CN112031367B

CN112031367B - Suction module and intelligent tile-sticking robot thereof

Info

Publication number: CN112031367B
Application number: CN202010925046.XA
Authority: CN
Inventors: 袁碧
Original assignee: Chongqing Wanchongshan Intelligent Technology Co ltd
Current assignee: Chongqing Wanchongshan Intelligent Technology Co ltd
Priority date: 2020-09-06
Filing date: 2020-09-06
Publication date: 2021-10-29
Anticipated expiration: 2040-09-06
Also published as: CN112031367A

Abstract

The invention discloses a suction module and an intelligent tile robot thereof, wherein the intelligent tile robot comprises a rack module, a slurry scraping module and a suction module, wherein the rack module is used for installing, moving and positioning a tile supply module, a tile 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. The automatic mortar scraping device has complete functions, can realize automatic mortar scraping, wall brick suction, wall brick rotation, wall brick pasting and wall brick detection, and can realize full automation in the whole process, thereby providing a foundation for a subsequent full-automatic wall brick pasting technology, namely a technical foundation for a subsequent AI tile pasting technology. Particularly, the AI tiling can be basically realized after the intelligent image recognition and planning technology is added.

Description

Suction module and intelligent tile-sticking 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 an intelligent 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, the inventor has designed an intelligent tiling robot, and 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 in the prior art, the technical problem to be solved by the present invention is to provide an absorption module and an intelligent tile robot thereof, wherein the absorption module is used for absorbing a wall tile and conveying the wall tile to a mortar scraping module and a tile pasting station.

In order to achieve the purpose, the invention provides an absorption module which comprises a telescopic screw rod, wherein one end of the telescopic screw rod penetrates through a telescopic rotating block and then is assembled with a first absorption plate in a circumferential rotating and non-axial moving mode, and the telescopic screw rod is assembled with the telescopic rotating block in a screwing mode through threads;

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 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 respectively 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 also 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 inside 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 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;

an end face, far away from the first suction plate, of the second suction plate is provided with a suction soft cushion, and the suction soft cushion is made of a soft elastic 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.

The invention also discloses an intelligent tile sticking robot, which is applied with the suction module.

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 two-dimensionally adjusted relative to the tile wall surface through the walking screw and the lifting screw, and the adjusting 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 from bottom to top, and ensures that mortar on the wall brick is paved and has uniform thickness.

Drawings

Fig. 1-4 are schematic structural views of the present invention.

Fig. 5 is a schematic structural diagram of the pulp scraping module and the rack module.

Fig. 6-11 are schematic structural views of a rack module. Wherein FIG. 6 is a schematic view of the structure at the top plate of the rack;

FIG. 8 is a schematic view of the structure at the walking bottom plate; FIGS. 9-10 are cross-sectional views at the center plane of the walking vertical axis; a drawing; FIG. 11 is a schematic view of the structure of the stirring blade.

Fig. 12-16 are schematic structural views of the epicyclic mechanism. FIG. 13 is a cross-sectional view of the central plane of the axis of the positioning shaft; fig. 16 is a cross-sectional view at the center plane of the lock shaft axis.

Fig. 17-19 are schematic structural views of a brick supply module. Wherein figure 19 is the first brick-filling screw moving axially.

Fig. 20-25 are schematic structural views of a brick feeding mechanism. Wherein FIG. 22 is a cross-sectional view of the central plane of the axis of the pusher rod for a brick; FIG. 24 is a schematic view of a locking block for a brick; fig. 25 is a schematic structural view of the detection assembly.

Fig. 26-35 are schematic structural views of the extraction module. Wherein FIG. 29 is a sectional view at a center plane where the axis of the expansion screw is located; fig. 32 is a cross-sectional view at the center plane of the axis of the tapping cylinder; FIG. 33 is a cross-sectional view at the center plane of the axis of the displacement shaft; fig. 34 is a schematic structural view of the rapping assembly; fig. 35 is a schematic diagram of the states and positions of the suction modules respectively located in the three processes of sucking wall bricks, scraping slurry and tiling, and although there are three suction modules in the diagram, there is only one suction module actually, and the three suction modules mainly represent the positions and states of the processes of the suction modules.

Fig. 36-44 are schematic structural views of the squeegee module. Wherein FIG. 38 is a cross-sectional view taken along a center plane of the axis of the slurry feed pipe; FIG. 43 is a cross-sectional view at the center plane of the brake shaft axis; FIG. 44 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 44, the intelligent tile robot of the present embodiment includes:

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. 1-16, the rack module a includes a rack base plate a110, a walking base plate a150, and a rack top plate a140, four mecanum wheels a440 are mounted at the bottom of the rack base 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 installed a bottom curb plate A111 on both ends respectively, and two bottom curb plate A111 assemble with guide rail layer board A120 both ends respectively, guide rail A220 is installed at guide rail layer board A120 top, and guide rail A220 passes road wheel subassembly A450, and road wheel subassembly A450 installation block just can slide along guide rail A220 length direction on guide rail A220, the road wheel subassembly A450 is installed in walking bottom plate A150 bottom. 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 further fixed with a walking thread block A151, the walking thread block A151 is sleeved on a walking screw A210 and is assembled with the walking screw A210 in a threaded manner, the walking screw A210 is assembled with the two bottom side plates A111 in a circumferential rotating and axial-movement-incapable manner, one end of the walking screw A210 penetrates through one of the bottom side plates A111 and is fixedly connected with a motor shaft of the side-moving motor A310 through a coupler, and the side-moving motor A310 can drive the walking bottom plate A150 to move along the axial direction after being started. The top surface of the walking bottom plate A150 is also respectively provided with a fixed vertical plate A152 and a screw rod mounting ring A153, and the top of the fixed vertical plate A152 is fixedly assembled with a brick supplementing bottom plate B110 of the brick supplying module B; the screw rod mounting ring A153 and the bottom of the lifting screw rod A230 can rotate circumferentially and cannot move axially, the lifting screw rod A230 penetrates through a lifting plate A171 of the lifting frame A170 and a rack top plate A140 and then is assembled and fixed with a first lifting belt wheel A411, the lifting screw rod A230 and the lifting plate A171 are assembled in a screwing mode through threads, and the lifting screw rod A230 and the rack top plate A140 can rotate circumferentially and cannot move axially. Frame roof A140 is fixed with walking bottom plate A150 assembly through first frame curb plate A131 respectively, frame roof A140 still with second frame curb plate A132 top assembly is fixed, second frame curb plate A132 bottom and agitator tank A510 assembly are fixed, agitator tank A510 passes through frame backup pad A160 and walks bottom plate A150 assembly and fixes. Install stirring vane A430 in agitator tank A510, stirring vane A430 suit is on stirring pivot A250, but stirring pivot A250 and agitator tank A510 circumferencial rotation assembly, it is fixed that the motor shaft of agitator motor A330 passes through the coupling joint after agitator tank A510 is worn out to stirring pivot A250 one end, can drive stirring pivot A250 circumferencial rotation after agitator motor A330 starts to make stirring vane A430 synchronous rotation 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 A241, the other end of the slurry supplementing pipe A241 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 A260, the other end of the rotating shaft A260 penetrates through the two rack clapboards A161 and can be assembled with the two rack clapboards A161 in a circumferential rotating manner, two sides of the two rack clapboards A161 are fixedly assembled with the rack supporting plate A160 respectively, a rotary worm wheel is sleeved and fixed on the rotary rotating shaft A260, the rotary worm wheel is meshed with the rotary worm part A462 to form a worm and gear transmission mechanism, the rotary worm part a462 is provided on a rotary motor shaft a341, the rotary motor shaft a341 is fitted to the frame support plate a160 to be circumferentially rotatable and axially immovable, one end of the rotating motor shaft A341 is installed in the rotating motor A340, the rotating motor A340 can drive the rotating motor shaft A341 to rotate circumferentially after being started, thereby driving the rotation shaft a260 to rotate circularly to drive the rotation plate a710 to rotate synchronously. The design can make the rotating plate A710 drive the slurry supplementing pipe A241 to synchronously rotate, and the slurry supplementing pipe A241 in the embodiment is made of a soft elastic pipe. The slurry supplementing pipe A241 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 a341, and the switching of both states is driven by the rotating motor a 340. The slurry scraping box D210 is arranged on a slurry scraping vertical plate D110, and the slurry scraping vertical plate D110 is arranged on a lifting plate A171. 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 A241 and is used for controlling the on-off of the pulp supplementing pipe A241.

