CN112031366A - Suction mechanism and full-automatic tiling robot thereof - Google Patents

Abstract

The invention discloses a suction mechanism and a full-automatic tile pasting robot thereof, wherein the full-automatic tile pasting robot comprises a rack module, a slurry scraping module and a suction mechanism, wherein the rack module is used for installing, moving and positioning a tile supply module, a tile suction module and a slurry scraping module; the brick supply module is used for continuously supplying wall bricks for the brick suction module so as to be convenient for the brick suction module to suck; the tile suction module is used for sucking the wall tiles, conveying the wall tiles into the slurry scraping module for scraping slurry, conveying the wall tiles to be parallel to the tiled wall surface, and then pasting the wall tiles on the tiled wall surface; and the paste scraping module is used for scraping paste on the wall tiles so as to be convenient for subsequent pasting on the tile wall surfaces. The invention has complete functions, can realize automatic slurry scraping, wall brick suction, wall brick rotation, wall brick pasting and wall brick paving, and can realize full automation in the whole process. 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.

Description

Suction mechanism and full-automatic tiling 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 tile sticking robot.

Background

In building construction, tiles are basically necessary procedures, the tiles are mainly wall tiles and floor tiles at present, the floor tile pasting process is simple, and a large amount of prior art can be realized at present, such as the technical scheme disclosed in the prior application of the applicant, named as a mortar scraping module and a full-automatic wall tile pasting robot thereof, and the technical scheme recorded in the Chinese invention patent application with the application number of 202010821590X. 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 beaten after the wall tiles are pasted, so that the wall tiles are pasted tightly and laid flat, 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 tiling robot, it can realize scraping thick liquid, absorb wall brick, rotatory wall brick, full-automatic tiling, detect and pave the wall brick.

Disclosure of Invention

In view of the above-mentioned defects of the prior art, the present invention is directed to a suction mechanism and a fully automatic tile-sticking robot thereof, wherein the suction mechanism can suck and level a wall tile.

In order to achieve the purpose, the invention provides an absorbing mechanism which comprises an absorbing angle adjusting beam, wherein one end, far away from an absorbing lifting beam, of the absorbing angle adjusting beam is fixedly assembled with a first absorbing plate through an absorbing big screw; the device comprises a first suction plate, a second suction plate, a first suction spring, a second suction plate, a first displacement sensor, a second displacement sensor, a plurality of suction guide shafts, a plurality of displacement sensors, a plurality of positioning devices and a plurality of positioning devices, wherein the first suction plate is provided with a plurality of beating assemblies, the plurality of displacement sensors and the plurality of suction guide shafts; the suction guide shaft and the first suction plate can be axially assembled in a sliding manner; the displacement sensors are at least four and are respectively arranged at four included angles of the first suction plate, and displacement shafts of the displacement sensors penetrate through the first suction plate and then are tightly attached to the second suction plate; the rapping components are distributed close to the respective displacement sensors; the second suction plate is far away from and is installed the absorption cushion on first suction plate's an terminal surface, is provided with on the absorption cushion and absorbs the hole, absorbs the hole and passes through the negative pressure and inhale tight wall brick.

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

The invention has the beneficial effects that:

1. the invention has complete functions, can realize automatic slurry scraping, wall brick suction, wall brick rotation, wall brick pasting and wall brick paving, and can realize full automation in the whole process. 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. Particularly, the AI tiling can be basically realized after the intelligent image recognition and planning technology is added.

2. The rack module can carry the suction module, the brick supply module and the slurry scraping module to lift and laterally move, and can also supplement bricks for the brick supply mechanism through the brick supplementing mechanism and supplement mortar for the slurry scraping box through the stirring tank. In addition, the wall bricks can be three-dimensionally adjusted relative to the tile wall surface through the walking screw and the lifting screw, and the adjustment precision is relatively high.

3. The brick supply module can continuously supply the wall bricks to the suction module through the brick supply mechanism, and can also supplement the wall bricks to the brick supply mechanism by using the brick supplement mechanism so as to realize automatic brick supplement, thereby ensuring the continuous operation of tile-sticking construction.

4. The suction module can suck the wall bricks in the brick supply cavity, and then the wall bricks are carried to respectively turn and rotate to the slurry scraping station and the brick pasting station, so that the brick pasting of the wall bricks is realized.

5. The mortar scraping module can scrape mortar on the wall brick, and ensures that mortar on the wall brick is paved and has uniform thickness.

Drawings

Fig. 1-5 are schematic structural views of the present invention.

Fig. 6 to 7 are sectional views at the center plane where the walking vertical axis is located.

Fig. 8-19 are schematic structural views of the suction module of the present invention. Wherein fig. 14 is a sectional view at a central plane where an axis of the sucking screw is located; FIG. 15 is an enlarged view at F1 of FIG. 14; FIG. 16 is a cross-sectional view taken along a central plane of the axis of the lift roller; FIG. 17 is a cross-sectional view at the center plane of the axis of the displacement shaft; fig. 18 is a sectional view at the center plane of the axis of the tapping cylinder; fig. 19 is a schematic structural view of the rapping assembly.

Fig. 20-28 are schematic views of the brick supply module structure of the present invention. Wherein, FIGS. 22 and 24 are sectional views of the central plane of the axis of the brick push rod; FIG. 23 is an enlarged view of FIG. 22 at F2; fig. 27 is a schematic view of a side lock mechanism.

Fig. 29-37 are schematic structural views of the squeegee module. Wherein FIG. 30 is a cross-sectional view at a center plane where an axis of the slurry feed pipe is located; FIG. 31 is a cross-sectional view taken at the center plane of the axis of the pitch spring tube; FIG. 36 is a sectional view of the center plane of the axis of the slurry feed rotating shaft; FIG. 37 is a schematic view of the auger blade.

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 37, a full-automatic tiling robot

The rack module A is used for installing, moving and positioning the brick supply module B, the brick suction module C and the slurry scraping module D;

the brick supply module B is used for continuously supplying the wall bricks 100 for the brick suction module C so as to be conveniently sucked by the brick suction module C;

the tile sucking module C is used for sucking the wall tiles 100, then sending the wall tiles into the slurry scraping module D for slurry scraping, then conveying the wall tiles to be parallel to the tiled wall surface, and then pasting the wall tiles on the tiled wall surface;

and the paste scraping module D is used for scraping paste on the wall brick 100 so as to be convenient for subsequent pasting on a tile wall surface.

Referring to fig. 1-7, the rack module a includes a rack bottom plate a110 and a rack top plate a140, four mecanum wheels a440 are mounted at the bottom of the rack bottom plate a110, the mecanum wheels a440 are sleeved on a walking motor shaft of a walking motor a350, and the walking motor can drive the mecanum wheels to rotate circumferentially after being started. When the steering device is used, the forward movement, the backward movement, the lateral movement, the steering and the like of the steering device can be realized by controlling the different steering of the four Mecanum wheels. The frame bottom plate A110 is provided with a bottom side plate A111 at each of two ends, the top of the frame bottom plate A110 is provided with a guide rail A220, the guide rail A220 penetrates through a walking wheel assembly A450, the walking wheel assembly A450 is clamped on the guide rail A220 and can slide along the length direction of the guide rail A220, and the walking wheel assembly A450 is arranged at the bottom of the walking bottom plate A150. Preferably, the road wheel assembly a450 comprises a first road wheel a451, a second road wheel a452 and a road shell a453, wherein the road shell a453 is mounted on the road base plate a150, the first road wheel a451 and the second road wheel a452 are respectively mounted on a vertical road shaft a454 and a horizontal road shaft a455 in a circumferential rotation manner, and the vertical road shaft a454 and the horizontal road shaft a455 are mounted on the road shell a 453; guide rail chutes A221 are respectively arranged on two sides of the guide rail A220, the two guide rail chutes A221 are respectively assembled with the first walking wheels A451 in a clamping manner, and the second walking wheels A452 are tightly pressed on the top surface of the guide rail A220, so that the walking bottom plate A150 is supported. The bottom of the walking bottom plate A150 is fixed with a walking thread block A151, the walking thread hole A151 is sleeved on a walking screw A210 and is assembled with the walking screw A210 in a screwing mode through threads, the walking screw A210 is assembled with two bottom side plates A111 in a circumferential rotating mode and in an axial non-moving mode respectively, one end of the walking screw A210 penetrates out of one bottom side plate A111 and then is fixedly connected with a motor shaft of a side-moving motor A340 through a coupler, and the side-moving motor A340 can drive the walking bottom plate A150 to move along the axial direction after being started.

