CN113530176B

CN113530176B - Ceramic tile plastering device and ceramic tile paving machine

Info

Publication number: CN113530176B
Application number: CN202010300102.0A
Authority: CN
Inventors: 尹陈林; 赵云峰
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-04-16
Filing date: 2020-04-16
Publication date: 2022-09-27
Anticipated expiration: 2040-04-16
Also published as: CN113530176A

Abstract

The invention discloses a ceramic tile plastering device and a ceramic tile paving machine. The tile plastering device comprises a base plate, a jacking mechanism and a plastering mechanism, wherein the jacking mechanism is arranged on the base plate and used for jacking tiles to be paved; the plastering mechanism is arranged on the chassis and comprises a bottom plate, a plastering assembly and a clamping die, wherein the plastering assembly and the clamping die are arranged on the bottom plate, an opening is formed in the bottom plate, the jacking mechanism is located below the opening of the bottom plate, the clamping die can clamp the uppermost ceramic tile on the jacking mechanism, and the plastering assembly is used for plastering the ceramic tile clamped by the clamping die. Among these, ceramic tiles include, but are not limited to, floor tiles and wall tiles. The ceramic tile plastering device disclosed by the invention has the advantages that multiple actions can be carried out at the same position, so that the whole device is more compact in structure, and the occupied space is reduced.

Description

Ceramic tile plastering device and ceramic tile paving machine

Technical Field

The invention relates to the technical field of construction machinery, in particular to a ceramic tile plastering device and a ceramic tile paving machine.

Background

The floor tile is a kind of decorative material for house floor and is used to attach to house floor to make house beautiful. The traditional floor tile paving mode is that an operator uses a mud knife to scrape slurry on a floor tile and then the floor tile is paved on the ground, and the mud knife is not provided with a device capable of controlling the flatness and the uniformity of the slurry, so that the slurry scraping quality is deviated due to the proficiency of the operator, and the problem of hollowing is easily caused; in addition, when the floor tiles are laid by operators, the operators need to repeatedly squat and lift the floor tiles, and meanwhile, the floor tiles need to be moved for many times, so that the working steps are multiple, the labor intensity is high, and the working efficiency is low and the labor cost is high.

Compared with the traditional manual floor tile paving mode, the automatic floor tile paving equipment is more convenient to pave and paste, time and labor are saved, the quality is high, the efficiency is high, and the market application prospect is very wide. But the existing automatic floor tile paving equipment has the defects of not compact structure and large occupied space.

Disclosure of Invention

One aim of the present invention is to propose a tile plastering device that is compact in construction.

Another object of the present invention is to propose a tile-laying machine comprising a tile-plastering device as described above.

To achieve the purpose, on one hand, the invention adopts the following technical scheme:

a tile plastering apparatus comprising:

a chassis;

the jacking mechanism is arranged on the base plate and used for jacking the ceramic tiles to be paved; and

the plastering mechanism is arranged on the chassis and comprises a bottom plate, a plastering assembly and a clamping die, wherein the plastering assembly and the clamping die are arranged on the bottom plate, an opening is formed in the bottom plate, the jacking mechanism is located below the opening of the bottom plate, the clamping die can clamp the uppermost tile on the jacking mechanism, and the plastering assembly is used for plastering the tile clamped by the clamping die.

In some embodiments, the plastering assembly comprises:

the rib plate is connected to the clamping die and used for controlling the thickness of the slurry;

the scraper is used for scraping pulp; and

and the scraper is connected to the output end of the slurry scraping driving piece, and the slurry scraping driving piece can drive the scraper to be close to the rib plate and to press the rib plate or to be far away from the rib plate.

In some embodiments, the plastering assembly further comprises:

the scraper is movably arranged on the bottom plate and connected to the bottom of the trough; and

the movable driving part is arranged on the bottom plate, the trough is connected to the output end of the movable driving part, and when the clamping die clamps the ceramic tile, the movable driving part can drive the trough to reciprocate along the length direction of the rib plate.