The lifting plate A171 is respectively provided with a turnover mechanism A600 and a brick supply mechanism B01, and the turnover mechanism A600 is provided with a suction module C. The turnover mechanism A600 comprises a turnover chassis A610, the bottom of the turnover chassis A610 is fixedly assembled with the top of a turnover support plate A611, the bottom of the turnover support plate A611 is fixedly assembled with a lifting plate A171, and a turnover turntable A630 and a turnover retaining ring A620 are respectively mounted on the top surface of the turnover chassis A610; the turnover turntable A630 is provided with a turnover rotating ring A631, the turnover retaining ring A620 is mounted on the turnover chassis A610, the inner side of the turnover retaining ring A620 and the turnover chassis A610 form a turnover ring groove A621, and the turnover ring groove A621 and the turnover rotating ring A631 are clamped, can rotate circumferentially and cannot move axially for assembly; an epicyclic mounting disc A640 and an epicyclic gear ring A660 are respectively mounted on the inner side of the epicyclic turntable A630, epicyclic internal teeth A661 are arranged on the inner side of the epicyclic gear ring A660, the epicyclic internal teeth A611 and an epicyclic gear A470 are in meshing transmission, the epicyclic gear A470 is fixed on an epicyclic rotating shaft A270 in a sleeving manner, the bottom of the epicyclic rotating shaft A270 passes through an epicyclic chassis A610 and then is respectively assembled with input shafts of an epicyclic worm wheel A481 and an epicyclic encoder A381, the epicyclic worm wheel A481 is meshed with an epicyclic worm part A482 and forms a worm gear transmission mechanism, the epicyclic worm part A is arranged on an epicyclic motor shaft A3921, the epicyclic motor shaft A3921 and an epicyclic motor frame A670 can be assembled in a circumferential rotation and axial movement, and the epicyclic motor frame A670 is mounted on the epicyclic chassis A610; one end of the revolving motor shaft A3921 is arranged in the revolving motor A392, the revolving motor A392 can drive the revolving motor shaft A3921 to rotate circularly after being started, and the revolving motor shaft A3921 can drive the revolving gear to rotate circularly after rotating circularly, so that the revolving turntable A630 is driven to rotate circularly through the revolving gear ring A660. Preferably, turnover mounting disc A640 is fixed with the assembly of location axle A650 top, but location axle A650 bottom is worn out turnover chassis A610 and is the circumferencial rotation assembly with it, location axle A650 and turnover mounting disc A640, the coaxial assembly of turnover carousel A630, location axle A650 lateral wall, be provided with at least three location locked groove A651 along its circumferencial direction, three at least location locked groove A651 correspond respectively and absorb module C and absorb three stations of wall brick, scrape thick liquid, tiling. The positioning lock groove A651 can be clamped and assembled with one end of a positioning lock block A750, so that a positioning shaft A650 is fixed in the circumferential direction, the other end of the positioning lock block A750 is assembled and fixed with one end of a lock shaft A3911, the positioning lock block A750 is clamped and slidably assembled with a second positioning vertical plate A683, the other end of the lock shaft A3911 is assembled with a positioning trigger plate A730, a positioning spring A740, a first positioning vertical plate A682 and a positioning nut A3912 in sequence and then is installed in an unlocking electromagnet A391, and the unlocking electromagnet A391 can drive the lock shaft A3911 to move towards one end far away from the positioning lock groove A651 after being started, so that the positioning lock block A750 exits from the positioning lock groove A651. The second positioning vertical plate A683 and the first positioning vertical plate A682 are respectively installed on a positioning bottom plate A680, the second positioning vertical plate A683 and the first positioning vertical plate A682 are also installed on a turnover chassis A610, the positioning trigger plate A730 is sleeved and fixed on a lock shaft A3911, the bottom of the positioning trigger plate A730 passes through a positioning bottom plate groove A681 and then is positioned between a first travel switch A382 and a second travel switch A383, the triggering ends of the first travel switch A382 and the second travel switch A383 respectively face the positioning trigger plate A730 and can be triggered by the positioning trigger plate A730, and the first travel switch A382 and the second travel switch A383 are installed on the positioning bottom plate A380; the part of the lock shaft A3911, which is located between the positioning trigger plate A730 and the first positioning vertical plate A682, is sleeved with a positioning spring A740, the positioning spring A740 is used for applying elastic force to the positioning trigger plate A730 to push the positioning shaft A650, the lock shaft A3911 penetrates through the first positioning vertical plate A682 and then is assembled with a positioning nut A3912, and the positioning nut A3912 cannot penetrate through the first positioning vertical plate A682, so that the maximum displacement of the lock shaft A3911 to the positioning shaft A650 is limited. The positioning bottom plate groove a681 is disposed on the positioning bottom plate a680 and penetrates through the positioning bottom plate a 680. The end of the locking block A750 which is arranged in the positioning locking groove A651 can also be provided with a ball A760 in a spherical rolling way, and the ball A760 can be tightly attached to the side wall of the positioning shaft A650 so as to reduce the friction force between the locking block and the positioning shaft. The first travel switch A382 and the second travel switch A383 are respectively used for detecting two states that the lock block A750 is completely installed in the positioning lock groove A651 and the lock block completely exits the positioning lock groove A651; when the detection lock block A750 is completely installed in the positioning lock groove A651, the positioning trigger plate A730 triggers the first travel switch A382; when the lock block completely exits the positioning lock slot a651, the positioning trigger plate a730 triggers the second stroke switch a 383. Through the design, the rotation angle of the turnover turntable A630 can be detected, and the positioning shaft A650 can be automatically locked in the circumferential direction when the suction module reaches a corresponding station, so that the suction module is positioned and locked in the circumferential direction of the turnover turntable A630, and the suction module C is conveniently operated correspondingly. A turnover mounting cylinder A690 is mounted on the turnover mounting disc A640, and the turnover mounting cylinder A690 is fixedly assembled with the positioning shaft A650.

