sucker sealing ring B240 and the sucker fixing ring B250, the part of the sucker shaft B310, which is located between the sucker movable ring B312 and the sucker fixing ring B250, is sleeved with a sucker pressure spring B710, and the sucker pressure spring B710 is used for generating elastic force for preventing the sucker shaft from moving towards the sucker fixing ring B250. The sucking disc shaft B310 is characterized in that one end of the sucking disc shaft B310 is arranged in the sucking disc B210, a sucking disc communicating groove B311 is further formed in the sucking disc shaft B310, the sucking disc sealing ring B240 can be assembled with the part, which is not provided with the sucking disc communicating groove B311, of the sucking disc shaft B310 in a sealing and axially sliding mode, the sucking disc shaft B310 can enable the sucking disc communicating groove B311 to communicate the two sides of the sucking disc sealing ring B240 after moving downwards, and therefore the inside of the sucking disc B210 is communicated with the negative pressure communicating cavity B221. In the initial state, the suction cup shaft B310 is in sealing assembly with the suction cup sealing ring B240 due to the elastic force of the suction cup pressure spring B710.

The sucking disc electric box B130 is further provided with a sucking disc power block B131, the sucking disc power block B131 is sleeved on a first tile screw B380 and is assembled with the first tile screw B380 in a threaded manner, two ends of the first tile screw B380 are respectively assembled with a third tile vertical plate B663, a second tile vertical plate B662 and a first tile vertical plate B661 in a rotatable and axially immovable manner, the third tile vertical plate B663, the second tile vertical plate B662 and the first tile vertical plate B661 are respectively arranged on a tile side moving plate B180, the bottom of the tile side moving plate B180 is further provided with a tile side moving power block B181, the tile side moving power block B181 is sleeved on the second tile screw B360 and is assembled with the second tile screw B360 in a threaded manner, two ends of the second tile screw B360 are respectively assembled with two tile bottom vertical plates B171 in a rotatable and axially immovable manner, two tile bottom vertical plates B171 are respectively arranged on a second tile bottom plate B170, the second tile bed B170 is mounted on the first tile bed B160; the first tile screw B380 is provided with two first tile screws B380 which are positioned on the second tile vertical plate B662 and the part of the first tile vertical plate B661 is respectively sleeved with and fixed with a first tile belt wheel B561, the two first tile belt wheels B561 are connected through a first tile belt B560 to form a belt transmission mechanism, one end of one first tile screw B380 penetrates out of the first tile vertical plate B661 and then is fixedly connected with an output shaft of the first tile motor B410 through a coupler, the first tile motor B410 can drive the two first tile screws B380 to synchronously and circumferentially rotate after being started, and therefore the sucker electric box and the sucker plate are driven to synchronously axially move along the first tile screw B380. The number of the second tile screw rods B360 is two, the two second tile screw rods B360 are respectively sleeved and fixed with a second tile belt wheel B541, the two second tile belt wheels B541 are connected through a second tile belt B540 to form a belt transmission mechanism, one second tile screw rod B360 penetrates through a hollow output shaft of the hollow shaft motor B470 and is assembled with the hollow output shaft in a non-circumferential rotation mode, and the hollow shaft motor B470 can drive the two second tile screw rods B360 to rotate circumferentially after being started, so that the tile side shifting plate B180 is driven to move axially. The second tile bottom plate B170 is further provided with a tile partition B172, and the tile partition B172 is positioned between the two tile floor plates B171 and used for preventing the tile side-shifting power block B181 from contacting with a second tile pulley B540. The suction cup power block B131 is further fixedly connected with one end of a tile pull rope B421 of the tile pull rope displacement sensor B420, the other end of the tile pull rope B421 is arranged in the tile pull rope displacement sensor, and the tile pull rope displacement sensor is used for judging the distance between the suction cup power block B131 and a second tile vertical plate B662 by detecting the pulling length of the tile pull rope. The two tile floor standing plates B171 and the tile partition plates B172 are further respectively assembled with a side shifting guide shaft B370, and the tile side shifting power block B181 can be axially and slidably sleeved on the side shifting guide shaft B370, so that the design can effectively guide the tile side shifting power block B181 and effectively support the tile side shifting plates.