In some embodiments, the plastering assembly further comprises:

the mounting piece is arranged on the upper surface of the bottom plate in a sliding mode and connected with the trough, the output end of the movable driving piece is connected with the mounting piece, and when the clamping die clamps the ceramic tile, the movable driving piece can drive the mounting piece to reciprocate along the length direction of the rib plate;

scrape the thick liquid driving piece install in on the installed part, just scrape the output of thick liquid driving piece pass through the installed part with the silo is connected.

In some embodiments, the plastering assembly further comprises:

the guide bar is used for guiding the movement of the mounting piece, two ends of the guide bar are fixedly connected to the bottom plate, the guide bar is parallel to the bottom plate, and the mounting piece is connected with the guide bar in a sliding mode.

In some embodiments, the plastering mechanism further comprises a clamping drive, and the clamping die comprises:

the clamping support is rotatably connected to the bottom plate, and the rib plate and the clamping driving piece are arranged on the clamping support;

the fixed clamping plate is fixed at one end of the clamping bracket; and

the movable clamping plate is movably arranged at the other end of the clamping support and connected with the output end of the clamping driving piece, and the clamping driving piece can drive the movable clamping plate to be close to or far away from the fixed clamping plate so as to clamp or loosen the ceramic tile.

In some embodiments, the clamping die can drive the ceramic tile to switch from a loading station parallel to the base plate to a blanking station at a preset included angle with the base plate.

In some embodiments, the plastering mechanism further comprises an overturning driving member, the clamping mold is connected to an output end of the overturning driving member, and the overturning driving member can drive the clamping mold to rotate relative to the base plate.

In some embodiments, the tile plastering apparatus further comprises a grout supply mechanism for delivering grout to the plastering mechanism, the grout supply mechanism comprising:

the hopper is arranged on the base plate and used for storing slurry, and a stirring piece used for stirring the slurry is arranged in the hopper; and

and the blanking assembly is used for driving the slurry in the hopper to be discharged from the discharge hole of the hopper and controlling the discharge amount of the slurry.

On the other hand, the invention adopts the following technical scheme:

the utility model provides a tile paving machine, includes actuating mechanism and foretell tile plastering unit, actuating mechanism set up in on the chassis of tile plastering unit, be used for snatching the tile of having plastered on the clamping die of tile plastering unit spreads the subsides.

In some embodiments, the actuator comprises:

the mechanical arm is arranged on the base plate, and the tail end of the mechanical arm is connected with a grabbing piece for taking and placing the ceramic tiles;

the shooting mechanism is arranged at the tail end of the mechanical arm and used for identifying the corners of the ceramic tiles; and

and the laser sensor is arranged at the tail end of the mechanical arm and used for detecting the vertical distance between the ceramic tile and the surface to be worked.

In some embodiments, the actuator further comprises:

and the force sensor is arranged on the mechanical arm and used for detecting the pressure between the ceramic tile and the surface to be worked when the ceramic tile is contacted with the surface to be worked.

The invention has at least the following beneficial effects:

according to the tile plastering device, the jacking mechanism and the plastering mechanism are arranged on the chassis, the jacking mechanism is positioned below the opening of the bottom plate of the plastering mechanism to realize jacking and brick conveying, the clamping die on the bottom plate can clamp the uppermost tile on the jacking mechanism, when the clamping die is positioned at a feeding station parallel to the bottom plate, plastering can be carried out on the tile through the plastering assembly on the bottom plate, when the clamping die is switched to a discharging station forming a preset included angle with the bottom plate, the execution mechanism can conveniently grab the plastered tile, so that multiple actions can be carried out at the same position, the structure of the whole device is more compact, and the occupied space is reduced.

The ceramic tile paving machine comprises the actuating mechanism and the ceramic tile plastering device, wherein the actuating mechanism is arranged on the base plate of the ceramic tile plastering device, so that the whole ceramic tile paving machine is more compact in structure, and the occupied space is reduced.