The walking bottom plate A150 and one end of a lifting screw A230 can rotate circumferentially and can not move axially, the lifting screw A230 passes through a lifting plate A170, a lifting top plate A181 of a lifting frame A180 and a rack top plate A140 and then is assembled and fixed with a first lifting belt wheel A411, and the lifting frame A180 is arranged on the lifting plate A170; the lifting screw A230 and the rack top plate A140 can be assembled in a circumferential rotating and non-axial moving mode, and the lifting top plate A181 and the lifting plate A170 are assembled with the lifting screw A230 in a screwing mode through threads respectively; frame roof A140 still is fixed with second frame curb plate A132 top assembly, second frame curb plate A132 bottom is fixed with stirring support A120 assembly, installs agitator tank A510 on the stirring support A120, install stirring vane A430 in the agitator tank A510, stirring vane A430 suit is on stirring pivot A321, but stirring pivot A321 and agitator tank A510 circumrotate the assembly, it is fixed that agitator tank A510 back is worn out to stirring pivot A321 one end passes through the coupling joint with agitator motor A320's motor shaft, can drive stirring pivot A321 circumrotate after agitator motor A320 starts to make stirring vane A430 rotate in step with the stirring mortar. The lifting screw A230 is provided with two lifting screws A230, the two lifting screw A230 are respectively sleeved and fixed with a first lifting belt wheel A411, the two first lifting belt wheels A411 are connected through a first lifting belt A410 to form a belt transmission mechanism, one lifting screw A230 is further sleeved and fixed with a second lifting belt wheel A421, the second lifting belt wheel A421 is connected with a second lifting auxiliary belt wheel A422 through a second lifting belt A420 to form a belt transmission mechanism, the second lifting auxiliary belt wheel A422 is sleeved and fixed on a lifting motor shaft A311 of a lifting motor A310, the lifting motor A310 is installed on a lifting motor frame A141, and the lifting motor frame A141 is installed on a rack top plate A140. During the use, lift motor A310 starts to drive two lifting screw A230 circumference rotations, thereby drive crane A170 along lifting screw A230's axial displacement, thereby realize supplying brick mechanism B01, absorb module C, scrape thick liquid module D and move up in step.

The bottom of the stirring tank A510 is communicated with one end of a slurry supplementing pipe A240, the other end of the slurry supplementing pipe A240 is fixedly assembled with one end of a rotating plate A710, the other end of the rotating plate A710 is fixedly assembled with one end of a rotating shaft A250, a rotating worm wheel A462 is fixedly sleeved on the rotating shaft A250, the rotating worm wheel A462 is meshed with a rotating worm part A461 to form a worm and gear transmission mechanism, the rotating worm part A461 is arranged on a rotating motor shaft A331, the rotating motor shaft A331 and a stirring support plate A121 can rotate circumferentially and cannot move axially, the two stirring support plates A121 are respectively arranged on a stirring support A120, one end of the rotating motor shaft A331 is arranged in the rotating motor A330, and the rotating motor A330 can drive the rotating motor shaft A331 to rotate circumferentially after being started, so that the rotating shaft A250 is driven to rotate circumferentially to drive the rotating plate A710 to rotate synchronously. The design can make the rotating plate A710 drive the slurry-supplementing pipe A240 to synchronously rotate, and the slurry-supplementing pipe A240 is made of a soft elastic pipe in the embodiment. The slurry supplementing pipe A240 has two states, wherein one state is that the slurry supplementing pipe A is positioned above the slurry scraping box D210, so that mortar is supplemented into the slurry scraping inner cavity D211; the other state is perpendicular to the rotating motor shaft a331, and the switching of both states is driven by the rotating motor a 330. The slurry scraping box D210 is arranged on a slurry scraping vertical plate D110, and the slurry scraping vertical plate D110 is arranged on the lifting plate A170. And a pulp scraping support plate D120 is arranged on the pulp scraping vertical plate D110, and a pulp scraping mechanism D is arranged on the pulp scraping support plate D120. And a pulp supplementing gate valve is connected in series on the pulp supplementing pipe A240 and used for controlling the on-off of the pulp supplementing pipe A240.

Referring to fig. 1-19, the suction module C includes a suction mechanism for sucking the wall brick, and a suction transfer mechanism for driving the suction mechanism to move up and down, back and forth, and rotate. The absorbing and transferring mechanism comprises an absorbing bottom plate C130 and an absorbing top plate C120, the absorbing bottom plate C130 and the absorbing top plate C120 are respectively assembled and fixed through a first absorbing vertical plate C111 and a second absorbing vertical plate C112, the mutually facing end surfaces of the absorbing bottom plate C130 and the absorbing top plate C120 are respectively provided with a first absorbing chute C121 and a second absorbing chute C131, the first absorbing chute C121 and the second absorbing chute C131 are respectively clamped with a first absorbing slide block C191 and a second absorbing slide block C1511 and can be assembled in a sliding manner, the first absorbing slide block C191 and the second absorbing slide block C1511 are respectively arranged on an absorbing slide plate C190 and an absorbing bottom plate C151, the absorbing slide plate C190 is also provided with an absorbing rotary sleeve C240, the absorbing rotary sleeve C240 can be assembled with one end of an absorbing rotary shaft C250 in a circumferential rotating manner, the other end of the absorbing rotary shaft C250 is arranged on a top absorbing box top plate C142 of the absorbing top box C140, the bottom of the absorbing top box C140 is a top box C141, the absorption top box bottom plate C141 and the absorption screw C260 can rotate circumferentially and cannot move axially to be assembled, the top of the absorption screw C260 penetrates through the absorption top box bottom plate C141 and then is assembled and fixed with an absorption screw worm gear C391, and the bottom of the absorption screw C260 penetrates through the absorption top box bottom plate C141 and the absorption lifting groove C231 and then is assembled with the lifting support shaft C230 in a rotating circumferentially and cannot move axially; the lifting support shaft C230 is provided with a suction lifting groove C231 and a suction guide groove C232, the suction lifting groove C231 is internally clamped and slidably provided with a suction lifting beam C220, and the suction screw C260 penetrates through one end of the suction lifting beam C220 and is screwed and assembled with the suction lifting beam C220 through threads; the suction guide groove C232 is assembled with the lifting roller C340 in a clamping manner, the lifting roller C340 can be sleeved on the lifting roller shaft C430 in a circumferential rotating manner, and the lifting roller shaft C430 is installed on the suction lifting beam C220. In this embodiment, the suction guide grooves C232 have at least two and are respectively distributed at two open ends of the suction lifting groove C231, so that the suction lifting beam C220 and the suction lifting groove C231 are ensured to have an included angle unchanged through the engagement of the lifting roller C340 and the suction guide grooves C232.

The bottom of the lifting support shaft C230 is fixedly assembled with the first flange C351, a bolt C440 penetrates through the first flange C351 and then is fixedly assembled with the second flange C352, so that the second flange C352 and the first flange C351 are fixedly assembled, a rotary power shaft C450 is coaxially installed on the second flange C352, the bottom of the rotary power shaft C450 is installed in the suction box C150 and can be circumferentially rotated and axially immovably assembled with the suction box shaft frame plate C152, the suction box shaft frame plate C152 is installed on the suction box shaft frame C153, the suction box shaft frame C153 is installed in the suction box C150, a suction rotary worm wheel C361 is fixedly sleeved on the rotary power shaft C450, the suction rotary worm wheel C361 is meshed with the suction rotary worm part C362 to form a worm transmission mechanism, the suction rotary worm part C362 is arranged on a suction rotary motor shaft C571 of the suction rotary motor C570, the suction rotary motor shaft C153 and the suction box shaft frame C351 can circumferentially rotate, The suction rotating motor C570 is mounted in the suction box C150, the rotating power shaft C450 is coaxially assembled with an input shaft of the first suction encoder C561, and a signal of the first suction encoder C561 is connected to an industrial personal computer. When the device is used, the suction rotating motor C570 is started to drive the suction rotating motor shaft C571 to rotate circumferentially, the suction rotating motor shaft C571 drives the rotating power shaft C450 to rotate, the first suction encoder C561 detects the rotating angle of the rotating power shaft C450, and the rotating power shaft C450 drives the lifting support shaft C230 to rotate circumferentially, so that the suction lifting beam C220 is driven to synchronously rotate circumferentially to drive the suction mechanism to synchronously rotate. The suction box C150 is assembled with one end of the tile push rod C511, the other end of the tile push rod C511 passes through the second suction vertical plate C112 and then is loaded into the tile push rod motor C510, and the tile push rod motor C510 can drive the tile push rod C511 to move along the axial direction of the tile push rod C511 after being started, so that the suction box C150 is driven to move synchronously. The suction base plate C130 is mounted on the elevating plate a 170.

