CN115030463A

CN115030463A - Grabbing device and floor tile paving equipment

Info

Publication number: CN115030463A
Application number: CN202110234822.6A
Authority: CN
Inventors: 李义山; 王苏桐; 柯振中; 魏然
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-03-03
Filing date: 2021-03-03
Publication date: 2022-09-09

Abstract

The application provides grabbing device and ceramic tile shop equipment of pasting relates to building decoration technical field. The grabbing device comprises a mounting plate, a guide seat, a guide rod, a sucker and an elastic element. The guide holder is connected with the mounting plate. First aspirating hole has been seted up to the guide holder, and the spacing recess along guide holder axial extension is seted up to the inner wall in first aspirating hole. An air exhaust channel is formed in the guide rod, and the upper part of the guide rod is slidably arranged in the first air exhaust hole. The guide bar epirelief is equipped with spacing arch, spacing arch and spacing recess cooperation. The sucking disc is connected with the guide rod, and the air exhaust channel is communicated with the sucking disc. The resilient member is configured to cause the suction cup to have a tendency to move away from the guide shoe. The floor tile paving and pasting equipment comprises a vacuumizing device and the grabbing device, wherein the vacuumizing device is communicated with the air exhaust channel. The grabbing device is provided with a guide seat, a guide rod and an elastic element, and the ground can adapt to different levels when grabbing. The floor tile paving equipment can stably and reliably grab floor tiles and can adapt to floors with different flatness.

Description

Grabbing device and floor tile paving equipment

Technical Field

The application relates to the technical field of building decoration, particularly, relate to a grabbing device and ceramic tile shop equipment.

Background

The floor tile needs to be grabbed before being tiled, the floor tile can be grabbed through the sucker at present, but the sucker in the prior art cannot adapt to the ground with different flatness when being grabbed.

Disclosure of Invention

An object of the embodiment of this application is to provide a grabbing device, it aims at improving the relatively poor problem of grabbing device to the ground adaptability of different roughness among the relevant art.

The embodiment of the application provides a grabbing device, and the grabbing device comprises a mounting plate, a guide seat, a guide rod, a sucker and an elastic element. The guide holder is connected with the mounting plate. First aspirating hole has been seted up to the guide holder, and the spacing recess along guide holder axial extension is seted up to the inner wall in first aspirating hole. An air exhaust channel is formed in the guide rod, and the upper part of the guide rod is slidably arranged in the first air exhaust hole. The guide rod is convexly provided with a limiting bulge, and the limiting bulge is in sliding fit with the limiting groove. The sucking disc is connected with the guide rod, and the air exhaust channel is communicated with the sucking disc. The elastic element is positioned between the guide seat and the sucker or between the guide seat and the guide rod.

The grabbing device is provided with a guide holder, a guide rod and an elastic element, wherein the guide rod can move axially relative to the guide holder, and the elastic element can be adjusted in a self-adaptive mode. When the ground is low, the guide rod can extend out of the guide seat along the axial direction of the guide seat so as to grab the floor tiles on the low-lying ground; when the ground is convex, the guide rod can retract into the guide seat along the axial direction of the guide seat, and the ground tile on the convex ground is grabbed. In addition, the circumferential direction of the guide rod is limited, and the floor tiles are prevented from rotating randomly in the grabbing process to cause damage. Rigid connection structure has relatively poor adaptability under the complex environment of ground, can make the sucking disc take place to damage, and guide bar and guide holder (flexible) cooperation can adapt to the ground of different roughness under elastic element's effect, can increase the life of sucking disc moreover.

As an optional technical scheme of this application embodiment, connect through the adapter sleeve between guide bar and the sucking disc. Through setting up the adapter sleeve, be convenient for be connected with the sucking disc, reduce the manufacturing degree of difficulty of guide bar.