Drawings

FIG. 1 is a schematic view of a tile placement machine according to an embodiment of the present invention;

FIG. 2 is a schematic view of the construction of the base pan of the tile placement machine of FIG. 1;

FIG. 3 is a schematic view of a plastering mechanism in the tile placement machine of FIG. 1;

FIG. 4 is a schematic view of the slurry supply mechanism of the tile placement machine of FIG. 1;

FIG. 5 is a schematic view of an actuator in the tile placement machine of FIG. 1;

the reference numbers illustrate:

a chassis 1; a chassis main body 10; a frame 11; a battery pack 12; an electric cabinet 13; an air compressor 14; a universal wheel 15; a steering wheel 16; a jacking mechanism 17; a ceramic tile 18; a laser radar 19;

a plastering mechanism 2; a mounting member 20; a bottom plate 21; a guide rod 22; a synchronous belt 23; a squeegee drive 24; a movable drive member 25; a trough 26; a rib plate 27; clamping the mold 28; a clamping drive 29;

a pulp supply mechanism 3; a hopper 31; a stirring rotor 32; a blanking rotor 33; a stirring motor 34; a blanking motor 35;

an actuator 4; the robot arm 41; a shooting mechanism 42; a laser sensor 43; a solenoid valve 44; a grasping member 45; a mounting plate 46; a force sensor 47.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

The embodiment provides a tile plastering device, as shown in fig. 1 to 5, the tile plastering device comprises a base plate 1, a jacking mechanism 17 and a plastering mechanism 2, wherein the jacking mechanism 17 is arranged on the base plate 1 and used for jacking a tile 18 to be paved; the plastering mechanism 2 is arranged on the chassis 1, the plastering mechanism 2 comprises a bottom plate 21, a plastering assembly and a clamping die 28, the plastering assembly and the clamping die 28 are arranged on the bottom plate 21, an opening is formed in the bottom plate 21, the jacking mechanism 17 is located below the opening of the bottom plate 21, the clamping die 28 can clamp the uppermost ceramic tile 18 on the jacking mechanism 17, and the plastering assembly is used for plastering the ceramic tile 18 clamped by the clamping die 28. The ceramic tiles 18 include, but are not limited to, floor tiles and wall tiles.

Above-mentioned ceramic tile plastering device, through all setting up climbing mechanism 17 and plastering mechanism 2 on chassis 1, and make climbing mechanism 17 be located the 21 opening below realization jacking of plastering mechanism 2 and send the brick, a ceramic tile 18 of top on the clamping mechanism 17 can be pressed from both sides to the clamping die 28 on the bottom plate 21, the plastering subassembly on the accessible bottom plate 21 is plastered the tight ceramic tile 18 of clamping die 28 clamp, thereby realized that a plurality of actions can go on in same position, make whole device structure compacter, reduce occupation space.

Specifically, as shown in fig. 2, the chassis 1 includes a chassis main body 10, a frame 11, a battery pack 12, an electric cabinet 13, an air compressor 14, universal wheels 15, steering wheels 16, and a laser radar 19. Wherein, the frame 11 is arranged on the top of the chassis main body 10, and the bottom plate 21 of the plastering mechanism 2 is horizontally fixed on the frame 11; the battery pack 12 and the electric cabinet 13 are both arranged at the bottom of the chassis main body 10 and are respectively used for power supply and work control of the tile plastering device; the air compressor 14 is arranged at the bottom of the chassis main body 10 and used for providing air source power required by the tile plastering device; two steering wheels 16 are diagonally arranged at the bottom of the chassis body 10 for providing a main power for steering; two universal wheels 15 are diagonally arranged at the bottom of the chassis main body 10, and the two universal wheels 15 can be passively reversed; laser radar 19 sets up in frame 11 for distance between the wall etc. in real time measurement ceramic tile plastering device and the operational environment prevents that ceramic tile plastering device from work or remove to turn to the in-process and take place the striking.

Referring to fig. 3, in some embodiments, the plastering assembly includes a rib 27, a scraper (not shown) and a plastering drive 24, the rib 27 is connected to a clamping die 28 for controlling the thickness of the grout on the tile 18; the scraper is used for scraping pulp; the slurry scraping driving piece 24 is arranged on the bottom plate 21, the scraper is connected to the output end of the slurry scraping driving piece 24, and the slurry scraping driving piece 24 can drive the scraper to be close to the rib plate 27 and press the rib plate 27 or be far away from the rib plate 27. Before plastering, the scraper is driven to be close to the rib plate 27 by the slurry scraping driving piece 24 and is tightly pressed with the rib plate 27 so as to ensure that slurry is uniformly coated on the ceramic tile 18; after the plastering is finished, the scraper can be driven to be away from the rib plate 27 through the plaster scraping driving piece 24, so that a yielding space is provided for the clamping die 28 to drive the ceramic tile 18 to be switched from the feeding station to the discharging station.