The tile side moving plate B180 and the sucker electrical box B130 are further assembled through a sliding rail assembly, the sliding rail assembly comprises a sliding rail B650, the sliding rail B650 is installed on the tile side moving plate B180, sliding rail grooves B651 are respectively arranged on two sides of the tile side moving plate B180, the sliding rail grooves B651 are in clamping assembly with sliding rail rollers B630, the sliding rail rollers B630 are sleeved on a first sliding rail axle B641 in a circumferential rotating mode, the first sliding rail axle B641 is installed on a roller installation block B610, the roller installation block B610 is installed at the bottom of the sucker electrical box B130, the top surface of the sliding rail B650 is in compression fit with a supporting roller B620, the supporting roller B620 is sleeved on a second sliding rail axle B642 in a circumferential rotating mode, and the second sliding rail axle B642 is installed on the roller installation block B610. Through the design of the slide rail assembly, on one hand, the suction disc plate B110 can be effectively supported, and on the other hand, the suction disc plate B110 can be effectively guided to move along the slide rail.

Referring to fig. 1-2, 15, 33-35, the lifting mechanism D includes a first lifting vertical plate D110 and a second lifting bottom plate D120, bottoms of the first lifting vertical plate D110 and the second lifting bottom plate D120 are both installed on the plastering bottom plate 210, tops of the first lifting vertical plate D110 and the second lifting bottom plate D120 are respectively assembled and fixed with a lifting top plate D130, the lifting bottom plate D130 is installed with a camera head plate D140, the camera head plate D140 is installed with a binocular camera D210, the second lifting bottom plate D120 has two pieces, tops of the two pieces of the second lifting bottom plate D120 are respectively assembled with a first lifting power shaft D320 in a circumferential rotation manner, the first lifting power shaft D320 is sleeved and fixed with a first lifting pulley D431, the first lifting pulley D431 is connected with a first secondary lifting pulley D432 through a first lifting belt D430 and forms a belt transmission mechanism, the first secondary lifting pulley D432 is sleeved on a second lifting power shaft D340 in a circumferential rotation manner, the second lifting power shaft D340 is installed on the two lifting shaft plates D160, and the two lifting shaft plates D160 are respectively installed on the plastering bottom plate 210. The second lifting bottom plate D120 is also respectively provided with a first lifting installation block D151 and a second lifting installation block D152, the first lifting installation block D151 and the second lifting installation block D152 are respectively assembled with the lifting driving shaft D310 in a circumferential rotation way, the two lifting driving shafts D310 are provided, and a second lifting belt wheel D441 is respectively sleeved on the two lifting driving shafts D310, the two second lifting belt wheels D441 are connected through a second lifting belt D440 to form a belt transmission mechanism, one end of one of the lifting driving shafts D310 is connected with an output shaft of the lifting motor D220 and forms a belt transmission mechanism, the lifting motor D220 can drive the lifting driving shaft D310 to rotate circumferentially after being started, a lifting worm part D420 is fixedly sleeved on the lifting driving shaft D310, the lifting worm part D420 is meshed with a lifting worm wheel D410 to form a worm wheel and worm transmission mechanism, and the lifting worm wheel D410 is fixedly sleeved on the first lifting power shaft D320. When the lifting driving shaft D310 rotates circularly, the first lifting power shaft D320 can be driven to rotate circularly, so that the lifting belt D430 is driven to run. The lifting belt D430 is fixedly assembled with the lifting connecting strip B191 through the lifting connecting block B192, the lifting connecting strip B191 is installed on the lifting connecting plate B190, and the lifting connecting plate B190 is fixed on the first tile bottom plate B160. Two sliding rails B650 are further mounted between the lifting top plate D130 and the plastering bottom plate 210, the sliding rails B650 are slidably assembled with the lifting connecting plate B190 through sliding rail assemblies, and the sliding rail assemblies are mounted on the lifting connecting plate B190. When the tile paving machine is used, the whole tile module B and the paving module C are driven to move up and down through the lifting mechanism. The lifting stay cord of the lifting stay cord displacement sensor can be fixed on the first tile base plate B160, and the lifting stay cord displacement sensor is installed on the plastering base plate 210, so that the height of the first tile base plate B160 relative to the plastering base plate 210 can be detected, and the heights of the sucker plate B110 and the plastering base plate 210 can be deduced, and the tiles can be accurately tiled.

