CN115467217A - Mobile robot for laying floor tiles and method for laying floor tiles - Google Patents

Abstract

The invention provides a mobile robot for paving floor tiles and a method for paving the floor tiles. The lifting mechanism is used for lifting the floor tiles upwards; the clamping device clamps two ends of a floor tile on the uppermost layer of the lifting mechanism to convey forwards, then loosens the floor tile and lays the floor tile on the conveying mechanism, and the conveying mechanism conveys the floor tile forwards to the laying mechanism in the X direction; the laying mechanism is provided with a turnover mechanism, a placing device of the turnover mechanism clamps a floor tile conveyed by the conveying mechanism, and the turnover mechanism turns forwards to lay the clamped floor tile on the ground. The equipment provided by the invention has the advantages that the storage, lifting, conveying and paving of the floor tiles are completely mechanized, compared with a manual paving mode, the paving effect is good, the efficiency is high, and meanwhile, the labor cost can be reduced.

Description

Mobile robot for laying floor tiles and method for laying floor tiles

Technical Field

The invention relates to municipal construction equipment, in particular to a mobile robot for paving floor tiles and a method for paving the floor tiles.

Background

With the development of the current urban construction level, the requirements on municipal road surfaces are higher and higher, and flat floor tiles and floor tiles are generally required to be laid in large areas in places such as sidewalks, squares and the like. At present, the floor tiles and the floor tiles are generally paved by pure manual operation or a mechanical and manual combination mode, and the mechanical and manual combination construction method comprises the following steps: the bricks are lifted by a rope through a crane, then the falling point position is manually controlled, and then the bricks are unloaded and finally the compaction operation is carried out. The laying mode is time-consuming and labor-consuming, the laying effect depends on the technical level of constructors, meanwhile, the labor intensity of workers is high, more constructors are needed, and the laying cost is improved.

Disclosure of Invention

The invention aims to provide a novel mobile robot for paving floor tiles and a method for paving floor tiles, wherein the whole paving process is completely and automatically mechanically operated, compared with the existing paving method, the novel mobile robot for paving floor tiles is high in paving efficiency, the paved floor tiles are neat, manual work is not needed for carrying and resurging, and the cost of people is reduced. In order to realize the purpose, the invention adopts the following technical scheme:

a mobile robot for floor tiles is characterized in that the floor tiles are flat floor tiles, the mobile robot is provided with a movable frame, the length of the frame is set to be in an X direction, the width of the frame is set to be in a Y direction, a lifting mechanism and a clamping and pushing mechanism are mounted at the tail part of the frame, a multi-shaft mechanical movable arm is mounted at the front part of the frame, a laying mechanism is mounted on the mechanical movable arm, and a conveying mechanism between the laying mechanism and the clamping and pushing mechanism is mounted on the frame;

the lifting mechanism is provided with a first transmission mechanism, a lifting plate and a lifting device, wherein the first transmission mechanism transfers the floor tiles stacked up and down to the lifting plate and the lifting device drives the lifting plate to lift upwards;

the clamping and pushing mechanism comprises a forward moving guide rail and a clamping device arranged on the forward moving guide rail in a sliding manner, the clamping device clamps two ends of the length of the topmost floor tile lifted to the top and conveys the topmost floor tile forwards in the X direction, then loosens the topmost floor tile and lays the topmost floor tile on the conveying mechanism, and the floor tile is conveyed forwards in the X direction to the laying mechanism by the conveying mechanism;

the laying mechanism is provided with a laying frame, a turnover mechanism which slides back and forth in the X direction is arranged on the laying frame, the turnover mechanism is provided with a turnover shaft in the Y direction, the turnover mechanism is provided with a placing device which rotates by taking the turnover shaft as an axis, and after the placing device clamps a floor tile conveyed by the conveying mechanism, the placing device overturns forwards to lay the clamped floor tile on the ground;

two sets of positioning mechanisms are respectively arranged on the laying frame and the turnover mechanism, and the two sets of positioning mechanisms are matched to provide positioning for floor tile laying.