A collecting box A720 is further mounted on the lifting plate A171 and below the pulp scraping module D, a hollow collecting inner cavity A721 is formed inside the collecting box A720, and the bottom of the collecting inner cavity A721 is communicated with the pulp discharge pipe A242. During the use, scrape the mortar that the thick liquid module dropped from the wall brick and all save through collecting inner chamber A721 to avoid polluting other equipment. The slurry discharge pipe A242 is provided with a slurry discharge gate valve A370 for controlling the slurry discharge pipe A to be turned on and off, when the mortar in the collection inner cavity A721 needs to be discharged, the slurry discharge gate valve is opened, and the slurry discharge gate valve is in a closed state at ordinary times. The collecting box A720 is installed two mesh cameras A360 on facing the terminal surface of tiling wall, two mesh cameras are used for acquireing the image of tiling wall to be used for discerning, location tiling position. The specific mode can be as follows: 1. performing manual remote operation, 2, obtaining an overall image of the wall surface of the tile by using a visual recognition technology, and then intelligently analyzing the tile position of each tile so as to perform tile sticking and positioning; 3. referring to the manner described in the prior application (application No. 202010821590X), a horizontal and vertical line is drawn on the tile wall to locate and thereby divide the tile position of each tile for ease of location. The present embodiment selects the third.

Referring to fig. 1-4 and 17-25, the brick feeding module B comprises a brick feeding mechanism B01 and a brick patching mechanism B02, wherein the brick feeding mechanism B02 is used for supplementing the brick feeding mechanism B01 with wall bricks, and the brick feeding mechanism B01 is used for conveying the wall bricks to a position where the wall bricks can be sucked by the suction module C. The brick supplementing mechanism B02 comprises a brick supplementing box B160, a brick supplementing bottom plate B110 and a brick supplementing side moving plate B130, wherein a brick supplementing sliding groove B111 is arranged on the brick supplementing bottom plate B110, the brick supplementing sliding groove B111 is clamped with a brick supplementing sliding block B132 and can be assembled in a sliding mode, the brick supplementing sliding block B132 is installed at the bottom of the brick supplementing side moving plate B130, the top of the brick supplementing side moving plate B130 is fixedly assembled with a second brick supplementing side plate B140, two ends of the brick supplementing side moving plate B130 are fixedly assembled with brick supplementing shaft plates B131 respectively, the top of the brick supplementing shaft plates B131 is fixedly assembled with the bottom of the brick supplementing box B160, the side face of the brick supplementing box B160 is fixedly assembled with the second brick supplementing side plate B140, brick supplementing shaft plates B131 at two ends of the brick supplementing side moving plate B130 are fixedly assembled with different brick supplementing belt wheel shafts B210 in a circumferential rotating mode respectively, two brick supplementing belt wheel shafts B411 are sleeved on the brick supplementing shaft B210 respectively, a brick supplementing belt wheel B410 is connected with a brick supplementing belt wheel shaft B330 through a brick supplementing belt transmission mechanism B410, and a motor shaft B330 is connected with the brick supplementing belt transmission mechanism, after the brick supplementing motor B330 is started, the brick supplementing belt wheel shaft B210 can be driven to rotate circumferentially, so that the brick supplementing belt B410 is driven to run; the brick supplementing belt B410 is fixedly assembled with the bottom of a brick supplementing push plate B450, the brick supplementing push plate B450 penetrates through a brick supplementing guide groove B162 and is clamped and slidably assembled with the brick supplementing guide groove B162, the brick supplementing guide groove B162 is arranged at the bottom of a brick supplementing box B160 and penetrates through the brick supplementing box B160, a hollow brick supplementing cavity B163 is formed in the brick supplementing box B160, and a brick supplementing channel B161 is arranged at one end of the brick supplementing cavity B163; the part of the brick supplementing push plate B450 which is arranged in the brick supplementing cavity B163 is axially and slidably assembled with the brick supplementing guide shaft B240, one end of the brick supplementing guide shaft B240 is fixedly assembled with a brick supplementing pressing plate B440, the other end of the brick supplementing guide shaft B240 penetrates through a brick supplementing pushing plate B450 and then is assembled with a brick supplementing nut B241, the brick supplementing nut B241 can not penetrate through the brick supplementing push plate B450, a part of the brick supplementing guide shaft B240 between the brick supplementing guide shaft B240 and the brick supplementing press plate B440 is sleeved with a brick supplementing pressure spring B710, the brick-supplementing pressure spring B710 is used for applying an elastic force to the brick-supplementing pressure plate B440 to prevent the brick-supplementing pressure plate B from moving to the brick-supplementing push plate B450, a third travel switch B340 is arranged on the brick supplementing push plate B450, the trigger end of the third travel switch B340 is opposite to the brick supplementing push plate B440, when the brick supplement pressing plate B440 is pressed against the wall brick 100, the brick supplement pressing plate B440 can approach the brick supplement pressing plate B450 to trigger the third stroke switch B340, and at the moment, the wall brick in the brick supplement cavity B163 is judged to be pressed. The brick supplementing pressing plate B440 is clamped with the brick supplementing cavity B163 and can be assembled in a sliding mode.