When the tile module B needs to suck a wall tile, the sucker plate B110 is inserted between the two second plastering side plates A150 and then moves up and down with the lifting mechanism D, so that the sucker B210 and the sucker shaft B310 are respectively pressed on the bottom surface of the wall tile 100, the sucker shaft B310 is communicated with the negative pressure communicating cavity B221 after being pressed down, and the negative pressure communicating cavity B221 generates negative pressure for the inside of the sucker to tightly suck the wall tile. Then the lifting mechanism carries the tile module B and the wall tile to move upwards until reaching the position where the tile is required to be tiled, and then a rotating motor B50 is started to drive a sucker plate B110 to rotate 90 degrees, so that the end face of the wall tile 100, which is coated with mortar, is parallel to the wall surface; hollow shaft motor B470 starts, starts the wall brick and removes to the wall, pastes the tiling that can accomplish the wall brick on the wall until the wall brick. And the displacement amount that the wall brick moved to the wall calculates the interval of sucking disc board and wall that obtains through the two mesh cameras and can obtain. After the tiling is finished, the electromagnetic directional valve communicates the atmosphere with the negative pressure communicating cavity B221, the suction disc loses the suction force on the wall brick, and then the hollow shaft motor rotates reversely, so that the suction disc plate is driven to reset and then enters a downward moving cycle.

Referring to fig. 1-6, 13-15, and 22-32, the leveling module C includes a first leveling vertical plate C110, a second leveling vertical plate C120, a third leveling vertical plate C140, and a leveling frame C130, where the first leveling vertical plate C110, the second leveling vertical plate C120, and the third leveling vertical plate C140 are respectively mounted on a first tile bottom plate B160, the top and bottom of the first leveling vertical plate C110, the second leveling vertical plate C120, and the third leveling vertical plate C140 are respectively mounted and fixed with two ends of a leveling guide plate C220 and a leveling horizontal plate C210, the leveling horizontal plate C210 is mounted on one end close to the third leveling vertical plate C140 and a leveling shaft block C211 is mounted on one end of the leveling horizontal plate C210, and the leveling shaft block C211, the first leveling vertical plate C110, and the second leveling vertical plate C120 are respectively mounted with two ends of a leveling screw C310 in a rotatable and axially immovable manner. The parts of the two paving screw rods C310, which are positioned between the first paving vertical plate C110 and the second paving vertical plate C120, are in paired assembly and fixation with a paving belt wheel C551 respectively, the two paving belt wheels C551 are connected through a paving belt C550 to form a belt transmission mechanism, one end of one paving screw rod C310 penetrates through the first paving vertical plate C110 and then is fixedly connected with an output shaft of a paving side moving motor C410 through a coupler, and the paving side moving motor C410 can start the two paving screw rods C310 to synchronously rotate circumferentially after being started; two paving screw rods C310 respectively penetrate through different side shifting power blocks C131 and are assembled with the side shifting power blocks C131 in a screwing mode through threads, and the two side shifting power blocks C131 are respectively arranged at the upper end and the lower end of the paving frame C130; the lateral moving power block C131 penetrates through the paving chute C221, is clamped with the paving chute C221 and can be in sliding transfer fit, and the paving chute C221 is arranged on the paving guide plate C220 and penetrates through the paving guide plate C220. The paving screw can drive the paving frame to move along the axial direction of the paving frame when rotating circumferentially. The lateral moving power block C131 is provided with a paving roller shaft C320, the paving roller shaft C320 is provided with a paving roller C510 in a circumferential rotating manner, and the paving roller C510 is attached to the paving guide plate C220.