The absorption lifting beam C220 is provided with an absorption lifting beam groove C221, an absorption lifting beam clapboard C224 is arranged in the absorption lifting beam groove C221, the absorbing lifting beam clapboard C224 and the absorbing angle adjusting shaft C460 can be assembled in a way of circumferential rotation and axial movement, one end of the absorbing angle adjusting shaft C460 is provided with an absorbing angle adjusting worm part C371, the other end is sleeved and fixed with a second angle adjusting helical gear C374, the second angle-adjusting helical gear C374 is in meshing transmission with the first angle-adjusting helical gear C373, the first angle-adjusting helical gear C373 is sleeved and fixed on an angle-adjusting motor shaft C521 of the angle-adjusting motor C520, the angle adjusting motor C520 is arranged on an angle adjusting motor frame C223, the angle adjusting motor frame C223 is arranged on the absorbing lifting beam C220, the suction angle modulation shaft C460 is connected with an input shaft of the second suction encoder C362, and the rotation angle of the suction angle modulation shaft C460 can be detected by the second suction encoder C362 when the suction angle modulation shaft C460 rotates circumferentially. After the angle adjusting motor C520 is started, the angle adjusting motor shaft C521 can be driven to rotate, so that the suction angle adjusting shaft C460 is driven to rotate circumferentially. The absorbing angle modulation worm part C371 is meshed with an absorbing angle modulation worm wheel C372 to form a worm gear transmission mechanism, the absorbing angle adjusting worm gear C372 is sleeved and fixed on a second absorbing angle adjusting shaft C420, two ends of the second absorbing angle adjusting shaft C420 respectively penetrate out of the absorbing lifting beam C220 and then are assembled and fixed with a second angle adjusting gear C320, the second angle adjusting gear C320 is in meshed transmission with the first angle adjusting gear C310, the first angle adjusting gear C310 is sleeved and fixed on the first absorbing angle adjusting shaft C410, the first suction angle adjusting shaft C410 passes through the suction angle adjusting beam C210 and the suction lifting beam C220, and the first suction angle adjusting shaft C410 is fixedly assembled with the suction angle adjusting beam C210 and is circumferentially and rotatably assembled with the suction lifting beam C220, thereby realizing that the absorption angle modulation beam C210 and the absorption lifting beam C220 can rotate as the center, the absorbing angle adjusting beam C210 belongs to an absorbing mechanism, namely, the absorbing mechanism and the absorbing lifting beam C220 are driven to adjust the angle. When the angle adjusting mechanism is used, the angle adjusting motor C520 is started, so that the absorbing angle adjusting shaft C460 is driven to rotate circumferentially, the absorbing angle adjusting shaft C460 drives the second absorbing angle adjusting shaft C420 to rotate circumferentially, and the second absorbing angle adjusting shaft C420 drives the first angle adjusting gear C310 to rotate through the second angle adjusting gear C320, so that the absorbing mechanism is driven to rotate.

The suction lifting beam C220 is also provided with a suction steel cable plate C222, the suction steel cable plate C222 is fixedly connected with one end of a suction guy cable C330, and the other end of the suction guy cable C330 is fixedly assembled and wound with a reel C333 after respectively bypassing the first guide pulley C331 and the second guide pulley C332; the first guide wheel C331 is sleeved on a first absorbing wheel shaft C471 in a circumferential rotating manner, two ends of the first absorbing wheel shaft C471 are respectively assembled with an absorbing wheel shaft plate C810, an absorbing sliding shaft plate C811 is arranged on the absorbing wheel shaft plate C810, the absorbing sliding shaft plate C811 is sleeved on the absorbing sliding shaft C830 in an axial sliding manner, one end of the absorbing sliding shaft C830 is assembled with an absorbing fixing plate C840, the other end of the absorbing sliding shaft C830 penetrates through the absorbing sliding shaft plate C811 and then is assembled with an absorbing sliding shaft nut C831, the absorbing sliding shaft nut C831 cannot penetrate through the absorbing sliding shaft plate C811, an absorbing sliding shaft spring C820 is sleeved on a part of the absorbing sliding shaft C830 between the absorbing sliding shaft plate C811 and the absorbing fixing plate C840, the absorbing sliding shaft spring C820 is used for applying elastic force for preventing the absorbing wheel shaft plate C810 from moving to the absorbing fixing plate C840, and two ends of the absorbing fixing plate C840 are respectively fixed on two top absorbing box vertical plates C143, the upper end and the lower end of the absorbing top box vertical plate C143 are respectively assembled and fixed with the absorbing top box top plate C142 and the absorbing top box bottom plate C141; the second guide wheel C332 is sleeved on a second suction wheel shaft C472 in a circumferentially rotatable manner, and two ends of the second suction wheel shaft C472 are respectively assembled with the two suction top box vertical plates C143; the reel C333 is sleeved and fixed on a winding wheel shaft C473, two ends of the winding wheel shaft C473 are respectively assembled with the two top box sucking vertical plates C143 in a circumferential rotating mode, a first winding helical gear C381 is further sleeved and fixed on the winding wheel shaft C473, the first winding helical gear C381 is in meshing transmission with a second winding helical gear C382, the second winding helical gear C382 is sleeved and fixed on a winding power shaft C480, one end of the winding power shaft C480 penetrates through a winding shaft bracket C144 and then is assembled and fixed with a third winding helical gear C383, the winding power shaft C480 and the winding shaft bracket C144 are assembled in a circumferential rotating mode and cannot move axially, and the winding shaft bracket C144 is installed on a top box sucking bottom plate C141; the third winding bevel gear C383 is in meshing transmission with a fourth winding bevel gear C384, the fourth winding bevel gear C384 is sleeved and fixed on a suction lifting motor shaft C531, the suction lifting motor shaft C531 and a suction top box shaft plate C145 can be assembled in a circumferential rotating and non-axial moving mode, a suction lifting worm part C392 is arranged on the suction lifting motor shaft C531, the suction lifting worm part C392 is meshed with a suction lifting worm gear C391 to form a worm gear and worm transmission mechanism, and the suction lifting worm gear C391 is sleeved and fixed on a suction screw C260; one end of the absorbing lifting motor shaft C531 is arranged in the absorbing lifting motor C530. During use, the suction lifting motor C530 is started to drive the suction lifting motor shaft C531 to rotate circumferentially, the suction lifting motor shaft C531 respectively drives the suction screw C260 and the winding wheel shaft C473 to rotate circumferentially, so that the suction screw C260 drives the suction lifting beam C220 to move axially, and the winding wheel shaft C473 drives the reel C333 to rotate to wind or release the suction cable C330. The suction guy cable C330 is kept in a tight state, so that auxiliary support is provided for the suction lifting beam C220, and the damage of the lifting roller caused by stress concentration at the position of the lifting roller is avoided. In addition, when the reel C333 releases or winds the suction cable C330, the outer diameter of the suction cable C330 wound on the reel changes, and the first guide wheel C331 compensates and moves back by utilizing the expansion of the suction sliding shaft spring C820 so as to ensure that the suction cable is always in a tightening state.

The absorption module comprises an absorption angle modulation beam C210, one end of the absorption angle modulation beam C210, far away from the absorption lifting beam C220, is fixedly assembled with a first absorption plate C160 through an absorption big screw C490, a hollow absorption angle modulation beam through groove C211 is arranged on the absorption angle modulation beam C210, and the absorption angle modulation beam through groove C211 is sleeved on one end of the absorption lifting beam C220, far away from the lifting roller C340; the first suction plate C160 is provided with a plurality of rapping assemblies C600, a plurality of displacement sensors C540 and a plurality of suction guide shafts C270, one end of each suction guide shaft C270 passes through the first suction plate C160 and then is assembled and fixed with the second suction plate C170, the other end of each suction guide shaft C270 passes through the first suction spring C710 and the first suction plate C160 in sequence and then is assembled with the suction nut C271, the suction nut C271 cannot pass through the first suction plate C160, two ends of the first suction spring C710 are respectively pressed against the first suction plate C160 and the second suction plate C170, so that the second suction plate C170 is provided with elastic force for preventing the second suction plate C170 from moving towards the first suction plate C160, and the suction guide shafts C270 and the first suction plate C160 can be axially assembled in a sliding manner. The displacement sensors C540 are at least four and are respectively installed at four included angles of the first suction plate C160, the displacement axes C541 of the displacement sensors C540 penetrate through the first suction plate C160 and then are attached to the second suction plate C170, and when the displacement axes C541 move, the displacement sensors C540 can obtain signal input, so that the displacement of the second suction plate C170 moving towards the first suction plate C160 can be detected. The beating assembly C600 comprises a beating frame C610, the beating frame C610 is mounted on the first suction plate C160, a beating mounting plate C611 is mounted on the beating frame C610, a beating motor C550 is mounted on the beating mounting plate C611, a beating motor shaft C551 of the beating motor C550 penetrates through the beating mounting plate C611 and then is installed in a beating inner cylinder C283 of the beating cylinder C280 in an axially slidable and non-circumferentially rotatable assembly mode, a beating chute C282 is arranged on the side wall of the beating cylinder C280, the beating chute C282 is in clamping and slidable assembly with a beating protrusion, and the beating protrusion is mounted on the second suction plate C170. The beating cylinder C280 can make the beating cylinder C280 axially reciprocate by the matching of the beating protrusions and the beating chutes C282 when the beating cylinder C280 rotates circularly, similar to a reciprocating lead screw. A beating limiting ring C281 is arranged on the part of the beating cylinder C280, which is positioned between the first suction plate C160 and the beating mounting plate C611, the beating limiting ring C281 cannot penetrate through the second suction plate C170, a third suction spring C730 is arranged on the part between the beating limiting ring C281 and the beating mounting plate C611, the third suction spring C730 is sleeved outside the beating motor shaft C551 and the beating cylinder C280, and two ends of the third suction spring C730 are respectively pressed against the beating limiting ring C281 and the beating mounting plate C611, so that elastic force for preventing the beating cylinder C280 from moving to the beating mounting plate C611 is exerted on the beating cylinder C280. In use, the rapping motor C550 is activated to drive the rapping motor shaft C551 to rotate circumferentially, and the rapping motor shaft C551 drives the rapping cylinder C280 to rotate circumferentially in synchronization, so that the rapping cylinder C280 moves back and forth, thereby intermittently rapping on the second suction plate C170. Preferably, a spline groove C5511 is provided on a side wall of the rapping motor shaft C551, and the spline groove C5511 is engaged with the spline C284 and slidably assembled, so that the rapping motor shaft C551 and the rapping cylinder C280 are assembled together in a non-rotatable and axially movable manner. The rapping assembly C600 is distributed in close proximity to the respective displacement sensor C540.