It will be appreciated that the thickness of the slurry on the tiles 18 can be controlled by installing ribs 27 of a particular thickness; the tile 18 is clamped by the clamping die 28, and the slurry can be uniformly coated on the tile 18 by the pressing fit of the scraper and the rib plate 27, so that the slurry coating effect on the surface of the tile 18 is more uniform, the hollowing rate of tile laying can be greatly reduced, and the slurry coating efficiency is greatly improved.

Alternatively, the scraping driving member 24 may be, but not limited to, an air cylinder, an electric cylinder, a hydraulic cylinder, an electric push rod, or the like, and may be specifically selected according to actual requirements, as long as the scraping blade is driven to be close to or far from the rib plate 27.

Further, the plastering assembly further comprises a trough 26 and a movable driving member 25. As shown in fig. 3, a trough 26 is movably disposed on the bottom plate 21 for storing and applying the slurry to the tiles 18; the movable driving member 25 is disposed on the bottom plate 21, and the trough 26 is connected to an output end of the movable driving member 25, so that when the tile 18 is clamped by the clamping mold 28, the movable driving member 25 can drive the trough 26 to reciprocate along a length direction of the rib plate 27, so as to perform plastering on the tile 18 clamped by the clamping mold 28.

Alternatively, the movable driving member 25 may be, but not limited to, a motor, an air cylinder, an electric cylinder, a hydraulic cylinder, an electric push rod, or the like, and may be specifically selected according to actual requirements, as long as the trough 26 is driven to reciprocate along the length direction of the rib plate 27. When the movable driving part 25 is a motor, the output end of the motor can be connected with the material groove 26 through a transmission component such as a synchronous pulley component, and the power provided by the motor is transmitted through the transmission component; synchronous pulley subassembly specifically can include the action wheel, follow driving wheel and hold-in range 23, and the action wheel is connected in the output of motor, and hold-in range 23 cover is located the action wheel and is connected with silo 26 from driving on the driving wheel, and when the motor drive action wheel rotated, hold-in range 23 will remove along the length direction of gusset 27 to drive silo 26 and remove along the length direction of gusset 27.

In some embodiments, the plastering unit further comprises a mounting member 20, the mounting member 20 is slidably disposed on the upper surface of the bottom plate 21 and is connected to the trough 26, the output end of the movable driving member 25 is drivingly connected to the mounting member 20, and when the clamping mold 28 clamps the tile 18, the movable driving member 25 can drive the mounting member 20 to drive the trough 26 to reciprocate along the length direction of the rib plate 27; the scraping drive 24 is mounted on the mounting member 20, and the output end of the scraping drive 24 is connected with the trough 26 through the mounting member 20, and the scraper is connected to the bottom of the trough 26. The squeegee drive 24 and trough 26 can be integrated by the mounting member 20 to provide a more compact structure.

In some embodiments, in order to improve the stability of the mounting member 20 when moving along the length direction of the rib plate 27, the plastering assembly further comprises a guide rod 22 for guiding the movement of the mounting member 20, the guide rod 22 is parallel to the bottom plate 21, two ends of the guide rod 22 are fixedly connected to the bottom plate 21, the mounting member 20 is slidably connected with the guide rod 22, and the guide rod 22 ensures the horizontal movement of the trough 26 when plastering, so that the scraper can horizontally scrape the plaster.