As an optional technical scheme of the embodiment of the application, the connecting sleeve is sleeved on the periphery of the guide rod, and one end of the elastic element is abutted against the connecting sleeve. Through setting up elastic element, keep the guide bar in the state of stretching out, when ground is protruding, the guide bar along the axial withdrawal guide holder of guide holder, elastic element is compressed, accomplishes and snatchs the ground brick ground on the protruding ground. After grabbing, the elastic element releases elastic potential energy to extend the guide rod out of the guide seat again. Meanwhile, the elastic element is not in contact with the sucker, so that the sucker is prevented from being damaged by the elastic element.

As an optional technical scheme of this application embodiment, the adapter sleeve passes through screw thread detachably with guide bar and sucking disc respectively and is connected. Adopt detachably to connect, simple to operate dismantles and maintains comparatively easily.

As an optional technical scheme of the embodiment of the application, a cover plate is installed at one end, close to the guide rod, of the guide seat, the limiting protrusion is located between the cover plate and the upper wall of the limiting groove, and one end of the elastic element abuts against the cover plate. Through setting up the apron, prevent that the guide bar from deviating from the main part.

As an optional technical scheme of the embodiment of the application, the guide seat is connected with the cover plate through bolts. And the bolts are adopted for connection, so that the device can be detached and is convenient to install and maintain.

As an optional technical scheme of the embodiment of the application, the edge of the cover plate is provided with a downward folded annular folded edge, and the elastic element is positioned in the annular folded edge.

As an optional technical scheme of the embodiment of the application, the guide seat, the guide rod and the sucker are respectively provided with a plurality of guide seats. A plurality of guide holder, a plurality of guide bar and a plurality of sucking disc one-to-one, a plurality of guide holder interval distribution are in the length direction of mounting panel. Through setting up a plurality of guide holders, a plurality of guide bar and a plurality of sucking disc, be convenient for snatch the polylith ceramic tile simultaneously.

As an optional technical scheme of the embodiment of the application, the mounting plate is provided with an air pipe joint communicated with the air exhaust channel. Through setting up the air pipe connector, the high-speed joint evacuating device of being convenient for and the passageway of bleeding.

The embodiment of the application also provides a floor tile paving and pasting device, which comprises a vacuumizing device and a grabbing device in any one of the vacuumizing device and the vacuumizing device, wherein the vacuumizing device is communicated with the air exhaust channel. The floor tile grabbing equipment is stable and reliable in floor tile grabbing and can adapt to floors with different flatness.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic overall structure diagram of a grasping apparatus according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a grasping apparatus according to an embodiment of the present application from a first viewing angle;

FIG. 3 is a schematic view of the connection of the guide seat, the guide assembly and the suction cup provided in the embodiment of the present application;

FIG. 4 is a cross-sectional view taken at the location IV-IV in FIG. 3;

fig. 5 is a schematic structural view of a guide seat provided in an embodiment of the present application;

fig. 6 is a schematic structural diagram of a guide rod according to an embodiment of the present application.

Icon: 10-a gripping device; 100-a mounting plate; 200-a guide seat; 210-a body; 211-a first extraction aperture; 212-a limit groove; 220-a cover plate; 300-a guide assembly; 310-a guide bar; 311-second pumping hole; 312-a stop boss; 313-a connecting portion; 320-connecting sleeve; 400-a sucker; 500-floor tile.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships that the product of the application will usually place when in use, or the orientations or positional relationships that a person skilled in the art will usually understand, are only used for convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and operate, and therefore, should not be construed as limiting the present application.

Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Examples

Referring to fig. 1 in conjunction with fig. 2, the present embodiment provides a gripping device 10, and the gripping device 10 includes a mounting plate 100, a guide base 200, a guide assembly 300, and a suction cup 400. The guide holder 200 is coupled to the mounting plate 100. The guide assembly 300 is coupled to the guide housing 200, the guide assembly 300 is capable of moving axially relative to the guide housing 200, and circumferential rotation of the guide assembly 300 is restricted. The suction cup 400 is connected with the guide assembly 300. An air suction passage is formed in the mounting plate 100, the guide holder 200 and the guide assembly 300, and is communicated with the suction cup 400. The gripping device 10 is provided with a guide holder 200 and a guide assembly 300, wherein the guide assembly 300 can move axially relative to the guide holder 200, and when the ground is low, the guide assembly 300 can extend out of the guide holder 200 along the axial direction of the guide holder 200 so as to grip the floor tiles 500 on the low ground; when the ground surface is protruded, the guide assembly 300 can retract the guide base 200 in the axial direction of the guide base 200, completing the grasping of the floor tile 500 on the protruded ground surface. In addition, the circumferential rotation of the guiding assembly 300 is limited, and the floor tile 500 is prevented from being randomly rotated and damaged in the grabbing process. The rigid connection structure has poor adaptability under the complex ground environment, so that the sucker 400 is damaged, the (telescopic) matching of the guide assembly 300 and the guide seat 200 can adapt to the grounds with different flatness, and the service life of the sucker 400 can be prolonged.

Referring to fig. 1 and fig. 2, in the present embodiment, a plurality of guide bases 200, a plurality of guide assemblies 300, and a plurality of suction cups 400 are respectively disposed, a plurality of guide bases 200, a plurality of guide assemblies 300, and a plurality of suction cups 400 are in one-to-one correspondence, and a plurality of guide bases 200 are distributed in the length direction of the mounting plate 100 at intervals. By providing a plurality of guides 200, a plurality of guide assemblies 300, and a plurality of suction cups 400, it is convenient to simultaneously grab a plurality of tiles 500. Moreover, since each suction cup 400 is provided with the guide seat 200 and the guide assembly 300, the flatness condition of the ground where a plurality of different floor tiles 500 are located can be adapted, and the plurality of floor tiles 500 can be conveniently grabbed. If only a plurality of suction cups 400 are provided, it is impossible to grip a plurality of tiles 500 at the same time due to the difference in the flatness of the floor surface, or some suction cups 400 grip the tile 500 and some suction cups 400 do not grip the tile 500. By arranging the guide seat 200 and the guide member 300, the flatness condition of the ground can be adapted, the suction cups 400 are not easily damaged during the grabbing process, if only a plurality of suction cups 400 are arranged, due to different flatness conditions of the ground, some suction cups 400 are already supported on the floor tile 500, and some suction cups 400 are not yet contacted with the floor tile 500, if all the suction cups 400 are forcibly contacted with the floor tile 500, the suction cups 400 which are firstly contacted with the floor tile 500 are damaged.

Referring to fig. 1, in the present embodiment, a plurality of first mounting holes are formed in the mounting plate 100, and one end of each guide base 200, which is far away from the guide assembly 300, is mounted in the first mounting hole. To facilitate installation and maintenance, the guide housing 200 is detachably coupled to the mounting plate 100. In this embodiment, the first mounting hole has an internal thread on its inner wall, and the guide holder 200 has an external thread thereon, and the guide holder 200 is screwed with the mounting plate 100. Optionally, the mounting plate 100 further has a second mounting hole, and the second mounting hole is used for connecting with an execution end of another mechanical structure. For example, the actuating end of the tile paving apparatus is connected to the mounting plate 100 through a second mounting hole.

In an alternative embodiment, the mounting plate 100 is provided with a gas line connector in communication with the gas evacuation passageway. In this way, an external vacuum device can be quickly connected to the gripping device 10 via the air line connection. When the vacuum extractor starts to extract air, the suction cup 400 generates negative pressure to absorb the floor tile 500, thereby completing the grabbing of the floor tile 500. Alternatively, the air pipe joint is disposed at the upper end of the first mounting hole, and the guide holder 200 is coupled to the lower end of the first mounting hole. The air pipe joint, the first mounting hole and the guide holder 200 form a part of the air suction passage.