Furthermore, the lifting mechanism is provided with a longitudinal lifting support arranged at the tail part of the vehicle frame, the first transmission mechanism is fixedly arranged at the bottom of the longitudinal lifting support, the lifting plate is driven by the lifting device on the longitudinal lifting support to perform lifting motion in the vertical direction of the first transmission mechanism, and the lifting plate is provided with an open slot corresponding to the position of the first transmission mechanism so that the lifting plate can be lowered below the upper surface of the first transmission mechanism;

a storage support is mounted at the bottom of the rear side of the lifting support, the front end of the storage support is rotatably connected to the bottom of the rear side of the longitudinal lifting support, the storage support can be turned up and down and folded and stored by taking the front end as a rotating point, and a second transmission mechanism is arranged on the storage support;

the storage support conveys the floor tiles stacked up and down forwards to the first conveying mechanism in the X direction, and the first conveying mechanism continuously conveys the floor tiles forwards to the lifting plate.

Further, lifting devices respectively located at two sides of the lifting plate in the Y direction are mounted on the longitudinal lifting support, and each lifting device includes:

the lifting cylinder is vertically fixed on the longitudinal lifting support;

a lifting chain, wherein two ends of the lifting chain are respectively fixedly connected with the lifting plate and a mandril of the lifting cylinder, or

The two ends of the lifting chain are respectively positioned on the two sides of the lifting cylinder and stretch across the ejector rod of the lifting cylinder, one end of the lifting chain is fixedly connected with the lifting plate, and the other end of the lifting chain is fixed on the longitudinal lifting support on one side of the lifting cylinder.

Furthermore, vertical guide channel steel rails positioned on two sides of the lifting plate are arranged on the longitudinal lifting support, a lifting web is vertically and slidably mounted on each vertical guide channel steel rail, and one end of the lifting chain and the lifting plate are fixedly connected with the lifting web.

Further, the storage support is arranged at the bottom of the longitudinal lifting support through a self-resetting overturning support, and a spring support is arranged at the bottom of the longitudinal lifting support;

the bottom of the self-resetting overturning support is provided with a limiting steel pipe and a reset spring, the limiting steel pipe sequentially penetrates through the two baffles on the back of the self-resetting overturning support and is rotatably connected with the spring support, and the reset spring is sleeved on the limiting steel pipe between the two baffles;

the transverse width of the storage rack is smaller than that of the longitudinal lifting rack, and the storage rack is rotatably connected to the center of the bottom of the longitudinal lifting rack.

Furthermore, the forward moving guide rail is provided with two first slide rails with the length in the X direction, the opposite sides of the first slide rails are provided with upper rails, the first slide rails are provided with lower lifting rails positioned below the upper rails, the lower lifting rails are provided with a front inlet port and a rear inlet port with downward openings, a front pair of front first rollers and a rear pair of first rollers are installed in each upper rail, the front ends and the rear ends of the two sides of the clamping device are respectively and fixedly provided with second rollers, the corresponding first rollers and the corresponding second rollers are movably connected through driven rods, a first transverse moving pushing cylinder drives the first rollers to slide forwards in the upper rails to drive the clamping device to move forwards and transversely, and the first rollers drive the second rollers to enter the lower lifting rails through the inlet ports through the driven rods in the forward sliding process so as to lift the height of the clamping device;

the clamping device comprises a clamping frame, the clamping frame is provided with a second slide rail in the Y direction and a multi-connecting-rod linkage mechanism, two clamping plates capable of sliding relatively are arranged on the second slide rail, the multi-connecting-rod linkage mechanism is composed of a swing rod in the middle and two clamping connecting rods hinged at two ends of the swing rod, the center of the swing rod is rotatably connected to the clamping frame through a swing rod center pin, and the other ends of the two clamping connecting rods are respectively hinged with opposite surfaces of the two clamping plates;

one end of the swing rod is hinged with the clamping driving cylinder, and the clamping driving cylinder drives the multi-connecting-rod linkage mechanism to drive the two clamping plates to slide relatively or oppositely on the second slide rail so as to clamp or loosen the floor tile.