Referring to fig. 3, the plastering mechanism 2 further comprises a clamping driving member 29, the clamping mold 28 comprises a clamping bracket, a fixed clamping plate and a movable clamping plate, the clamping bracket is rotatably connected to the bottom plate 21, and the rib plate 27 and the clamping driving member 29 are both arranged on the clamping bracket; the fixed clamping plate is fixed at one end of the clamping bracket, and the movable clamping plate is movably arranged at the other end of the clamping bracket; the movable jaw is connected to the output end of a clamping actuator 29, which clamping actuator 29 is capable of driving the movable jaw towards and away from the fixed jaw to clamp or unclamp the tile 18.

Alternatively, the clamping driving member 29 can be, but not limited to, an air cylinder, an electric cylinder, a hydraulic cylinder, an electric push rod, or the like, and can be selected according to actual requirements as long as the movable clamping plate can be driven to approach or depart from the fixed clamping plate.

In some embodiments, the clamping mold 28 can drive the tile 18 to switch from a loading station parallel to the bottom plate 21 to a blanking station at a predetermined included angle with respect to the bottom plate 21, and when the clamping mold 28 is at the loading station parallel to the bottom plate 21, the tile 18 at the loading station can be plastered by the plastering assembly; when the clamping mold 28 is switched to a blanking station with a preset included angle with the bottom plate 21, the execution mechanism 4 can conveniently grab the plastered ceramic tile 18.

In some embodiments, the plastering mechanism 2 further comprises an overturning driving member, the clamping mold 28 is connected to an output end of the overturning driving member, and the overturning driving member can drive the clamping mold 28 to rotate relative to the base plate 21 so as to switch the clamping mold 28 between the feeding station and the blanking station. Specifically, after the plastering is completed, the clamping mold 28 can be driven by the turning driving member to rotate (turn) by a preset angle (for example, 45-60 °) to switch to the blanking station, so that the actuator 4 can grasp the tile 18.

Alternatively, the turning driving member may be, but not limited to, an air cylinder, an electric cylinder, a hydraulic cylinder, an electric push rod, or the like, and may be selected according to actual requirements as long as the driving of the clamping mold 28 to rotate relative to the base plate 21 is achieved.

In some embodiments, the jacking mechanism 17 includes a tray, a motor, a lead screw and a guide piece, the lead screw is vertically arranged on the chassis, the output end of the motor is connected with the lead screw and can drive the lead screw to rotate, the tray is in threaded connection with the lead screw and can move along the length direction of the lead screw when the lead screw rotates so as to jack the tile 18 to be paved, and the ascending displacement of the tile 18 can be accurately controlled through the motor and the lead screw. Specifically, the tiles 18 to be spread can be manually moved to the tray of the jacking mechanism 17 or moved to the tray by a forklift, and then under the guiding action of the guiding element, the tiles 18 to be spread are jacked to the bottom plate 21 of the plastering mechanism 2 through the motor and the screw rod, and the bottom surface of the topmost tile 18 is ensured to be flush with the bottom surface of the clamping die 28.

The tray of the jacking mechanism 17 can store 10-20 ceramic tiles 18 at one time, so that the feeding is cached automatically, and the labor intensity in the manual carrying process is reduced; meanwhile, the position consistency of the tiles 18 before plastering is guaranteed through buffer feeding, and a foundation is laid for accurate positioning of subsequent tile 18 paving.

In some embodiments, the tile plastering device further comprises a slurry supply mechanism 3 for delivering slurry to the plastering mechanism 2, wherein the slurry supply mechanism 3 comprises a hopper 31 and a blanking assembly; the hopper 31 is arranged on the chassis 1 and used for storing slurry required in the brick paving process, a stirring piece for stirring the slurry is arranged in the hopper 31, and the slurry can be prevented from being solidified by stirring the slurry through the stirring piece, so that the uniformity and the viscosity stability of the slurry are ensured; the blanking assembly is used for driving the slurry in the hopper 31 to be discharged from the discharge hole of the hopper 31 and controlling the discharge amount of the slurry so as to ensure the use amount of the slurry and improve the utilization rate of the slurry.