And a first brick supplementing side plate B120 is further installed on the brick supplementing bottom plate B110, a second brick supplementing hollow shaft motor B320 is installed on the first brick supplementing side plate B120, a hollow output shaft of the second brick supplementing hollow shaft motor B320 is sleeved outside the second brick supplementing screw B230 and is assembled with the second brick supplementing screw B through screw thread screwing, and the second brick supplementing hollow shaft motor B320 can drive a hollow output shaft of the second brick supplementing hollow shaft motor to rotate circumferentially after being started, so that the second brick supplementing screw B230 moves axially. One end of the second brick supplementing screw B230 passes through the first brick supplementing side plate B120 and then is assembled with the second brick supplementing side plate B140 in a non-axial-movement mode, so that the second brick supplementing screw B230 can drive the second brick supplementing side plate B140 to move along the brick supplementing sliding block B111. The second brick supplementing side plate B140 is provided with a first brick supplementing hollow shaft motor B310, a hollow output shaft of the first brick supplementing hollow shaft motor B310 is sleeved outside the first brick supplementing screw B220 and is assembled with the first brick supplementing screw B220 in a screwing mode through threads, one end of the first brick supplementing screw B220 penetrates through the second brick supplementing side plate B140 and then is assembled with the brick supplementing side shifting plate B460 in an axially immovable mode, and the first brick supplementing screw B220 is assembled with the second brick supplementing side plate B140 and the first brick supplementing side plate B120 in an axially sliding mode. The second brick supplementing side plate B140 is provided with a side pushing accommodating groove B141, the side pushing accommodating groove B141 is clamped with the brick supplementing side moving plate B460 and can be assembled in a sliding mode, in addition, in the initial state, the end face of the brick supplementing side moving plate B460 does not enter the brick supplementing cavity B163, and the end face of the brick supplementing side moving plate B460 is preferably flush with the inner wall of the brick supplementing cavity B163. The top of the brick supplementing box B160 is provided with a brick supplementing top plate B170, the brick supplementing top plate B170 is fixedly assembled with one end of a brick supplementing unlocking block B420 through a brick supplementing unlocking vertical plate B180, a brick supplementing unlocking inclined plane B421 is arranged on the brick supplementing unlocking block B420, the brick supplementing channel B161 is right opposite to the brick supplementing side moving plate B460, the brick supplementing side moving plate B460 can penetrate through the brick supplementing channel B161, the two sides of the outer part of the brick supplementing channel B161 are respectively provided with a brick supplementing guide plate B430, and the brick supplementing guide plate B430 can be arranged in a brick supplying cavity B532, so that the wall brick can be guided to move in the brick supplying cavity B532.

The brick supply mechanism B01 comprises a brick supply bottom plate B510 and a brick supply box B530, wherein a brick supplement support B521, a brick supply limiting block B522, a brick supply shaft plate B523, a brick supply hinged plate B524 and a brick supply locking frame B560 are respectively arranged on the brick supply bottom plate B510, the brick supply shaft plate B523 is hinged with the side wall of the brick supply box B530 through a brick supply rotating shaft B280, a brick supply partition plate B541 is arranged in the brick supply box B530, one side of the brick supply partition plate B541 is assembled with the two brick supply retaining plates B540, the other side of the brick supply partition plate B541 is a brick supply cavity B532, one side of the brick supply cavity B532 facing the brick supplement mechanism B02 is provided with a brick supplement notch B531, the brick supply cavity B532 is clamped and can be assembled with the brick supply push plate B550 in a sliding manner, the brick push plate B550 is assembled and fixed with one end of a brick supply push rod B250, the other end of the brick push rod B250 penetrates through the brick supply partition plate B541 and then is assembled between the two brick supply retaining plates B540, and the push rod B250 is assembled with the brick supply retaining plates B540, and the brick supply retaining plates B541 in an axial direction, and the side wall of the push rod B250 is assembled with the brick supply partition plate B250, Be provided with the several along its axial and supply the brick tooth's socket, supply the brick tooth's socket and supply brick gear B720 meshing and constitute rack and pinion drive mechanism, supply brick gear B720 suit to fix on supplying brick tooth axle B260, supply brick tooth axle B260 and supply the assembly of brick case B530 circumferential rotation, supply brick tooth axle B260 one end to wear out and supply behind brick case B530 to pass through the coupling joint with the motor shaft that supplies brick motor B350 fixed, supply brick motor B350 to drive after starting and supply brick tooth axle B260 circumferential rotation to make and supply brick gear B720 drive to supply brick push rod B250 axial displacement. The brick supplying box B530 is provided with a brick supplying locking rod B270 at one end far away from the brick supplying cavity B532, the brick supplying locking rod B270 is clamped into a brick supplying locking groove B731 in a brick supplying state, the brick supplying locking groove B731 is arranged on a brick supplying locking block B730, the bottom of the brick supplying locking block B730 is provided with a brick supplying sliding block B732, the brick supplying sliding block B732 is clamped with the brick supplying sliding groove B5611 and can be assembled in a sliding manner, the brick supplying sliding groove B5611 is arranged on a brick supplying supporting plate B561, the brick supplying supporting plate B561 is arranged on a brick supplying locking frame B560, the brick supplying supporting plate B561 is provided with a brick supplying locking plate B562, the brick supplying locking block B730 is assembled and fixed with one end of a brick supplying telescopic shaft B371, the brick supplying telescopic shaft B371 sequentially passes through a brick supplying locking spring B740, the brick supplying locking plate B562 and a brick locking nut B3711 and then is arranged in a brick supplying locking electromagnet B370, the brick supplying locking plate B370 after the brick supplying locking block B370 is started, the brick supplying locking plate B370 can drive the brick supplying shaft B to move towards the brick locking nut 3711 to move towards the brick supplying locking block B37730, supply brick lock spring B740 suit on supplying brick telescopic shaft B371, supply brick lock spring B740 both ends respectively with supply brick locking piece B730, supply brick lock riser B562 to compress tightly to supplying brick locking piece B730 to exert the elasticity that supplies brick locking piece B730 to promote. And supplies brick case B530 and supplies the spacing inclined plane B5221 laminating of brick of supplying of brick stopper B522 to the realization is to supplying brick case B530 pivoted location, locking, in order to guarantee to supply the position precision when the brick case supplies the brick, makes and absorbs module C and can accurately absorb the wall brick. But supply brick locking lever B270 and supply brick rotation piece B363 circumferential rotation assembly, supply brick rotation piece B363 and adjust telescopic shaft B361 one end assembly fixed, adjust in telescopic shaft B361 other end packs into adjusts electric jar B360, adjust and can drive after electric jar B360 starts and adjust telescopic shaft B361 axial and stretch out and draw back, install the articulated piece B362 of electric jar on the shell of adjusting electric jar B360, the articulated piece B362 of electric jar is articulated with supply brick articulated plate B524 through electric jar hinge pin B290. When the brick supplying box is used, the electric cylinder B360 is adjusted to drive the telescopic shaft B361 to extend, so that the brick supplying box B530 can be adjusted from a horizontal state (a brick supplementing state, as shown in figures 17-19) to an inclined state (a brick supplying state, as shown in figures 21-23). When the adjusting electric cylinder B360 drives and adjusts the telescopic shaft B361 to shorten, the brick supplying box B530 can be driven to change from the brick supplying state to the brick supplementing state until the bottom of the brick supplying box B530 is attached to the brick supplementing support B521, so that the brick supplementing box B530 is supported.