Furthermore, a front pair of first rollers and a rear pair of first rollers in the upper rail are both arranged on a side push plate, the side push plate is fixedly connected with an ejector rod of the first transverse pushing cylinder, and the first transverse pushing cylinder pushes the side push plate to drive the first rollers to roll back and forth in the upper rail.

Further, the conveying mechanism is a roller or belt-based conveying mechanism.

Furthermore, the left side and the right side of the front part of the frame are symmetrically provided with the mechanical movable arms, the two mechanical movable arms are fixedly connected through a connecting rod, the left side and the right side of the front part of the frame are fixedly provided with a vertical guide rail and a horizontal guide rail, the vertical guide rail is provided with a vertical sliding block support which can slide up and down, the horizontal guide rail is provided with a horizontal sliding block which can slide horizontally, the vertical sliding block support is connected with a vertical jacking mechanism fixed at the front part of the frame, the horizontal sliding block is connected with a horizontal pushing mechanism fixed at the front part of the frame, and the vertical jacking mechanism and the horizontal pushing mechanism are any one of an air cylinder, a hydraulic oil cylinder, an electric push rod and a screw rod pair;

the mechanical movable arm comprises longitudinal supporting legs, a horizontal upper arm and a horizontal lower arm, the front ends of the upper arm and the lower arm are hinged to the supporting legs, the rear end of the upper arm is hinged to the vertical sliding block support, the lower arm is fixedly connected with the horizontal sliding block, the rear end of the lower arm is movably connected with the upper arm through a connecting rod supporting arm, the upper arm, the lower arm, the supporting legs hinged to the front end and the rear end of the lower arm and the connecting rod supporting arm form a parallel four-bar linkage mechanism, a quick-release mounting support is mounted at the bottom of the supporting legs, a swing cylinder is connected between the quick-release mounting support and the supporting legs, and a first quick-release supporting universal wheel is mounted at the bottom of the quick-release mounting support.

Furthermore, the laying frame is composed of a front slide rail supporting plate at the front side and a rear slide rail supporting plate at the rear side, the rear slide rail supporting plate and the front slide rail supporting plate are fixedly connected through a quick-release connecting plate, the laying mechanism is detachably mounted on the mechanical movable arm through the quick-release connecting plate, and supporting legs and a second supporting universal wheel are arranged at the bottom of the front slide rail supporting plate;

the side frame that tilting mechanism both sides install with preceding slide rail backup pad sliding fit, just tilting mechanism is rotatable on the side frame, and back slide rail backup pad passes through horizontal telescoping cylinder and links to each other with the side frame.

Furthermore, a strickle mechanism and a rolling mechanism which rotate by taking the turnover shaft as an axis are arranged on the turnover mechanism,

the scraping mechanism is provided with a sawtooth scraper which is in inclined contact with the ground by the turnover of the scraping mechanism, the horizontal telescopic cylinder drives the turnover mechanism to move back and forth and the sawtooth scraper scrapes the ground,

the rolling mechanism is provided with a rolling wheel with convex ribs on the outer diameter, the rolling wheel is contacted with the upper surface of the laid floor tile by the overturning of the rolling mechanism, the horizontal telescopic cylinder drives the overturning mechanism to move back and forth, and the rolling wheel performs rolling operation on the laid floor tile;

the strickle mechanism, the rolling mechanism and the placing device rotate synchronously around the turnover shaft as an axis, and the turnover shaft is a turnover oil cylinder.

Further, a first laser emitter is mounted at the front end of the front slide rail supporting plate on two sides, and a second laser emitter is mounted at the front end of the side frame on two sides;

each first laser emitter is used for emitting crossed first positioning laser to the ground right below the first laser emitter on the other side, each second laser emitter is used for emitting crossed second positioning laser perpendicular to the ground, and the paving position of the floor tile is determined by the superposition of the second positioning laser and the first positioning laser;

the included angle between the first positioning lasers emitted by the two first laser emitters and the ground is adjustable so as to adjust the distance between the two first positioning lasers.