The second suction plate C170 is respectively provided with a first suction plate groove C171 and a second suction plate groove C172, the first suction plate groove C171 and the second suction plate groove C172 are distributed in the transverse and longitudinal direction of the second suction plate C170 so as to be communicated with each other, the first suction plate groove C171 and the second suction plate groove C172 are also communicated with a suction air hole C173, the suction air hole C173 is communicated with one end of an air pipe C920, the other end of the air pipe C920 is communicated with the inside of the negative pressure tank after being connected with an outlet and a first inlet of a reversing valve in series, a second inlet of the reversing valve is communicated with the atmosphere, and the reversing valve is used for selecting one of the outlet to be communicated with the first inlet and the second inlet; the interior of the negative pressure tank is in a vacuum or negative pressure state, and the reversing valve is used for controlling the on-off of the air pipe C920. The signal wires and the power wires of the beating motor C550 and the displacement sensor C540 are all arranged in the wire tube C910 and led out. Both the line pipe C910 and the air pipe C920 have elasticity and can be stretched, and the embodiment is made of spring hoses. An end face, far away from the first suction plate C160, of the second suction plate C170 is provided with a suction cushion C180, and the suction cushion C180 is made of soft elastic materials, such as rubber and silica gel; the sucking soft pad C180 is provided with a plurality of sucking holes C181 which penetrate through the sucking soft pad at the positions corresponding to the first sucking plate groove C171 and the second sucking plate groove C172. During the use, absorb cushion C180 and wall brick 100's glaze and paste tightly, then open the switching-over valve for absorb hole C181 department and produce the negative pressure, inhale tight wall brick 100 through this negative pressure, so that carry wall brick 100's removal, tiling.

When the wall brick is sucked, the angle modulation motor C520 is started, so that the sucking angle modulation beam C210 is driven to rotate downwards by taking the first sucking angle modulation shaft C410 as a center, and the sucking mechanism is driven to rotate downwards to a position where the first sucking plate C160 is parallel to the wall brick 100 in the brick cavity B154; suction rotary motor C570 is activated so that suction cushion C180 is positioned directly above brick supply cavity B154. The suction lifting motor C530 is started, the suction lifting motor C530 drives the suction lifting beam C220 to move downwards, so that the first suction plate C160, the second suction plate C170 and the suction cushion C180 move towards the brick cavity B154 to be pressed against the wall brick 100 until the displacement sensor detects that the displacement reaches a preset value, and the suction cushion C180 is pressed against and sealed with the wall brick. And opening the reversing valve to generate negative pressure at the suction hole C181, so as to tightly suck the wall brick. The suction lifting motor C530 rotates reversely to drive the suction cushion C180 to carry the wall brick 100 to move upwards and away from the brick supply cavity B154.

When scraping thick liquid, absorb rotating electrical machines C570 reversal for the suction mechanism rotates to be close to and scrapes thick liquid module D department, and angle modulation motor C520 reversal makes and absorbs angle modulation roof beam C210 and upwards rotates, makes wall brick 100 be in horizontal position. And continuously starting the suction rotating motor C570, rotating the wall brick to the position below the mortar scraping module D, and starting the mortar scraping module D to scrape mortar.

During tiling, absorb the rotating electrical machines and start, the drive absorbs the terminal surface of lifter beam C220 and is parallel with the tiling wall, then start the angle modulation motor, make to absorb angle modulation roof beam C210 and rotate to and absorb lifter beam C220 and be parallel, the second suction plate C170 is parallel with the tiling wall this moment, start tiling push rod motor C510, tiling push rod motor C510 drive wall brick moves to the tiling wall, until the wall brick pastes tightly on the tiling wall (through the maximum displacement value judgement that displacement sensor detected). And then collecting the displacement value of each displacement sensor, and if the displacement value of each displacement sensor is out of the operating error range, starting the rapping assembly C600 close to the displacement sensor, so that the rapping cylinder C280 raps the second suction plate C170 around the displacement sensor until the parameter detected by the displacement sensor reaches the operating error range. And finally, the suction hole C181 is communicated with the atmosphere through a reversing valve, so that the negative pressure at the suction hole C181 disappears, and the tiling of the wall brick is completed.

Referring to fig. 1-5, 20-27, the brick supply module B includes a brick supply mechanism B01, a brick patching mechanism B02, the brick supply mechanism B01 is used for supplying bricks to the suction mechanism, and the brick patching mechanism is used for supplementing wall bricks into the brick supply cavity B154. The brick supply mechanism B01 comprises a brick supply box B150 and a brick supply bottom plate B520, the brick supply box B150 is mounted on the brick supply bottom plate B520 through a brick supply support plate B521, a hollow brick supply cavity B154 is arranged in the brick supply box B150, two sides of the brick supply cavity B154 are respectively provided with a brick supply sliding groove B151 which penetrates through the brick supply sliding groove B154, the top of the brick supply sliding groove B151 is provided with a brick supply shaft plate B152, the bottom of the brick supply cavity B154 is provided with a brick supply partition plate B155, the brick supply cavity B154 is positioned above the brick supply partition plate B155 and is provided with a brick supply lifting plate B510, two sides of the brick supply lifting plate B510 are respectively provided with a brick supply threaded block B511, and the brick supply threaded block B511 penetrates through the brick supply sliding groove B151 corresponding to the brick supply threaded block B511 and is clamped with the; the brick screw block B511 is sleeved on the brick screw B220 and assembled with the brick screw B220 in a screwing manner through threads, and the brick screw B220 and the brick shaft plate B152 can rotate circumferentially and cannot move axially for assembly; the number of the brick supplying screw rods B220 is two, the bottoms of the two brick supplying screw rods B220 are respectively sleeved with a brick supplying belt wheel B531, the two brick supplying belt wheels B531 are connected through a brick supplying belt B530 to form a belt transmission mechanism, one brick supplying screw rod B220 is also assembled and fixed with a first brick supplying bevel gear B541, the first brick supplying bevel gear B541 is in meshing transmission with a second brick supplying bevel gear B542, the second brick supplying bevel gear B542 is sleeved and fixed on a brick supplying motor shaft B331, one end of the brick supplying motor shaft B331 is rotated into the brick supplying motor B330, and the brick supplying motor B330 can drive the brick supplying motor shaft B331 to rotate circumferentially after being started, so that the two brick supplying screw rods B220 are driven to rotate synchronously, and the brick supplying lifting plate B510 is driven to move axially along the brick supplying screw rods B220. In this embodiment, the two brick supply bolts B220 are preferably assembled with the brick supply partition B155 in a circumferentially rotatable and axially immovable manner, so that the two brick supply bolts B220 are preferably installed. After the topmost wall brick in the brick supply cavity is taken away, the brick supply motor B330 is started to drive the brick supply lifting plate B510 to move up by the thickness of one wall brick, so that the wall brick below continuously moves up to ensure that the height of the topmost wall brick is unchanged.

The opening at the top of the brick supply cavity B154, the opening facing the side of the brick-supplying mechanism B02, and the opening of the brick supply cavity B154 facing the side of the brick-supplying mechanism B02 are provided with a side lock mechanism B800, and the side lock mechanism B800 shields the opening of the brick supply cavity B154 facing the side of the brick-supplying mechanism B02 through a side lock plate part B811, so that a wall brick positioned in the brick supply cavity B154 cannot slide out or tilt from the opening. The side lock mechanism B800 includes a side lock plate B810, and the side lock plate B810 is provided with a side lock plate portion B811, and the side lock plate portion B811 shields an opening portion of the brick supply cavity B154 facing the brick repair mechanism B02, so as to be engaged with a side wall of a wall brick to prevent the wall brick from tilting and falling off. Side lock board B810 is fixed with side lock lever B820 one end assembly, side lock lever B820 passes side lock link board B830, the assembly of side lock nut B821 behind the side lock roof board B851, side lock nut B821 can not pass side lock roof board B851, side lock roof board B851 is installed on supplying brick case B150 through side lock side board B850, side lock lever B820 is fixed with side lock link board B830 assembly, side lock lever B820 is equipped with side lock spring B860 on the part between side lock link board B830 and side lock roof board B851, side lock spring B860 is used for applying to side lock link board B830 and applys the elasticity that supplies brick case B150 to side lock board B810 and promote, side lock link board B830 is fixed with the assembly of side lock block B840, side lock block B840 inboard is provided with side lock slope B841.