Specifically, as shown in fig. 1, 3 and 4, the slurry supply mechanism 3 is mounted on the frame 11 of the chassis 1, the trough 26 is located below the hopper 31, and the slurry falling from the hopper 31 falls into the trough 26 for storage; the stirring member can be a stirring rotor 32, and the stirring rotor 32 rotates in real time under the control of a stirring motor 34 to prevent the slurry from solidifying so as to ensure the viscosity of the slurry; the blanking assembly comprises a blanking rotor 33 and a blanking motor 35, the blanking rotor 33 rotates under the control of the blanking motor 35 to discharge the slurry from the discharge hole of the hopper 31, and the discharge amount of the slurry is controlled simultaneously to ensure the use amount of the slurry and the uniformity of the slurry scraping, and improve the utilization rate of the slurry.

The present embodiment further provides a tile paving machine, as shown in fig. 1, the tile paving machine includes an actuator 4 and the above tile plastering device, wherein the actuator 4 is disposed on the chassis 1 of the tile plastering device, and is configured to grab a plastered tile 18 on the clamping mold 28 of the tile plastering device for paving.

According to the tile paving machine, the tile plastering device is used, and the actuating mechanism 4 is arranged on the base plate 1 of the tile plastering device, so that the whole tile paving machine is more compact in structure, and the occupied space is reduced; meanwhile, as the tile plastering device adopts the clamping mould 28 to clamp the tile 18 and is in pressing fit with the rib plate 27 through the scraper, the tile plastering device effectively ensures that the slurry is uniformly coated on the tile 18, so that the slurry scraping effect on the surface of the tile 18 is more uniform, and the tile paving hollowing rate of the tile paving machine can be greatly reduced.

As shown in fig. 5, in some embodiments, the actuator 4 comprises a mechanical arm 41, a shooting mechanism 42 and a laser sensor 43, the mechanical arm 41 is arranged on the chassis 1, and a gripping member 45 for taking and placing the ceramic tile 18 is connected to the end of the mechanical arm 41; the shooting mechanism 42 is arranged at the tail end of the mechanical arm 41 and is used for identifying the corners of the ceramic tiles 18 so as to ensure the position accuracy of the mechanical arm 41 for picking and placing the ceramic tiles 18; the laser sensor 43 is arranged at the tail end of the mechanical arm 41 and used for detecting the vertical distance between the horizontal plane of the ceramic tile 18 and the surface to be worked, and the paving precision of the ceramic tile 18 is ensured by the laser sensor 43 matching with the mechanical arm 41 and the shooting mechanism 42. Alternatively, the gripping member 45 can be, but is not limited to, a vacuum chuck or a robot arm, preferably a vacuum chuck, which can avoid scratching the surface of the tile 18.

Specifically, as shown in fig. 5, the tail end of the mechanical arm 41 is connected with a mounting plate 46, a vacuum chuck and an electromagnetic valve 44 are arranged on the mounting plate 46 as a gripping member 45, and the electromagnetic valve 44 controls blowing and sucking of the vacuum chuck to realize taking and placing of the tile 18 by the vacuum chuck; the laser sensor 43 is connected to the robot arm 41 in communication, and transmits the detection result to the robot arm 41. When the tile 18 is finished being plastered, the mechanical arm 41 moves the end of the mechanical arm to the position of the plastered tile 18, the front surface (i.e. the surface without plastering) of the tile 18 is sucked by the vacuum chuck, the clamping driving member 29 drives the movable clamping plate of the clamping mold 28 to reset to release the tile 18, and the mechanical arm 41 takes out the plastered tile 18 from the clamping mold 28.

Further, the actuator 4 further comprises a force sensor 47, and the force sensor 47 is arranged on the mechanical arm 41 and used for detecting the pressure between the ceramic tile 18 and the surface to be worked when the ceramic tile 18 is in contact with the surface to be worked, so that the height alignment between the current ceramic tile 18 and the paved ceramic tile 18 during brick paving is ensured, and the brick paving quality is improved.

Specifically, the force sensor 47 is provided on the mounting plate 46 at the tip of the robot arm 41. When the mechanical arm 41 grabs the ceramic tile 18 for paving, the shooting mechanism 42 shoots the ceramic tile 18 to determine the accurate position of paving, and sends coordinates to the mechanical arm 41, and meanwhile, the laser sensor 43 detects the vertical distance between the ceramic tile 18 and a surface to be worked (such as the ground or a wall surface) in real time; the robot arm 41 places the tile 18 near the target placement position according to the positions sent by the shooting mechanism 42 and the laser sensor 43, and feeds back the pressure between the tile 18 and the surface to be worked during placement in real time through the force sensor 47, so as to place the tile 18 at a proper position.