The paving frame C130 is also provided with a paving flat plate C132, a first paving frame standing plate C133 and a second paving frame standing plate C134 respectively, and the paving flat plates C132 have at least three, each paving flat plate C132 can be respectively assembled with a first paving rotating shaft C330 and a second paving rotating shaft C340 in a circumferential rotating way, a paving rotating motor C420 is arranged on the paving flat plate C132 at the topmost part, the output shaft of the paving rotating motor C420 is fixedly connected with one end of a third paving rotating shaft C350 through a coupling, the third paving rotating shaft C350 is respectively assembled with the first paving frame vertical plate C133 and the second paving frame vertical plate C134 in a circumferential rotating way, the third paving rotating shaft C350 is also provided with a paving worm part C351, the paving worm part C351 is meshed with a paving worm wheel C540 to form a worm wheel and worm wheel transmission mechanism, the paving worm wheel C540 is sleeved and fixed on the first paving rotating shaft C330, so that the first paving rotating shaft C330 can be driven to rotate circularly after the paving rotating motor C420 is started. At least three first paving gears C520 and at least three second paving gears C530 are respectively sleeved and fixed on the first paving rotating shaft C330 and the second paving rotating shaft C340, and each first paving gear C520 is in meshing transmission with the corresponding second paving gear C530, so that the second paving rotating shaft C340 can be driven to rotate circularly when the first paving rotating shaft C330 rotates circularly; the second paving rotating shaft C340 is fixedly assembled with the paving bottom plate C630 of the paving component C600, so that the paving component C600 can be driven to synchronously rotate when the second paving rotating shaft C340 rotates circumferentially. The paving component C600 further comprises a first paving support C610 and a second paving support C620, a bottom plate chute C631 is arranged on the paving bottom plate C630, the bottom plate chute C631 is clamped and slidably assembled with a bottom plate slider C623, the bottom plate slider C623 is arranged on a support bottom plate C622, the support bottom plate C622 is installed at the bottom of the second paving support C620, two second support vertical plates C621 are further installed on the second paving support C620, the two second support vertical plates C621 are assembled in parallel and respectively assembled with a knocking output shaft C431 and a knocking power cylinder C840 in a circumferential rotating and non-axial moving mode, a first knocking gear C721 and a second knocking gear C722 are respectively sleeved and fixed on the knocking output shaft C431 and the knocking power cylinder C840, the first knocking gear C721 and the second knocking gear C722 are in a mutually meshed transmission mode, one end of the output shaft C431 penetrates through the second support C621 and is installed in the knocking motor C430, after the knocking motor C430 is started, the knocking output shaft C431 can be driven to rotate circumferentially, so that the knocking power cylinder C840 is driven to rotate circumferentially.