The brick supplementing mechanism B02 comprises a brick supplementing bottom plate B110 and a brick supplementing box B140, wherein a brick supplementing sliding groove B111 is formed in the brick supplementing bottom plate B110, the brick supplementing sliding groove B111 is clamped with a brick supplementing sliding block and can be assembled in a sliding mode, at least two brick supplementing sliding blocks are arranged at the bottoms of a first brick supplementing seat B122 and a second brick supplementing seat B124 respectively, the first brick supplementing seat B122 and the second brick supplementing seat B124 are arranged at the bottoms of a brick supplementing box bottom plate B640 and a brick supplementing retaining box B120 respectively, one end of the brick supplementing retaining box B120 is fixedly assembled with a brick supplementing side plate B130, and the brick supplementing side plate B130 is arranged on one side of the brick supplementing box B140; the interior of the brick supplementing holding box B120 is a hollow brick supplementing holding groove B123, one end, far away from the brick supplementing box B140, of the brick supplementing holding box B120 is fixedly assembled with a brick supplementing side push plate B121, the brick supplementing side push plate B121 is assembled with one end of a brick supplementing push rod B311, the other end of the brick supplementing push rod B311 penetrates through a brick supplementing vertical plate B112 and then is installed in a brick supplementing push rod motor B310, and the brick supplementing push rod motor B310 can drive the brick supplementing push rod B311 to axially move after being started, so that the brick supplementing box and the brick supplementing holding box are driven to synchronously move.

The brick supplementing vertical plate B112 is mounted on the brick supplementing bottom plate B110, the brick supplementing holding groove B123 is clamped with the brick supplementing side pushing frame B610 and can be assembled in a sliding mode, a brick supplementing rack B620 is fixed inside the brick supplementing side pushing frame B610, the brick supplementing rack B620 is meshed with the brick supplementing gear B630 to form a gear-rack transmission mechanism, the brick supplementing gear B630 is sleeved and fixed on the brick supplementing power shaft B210, the brick supplementing power shaft B210 can be assembled with the side wall of the brick supplementing holding box B120 in a circumferential rotating mode, one end of the brick supplementing power shaft B210 penetrates through the brick supplementing holding box B120 and then is connected and fixed with an output shaft of the brick supplementing side pushing motor B320 through a coupler, the brick supplementing side pushing motor B320 can drive the brick supplementing power shaft B210 to rotate circumferentially after being started, the brick supplementing gear B630 is driven to rotate, and the brick supplementing rack B620 are meshed and transmitted, and drive the brick supplementing side pushing frame B610 to slide in the brick supplementing holding groove B123. The brick supplementing box B140 and the brick supplementing side plate B130 are respectively provided with a brick supplementing box penetrating groove B141 and a brick supplementing side plate penetrating groove B131, the positions, close to a brick supplementing box bottom plate B640, of the brick supplementing box B140 and the brick supplementing side plate B130 and corresponding to the brick supplementing side pushing frame B610 are respectively provided with a brick supplementing discharge groove B142 and a brick supplementing passing groove B132, the brick supplementing discharge groove B142 is used for enabling the wall bricks 100 to be output from the brick supplementing box B140 to the brick box B150, and the brick supplementing passing groove B132 is used for enabling the brick supplementing side pushing frame B610 to pass through so as to push the wall bricks in the brick supplementing box out from the brick supplementing discharge groove B142. The width of the patch tile passing groove B132 is smaller than that of the wall tile, thereby preventing the wall tile 100 from slipping out of the patch tile passing groove B132. And the brick supplementing box penetrating groove B141 and the brick supplementing side plate penetrating groove B131 are respectively used for enabling a tool for grabbing wall bricks to penetrate through so as to supplement the wall bricks in the brick supplementing box.

And the other side locking mechanism B800 is installed outside the brick supplementing discharge groove B142, and the side locking plate part B811 of the side locking mechanism B800 partially shields the brick supplementing discharge groove B142 and is attached to the side edge of the wall brick, so that the wall brick is prevented from sliding out of the brick supplementing discharge groove B142. The side wall of the brick supplementing box B140 is provided with a brick supplementing shaft plate B143, a brick supplementing side plate B143 is assembled with one end of a brick supplementing sliding shaft B880, the other end of the brick supplementing sliding shaft B880 penetrates through a brick supplementing stress plate B847 and then is assembled with a brick supplementing nut B881, the brick supplementing nut B881 cannot penetrate through the brick supplementing sliding shaft B880, the part, located between the brick supplementing side plate B143 and the brick supplementing stress plate B847, of the brick supplementing sliding shaft B880 is sleeved with a brick supplementing pressure spring B890, the brick supplementing pressure spring B890 is used for applying elastic force for blocking the brick supplementing stress plate B847 to move towards the brick supplementing side plate B143, the brick supplementing stress plate B847 is installed at one end of a brick supplementing push plate B873, the other end of the brick supplementing push plate B873 penetrates through a side edge locking block B840 of the side edge locking mechanism B800 and then is assembled and fixed with one end of a brick supplementing unlocking block B870, the two ends of the brick supplementing unlocking block B870 are respectively provided with a first unlocking inclined surface B871 and a second unlocking inclined surface 872B 871B 140, and the two ends of the brick supplementing unlocking block B870 are respectively, The side lock slope B841 of the side lock mechanism B800 installed on the brick feeding box B150 is engaged to drive the side lock plate portions B811 corresponding thereto to move along the side lock rods B820, respectively, so that the side lock slope B841 exits the brick feeding discharge groove B142, the opening of the side of the brick feeding cavity B154, respectively, to enable the wall brick in the brick feeding box to enter the brick feeding cavity B154 to complete brick feeding. In the initial state, the brick supplement unlocking block B870 is not in contact with or has an assembly relation with the side lock mechanism B800 installed on the brick supply box B150, and the brick supply box B150 can be lifted at the moment. And a brick supplementing limiting plate B153 is arranged at the position corresponding to the brick supplementing unlocking block B870 on the brick supply box B150, and the brick supplementing limiting plate B153 is used for limiting the maximum displacement of the brick supplementing unlocking block B870 on the brick supply box. After the complementary brick unlocking block B870 passes through the side locking block B840 arranged on the brick supply box B150, the complementary brick unlocking block B870 is attached to the complementary brick limiting plate B153, so that the complementary brick unlocking block B840 is prevented from continuously passing through the side locking block B840.

When the brick supplying mechanism B01 is supplemented with wall bricks by the brick supplementing mechanism B02, the brick supplying lifting plate B510 is positioned at the bottommost part of the brick supplying cavity B154; the brick-supplementing push rod motor B310 is started, so that the brick-supplementing box B140 and the brick-supplementing holding box B120 are driven to move towards the brick-supplying box B150 until the maximum displacement point is reached. In the process, the first unlocking inclined plane B871 is firstly inserted into the side lock inclined plane B841 installed on the brick supply box B150 to drive the side lock block B840 corresponding to the side lock inclined plane B841 to move towards the side lock top plate B851 against the elastic force of the side lock spring until the side lock plate portion B811 corresponding to the side lock mechanism B800 exits the opening at the side of the brick supply cavity B154, at which time the wall brick can enter the brick supply cavity B154 and the brick supplement unlocking block B870 abuts against the brick supplement limiting plate B153. Then, as the brick supplement box continues to drive the brick supplement unlocking block B870, the brick supplement stress plate B847 overcomes the elastic force of the brick supplement pressure spring B890 to move towards the brick supplement shaft plate B143 of the brick supplement box B143, so that the second unlocking inclined plane B872 moves towards the side locking block B840 mounted on the brick supplement box B140, and the side locking plate part B811 corresponding to the side locking block B840 exits the brick supplement discharge groove B142. And then, the brick-supplementing side-pushing motor B320 is started, so that the brick-supplementing side-pushing frame B610 moves towards the brick supplying cavity, the brick-supplementing box and the brick-supplementing discharge groove B142 are pushed into the brick supplying cavity B154 correspondingly to the wall bricks, then the brick-supplementing side-pushing motor B320 reversely drives the brick-supplementing side-pushing frame B610 to reset, the brick-supplementing push rod motor reversely drives the brick-supplementing box to reset, and the wall bricks 100 above the brick-supplementing discharge groove B142 fall under the action of gravity to supplement positions. And the top surface of the brick-patching side pushing frame B610 is always attached to the wall brick 100 positioned above the brick-patching discharging groove B142 in the process of pushing the wall brick in the brick-patching box to be loaded into the brick-supplying cavity, so that the part of the wall brick is prevented from falling to influence the operation.

Referring to fig. 32, in order to prevent the damage of the wall bricks after the wall bricks 100 above the brick feeding discharge groove B142 fall down and collide with the bottom plate B640 of the brick feeding box, the inventors have made the following improvements:

mend and be provided with holding tank B641 on brick case bottom plate B640, install buffer board B710 in the holding tank B641, the top surface of buffer board B710 and the top surface parallel and level of mending brick case bottom plate B640, buffer board B710 bottom and the assembly of buffering telescopic shaft B341 one end, in electric jar B340 was packed into to the buffering telescopic shaft B341 other end, can drive buffering telescopic shaft B341 axial displacement after electric jar B340 started. After the brick-patching side pushing frame B610 pushes the wall bricks into the brick-supplying cavity B154, the brick-patching side pushing frame B610 moves reversely until the wall bricks pass through the buffer plate B710; the electric cylinder B340 is started to drive the buffer plate B710 to move upwards to be tightly attached to the bottom surface of the wall brick above the brick-supplementing side push frame B610 so as to support the part of the wall brick; the brick-repairing side pushing frame B610 continues to move reversely until reset, and then the electric cylinder drives the buffer plate B710 to move downwards slowly until reset so as to complete the position repairing of the wall brick. The electric cylinder of the present embodiment preferably employs a multistage electric cylinder, so that a large displacement of the buffer telescopic shaft B341 can be achieved.