Preferably, owing to supply brick chamber B532 one side to be provided with to mend the brick and lack groove B531, in order to avoid the wall brick from mending the slope of brick lack groove B531, drop, the inventor has still designed side lock mechanism B800, side lock mechanism B800 includes side jam plate B810, be provided with lock curb plate part B811 on the side jam plate B810, lock curb plate part B811 will mend the brick and lack the groove B531 outside part and shelter from to laminate with the wall brick lateral wall in order to prevent the slope of wall brick, drop. Side lock board B810 and side lock lever B820 one end assembly are fixed, side lock lever B820 passes side lock link board B830, side lock roof board B851 back and assembles with side lock nut B821, side lock nut B821 can not pass side lock roof board B851, side lock roof board B851 is installed on supplying brick box B530 through side lock side board B850, side lock lever B820 and side lock link board B830 assembly are fixed, side lock lever B820 is equipped with side lock spring B860 on the part that is located 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 supplies brick box B530 to the elasticity that pushes away to side lock board B810, side lock link board B830 and side lock block B840 assembly are fixed, side lock block B840 inboard is provided with side lock slope B841. When the brick supply mechanism B02 supplies wall bricks to the brick supply mechanism B01, the brick supply push plate B550 moves towards the brick supply partition plate B541 until the brick supply push plate B550 is jointed with the brick supply partition plate B541, and at the moment, the brick supply push plate B550 can not shield the brick supply notch B531. The second brick-supplementing hollow shaft motor B320 is started, so that the second brick-supplementing screw B230 is driven to move towards the brick-supplementing box, the brick-supplementing side moving plate B130 is driven to move towards the brick-supplying box, the brick-supplementing unlocking block B420 is installed inside the side edge locking block B840, the brick-supplementing unlocking inclined plane B421 is attached to the side edge locking inclined plane B841, the brick-supplementing side moving plate B420 continues to move towards the brick-supplying box, the brick-supplementing unlocking block B420 drives the side edge locking block B840 to move towards the direction far away from the brick-supplying box and overcome the elastic force of the side edge locking spring B860 until the part B811 of the locking side plate completely exits from the outside of the brick-supplementing groove B531, the wall brick can penetrate through the brick-supplementing groove B531, the brick-supplementing guide plate B430 enters the brick-supplying cavity B532 at the moment, the outside of the brick-supplementing channel B161 is attached to the brick-supplying box B530, and the brick-supplementing channel B161 is communicated with the brick-supplementing groove B531. The first brick-supplementing hollow shaft motor B310 is started to drive the first brick-supplementing screw B220 to move towards the brick-supplying box B530, so that the brick-supplementing side moving plate B460 is driven to move towards the brick-supplying box B530, the wall brick right opposite to the brick-supplementing channel B161 is pushed to move towards the brick-supplying cavity B532, the wall brick gradually enters the brick-supplying cavity B532 under the pushing of the brick-supplementing side moving plate B460, and the two brick-supplementing guide plates B430 provide guidance for two sides of the wall brick in the moving process to prevent the wall brick from loosening and inclining until the brick-supplementing side moving plate B460 completely loads the wall brick 100 into the brick-supplying cavity B532 and is attached to the inner wall of the brick-supplying cavity B532. The brick supply motor is started, so that the brick supply push plate B550 moves towards the brick supplement guide plate B430 until the brick supplement guide plate B430 close to the brick supplement guide plate B430 is close to or attached to the brick supplement guide plate B430, and in the whole process, one end face of the brick supplement guide plate B430 is always attached to a wall brick in the brick supplement cavity B163 to avoid inclination of the wall brick in the brick supplement cavity. The first brick-supplementing hollow shaft motor B310 rotates reversely to drive the brick-supplementing side moving plate B460 to move reversely and reset. Second mend brick hollow shaft motor B320 reversal to drive mends brick case B160 and moves until reseing to keeping away from confession brick case B530 direction, and at this in-process, side locking piece B840 separates with mend brick unblock piece B420 for B810 side locking plate resets and is in order to be located the laminating of wall brick side that supplies the brick intracavity. After the brick supplementing guide plate B430 exits from the brick supplying cavity, the wall brick 100 is inclined towards the brick supplying push plate B550 to obtain support; then starting an adjusting electric cylinder B360, and driving an adjusting telescopic shaft B361 to extend by the adjusting electric cylinder, so that the brick supplying box is switched from a brick supplementing state to a brick supplying state; last start and supply brick motor B350, make and supply brick push pedal B550 to remove to wall brick 100, make and supply the terminal surface of brick push pedal B550 and the wall of wall brick to paste tightly, resume again and promote wall brick 100 along supplying brick chamber B532 to keeping away from and supplying brick baffle B541 to remove, reach preset position until the wall brick, just also absorb the position that module C can absorb the wall brick, absorb module C and absorb a wall brick after, supply brick push pedal B550 to promote the wall brick and remove the position of mending, thereby make behind the wall brick that is absorbed reach its position in order to prepare to be absorbed. In order to make the wall brick bottom slide to supply brick push pedal B550, supply brick chamber B532 bottom to set up to the smooth surface to the wall brick can slide to supplying brick push pedal B550 automatically when making to supply the slope of brick chamber, with the terminal surface laminating of the terminal surface of assurance wall brick 100 and supply brick push pedal B550. When supplying brick case switching shaft to supply the brick state, supply brick locking lever B270 to supply brick locking block B730 to rotate so as to compress tightly with the terminal surface that supplies brick locking block B730 and thereby drive brick locking block B730 to overcome the elasticity that supplies brick locking spring B740 and move to supplying brick locking board B562, until supplying brick locked groove B731 and supplying brick locking lever B270 to just right, supply the laminating of brick bottom surface and supplying the spacing inclined plane B5221 of brick this moment, supply brick locking block B730 to drive through the elasticity that supplies brick locking spring to supply brick locking lever B270 to remove, thereby make and supply brick locked groove B731 and supply brick locking lever B270 block, in order to guarantee to supply the position of brick case B530 unchangeable, thereby guarantee the position precision of wall brick and absorption module. When needing to mend the brick, start and supply brick lock electro-magnet B370 to supply brick locking piece B730 to keeping away from the direction removal that supplies brick locking lever B270, make and supply brick locked groove B731 and supply brick locking lever B270 to separate, then start and adjust electric jar B360, make and adjust telescopic shaft B361 shorten until the bottom surface that supplies brick case B530 and the top surface laminating of mending brick support B521 can.