Referring to fig. 3 in conjunction with fig. 4 and 5, in the present embodiment, the guide base 200 includes a main body 210 and a cover plate 220, wherein the main body 210 is opened with a first pumping hole 211, and the first pumping hole 211 is a part of the pumping channel. The inner wall of the first pumping hole 211 is provided with a limit groove 212, and the main body 210 is connected with the cover plate 220. In the present embodiment, the main body 210 is bolted to the cover plate 220. And the bolts are adopted for connection, so that the device can be detached and is convenient to install and maintain. The edge of the cover plate 220 has an annular flange turned downward. Referring to fig. 4, in the present embodiment, a cylindrical connection protrusion is formed at an upper end of the main body 210, an external thread is formed on an outer circumferential wall of the connection protrusion, and the connection protrusion is in threaded connection with the first mounting hole. Referring to fig. 5, the first suction hole 211 penetrates the main body 210, and the first suction hole 211 is communicated with the air pipe connector or the first mounting hole to communicate with the suction passage, so that the vacuum pumping device can conveniently pump the suction cup 400. A limiting groove 212 is formed on the inner wall of the first air exhaust hole 211, and the limiting groove 212 is used for matching with the guide assembly 300. In this embodiment, two limiting grooves 212 are formed, and the two limiting grooves 212 are symmetrically disposed with the axis of the main body 210 as a symmetry axis. In an alternative embodiment, two or more limiting grooves 212 are provided, and the two or more limiting grooves 212 are symmetrically provided by taking the axis of the main body 210 as a symmetry axis. Referring to fig. 3, with reference to fig. 4 and 5, in the present embodiment, four threaded holes are formed in the main body 210, and the cover plate 220 is connected to the main body 210 by screws.

Referring to fig. 4 in conjunction with fig. 6, in the present embodiment, the guide assembly 300 includes a guide rod 310. The guide rod 310 has a second pumping hole 311 formed therein, and the second pumping hole 311 is a part of the pumping passage. A stopper protrusion 312 is formed on the outer circumferential wall of the guide bar 310, and the stopper protrusion 312 is engaged with the stopper groove 212. The number of the limiting grooves 212 is matched, two limiting protrusions 312 are also arranged on the guide rod 310, and the two limiting protrusions 312 are symmetrically arranged by taking the axis of the limiting rod as a symmetry axis. The length of the restriction groove 212 is longer than the length of the restriction protrusion 312 so that the restriction protrusion 312 can move in the length direction of the restriction groove 212; the width of the limiting groove 212 is equal to the width of the limiting protrusion 312, so that the groove wall of the limiting groove 212 abuts against the limiting protrusion 312 to limit the circumferential rotation of the guide rod 310.

In this embodiment, the guide rod 310 is provided with a limiting protrusion 312, the guide seat 200 is provided with a limiting groove 212, and the limiting protrusion 312 is matched with the limiting groove 212, so that the guide rod 310 can move axially relative to the guide seat 200, and the circumferential rotation is limited. In an alternative embodiment, a limiting protrusion is disposed on the guide base 200, and a limiting groove is disposed on the guide rod 310, and the limiting protrusion cooperates with the limiting groove, so that the guide rod 310 can move axially relative to the guide base 200, and the circumferential rotation is limited. In another alternative embodiment, a guide rail is provided on the guide holder 200, and a slider is provided on the guide rod 310, and the guide rail is engaged with the slider so that the guide rod 310 can move axially relative to the guide holder 200 and the circumferential rotation is restricted.