The knocking power cylinder C840 is internally provided with a knocking cylinder C830 in a way of circumferential rotation and axial movement, one end of the knocking cylinder C830 is fixedly assembled with a knocking block C730, and the knocking block is made of a material with the hardness lower than that of a wall brick, such as rubber and plastic. The other end of the knocking cylinder C830 penetrates through the knocking power cylinder C840, the knocking guide ring C850 and the two second support vertical plates C621 and then is assembled and fixed with the knocking limiting ring C832, and the knocking guide ring C850 is fixed on the second support vertical plates C621, can not rotate circumferentially relative to the knocking cylinder C830 and can be assembled in an axially movable mode (assembled through a spline and a spline groove); be provided with on the outer wall of beating a section of thick bamboo C830 and strike drive groove C831, strike drive groove C831 with strike drive pin C930 one end block, slidable assembly, strike the drive pin C930 other end and install on beating a power section of thick bamboo C840, strike drive groove C831 by strikeing chute C8311, strike spread groove C8312, strike chute C8311 has a plurality ofly and respectively on beating a section of thick bamboo C830 lateral wall, through strikeing spread groove C8312 rounding off intercommunication between two strikeing chutes C8311 to make and strike drive pin C930 and can drive when beating a section of thick bamboo C830 axial displacement along with strikeing power section of thick bamboo C840 circumference rotation, thereby drive and strike the synchronous axial displacement of piece. The part of the knocking cylinder C830, which is located between the knocking guide ring C850 and the knocking limiting ring C832, is sleeved with a knocking pressure spring C920, and the knocking pressure spring C920 is used for providing elastic force for the knocking cylinder C830 to prevent the knocking cylinder C830 from moving towards the knocking block. A displacement detection shaft C820 is arranged in the knocking cylinder C830 in a circumferentially rotating and axially sliding mode, one end of the displacement detection shaft C820 penetrates through the knocking cylinder C830 and then is assembled with a displacement detection ball C910 in a spherical rolling mode, the other end of the displacement detection shaft C820 penetrates through a knocking limiting ring C832 and a knocking partition plate C624 and then is connected and fixed with an input shaft of a knocking displacement sensor C450, and the displacement detection shaft C820 and the knocking partition plate C624 are assembled in an axially sliding mode. When the displacement sensor is used, if the displacement detection shaft C820 moves axially, the input shaft of the knocking displacement sensor C450 is driven to move synchronously, so that the knocking displacement sensor C450 detects the displacement. The second paving support C620 is fixedly assembled with one end of the paving rack C710, the other end of the paving rack C710 penetrates through a support partition plate C611 of the first paving support C610, the end of the paving rack C611 is meshed with the translation gear C740 to form a gear-rack transmission mechanism, the translation gear C740 is fixedly sleeved on the translation rotating shaft C810, two ends of the translation rotating shaft C810 are respectively assembled with the first support vertical plate C612 in a circumferential rotation mode, the translation rotating shaft C810 is in non-circumferential rotation fit with the translation hollow output shaft of the translation hollow shaft motor C440, the translation hollow shaft motor C440 can drive the translation rotating shaft C810 to rotate in the circumferential mode after being started, the paving rack C710 is driven to move along the length direction of the translation rotating shaft C, and the distance between the first paving support C610 and the second paving support C620 can be adjusted. The bracket clapboard C611 and the first bracket vertical plate C612 are both arranged on the paving bottom plate C630.

Fig. 24-25 show the initial position of the paving module C with the paving assembly parallel to the paving guide C220 and the paving shelf C130 at the end closest to the first paving plate C110. After the wall tiles are tiled, the suction disc keeps tightly sucking the wall tiles, then the paving side moving motor C410 is started, so that the paving frame C130 is driven to move towards the third paving vertical plate C140, the paving rotating motor C420 is started until the paving component reaches the position corresponding to the edge of the wall tiles, the paving rotating motor C420 drives the first paving rotating shaft C330 to rotate circumferentially, the first paving rotating shaft C330 drives the second paving rotating shaft C340 to rotate circumferentially, so that the paving component C600 is driven to rotate 90 degrees to reach the states of figures 23 and 26, and the axis of the displacement detection shaft C820 is perpendicular to the end face of the wall tiles. Then starting the translation hollow shaft motor C440 to enable the displacement detection shaft C820 to move towards the end face of the wall brick until the displacement detection shaft C820 is tightly pressed with the end face of the wall brick, at the moment, knocking displacement sensors C450 on the three leveling assemblies respectively obtain a displacement signal, the signals are respectively input into an industrial personal computer, the industrial personal computer compares the values of the three signals, if the displacement detection shaft C820 is within an error range, the wall brick is considered to be leveled, then starting the leveling side-moving motor C410 to enable the displacement detection shaft C820 to tightly press on the surface of the wall brick to walk until the difference value of the three signal values exceeds a preset value, and at the moment, judging that the wall brick is not leveled. Then start the knocking motor C430 that corresponds with the great knocking displacement sensor C450 of signal difference, knocking motor C430 drives and strikes power section of thick bamboo C840 circumferential rotation to the drive strikes a section of thick bamboo C830 axial reciprocating motion, also drives and strikes piece synchronous motion, can strike the wall brick when strikeing the piece and move to the wall brick, thereby get into error range up to the difference, thereby judge and pave for the wall brick. Certainly, the signal values obtained by the three knocking displacement sensors for the first time and the signal values obtained subsequently need to be compared, if the difference between the values exceeds a preset range, the whole position is judged to be uneven, and then the knocking motor corresponding to the value exceeding the range is started to knock until the value reaches the preset range value. If the signal value of the middle part of the wall brick is smaller than that of one side of the wall brick, the wall brick is judged to be inclined, so that the knocking block is moved to the other side of the wall brick and then knocked, and the wall brick is flat. After knocking is finished, the paving component C600 and the paving frame C130 are reset respectively.