Preferably, in order to find whether the brick is taken out from the inner wall of the brick cavity B532, the inventor also designs a detection component B900, the detection component B900 comprises a detection plate B910 and a detection mounting plate B920, the detection mounting plate B920 is mounted on the outer wall of the brick cavity B530, one end of the detection plate B910 enters the outer side of the open end of the brick cavity B532, the middle part of the detection plate B is hinged to the detection mounting plate B920 through a first detection rotating shaft B931, a detection long groove B911 is mounted at the other end of the detection plate B911, the detection long groove B911 is clamped and slidably assembled with one end of a second detection rotating shaft B932, the other end of the second detection rotating shaft B932 is assembled with a detection side plate B951, the detection side plate B951 is mounted on a detection sliding plate B950, the detection sliding plate B950 is assembled with one end of a detection guide shaft B940, the other end of the detection guide shaft B940 is assembled with a detection nut B941 after passing through a detection fixing plate B970, the detection nut B941 cannot pass through the detection fixing plate B970, the detection guide shaft B940 and the detection fixing plate B970 can be assembled in an axial sliding mode, a detection spring B960 is sleeved on a part, located between the detection fixing plate B970 and the detection sliding plate B950, of the detection guide shaft B940, and the detection spring B960 is used for applying elastic force, pushed to the detection plate B910, to the detection sliding plate B950. The detection fixing plate B970 is provided with a fourth travel switch B380, the trigger end of the fourth travel switch B380 is right opposite to the detection sliding plate B950, the detection sliding plate B950 can trigger the fourth travel switch B380, the fourth travel switch B380 can transmit an electric signal to the industrial personal computer after being triggered, and the industrial personal computer judges that a wall brick is taken out. In the process of taking out the wall brick, the wall brick 100 firstly pushes the detection plate B910 to rotate around the first detection rotating shaft B931, so that the second detection rotating shaft B932 drives the detection sliding plate B950 to move towards the fourth travel switch B380 against the elastic force of the detection spring B960 until the fourth travel switch B380 is triggered, and at this time, the detection plate B910 completely rotates out of the open end of the brick supply cavity B532.

Referring to fig. 1-5 and 26-35, the suction module C comprises a suction vertical shaft C210 and a suction connecting plate C110, the suction vertical shaft C210 can be circumferentially rotated and assembled with a rotary shaft hole a641 on an epicyclic mounting disc a640, and the suction vertical shaft C210 is coaxially assembled with the epicyclic mounting disc a 640; one end of the suction connecting plate C110 is fixedly assembled with the suction vertical shaft C210, the other end of the suction connecting plate C110 is provided with a suction mounting head C111, and the suction mounting head C111 is fixedly assembled with the turnover turntable A630; the top of the vertical suction shaft C210 is assembled with a first flange C311, the first flange C311 is fixedly assembled with a second flange C312, the second flange C312 is arranged at the bottom of the absorption motor bottom plate C120, two absorption motor side plates C121 are respectively arranged at two ends of the absorption motor bottom plate C120, the two absorption motor side plates C121 are respectively assembled and fixed with the absorption motor sliding shaft C220, the sucking motor sliding shaft C220 penetrates through the sucking motor sliding block C131, the sucking motor sliding block C131 and the sucking motor sliding shaft C220 can be axially assembled in a sliding mode, the suction motor sliding block C131 is arranged at the bottom of the suction motor sliding plate C130, suction motor springs C410 are respectively sleeved between the suction motor sliding block C131 and the two suction motor side plates C121, and the suction motor springs C410 on the two sides of the suction motor sliding block C131 are respectively sleeved on the suction motor sliding shaft C220 and used for applying elastic force for blocking the suction motor sliding block C131 from moving to the suction motor side plates C121. The sucking motor sliding plate C130 is provided with a sucking motor C510 and a sucking motor vertical plate C132; one end of a suction motor shaft C511 of the suction motor C510 penetrates through the suction motor vertical plate C132 and can rotate circumferentially and be assembled with the suction motor vertical plate C132 in a non-axial moving mode, the end of the suction motor shaft C511 is assembled with one end of a suction middle rotating shaft C230 through a first universal joint C321, and the other end of the suction middle rotating shaft C230 is assembled with one end of a telescopic screw rod C240 through a second universal joint C322. After the suction motor C510 is started, the suction motor shaft C511 can be driven to rotate circumferentially, so that the suction middle rotating shaft C230 and the telescopic screw rod C240 are driven to rotate circumferentially. The other end of the telescopic screw rod C240 penetrates through the telescopic rotating block C150 and then is assembled with the first suction plate C160 in a circumferential rotating mode and in an axial non-moving mode, and the telescopic screw rod C240 and the telescopic rotating block C150 are assembled in a threaded screwing mode, so that the telescopic screw rod C240 can move axially with the telescopic rotating block C150 in the circumferential rotating mode. The middle part of the telescopic rotating block C150 is hinged with a suction vertical plate C140 through a suction hinge shaft C260, the bottom of the suction vertical plate C140 is fixedly assembled with a suction connecting plate C110, the bottom of the suction vertical plate C140 is also assembled with a winding shaft C250 in a circumferential rotating mode, one end of the winding shaft C250 penetrates through a second winding shaft plate C113 and then is fixedly connected with an input shaft of a winding encoder C530, and the winding shaft C250 can drive the input shaft of the winding encoder C530 to synchronously rotate when rotating, so that the rotating angle of the winding shaft C250 is detected. A suction worm wheel C442 is fixedly sleeved on the part of the winding shaft C250, which is located between the second winding shaft plate C113 and the suction vertical plate C140, the suction worm wheel C442 is meshed with the suction worm part C441 to form a worm gear transmission mechanism, the suction worm part C441 is arranged on an angle modulation motor shaft C521, the angle modulation motor shaft C521 and the first winding shaft plate C112 can be assembled in a circumferential rotating and non-axial moving mode, one end of the angle modulation motor shaft C521 is installed in the angle modulation motor C520, and the angle modulation motor C520 can drive the angle modulation motor shaft C521 to rotate circumferentially after being started, so that the winding shaft C250 is driven to rotate circumferentially. The first winding shaft plate C112, the second winding shaft plate C113 and the angle adjusting motor C520 are arranged on the suction connecting plate C110.