Referring to fig. 2 again, with reference to fig. 3 and 4, the guide assembly 300 includes a connection sleeve 320, the connection sleeve 320 is connected to the outer circumference of the guide rod 310, and the connection sleeve 320 is connected to the suction cup 400. Through setting up adapter sleeve 320, be convenient for be connected with sucking disc 400, reduce the manufacturing degree of difficulty of guide bar 310. The coupling sleeve 320 is removably coupled to the guide bar 310 to facilitate installation and maintenance of the gripping apparatus 10. Referring to fig. 3, referring to fig. 4 and fig. 5, in the present embodiment, a connecting portion 313 is disposed at an end of the guide rod 310 away from the guide seat 200. The outer circumferential surface of the connection portion 313 is provided with an external thread, the inner circumferential surface of the connection sleeve 320 is provided with an internal thread, and the connection portion 313 is in threaded connection with the connection sleeve 320. The suction cup 400 is removably connected to the connection sleeve 320 to facilitate installation and maintenance of the gripping apparatus 10. Referring to fig. 4, in the present embodiment, an inner circumferential surface of the connection sleeve 320 is provided with an internal thread, and the suction cup 400 is threadedly connected to the connection sleeve 320.

In this embodiment, the gripping device 10 comprises an elastic element that gives the suction cup 400 a tendency to move away from the guide shoe 200. The elastic member allows the guide assembly 300 to protrude out of the guide housing 200 in the axial direction of the guide housing 200 so as to facilitate gripping of the floor tile 500 on the depressed ground. When the ground surface is protruded, the guide assembly 300 retracts into the guide housing 200 in the axial direction of the guide housing 200, and the elastic member is compressed, thereby completing the grasping of the floor tile 500 on the protruded ground surface. After the grabbing is completed, the elastic element releases the elastic potential energy, and the guide assembly 300 is extended out of the guide base 200 again. The elastic member is located between the guide holder 200 and the suction cup 400 or between the guide holder 200 and the guide bar 310. In the present embodiment, one end of the elastic element abuts against the guide seat 200, specifically, the cover plate 220 of the guide seat 200, and is located in the annular flange of the cover plate 220, and the other end of the elastic element abuts against the connection sleeve 320. By such an arrangement, the elastic element is convenient to mount, and meanwhile, the elastic element is not in contact with the sucker 400, so that the sucker 400 is prevented from being damaged by the elastic element. Optionally, the elastic element is a spring, the spring is sleeved on the guide rod 310, one end of the spring abuts against the guide seat 200, and the other end of the spring abuts against the connecting sleeve 320. The elastic element may also be rubber, and the rubber may also be sleeved on the guide rod 310, and the rubber abuts against the guide base 200 and the connection sleeve 320.

In an alternative embodiment, one end of the elastic element abuts against the guide seat 200, and the other end of the elastic element abuts against the guide rod 310. In another alternative embodiment, the elastic member is located between the connection sleeve 320 and the guide rod 310, one end of the elastic member abuts against the connection sleeve 320, and the other end of the elastic member abuts against the guide rod 310.

The present embodiment provides a gripping device 10, and the gripping device 10 includes a mounting plate 100, a guide base 200, a guide assembly 300, and a suction cup 400. Guide 200 is attached to mounting plate 100. The guide assembly 300 is coupled to the guide housing 200, the guide assembly 300 is capable of moving axially relative to the guide housing 200, and circumferential rotation of the guide assembly 300 is restricted. The suction cup 400 is connected with the guide assembly 300. An air suction passage is formed in the mounting plate 100, the guide holder 200 and the guide assembly 300, and the air suction passage is communicated with the suction cup 400. The guide assembly 300 comprises a guide rod 310, an air exhaust channel is formed in the guide rod 310, a limiting protrusion 312 is formed on the guide rod 310, a limiting groove 212 is formed in the guide seat 200, the limiting protrusion 312 is matched with the limiting groove 212, the limiting protrusion 312 can move in the length direction of the limiting groove 212, and the groove wall of the limiting groove 212 abuts against the limiting protrusion 312 to limit the circumferential rotation of the guide assembly 300. The guide assembly 300 includes a coupling sleeve 320, the coupling sleeve 320 is coupled to the outer circumference of the guide bar 310, and the coupling sleeve 320 is coupled to the suction cup 400. The grasping apparatus 10 includes an elastic member between the suction cup 400 and the guide housing 200, which gives the suction cup 400 a tendency to move away from the guide housing 200. One end of the elastic element abuts against the guide base 200, and the other end of the elastic element abuts against the connecting sleeve 320. The guide seats 200, the guide assemblies 300 and the suckers 400 are respectively provided with a plurality of guide seats 200, a plurality of guide assemblies 300 and a plurality of suckers 400 which are in one-to-one correspondence, and the plurality of guide seats 200 are distributed in the length direction of the mounting plate 100 at intervals.