Referring to fig. 29-37, the slurry scraping module D includes a slurry scraping box D210, a vertical slurry scraping plate D110, a slurry receiving box D120, a slurry scraping mounting frame D130, and a slurry scraping frame D140, the vertical slurry scraping plate D110 is mounted on a lifting plate a170, the vertical slurry scraping plate D110 is mounted with the slurry scraping box D210 and the slurry scraping mounting frame D130, and the bottom of the vertical slurry scraping plate D110 is mounted on the slurry receiving box D120; the material receiving box D120 is used for collecting mortar falling off when the mortar is scraped on the wall brick; scrape and be provided with two on the thick liquid mounting bracket D130 and scrape thick liquid mounting bracket board D131, two scrape thick liquid mounting bracket board D131 respectively with scrape thick liquid riser D110, absorb roof C120 assembly.

The scraping frame D140 is provided with two parallel scraping side plates D141, one of which is assembled with the scraping support plate D120, and the other scraping side plate D141 is fixedly connected with the scraping box D210 through a scraping mounting plate D130; two scrape and install the axle between the thick liquid curb plate D141 and move frame D150, install two axle that are parallel to each other on the axle moves frame D150 and move curb plate D151, the axle moves frame D150 and the first thick liquid screw rod D510 one end assembly of scraping, first scrape thick liquid screw rod D510 other end pass scrape behind the thick liquid frame D140 with pack into first push rod motor D410 in, push rod motor D410 installs on scraping thick liquid frame D140 and its start-up after can drive first thick liquid screw rod D510 axial displacement of scraping to the drive shaft moves frame D150 along first thick liquid screw rod D510's axial displacement of scraping. The two axial-movement side plates D151 are respectively assembled with the second pulp scraping screw D520 in a circumferential rotation mode and in a non-axial-movement mode, the second pulp scraping screw D520 is provided with two second pulp scraping screws, one end of each second pulp scraping screw penetrates through one axial-movement side plate D151 and then is respectively assembled and fixed with one pulp scraping belt wheel D811, and the two pulp scraping belt wheels D811 are connected through a pulp scraping belt D810 to form a belt transmission mechanism; one end of one of the second scraping screw D520 penetrates out of the other axial moving side plate D151 and then is fixedly connected with an output shaft of the scraping motor D420 through a coupler, and the scraping motor D420 can drive the second scraping screw D520 to rotate circumferentially after being started. The second pulp scraping screw D520 penetrates through the pulp scraping side moving block D240 and is assembled with the pulp scraping side moving block D240 in a screwing mode through threads, the pulp scraping side moving block D240 is installed on the pulp scraping box D230, a pulp discharging groove D231 and a pulp scraping box cavity D232 are arranged inside the pulp scraping box D230, a pulp scraping plate D160 is installed on the outer side of the pulp scraping box D230, and a pulp scraping tooth D161 is arranged at one end, facing a wall brick, of the pulp scraping plate D160; arrange thick liquid groove D231 and arrange thick liquid spring tube D320 one end intercommunication, arrange thick liquid spring tube D320 other end and send thick liquid pipe D310 one end intercommunication, send thick liquid pipe D310 other end and scrape thick liquid inner chamber D211 bottom intercommunication in the thick liquid case D210, send thick liquid pipe D310 one end and scrape thick liquid frame D140 assembly fixed, it leads to groove D152 to pass the abdication that sets up on the axle shifts frame D150 to arrange thick liquid spring tube D320, it leads to groove D152 to run through the axle and shifts frame D150 to abdicate. Install two cooperation valve strips D920 on scraping thick liquid box D232's the inner wall, two cooperation valve strips D920 respectively with valve plate D930 both sides seal assembly to cut off and scrape the partial intercommunication that thick liquid box D232 is located the valve plate both sides, valve plate D930 both ends are fixed with valve rod D550 one end assembly respectively, the thick liquid box D230 is scraped to worn out to the valve rod D550 other end. Can drive valve plate D930 synchronous rotation through rotating valve rod D550 during scraping thick liquid to make scrape the partial intercommunication that thick liquid box chamber D232 is located the valve plate both sides, the mortar can pass and scrape thick liquid box chamber D232 this moment, then discharge to wall brick 100 after wearing out row's dressing trough D231 on. Scrape thick liquid motor D420 and start, the drive second is scraped thick liquid screw D520 circumference and is caught and do, thereby the drive is scraped thick liquid and is moved piece D240, scrape thick liquid box D230 and scrape thick liquid screw D520 axial displacement along the second, and scrape the terminal surface of thick liquid box D230 and be parallel with the wall brick this moment, scrape thick liquid box D230 and move along the wall brick from bottom to top, make the mortar constantly follow mud drainage groove D231 to the wall brick output, scrape thick liquid tooth simultaneously, scrape the mortar board and strickle off the mortar on the wall brick in order to guarantee that the mortar is unanimous on the thickness of wall brick, until paving the mortar on the wall brick back, in order to accomplish the thick liquid of scraping to the wall brick. The slurry discharge spring tube D320 is elastic and telescopic, so that the slurry discharge spring tube D320 continuously extends and retracts along with the movement of the slurry scraping box D230 to ensure the supply of the mortar.

Preferably, a first rack D610, a switch plate D620 and a second rack D630 are further installed between the two axial-movement side plates D151, a switch guide groove D621 penetrating through the switch plate D620 is formed in the switch plate D620, and an unlocking protrusion D622 is installed on the outer wall of the switch plate D620; second rack D630 is provided with latch portion D631 with unblock lug D622 department of correspondence, first rack D610 with send thick liquid gear D640 meshing transmission, send thick liquid gear D640 suit to fix on sending thick liquid pivot D530, send thick liquid pivot D530 to pass and scrape thick liquid box D232 and send thick liquid pivot D530 to be located the partial suit of scraping thick liquid box D232 in and be fixed with and send thick liquid blade D940, can drive when sending thick liquid pivot D530 circumferential rotation and send thick liquid blade D940 circumferential rotation to make and send thick liquid blade D940 along sending thick liquid pivot D530 axial transport mortar, in order to guarantee that the mortar is from arranging thick liquid groove D231 uniform output. And two sides of the pulp feeding blade D940 and the inner wall of the pulp scraping box cavity D232 are respectively provided with a retaining strip D910. When the mortar scraping box is used, mortar falls from the gap of the mortar feeding blade D940 to ensure that the mortar is uniformly distributed along the length direction of the mortar scraping box cavity D232. The blade D940 in this embodiment includes a first blade D941 and a second blade D942, the rotation directions of the first blade D941 and the second blade D942 are opposite, and the connection between the paddle discharge spring tube D320 and the paddle scraping box cavity D232 is located at the connection between the first blade D941 and the second blade D942, so that the mortar can be respectively conveyed to both sides by the first blade D941 and the second blade D942. When the scraping box D230 moves axially along the second scraping screw D520, the first rack D610 is in meshed transmission with the slurry feeding gear D640, so that the slurry feeding rotating shaft D530 continuously rotates circumferentially to convey the mortar.

The valve rod D550 penetrates through the slurry scraping box D230 and then is assembled and fixed with the switch gear D650, the switch gear D650 can be meshed with the tooth clamping part D631 to form a gear-rack transmission mechanism, the end face of the switch gear D650 can be attached to the end face of the brake wheel D820 to enable the switch gear D650 not to rotate, the brake wheel D820 is installed at one end of the brake shaft D540, the other end of the brake shaft D540 is sleeved with the brake spring D720, the brake side plate D261 and the switch guide groove D621 and then is assembled with the switch block D250, the brake side plate D261 is installed on the outer wall of the slurry scraping box D230 through the brake connecting plate D260, the brake spring D720 is sleeved on the brake shaft D540, two ends of the brake spring D720 and the brake side plate D820 are pressed tightly, and accordingly elastic force pushing the switch gear D820 is applied to the brake wheel D820 to enable the brake wheel D820 and the end face of the switch gear D650 to be pressed tightly so as to lock; a switch ball D950 is spherically and rollably mounted on one side of the switch block D250 facing the switch plate D620, and the switch ball D950 is attached to the side wall of the switch plate D620. When the slurry scraping box D230 moves along the axial direction of the second slurry scraping screw D520, the brake connecting plate D260, the brake wheel D820 and the switch block D250 can be driven to move along with the movement until the switch gear D650 is meshed with the clamping tooth part D631 and the switch block D250 or the switch ball D950 is matched with the unlocking bump D622 before the switch block D631 is meshed with the clamping tooth part D631, the unlocking bump D622 protrudes out of the outer wall of the switch plate D620, therefore, the switch block D250 drives the brake shaft D540 to overcome the elastic force of the brake spring D720 to drive the brake wheel D820 to move in the direction far away from the switch gear D650, the brake wheel D820 is separated from the switch gear D650, and at the moment, the switch gear D. Next, the switch gear D650 is engaged with the latch part D631 and drives the valve rod D550 to rotate circumferentially by 90 ° or nearly 90 ° with the movement of the doctor blade box D230, so that the valve plate communicates the parts of the doctor blade box cavity D232 located on both sides of the valve plate D930, and then the switch block D250 passes through the unlocking protrusion D622, so that the brake wheel D820 moves toward the switch gear D650 under the elastic force of the brake spring D720 until it abuts against the switch gear D650 so that the switch gear D650 cannot rotate, i.e., the open state of the valve plate is ensured.