Furthermore, the placing device is provided with a clamping fixing frame, a supporting plate is arranged on one side of the clamping fixing frame, the clamping fixing frame is provided with a Y-direction adjusting guide rail, a bracket on the same side as the supporting plate is arranged on the adjusting guide rail, and the bracket is connected with the clamping fixing frame through a fine adjustment cylinder so as to adjust the position of the bracket in the Y direction;

a plurality of X-direction supporting plates are arranged on the rear slide rail supporting plate, and rollers are arranged on the supporting plates;

the conveying mechanism conveys the floor tiles forwards in the X direction to the position between the supporting plate and the bracket through the supporting plate.

A method for paving floor tiles based on the mobile robot comprises the following steps:

transferring the floor tiles stacked up and down onto the lifting plate, and driving the lifting plate to lift upwards by the lifting device;

the clamping device clamps two ends of a floor tile Y on the uppermost layer of the lifting plate to convey forwards in the X direction, then releases the floor tile Y, lays the floor tile Y on the conveying mechanism, and conveys the floor tile forwards in the X direction to the laying mechanism by the conveying mechanism;

the placing device clamps the floor tiles conveyed by the conveying mechanism, turns forwards around the turning shaft as an axis, and lays the clamped floor tiles on the ground;

the turnover mechanism retracts to draw the placing device out of a gap between the floor tile and the ground, and then the placing device is turned backwards to return to the original position.

Further, the method further comprises:

before the floor tile is held by the placing device, the sawtooth scraping plate is obliquely contacted with the ground surface by the overturning of the scraping mechanism, the ground surface is scraped by the back and forth movement of the overturning mechanism, and

after the floor tiles are laid and the placing device is pulled out from a gap between the floor tiles and the ground, the rolling mechanism is turned over to enable the rolling wheels to be in contact with the upper surfaces of the laid floor tiles, and the turning mechanism moves back and forth to roll the laid floor tiles; wherein,

the strickle mechanism and the rolling mechanism are both fixedly arranged on the turnover mechanism, and the strickle mechanism, the rolling mechanism and the placing device rotate synchronously around the turnover shaft as an axis.

The invention has the advantages that:

1) The storage, lifting, transmission and paving of the floor tiles are completely mechanized, compared with a manual paving mode, the paving method has good and high-efficiency paving effect, and can reduce the labor cost;

2) The ground tiles transported from the rear part of the frame are lifted by the lifting mechanism, and a group of lifting devices are arranged on two sides of the lifting plate, so that the lifting plate fully loaded with the ground tiles is more stable in the lifting process; the storage support at the rear side of the lifting mechanism serves as a mechanism for temporarily storing the floor tiles, the floor tiles are transferred to the storage support by a forklift and are transferred to the lifting plate by the storage support, and the storage support can be folded upwards for storage when not in use, so that the occupied space is reduced;

3) The clamping mechanism is used for clamping floor tiles on the lifting plate and conveying the floor tiles forwards and placing the floor tiles on the conveying mechanism, the clamping mechanism slides towards the direction of the vehicle head after clamping the floor tiles, in the process of sliding forwards, the height of the clamping mechanism can be lifted, and the lower surface of the floor tiles clamped by the clamping mechanism is prevented from scraping the upper surface of the floor tiles on the lifting plate, so that the attractiveness of the floor tiles in the transfer process is ensured;

4) The laying mechanism is provided with a turnover mechanism, the turnover mechanism is provided with a placing device, a scraping mechanism and a rolling mechanism which can rotate around a turnover shaft as an axis, ground scraping, floor tile placing and floor tile rolling can be realized by means of the rotation of the turnover mechanism, the structure is more compact, and the functions are more complete; two groups of laser positioning mechanisms are arranged at the front end of the laying mechanism to provide accurate positioning for laying the floor tiles;

5) The mechanical movable arm provides stable support for the laying mechanism on the one hand, and the mechanical movable arm can drive the laying mechanism to move back and forth in the vertical direction and horizontally in addition, and can accurately adjust the laying mechanism to reach the designated position so as to lay bricks.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the embodiments or drawings used in the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is an overall outline view of a mobile robot for laying flat bricks according to the present invention;

fig. 2 is a top view of the whole of the mobile robot laying the slab bricks;

FIG. 3a is a perspective view of the lift mechanism;