The gripping device 10 is provided with a guide holder 200 and a guide assembly 300, wherein the guide assembly 300 can move axially relative to the guide holder 200, and when the ground is low, the guide assembly 300 can extend out of the guide holder 200 along the axial direction of the guide holder 200 so as to grip the floor tiles 500 on the low ground; when the ground surface is protruded, the guide assembly 300 can retract the guide base 200 in the axial direction of the guide base 200, completing the grasping of the floor tile 500 on the protruded ground surface. In addition, the circumferential rotation of the guiding assembly 300 is limited, and the floor tile 500 is prevented from being randomly rotated and damaged in the grabbing process. The rigid connection structure has poor adaptability to the complex ground environment, so that the sucker 400 is damaged, the (telescopic) cooperation of the guide assembly 300 and the guide seat 200 can adapt to the grounds with different flatness, and the service life of the sucker 400 can be prolonged.

The present embodiment further provides a floor tile paving apparatus, which comprises a vacuum extractor and the above gripping device 10, wherein the vacuum extractor is communicated with the air exhaust channel. The actuating end of the tile paving apparatus is connected to the mounting plate 100. The floor tile grabbing equipment is stable and reliable in floor tile grabbing, and can adapt to floors with different flatness.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A grasping apparatus, characterized in that the grasping apparatus comprises:

mounting a plate;

the guide seat is connected with the mounting plate; the guide seat is provided with a first air exhaust hole, and the inner wall of the first air exhaust hole is provided with a limiting groove extending along the axial direction of the guide seat;

the guide rod is internally provided with an air exhaust channel, the upper part of the guide rod is slidably arranged in the first air exhaust hole, the guide rod is convexly provided with a limiting bulge, and the limiting bulge is in sliding fit with the limiting groove;

the sucking disc is connected with the guide rod, and the air exhaust channel is communicated with the sucking disc;

and the elastic element is positioned between the guide seat and the sucker or between the guide seat and the guide rod.

2. The gripping device of claim 1, wherein the guide rod and the suction cup are connected by a connecting sleeve.

3. The grasping apparatus according to claim 2, wherein the connecting sleeve is disposed around the guide rod, and one end of the elastic member abuts against the connecting sleeve.

4. The grasping apparatus according to claim 2, wherein the connecting sleeves are detachably connected to the guide bar and the suction cup, respectively.

5. The grasping device according to claim 1, wherein a cover plate is mounted on the end of the guide seat near the guide rod, the limiting protrusion is located between the cover plate and the upper wall of the limiting groove, and one end of the elastic element abuts against the cover plate.

6. The grasping apparatus according to claim 5, wherein the guide holder is bolted to the cover plate.

7. The grasping apparatus according to claim 5, wherein the edge of the cover plate has an annular flap folded downward, the elastic member being located within the annular flap.

8. The gripping device of claim 1, wherein the guide seats, the guide rods and the suckers are respectively provided in plural numbers, the plural guide seats, the plural guide rods and the plural suckers correspond to one another one by one, and the plural guide seats are distributed in the length direction of the mounting plate at intervals.

9. The grasping apparatus according to claim 1, wherein the mounting plate is provided with a gas line connector communicating with the suction passage.

10. A tile paving apparatus, characterized in that it comprises a vacuum device and a gripping device according to any one of claims 1-9, said vacuum device being in communication with said suction channel.