The working principle of the tile laying machine shown in fig. 1 is as follows:

(1) manually or by a forklift, moving the ceramic tile 18 to a tray of the jacking mechanism 17, jacking the ceramic tile 18 to a bottom plate 21 of the plastering mechanism 2 through a motor and a lead screw, and ensuring that the bottom surface of the ceramic tile 18 at the topmost layer of the tray is flush with the bottom surface of the clamping mold 28; (2) after the ceramic tiles 18 are lifted to the proper position of the bottom plate 21, clamping and fixing the topmost ceramic tile 18 by the clamping mould 28; (3) adding the slurry into the hopper 31, wherein the stirring piece in the hopper 31 rotates in real time and keeps a stable speed so as to stir the slurry in the hopper 31; (4) starting the blanking assembly, driving the slurry in the hopper 31 to be discharged from the discharge port of the hopper 31 through the blanking assembly, enabling the discharged slurry to fall into the trough 26, and stopping the blanking assembly after the trough 26 is filled with the slurry, and enabling the discharge port of the hopper 31 to be in a closed state; (5) the scraper is driven to be close to the rib plate 27 by the slurry scraping driving piece 24 and is tightly pressed (closely contacted) with the rib plate 27, the trough 26 is driven to reciprocate once along the length direction of the rib plate 27 by the movable driving piece 25, slurry is applied to the ceramic tile 18 clamped on the clamping mould 28, and slurry is scraped by the scraper at the same time; (6) after the plastering and scraping are finished, the scraping driving piece 24 is reset, the movable driving piece 25 stops working, and the clamping mould 28 drives the plastered ceramic tile 18 to be switched from a feeding station parallel to the bottom plate 21 to a discharging station forming a preset included angle with the bottom plate 21; (7) the mechanical arm 41 of the actuating mechanism 4 moves the tail end of the mechanical arm to the position of the glazed tile 18 after plastering, and the glazed tile 18 after plastering is taken out of the clamping mould 28 through the grabbing piece 45; (8) the shooting mechanism 42 shoots the tile 18 to determine the accurate position of the paving, and sends coordinates to the mechanical arm 41, and meanwhile, the laser sensor 43 detects the vertical distance between the tile 18 and the surface to be worked in real time; (9) the mechanical arm 41 places the ceramic tile 18 near a target paving position according to the positions sent by the shooting mechanism 42 and the laser sensor 43, feeds back the pressure between the ceramic tile 18 and the surface to be worked during paving in real time through the force sensor 47, and paves the current ceramic tile 18 at a proper position.

It should be noted that when one portion is referred to as being "secured to" another portion, it may be directly on the other portion or there may be an intervening portion. When a portion is referred to as being "connected" to another portion, it can be directly connected to the other portion or intervening portions may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. A tile grout spreading device, comprising:

a chassis (1);

the jacking mechanism (17) is arranged on the base plate (1) and is used for jacking the ceramic tiles (18) to be paved; and

the plastering mechanism (2) is arranged on the chassis (1), the plastering mechanism (2) comprises a bottom plate (21), a plastering assembly and a clamping die (28), the plastering assembly and the clamping die are arranged on the bottom plate (21), an opening is formed in the bottom plate (21), the jacking mechanism (17) is positioned below the opening of the bottom plate (21), the clamping die (28) can clamp the uppermost ceramic tile (18) on the jacking mechanism (17), and the plastering assembly is used for plastering the ceramic tile (18) clamped by the clamping die (28);

the plastering assembly comprises:

a rib plate (27) connected to the clamping mold (28) for controlling the thickness of the slurry;

the scraper is used for scraping pulp; and

and the scraper is connected to the output end of the scraping slurry driving piece (24), and the scraping slurry driving piece (24) can drive the scraper to be close to the rib plate (27) and to press the rib plate (27) or to be far away from the rib plate (27).