In this embodiment, need in time to close the valve plate after scraping thick liquid box D230 and passing wall brick 100 to avoid the mortar to continue to flow out and cause the waste, carry out following design to this inventor: the two clamping tooth parts D631 are respectively close to the wall brick and the wall brick 100 in the moving direction of the paste scraping box with the second rack D630, so that when the paste scraping box D230 is close to the wall brick 100, the switch gear D650 is in meshing transmission with the first clamping tooth part D631, and the valve plate D930 is opened; when scraping thick liquid box D230 and removing soon from the wall brick, switch gear D650 meshes the transmission with another department's latch part D631 to make the valve plate continue to rotate 90 or be close 90, make the valve plate close, thereby realize that the valve plate requires automatic switch according to the thick liquid of scraping to the wall brick. The switch gear D650 adopts a one-way bearing, and the locking direction is the direction in which the tooth clamping part D631 drives the switch gear D650 to rotate when the mortar scraping box D230 moves towards a wall brick, otherwise, the direction is the rotating direction. Therefore, after finishing scraping the thick liquid, when scraping thick liquid box D230 direction and removing the reset, switch gear D650 can not drive the valve rod rotation to avoid the unnecessary of valve plate to open. This embodiment can install the torsional spring between valve rod and scraping thick liquid box, and the torsional spring is used for making the valve plate keep closed state. The unlocking protrusion D622 has two positions corresponding to the two latch parts D631, so that the brake wheel is separated from the switch gear D650 before the switch gear D650 is engaged with the latch parts D631, so that the switch gear D650 can rotate, and the switch block D250 is kept engaged with the locking protrusion D622 during the engagement of the switch gear D650 with the latch parts D631, thereby maintaining the unlocking state of the switch gear D650. When the valve plate moves upwards, the valve plate is closed before the quick-moving wall brick, but the mortar scraping box continues to move, so that the mortar scraping plate D160 continues to scrape mortar, and mortar is paved on the wall brick. After finishing scraping thick liquid of wall brick, first push rod motor D410 reverses to drive first thick liquid screw D510 pulling axis and move frame D140 and remove to first push rod motor D410, make scrape thick liquid box, scrape the thick liquid board and keep away from the wall brick, let the back absorb the module and drive the wall brick and rotate to the tiling position. The pulp scraping motor rotates reversely to drive the pulp scraping box D230 to move reversely and reset.

Because the valve plate need push away the mortar when rotating, if probably lead to the valve plate unable rotation when having the large granule impurity in the mortar, if the removal of scraping thick liquid box D230 was stopped in time at this moment, then switch gear D650 probably continues to mesh with latch part D631, causes switch gear D650, latch part D631 to damage. The inventor carries out the following improvements: set up the axle on the axle moves curb plate D151 and move spout D1511, axle moves spout D1511 and second rack D630 block, slidable assembly, and second rack D630 passes behind the axle moves spout D1511 with gear sleeve D220 assembly fixed, gear sleeve D220 with let a spring D710 one end assembly fixed, let a spring D710 other end and spring mounting board D1512 assembly fixed, spring mounting board D1512 installs on axle moves curb plate D151. Once the valve plate cannot rotate, the switch gear D650 cooperates with the latch portion D631 to push the second rack D630 to move downwards against the elastic force of the abdicating spring D710, so that the switch gear D650 passes through the latch portion D631.

In this embodiment, the mecanum wheel is used for realizing long-distance lateral movement, the walking screw a210 is used for driving the suction module C to realize accurate lateral movement, and the lifting screw a230 is used for driving the suction module C, the slurry scraping module D and the brick supply mechanism B01 to accurately move up and down, so that the wall bricks and the tiled wall surface are positioned, and accurate tiling of the wall bricks is realized. And the wall brick in the brick supply cavity B154 is used up, and the mortar in the mortar scraping box D210 needs to be supplemented in time after being used up, and at the moment, if the lifting plate is lifted, the brick supply box is switched to a brick supplementing state to supplement bricks after the lifting plate A170 is lowered to the bottommost part. In the initial state, the slurry supply pipe a241 and the rotary plate a710 are rotated to be parallel to the longitudinal direction of the frame partition plate a 161. When needing to mend thick liquid, scrape thick liquid case D210 and move down to bottommost, then the rotating electrical machines starts, and the rotatory pivot of drive rotates to make mend thick liquid pipe A241 rotate to scraping thick liquid inner chamber D211 top, open again and mend the thick liquid gate valve, make the mortar flow in the agitator tank A510 scrape thick liquid inner chamber D211 in the replenishment can.

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 (10)

1. The absorbing mechanism is characterized by comprising an absorbing angle adjusting beam, wherein one end of the absorbing angle adjusting beam, which is far away from an absorbing lifting beam, is fixedly assembled with a first absorbing plate through an absorbing big screw; the device comprises a first suction plate, a second suction plate, a first suction spring, a second suction plate, a first displacement sensor, a second displacement sensor, a plurality of suction guide shafts, a plurality of displacement sensors, a plurality of positioning devices and a plurality of positioning devices, wherein the first suction plate is provided with a plurality of beating assemblies, the plurality of displacement sensors and the plurality of suction guide shafts; the suction guide shaft and the first suction plate can be axially assembled in a sliding manner; the displacement sensors are at least four and are respectively arranged at four included angles of the first suction plate, and displacement shafts of the displacement sensors penetrate through the first suction plate and then are tightly attached to the second suction plate; the rapping components are distributed close to the respective displacement sensors; the second suction plate is far away from and is installed the absorption cushion on first suction plate's an terminal surface, is provided with on the absorption cushion and absorbs the hole, absorbs the hole and passes through the negative pressure and inhale tight wall brick.

2. The suction mechanism as claimed in claim 1, wherein the rapping component comprises a rapping frame, the rapping frame is mounted on the first suction plate, a rapping mounting plate is mounted on the rapping frame, a rapping motor is mounted on the rapping mounting plate, a rapping motor shaft of the rapping motor penetrates through the rapping mounting plate and then is loaded into a rapping inner cylinder of the rapping cylinder, the rapping inner cylinder can axially slide and can not circumferentially rotate, a rapping chute is arranged on the side wall of the rapping cylinder, the rapping chute is clamped with the rapping protrusion and can slidably assemble, and the rapping protrusion is mounted on the second suction plate; the part of the rapping cylinder between the first suction plate and the rapping mounting plate is provided with a rapping limiting ring, the rapping limiting ring cannot penetrate through the second suction plate, a third suction spring is mounted on the part between the rapping limiting ring and the rapping mounting plate, the third suction spring is sleeved outside the rapping motor shaft and the rapping cylinder, and two ends of the third suction spring are respectively pressed against the rapping limiting ring and the rapping mounting plate.

3. The suction mechanism as claimed in claim 1, wherein the second suction plate is provided with a first suction plate groove and a second suction plate groove, the first suction plate groove and the second suction plate groove are distributed in the transverse and longitudinal directions of the second suction plate so as to be communicated with each other, the first suction plate groove and the second suction plate groove are further communicated with a suction air hole, the suction air hole is communicated with one end of an air pipe, the other end of the air pipe is communicated with the interior of the negative pressure tank after being connected in series with an outlet and a first inlet of a reversing valve, a second inlet of the reversing valve is communicated with the atmosphere, and the reversing valve is used for enabling the outlet to be communicated with the first inlet and the second inlet; the negative pressure tank is in a vacuum or negative pressure state, and the reversing valve is used for controlling the on-off of the air pipe.

4. The suction mechanism as claimed in claim 3, wherein the tapping motor, the signal line of the displacement sensor and the power line are all installed in the line pipe and led out; both the line pipe and the air pipe are elastic and stretchable.

5. The suction mechanism as recited in claim 1, wherein said suction cushion is formed of a soft elastomeric material; the suction cushion is provided with a plurality of suction holes which penetrate through the suction cushion at the corresponding positions of the first suction plate groove and the second suction plate groove.

6. A fully automatic tile robot, characterized in that a suction mechanism according to any of claims 1-5 is applied.

7. The fully automated tile robot of claim 6, further comprising

The rack module is used for installing, moving and positioning the brick supply module, the brick suction module and the slurry scraping module;

the brick supply module is used for continuously supplying wall bricks for the brick suction module so as to be convenient for the brick suction module to suck;

the tile suction module is used for sucking the wall tiles, conveying the wall tiles into the slurry scraping module for scraping slurry, conveying the wall tiles to be parallel to the tiled wall surface, and then pasting the wall tiles on the tiled wall surface;

and the paste scraping module is used for scraping paste on the wall tiles so as to be convenient for subsequent pasting on the tile wall surfaces.