The winding shaft C250 is respectively connected and fixed with one end of the first steel cable C421 and one end of the second steel cable C422 for winding, a dividing ring C251 is sleeved and fixed on the winding shaft C250, and the connecting parts of the first steel cable C421 and the second steel cable C422 and the winding shaft C250 are separated by the dividing ring, so that the first steel cable C421 and the second steel cable C422 are prevented from being wound. The other ends of the first cable C421 and the second cable C422 are respectively connected and fixed with the parts of the telescopic rotating block C150 located at the two sides of the suction hinge shaft C260. When the winding shaft C250 rotates circumferentially, one of the first steel cable C421 and the second steel cable C422 is wound, and the other is unwound, so that the telescopic rotating block C150 rotates around the suction hinge shaft C260 toward the steel cable on the winding side, thereby realizing synchronous rotation of the telescopic screw C240 and the first suction plate C160, and the telescopic screw C240, the suction middle rotating shaft C230, and the suction motor shaft C511 rotate through the first universal joint C321 and the second universal joint C322, thereby applying a pushing force to the suction motor sliding plate C130 to pull the first suction plate C160 or push the first suction plate C160, and further enabling the suction motor base plate C130 and the suction motor base plate C120 to move axially along the suction motor sliding shaft C220. The design can keep the rotation among the telescopic screw rod C240, the sucking middle rotating shaft C230 and the sucking motor shaft C511 on the one hand, and can ensure that the telescopic screw rod C240, the sucking middle rotating shaft C230 and the sucking motor shaft C511 do not influence the rotation of the telescopic rotating block C150 on the other hand. 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 first suction plate C160. 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 first suction plate C160, 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 C432, the other end of the air pipe C432 is communicated with the interior 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 C432. The signal wires and the power wires of the beating motor C550 and the displacement sensor C540 are all arranged in the conduit C431 and led out. Both the conduit C431 and the conduit C432 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 (in a state of C01 in fig. 35), the first steel cable C421 is wound and the second steel cable C422 is unwound, so that the telescopic rotating block C150 is inclined downwards, and the end surface of the sucking soft cushion C180 is parallel to the wall brick in the brick supplying cavity C532; the expansion screw C240 moves the suction motor sliding plate C130 toward the first suction plate C160 against the elastic force of the suction motor spring C410, thereby maintaining the suction motor shaft C511, the suction intermediate rotation shaft C230, and the expansion screw C240 in a tensioned state to secure the rotation efficiency. The rotation angle can be calculated by the rotation angle of the bobbin detected by the bobbin encoder C530, or the suction hinge shaft C260 is fixed on the telescopic rotary block C150, the suction hinge shaft C260 is fixed to the input shaft of another encoder, and the rotation angle of the suction hinge shaft C260, that is, the rotation angle of the telescopic rotary block C150 is directly detected by this encoder. Since the spool is engaged with and driven by the suction worm wheel C442 and the suction worm part C441, the self-locking property of the suction worm wheel C442 and the suction worm part C441 is utilized to prevent the spool from undesired rotation. Then the suction motor C510 is started, the suction motor drives the telescopic screw C240 to rotate circumferentially, so that the telescopic screw C240 moves towards the first suction plate C160 relative to the telescopic rotating block C150, and the first suction plate C160, the second suction plate C170 and the suction cushion C180 move towards the brick cavity B532 to be pressed with the wall brick 100 until the displacement sensor detects that the displacement reaches a preset value, and at this time, the suction cushion C180 is pressed 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 motor is reversely rotated to thereby drive the first suction plate C160 to move toward the telescopic rotary block C150 so that the sucked wall brick is pulled out of the brick supply cavity B532.

When the slurry is scraped (in the state of C02 in figure 35), the turnover motor A392 is started, so that the turnover turntable A630 is driven to carry the suction module C to rotate to a position between the brick supply mechanism B01 and the slurry scraping module D. Then the first cable C421 is unreeled and the second cable C422 is reeled, so that the telescopic rotating block C150 is rotated upward, and the suction pad C180 reaches the state C02 in fig. 35. The epicyclic motor a392 is started again to drive the sucked wall brick 100 into the scraping position of the scraping module D, and the pulp is scraped through the scraping module D.

During tiling (state C03 in fig. 35), the epicyclic motor C392 is activated. Thereby driving the turnover turntable A630 to carry the suction module C to rotate to the position opposite to the tile wall surface. Then the first steel cable C421 is rolled and the second steel cable C422 is unrolled, so that the sucked wall brick 100 is parallel to the tiled wall surface. The suction motor C510 is started to drive the sucked wall tile 100 to move along the tiled wall surface until the wall tile is tightly attached to the tiled wall surface (determined by the maximum displacement value detected by the displacement sensor). 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. 36-44, the slurry scraping module D includes a slurry scraping box D210, a slurry scraping vertical plate D110, a slurry scraping support plate D120, and a slurry scraping frame D140, wherein the slurry scraping vertical plate D110 is installed on the lifting plate a171, and the slurry scraping vertical plate D110 is respectively installed with the slurry scraping box D210 and the slurry scraping support plate D120; 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 the switch gear D650; 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 D650 can rotate circumferentially. 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 close the valve plate after scraping the thick liquid box 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. The mortar of this embodiment adopts the mode of scraping the thick liquid from bottom to top, can increase the degree of consistency of scraping the thick liquid. 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 bricks in the brick supply cavity B532 are used up, and the mortar in the mortar scraping box D210 needs to be supplemented in time, and at the moment, if the lifting frame is lifted, the lifting frame A170 is required to be lowered to the bottom, and then the brick supply box is switched to a brick supplementing state to supplement bricks. 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 A260 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

1. The suction module is characterized by comprising a telescopic screw rod, wherein one end of the telescopic screw rod penetrates through a telescopic rotating block and then is assembled with a first suction plate in a circumferentially rotatable and axially immovable mode, and the telescopic screw rod is assembled with the telescopic rotating block in a screwing mode through threads;

2. The suction module of claim 1, wherein the suction vertical shaft is circumferentially rotatable and fittable with a turntable shaft hole in an epicyclic mounting disc, and the suction vertical shaft is coaxially fittable with the epicyclic mounting disc; one end of the suction connecting plate is fixedly assembled with the suction vertical shaft, the other end of the suction connecting plate is provided with a suction mounting head, and the suction mounting head is fixedly assembled with the turnover turntable; the suction vertical shaft top is assembled with the first flange, the first flange is assembled and fixed with the second flange, the second flange is installed at the bottom of the suction motor bottom plate, a suction motor side plate is installed at each of two ends of the suction motor bottom plate, the two suction motor side plates are assembled and fixed with the suction motor sliding shaft respectively, the suction motor sliding shaft penetrates through the suction motor sliding block and is assembled with the suction motor sliding shaft in an axial sliding mode, the suction motor sliding block is installed at the bottom of the suction motor sliding plate, suction motor springs are respectively sleeved between the suction motor sliding block and the two suction motor side plates, and the suction motor springs on two sides of the suction motor sliding block are respectively sleeved on the suction motor sliding shaft and are used for applying elastic force for blocking the suction motor sliding block to move towards the suction motor side plates.