FIG. 3b is a perspective view of the lift plate of the lift mechanism raised to half-empty;

FIG. 3c is a side view of the lifting mechanism with the warehouse racks deployed;

fig. 3d is a side view of the storage racks after folding;

FIG. 4a is a side view of the clamp and feed mechanism in the X direction;

FIG. 4b is a perspective view of the clamping and pushing mechanism;

FIG. 4c is a bottom view of the clamp and push mechanism;

FIG. 4d is the schematic view of the advancing rail shown hidden in FIG. 4a, showing the advancing rail having two rails (i.e., an upper rail and a lower lifting rail), wherein the clamping device is the initial section of the advancing rail;

FIG. 4e is a side view of the clamping and pushing mechanism sliding to the end of travel of the advancing rail;

FIG. 4f is a side view of the clamp pusher in the Y direction;

FIG. 5a is a perspective view of a mechanical boom;

FIG. 5b is a side view of the mechanical boom;

FIG. 5c is a perspective view of the quick release mounting bracket;

FIG. 6a is a top view of the paving mechanism;

FIG. 6b is a side view of the paving mechanism;

FIG. 6c is a perspective view of the main frame of the paving mechanism;

FIG. 6d is a view showing the installation position of the positioning mechanism at the front end of the paving mechanism;

fig. 6e is a perspective view of the laying mechanism, in which state the placement device of the flipping mechanism is used to receive bricks from the transfer mechanism;

FIG. 6f is a perspective view of the canting mechanism;

FIG. 6g is a schematic view of the screeding mechanism of the turnover mechanism performing screeding operations;

fig. 6h is a schematic view of the placement device of the turnover mechanism holding a brick delivered from the conveyor (in the same state as fig. 6 e);

fig. 6i is a schematic view of the placing device of the turnover mechanism turning forward to lay bricks on the ground;

fig. 6j is a schematic diagram of the rolling mechanism of the turnover mechanism performing the rolling operation.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.

In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The following detailed description of the preferred embodiments of the invention, however, is capable of other embodiments in addition to those detailed.

Referring to fig. 1, the present invention provides a mobile robot 10 for paving floor tiles, as shown in fig. 1, a chassis 11 of the mobile robot 10 is provided with a traveling device 12, the traveling device 12 is provided with 4 steerable traveling wheels 13, and the traveling device 12 can drive the floor tile mobile robot 10 to travel. For convenience of description, the longitudinal direction of the frame 11 is defined as X-direction, and the width direction is defined as Y-direction.

A lifting mechanism 100 and a clamping and pushing mechanism 200 are mounted at the tail part of the frame 11, a multi-shaft mechanical movable arm 500 is mounted at the front part of the frame 11, a laying mechanism 400 is mounted on the mechanical movable arm 500, and a conveying mechanism 300 positioned between the laying mechanism 400 and the clamping and pushing mechanism 200 is mounted on the frame 11;

the lifting mechanism 100 is provided with a first transmission mechanism 104, a lifting plate 103 and a lifting device 120, wherein the first transmission mechanism 104 transfers the floor tiles stacked up and down to the lifting plate 103, and the lifting device 120 drives the lifting plate 103 to lift upwards;

the clamping and pushing mechanism 200 comprises a forward moving guide rail 210 and a clamping device 220 slidably mounted on the forward moving guide rail 210, the clamping device 220 clamps two ends of the length of the tile lifted to the top, and then the tile is conveyed forward in the X direction, loosened and laid on the conveying mechanism 300, and the conveying mechanism 300 conveys the tile forward in the X direction to the paving mechanism 400;

the laying mechanism 400 is provided with a laying frame, a turnover mechanism 430 which slides back and forth in the X direction is installed on the laying frame, the turnover mechanism 430 is provided with a turnover shaft in the Y direction, the turnover mechanism 430 is provided with a placing device 431 which rotates by taking the turnover shaft as an axis, after the placing device 431 clamps a floor tile which is transmitted by the transmission mechanism 300, the placing device 431 turns forwards to lay the clamped floor tile on the ground;

positioning mechanisms are respectively arranged on the laying frame and the turnover mechanism 430, and the two sets of positioning mechanisms are matched to provide positioning for laying the floor tiles.