8. The fully automated tile robot of claim 7, wherein the frame module comprises a frame bottom plate and a frame top plate, four mecanum wheels are mounted on the bottom of the frame bottom plate, and the mecanum wheels are sleeved on a walking motor shaft of a walking motor; the two ends of the bottom plate of the rack are respectively provided with a bottom side plate, the top of the bottom plate of the rack is provided with a guide rail, the guide rail penetrates through a traveling wheel assembly, the traveling wheel assembly is mounted and clamped on the guide rail and can slide along the length direction of the guide rail, and the traveling wheel assembly is mounted at the bottom of the bottom plate of the traveling wheel; a walking threaded block is fixed at the bottom of the walking bottom plate, the walking threaded hole is sleeved on a walking screw rod and is assembled with the walking screw rod in a threaded manner, the walking screw rod is assembled with the two bottom side plates in a circumferential rotating and non-axial moving manner, and one end of the walking screw rod penetrates through one of the bottom side plates and is then fixedly connected with a motor shaft of a side-shifting motor through a coupler;

the walking bottom plate and one end of the lifting screw rod can rotate circumferentially and can not move axially, the lifting screw rod penetrates through the lifting plate, the lifting top plate of the lifting frame and the rack top plate and then is assembled and fixed with the first lifting belt wheel, and the lifting frame is arranged on the lifting plate; the lifting screw rod and the top plate of the frame can rotate circumferentially and can not move axially, and the lifting top plate and the lifting plate are assembled with the lifting screw rod in a screwing manner through threads respectively; the top plate of the frame is fixedly assembled with the top of a side plate of the second frame, the bottom of the side plate of the second frame is fixedly assembled with a stirring support, a stirring tank is arranged on the stirring support, stirring blades are arranged in the stirring tank and sleeved on a stirring rotating shaft, the stirring rotating shaft and the stirring tank can be circularly and rotatably assembled, and one end of the stirring rotating shaft penetrates out of the stirring tank and then is fixedly connected with a motor shaft of a stirring motor through a coupler;

the bottom of the stirring tank is communicated with one end of a slurry supplementing pipe, the other end of the slurry supplementing pipe is fixedly assembled with one end of a rotating plate, the other end of the rotating plate is fixedly assembled with one end of a rotating shaft, a rotating worm wheel is fixedly sleeved on the rotating shaft and is partially meshed with a rotating worm to form a worm and gear transmission mechanism, the rotating worm is partially arranged on a rotating motor shaft, the rotating motor shaft and the stirring support plates can rotate circumferentially and cannot move axially, the two stirring support plates are respectively arranged on the stirring support, and one end of the rotating motor shaft is arranged in a rotating motor.

9. The fully automated tile robot of claim 7, wherein the suction module comprises a suction mechanism for sucking the wall tile, and a suction transfer mechanism for driving the suction mechanism to move up and down, back and forth, and rotate; the absorption transfer mechanism comprises an absorption bottom plate and an absorption top plate, the absorption bottom plate and the absorption top plate are fixedly assembled through a first absorption vertical plate and a second absorption vertical plate respectively, the end faces of the absorption bottom plate and the absorption top plate facing each other are provided with a first absorption sliding groove and a second absorption sliding groove respectively, the first absorption sliding groove and the second absorption sliding groove are clamped with a first absorption sliding block and a second absorption sliding block respectively and can be assembled in a sliding mode, the first absorption sliding block and the second absorption sliding block are installed on an absorption sliding plate and an absorption bottom plate respectively, an absorption rotary sleeve is further installed on the absorption sliding plate, one end of the absorption rotary sleeve and one end of the absorption rotary shaft can be assembled in a circumferential rotating mode, the other end of the absorption rotary shaft is installed on the absorption top plate of the absorption top box, the absorption top box bottom plate is an absorption top box bottom plate, the absorption top box bottom plate and, The assembly is not axially movable, the top of the suction screw penetrates through the suction top box bottom plate and then is assembled and fixed with the suction screw worm gear, and the bottom of the suction screw penetrates through the suction top box bottom plate and the suction lifting groove and then is circumferentially rotatable with the lifting support shaft and is assembled in a non-axially movable manner; the lifting support shaft is provided with a suction lifting groove, a suction lifting beam is arranged in the suction lifting groove in a clamping and slidable mode, the suction screw penetrates through one end of the suction lifting beam and is assembled with the suction lifting beam in a threaded and screwing mode, and the suction mechanism is arranged on the suction lifting beam.

10. The fully automatic tile robot of claim 7, wherein the tile supply module comprises a tile supply mechanism, a tile patching mechanism for supplementing the tile supply mechanism with wall tiles; the brick supplying mechanism comprises a brick supplying box and a brick supplying bottom plate, the brick supplying box is arranged on the brick supplying bottom plate through a brick supplying support plate, a hollow brick supplying cavity is formed in the brick supplying box, two sides of the brick supplying cavity are respectively provided with a penetrating brick supplying chute, the top of the brick supplying chute is provided with a brick supplying shaft plate, the bottom of the brick supplying cavity is provided with a brick supplying partition plate, the brick supplying cavity is positioned above the brick supplying partition plate and is provided with a brick supplying lifting plate, two sides of the brick supplying lifting plate are respectively provided with a brick supplying thread block, and the brick supplying thread block penetrates through the corresponding brick supplying chute and is clamped with the brick supplying chute and can be assembled in a sliding manner; the screw rod for the brick and the shaft plate for the brick can rotate circumferentially and can not move axially for assembly; the brick supply screw rods are provided with two brick supply screw rods, the bottoms of the two brick supply screw rods are respectively sleeved with a brick supply belt wheel, the two brick supply belt wheels are connected through a brick supply belt and form a belt transmission mechanism, one brick supply screw rod is also assembled and fixed with a first brick supply bevel gear, the first brick supply bevel gear is meshed with a second brick supply bevel gear for transmission, the second brick supply bevel gear is sleeved and fixed on a brick supply motor shaft, and one end of the brick supply motor shaft is rotated into the brick supply motor; the side locking mechanism is arranged at the opening of the brick supplying cavity from one side to the brick patching mechanism, and partially shields the opening of the brick supplying cavity from one side to the brick patching mechanism through a side locking plate, so that a wall brick in the brick supplying cavity cannot slide out or incline from the opening;

the side locking mechanism comprises a side plate edge locking plate, a side locking plate part is arranged on the side locking plate, and the side locking plate part shields the opening part of the brick supplying cavity facing one side of the brick patching mechanism; the side locking plate is fixedly assembled with one end of a side locking rod, the side locking rod is assembled with a side locking nut after penetrating through the side locking plate and the side locking top plate, the side locking nut cannot penetrate through the side locking top plate, the side locking top plate is installed on a brick supply box through the side locking plate, the side locking rod is fixedly assembled with the side locking plate, a side locking spring is sleeved on a part, located between the side locking plate and the side locking top plate, of the side locking rod, the side locking spring is used for applying elastic force to the side locking plate to push the brick supply box, the side locking plate is fixedly assembled with the side locking block, and a side locking inclined surface is arranged on the inner side of the side locking block;

the brick supplementing mechanism comprises a brick supplementing bottom plate and a brick supplementing box, wherein a brick supplementing sliding groove is formed in the brick supplementing bottom plate, the brick supplementing sliding groove is clamped with a brick supplementing sliding block and can be assembled in a sliding mode, at least two brick supplementing sliding blocks are arranged at the bottoms of a first brick supplementing seat and a second brick supplementing seat respectively, the first brick supplementing seat and the second brick supplementing seat are arranged at the bottom plate of the brick supplementing box and the bottom of a brick supplementing retaining box respectively, one end of the brick supplementing retaining box is fixedly assembled with a brick supplementing side plate, and the brick supplementing side plate is arranged on one side of the brick supplementing box; the interior of the brick supplementing retaining box is provided with a hollow brick supplementing retaining groove, one end of the brick supplementing retaining box, far away from the brick supplementing box, is fixedly assembled with a brick supplementing side push plate, the brick supplementing side push plate is assembled with one end of a brick supplementing push rod, and the other end of the brick supplementing push rod penetrates through a brick supplementing vertical plate and then is installed into a brick supplementing push rod motor;

the brick supplementing vertical plate is installed on a brick supplementing bottom plate, the brick supplementing retaining groove is clamped with the brick supplementing side pushing frame and can be assembled in a sliding mode, a brick supplementing rack is fixed inside the brick supplementing side pushing frame, the brick supplementing rack is meshed with a brick supplementing gear to form a gear rack transmission mechanism, the brick supplementing gear is sleeved and fixed on a brick supplementing power shaft, the brick supplementing power shaft can be assembled with the side wall of the brick supplementing retaining box in a circumferential rotating mode, and one end of the brick supplementing power shaft penetrates out of the brick supplementing retaining box and then is fixedly connected with an output shaft of a brick supplementing side pushing motor.

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