3. The suction module as claimed in claim 2, wherein the suction motor slide plate is provided with a suction motor and a suction motor vertical plate; one end of a suction motor shaft of the suction motor penetrates through a suction motor vertical plate and can rotate circumferentially and be assembled with the suction motor vertical plate in a non-axial-movement mode, the end of the suction motor shaft is assembled with one end of the suction middle rotating shaft through a first universal joint, and the other end of the suction middle rotating shaft is assembled with the other end of the telescopic screw rod through a second universal joint.

4. The suction module as claimed in claim 1, wherein the middle portion of the telescopic rotary block is hinged to a suction vertical plate through a suction hinge shaft, the bottom of the suction vertical plate is fixedly assembled with a suction connecting plate, the bottom of the suction vertical plate is also circumferentially and rotatably assembled with a winding shaft, and one end of the winding shaft passes through a second winding shaft plate and then is fixedly connected with an input shaft of a winding encoder; a suction worm wheel is fixedly sleeved on the part of the winding shaft between the second winding shaft plate and the suction vertical plate, the suction worm wheel is meshed with the suction worm part to form a worm and gear transmission mechanism, the suction worm part is arranged on an angle modulation motor shaft, the angle modulation motor shaft and the first winding shaft plate can rotate circumferentially and can not move axially for assembly, and one end of the angle modulation motor shaft is arranged in the angle modulation motor; the first winding shaft plate, the second winding shaft plate and the angle adjusting motor are arranged on the suction connecting plate.

5. The suction module as claimed in claim 4, wherein the bobbin is fixed and wound around the first and second ends of the first and second cables, and a dividing ring is fixed on the bobbin, and the dividing ring separates the joints between the first and second cables and the bobbin; the other ends of the first steel cable and the second steel cable are respectively connected and fixed with the parts of the telescopic rotating block, which are positioned at the two sides of the suction articulated shaft.

6. The suction module 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 is axially slidably assembled with the rapping inner cylinder and is non-circumferentially rotatably assembled with the rapping inner cylinder, a rapping chute is arranged on a side wall of the rapping cylinder, the rapping chute is engaged with the rapping protrusion and slidably assembled with the rapping protrusion, and the rapping protrusion is mounted on the first 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 first 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.

7. The suction module as claimed in claim 6, wherein the tapping motor, the signal wire of the displacement sensor and the power wire are all installed in and led out of a wire tube, and the wire tube are elastic and stretchable.

8. The extraction module of claim 2 or 3, further comprising an epicyclic mechanism, wherein the epicyclic turntable belongs to an epicyclic mechanism, the epicyclic mechanism comprises an epicyclic chassis, the bottom of the epicyclic chassis is fixedly assembled with the top of an epicyclic plate, the bottom of the epicyclic plate is fixedly assembled with the lifting plate, and the top surface of the epicyclic chassis is respectively provided with an epicyclic turntable and an epicyclic retaining ring; the turnover rotary disc is provided with a turnover rotary ring, the turnover retaining ring is arranged on the turnover chassis, the inner side of the turnover retaining ring and the turnover chassis form a turnover ring groove, and the turnover ring groove is clamped with the turnover rotary ring, can rotate circumferentially and cannot move axially for assembly; the inner side of the turnover turntable is respectively provided with a turnover mounting disc and a turnover toothed ring, the inner side of the turnover toothed ring is provided with turnover inner teeth, the turnover inner teeth are in meshing transmission with a turnover gear, the turnover gear is sleeved and fixed on a turnover rotating shaft, the bottom of the turnover rotating shaft penetrates through a turnover chassis and then is respectively assembled with a turnover worm wheel and an input shaft of a turnover encoder, the turnover worm wheel is partially meshed with a turnover worm and forms a worm and gear transmission mechanism, the turnover worm is partially arranged on a turnover motor shaft, the turnover motor shaft and a turnover motor frame can be assembled in a circumferential rotation mode and cannot move axially, and the turnover motor frame is arranged on the turnover chassis; one end of the turnover motor shaft is arranged in the turnover motor.

9. The suction module of claim 8, wherein the turnover mounting plate is provided with a turnover mounting cylinder, the turnover mounting cylinder is fixedly assembled with a positioning shaft, the bottom of the positioning shaft penetrates through the turnover base plate and is assembled with the turnover base plate in a circumferential rotating manner, the positioning shaft is coaxially assembled with the turnover mounting plate and the turnover turntable, the side wall of the positioning shaft is provided with at least three positioning locking grooves along the circumferential direction of the side wall, and the at least three positioning locking grooves respectively correspond to three stations of the suction module for sucking wall tiles, scraping slurry and tiling tiles;

the positioning locking groove can be clamped and assembled with one end of the positioning locking block so as to fix the positioning shaft in the circumferential direction, the other end of the positioning locking block is fixedly assembled with one end of the locking shaft, the positioning locking block is clamped and slidably assembled with the second positioning vertical plate, and the other end of the locking shaft is assembled with the positioning trigger plate, the positioning spring, the first positioning vertical plate and the positioning nut in sequence and then is installed into the unlocking electromagnet; the second positioning vertical plate and the first positioning vertical plate are respectively arranged on the positioning bottom plate, the second positioning vertical plate and the first positioning vertical plate are also arranged on the turnover chassis, the positioning trigger plate is sleeved and fixed on the lock shaft, the bottom of the positioning trigger plate passes through the positioning bottom plate groove and then is positioned between the first travel switch and the second travel switch, the triggering ends of the first travel switch and the second travel switch respectively face the positioning trigger plate and can be triggered by the positioning trigger plate, and the first travel switch and the second travel switch are arranged on the positioning bottom plate; a positioning spring is sleeved on a part of the lock shaft, which is positioned between the positioning trigger plate and the first positioning vertical plate, and is used for applying elastic force to the positioning trigger plate to push the positioning shaft;

the positioning bottom plate groove is arranged on the positioning bottom plate and penetrates through the positioning bottom plate; the first travel switch and the second travel switch are respectively used for detecting two states that the locking block is completely installed in the positioning locking groove and the locking block is completely withdrawn from the positioning locking groove; when the detection locking block is completely installed in the positioning locking groove, the positioning trigger plate triggers the first travel switch; when the locking block completely exits the positioning locking groove, the positioning trigger plate triggers the second travel switch.

10. An intelligent tile robot, characterized in that the suction module of any one of claims 1-9 is applied.