The invention is not described in detail, but is well known to those skilled in the art.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims

1. A tile sticking module is characterized by comprising a sucker and a sucker plate, wherein sucker hinged plates are respectively arranged at two ends of the sucker plate, a through sucker plate through groove is arranged in the middle of the sucker plate, the sucker hinged plates are sleeved and fixed on a sucker rotating shaft, two ends of the sucker rotating shaft respectively penetrate through a first sucker vertical plate and a second sucker vertical plate and then are respectively assembled and fixed with a second sucker belt wheel and a first sucker belt wheel, the second sucker belt wheel and the first sucker belt wheel are respectively connected with another second sucker belt wheel and the first sucker belt wheel through a second sucker belt and the first sucker belt wheel to form a belt transmission mechanism, the other second sucker belt wheel and the first sucker belt wheel are respectively sleeved and fixed at two ends of the sucker rotating shaft, the sucker rotating shaft is respectively assembled with the first sucker vertical plate and the second sucker vertical plate in a circumferential rotating manner, and the first sucker vertical plate and the second sucker vertical plate are respectively arranged at two ends of the sucker connecting plate;

2. The tile module of claim 1, wherein a first suction cup limiting plate and a second suction cup limiting plate are further mounted between the first suction cup vertical plate and the second suction cup vertical plate, respectively, and the first suction cup limiting plate and the second suction cup limiting plate are used for limiting a rotation angle of the suction cup plates, respectively.

3. The tile module of claim 1, wherein the suction plate further comprises a negative pressure communicating housing, the negative pressure communicating housing is internally provided with a hollow negative pressure communicating chamber, the negative pressure communicating chamber is communicated with a first outlet of the electromagnetic directional valve, a first inlet and a second inlet of the electromagnetic directional valve are respectively communicated with the negative pressure tank and the atmosphere, the electromagnetic directional valve is used for enabling one of the first inlet and the second inlet to be communicated with the negative pressure communicating chamber, the negative pressure tank is communicated with the suction opening of the vacuum pump, and the outlet of the vacuum pump is communicated with the atmosphere;

4. The tile module of claim 1, wherein the suction cup is mounted on one end of a suction cup cylinder, the suction cup cylinder is hollow and has one end communicating with the negative pressure communicating cavity after passing through a suction cup plate, the suction cup cylinder is mounted on the suction cup plate, and a suction cup shaft, a suction cup fixing ring and a suction cup sealing ring are mounted in the suction cup cylinder, the suction cup fixing ring and the suction cup sealing ring are fixed in the suction cup cylinder, a suction cup movable ring is sleeved on the suction cup shaft, two ends of the suction cup shaft respectively penetrate through the suction cup sealing ring and the suction cup fixing ring and can be axially slidably assembled with the suction cup shaft, the suction cup movable ring is arranged between the suction cup sealing ring and the suction cup fixing ring, and a suction cup pressure spring is sleeved on a part of the suction cup shaft between the suction cup movable ring and the suction cup fixing ring and used for generating; one end of the sucker shaft is arranged in the sucker, the sucker shaft is further provided with a sucker communicating groove, and the sucker sealing ring can be assembled with the part, not provided with the sucker communicating groove, of the sucker shaft in a sealing and axially sliding mode.