2. The tile grout device of claim 1, wherein said grout assembly further comprises:

the material groove (26) is movably arranged on the bottom plate (21), and the scraper is movably arranged at the bottom of the material groove (26); and

the movable driving part (25) is arranged on the bottom plate (21), the trough (26) is connected to the output end of the movable driving part (25), and when the clamping die (28) clamps the ceramic tile (18), the movable driving part (25) can drive the trough (26) to reciprocate along the length direction of the rib plate (27).

3. The tile grout spreading device according to claim 2, wherein said grout assembly further comprises:

the mounting piece (20) is arranged on the upper surface of the bottom plate (21) in a sliding mode and is connected with the trough (26), the output end of the movable driving piece (25) is connected with the mounting piece (20), and when the clamping die (28) clamps the ceramic tile (18), the movable driving piece (25) can drive the mounting piece (20) to reciprocate along the length direction of the rib plate (27);

the slurry scraping driving piece (24) is installed on the installation piece (20), and the output end of the slurry scraping driving piece (24) is connected with the trough (26) through the installation piece (20).

4. The tile plastering apparatus of claim 3, wherein the plastering assembly further comprises:

the guide rod (22) is used for guiding the movement of the mounting part (20), two ends of the guide rod (22) are fixedly connected to the bottom plate (21), the guide rod (22) is parallel to the bottom plate (21), and the mounting part (20) is connected with the guide rod (22) in a sliding mode.

5. The tile plastering device according to claim 1, wherein the plastering mechanism (2) further comprises a clamping driving member (29), and the clamping die (28) comprises:

the clamping support is rotatably connected to the bottom plate (21), and the rib plate (27) and the clamping driving piece (29) are arranged on the clamping support;

the fixed clamping plate is fixed at one end of the clamping bracket; and

the movable clamping plate is movably arranged at the other end of the clamping support and connected to the output end of the clamping driving piece (29), and the clamping driving piece (29) can drive the movable clamping plate to be close to or far away from the fixed clamping plate so as to clamp or loosen the ceramic tile (18).

6. The tile plastering device according to any of claims 1 to 5, wherein the clamping die (28) can drive the tile (18) to switch from a loading station parallel to the bottom plate (21) to a blanking station at a preset angle to the bottom plate (21).

7. The tile plastering device according to claim 6, wherein the plastering mechanism (2) further comprises an overturning driving member, the clamping die (28) is connected to the output end of the overturning driving member, and the overturning driving member can drive the clamping die (28) to rotate relative to the base plate (21).

8. The tile grouting device according to claim 1, further comprising a grout supply mechanism (3) for delivering grout to said grouting mechanism (2), said grout supply mechanism (3) comprising:

the hopper (31) is arranged on the chassis (1) and used for storing slurry, and a stirring piece used for stirring the slurry is arranged in the hopper (31); and

and the blanking assembly is used for driving the slurry in the hopper (31) to be discharged from the discharge port of the hopper (31) and controlling the discharge amount of the slurry.

9. A tile laying machine, characterized by comprising an actuator (4) and a tile plastering device as claimed in any one of claims 1 to 8, wherein the actuator (4) is provided on a base plate (1) of the tile plastering device for gripping a plastered tile (18) on a clamping die (28) of the tile plastering device for laying.

10. The tile paving machine according to claim 9, characterized in that said actuator (4) comprises:

the mechanical arm (41) is arranged on the chassis (1), and the tail end of the mechanical arm (41) is connected with a grabbing piece (45) for taking and placing the ceramic tiles (18);

a shooting mechanism (42) arranged at the tail end of the mechanical arm (41) and used for identifying the corner of the ceramic tile (18); and

and the laser sensor (43) is arranged at the tail end of the mechanical arm (41) and is used for detecting the vertical distance between the ceramic tile (18) and the surface to be worked.

11. The tile paving machine according to claim 10, characterized in that said actuator (4) further comprises:

a force sensor (47), the force sensor (47) is arranged on the mechanical arm (41) and is used for detecting the pressure between the ceramic tile (18) and the surface to be worked when the ceramic tile is contacted with the surface to be worked.