5. The tile module of claim 1, wherein the electrical box further comprises a suction cup power block mounted thereon, the suction cup power block is assembled thereon by screwing with the first tile screw, both ends of the first tile screw are assembled with the third tile vertical plate, the second tile vertical plate, and the first tile vertical plate respectively, the third tile vertical plate, the second tile vertical plate, and the first tile vertical plate are mounted thereon, respectively, the tile lateral moving power block is mounted on the upper bottom of the tile lateral moving plate, the tile lateral moving power block is mounted thereon by screwing with the second tile screw, both ends of the second tile screw are assembled with the two tile bottom vertical plates respectively, the tile bottom vertical plates are mounted thereon, the second tile bottom plate is arranged on the first tile bottom plate; the first tiling screw rods are provided with two first tiling screw rods, the two first tiling screw rods are positioned on the second tiling vertical plate, and the parts of the first tiling vertical plate are respectively sleeved and fixed with a first tiling belt wheel;

6. The tile module of claim 1, wherein the suction cup power block is further coupled to and secured to one end of a tile pull cord displacement sensor, wherein the other end of the tile pull cord is received within the tile pull cord displacement sensor, and wherein the tile pull cord displacement sensor determines the distance between the suction cup power block and the second tile riser by detecting the pull length of the tile pull cord.

7. The tile module of claim 1, wherein the two tile flooring panels, the tile spacer panels are further assembled with a side-shifting guide shaft, respectively, the tile side-shifting power block being axially slidably mounted on the side-shifting guide shaft; still through the assembly of slide rail set spare between board and the electric box of sucking disc is moved to the tiling side, slide rail set spare includes the slide rail, and the slide rail is installed on the board is moved to the tiling side and its both sides are provided with the slide rail recess respectively, slide rail recess and slide rail gyro wheel block assembly, but the suit is epaxial at first slide rail wheel to the circumferencial rotation ground of slide rail gyro wheel, first slide rail wheel shaft is installed on gyro wheel installation piece, and gyro wheel installation piece is installed in the electric box bottom of sucking disc, slide rail top surface and supporting roller press fit, but the suit is epaxial at second slide rail wheel to the circumferencial rotation ground of supporting roller, second slide rail wheel shaft is installed on.

8. The tile module of any one of claims 1-7, further comprising a lifting mechanism, wherein the lifting mechanism comprises a first lifting vertical plate and a second lifting bottom plate, the bottoms of the first lifting vertical plate and the second lifting bottom plate are both mounted on the plastering bottom plate, the tops of the first lifting vertical plate and the second lifting bottom plate are respectively fixedly assembled with the lifting top plate, the lifting bottom plate is provided with a camera head plate, the camera head plate is provided with a binocular camera, the tops of the two second lifting bottom plates are respectively and rotatably assembled with a first lifting power shaft, the first lifting power shaft is sleeved and fixed with a first lifting belt wheel, the first lifting belt wheel is connected with a first secondary lifting belt wheel through a first lifting belt and forms a belt transmission mechanism, the first secondary lifting belt wheel is sleeved and fixed on the second lifting power shaft in a rotatable manner, the second lifting power shaft is arranged on the two lifting shaft plates, and the two lifting shaft plates are respectively arranged on the plastering bottom plate.

9. The tile module of claim 8, wherein the second lifting bottom plate further comprises a first lifting mounting block and a second lifting mounting block mounted thereon, the first lifting mounting block and the second lifting mounting block being circumferentially rotatably mounted to the lifting drive shafts, the lifting drive shafts having two ends and two lifting drive shafts each having a second lifting pulley mounted thereon, the two second lifting pulleys being connected to each other by a second lifting belt and forming a belt transmission mechanism, wherein one end of one of the lifting drive shafts is connected to an output shaft of the lifting motor and forming the belt transmission mechanism; the lifting driving shaft is sleeved and fixed with a lifting worm part, the lifting worm part is meshed with a lifting worm wheel to form a worm wheel and worm wheel transmission mechanism, and the lifting worm wheel is sleeved and fixed on the first lifting power shaft.

10. A fully automatic wall tiling robot, characterized in that a tiling module according to any of claims 1-9 is applied.