According to the mobile robot 10 provided by the invention, the lifting mechanism 100 lifts the whole stacked floor tiles, then the clamping and pushing mechanism 200 clamps the floor tiles one by one and transfers the floor tiles to the conveying mechanism 300 to lay flat, the conveying mechanism 300 transfers the floor tiles laid flat to the laying mechanism 400, and the laying mechanism 400 lays the floor tiles on the ground in a flat manner. The whole process is completely and mechanically operated, so that the laying efficiency is greatly improved, and meanwhile, the required labor cost is reduced; meanwhile, when the floor tiles are laid, manual assistance is not needed, and operators do not need to participate in resurgence, so that the labor intensity of people is reduced.

The structure of the lifting mechanism 100 is further described below:

the lifting mechanism 100 is provided with a longitudinal lifting support 102 arranged at the tail part of the frame 11, the first transmission mechanism 104 is fixedly arranged at the bottom of the longitudinal lifting support 102, the lifting plate 103 is driven by the lifting device 120 on the longitudinal lifting support 102 to do lifting motion in the vertical direction of the first transmission mechanism 104, and the lifting plate 103 is provided with an open slot corresponding to the position of the first transmission mechanism 104 so that the lifting plate 103 can be lowered below the upper surface of the first transmission mechanism 104. A storage rack 130 is installed at the bottom of the rear side of the lifting rack, the front end of the storage rack 130 is rotatably connected to the bottom of the rear side of the longitudinal lifting rack 102, the storage rack 130 can be turned up and down and folded and stored by taking the front end as a rotation point, as shown in fig. 3b and 3c, a second transmission mechanism 132 is arranged on the storage rack 130; the warehouse rack 130 conveys the tiles stacked up and down forward in the X direction to the first transfer mechanism 104, and the first transfer mechanism 104 continues to transfer the tiles forward onto the lifting plate 103. A guard plate 101 is provided on the upper portion of the longitudinal lifting bracket 102.

In an alternative embodiment, lifting devices 120 are mounted on the longitudinal lifting bracket 102 on both sides of the lifting plate 103 in the Y direction, respectively, and each lifting device 120 includes a lifting cylinder 121 and a lifting chain 122. The lifting cylinder 121 is vertically fixed on the longitudinal lifting bracket 102; two ends of the lifting chain 122 are respectively fixedly connected to the lifting plate 103 and the top rod of the lifting cylinder 121, or two ends of the lifting chain 122 are respectively located at two sides of the lifting cylinder 121 and cross over the top rod of the lifting cylinder 121, one end of the lifting chain 122 is fixedly connected to the lifting plate 103, and the other end is fixed to the longitudinal lifting bracket 102 at one side of the lifting cylinder 121. The top rod of the lifting cylinder 121 slides upwards to drive the tail ends of the lifting chains 122 to move upwards, and the two groups of lifting chains 122 drive the middle lifting plate 103 to lift stably.

In an alternative embodiment, vertical guide channel steel rails 105 are disposed on the longitudinal lifting bracket 102 and located on both sides of the lifting plate 103, a lifting web 106 is slidably mounted on each vertical guide channel steel rail 105 up and down, and one end of the lifting chain 122 and the lifting plate 103 are fixedly connected to the lifting web 106.

In an alternative embodiment, the storage rack 130 is mounted at the bottom of the longitudinal lifting rack 102 through a self-resetting flip rack 131, and a spring support 135 is mounted at the bottom of the longitudinal lifting rack 102;

a limiting steel pipe 138 and a return spring 137 are installed at the bottom of the self-resetting overturning bracket 131, the limiting steel pipe 138 sequentially penetrates through the two baffles 136 on the back of the self-resetting overturning bracket 131 and is rotatably connected with the spring support 135, and the return spring 137 is sleeved on the limiting steel pipe 138 between the two baffles 136;

the storage rack 130 has a lateral width less than that of the longitudinal lifting rack 102, and the storage rack 130 is pivotally connected to the bottom center of the longitudinal lifting rack 102.

The lifting mechanism 100 adopts the principle of differential forklift lifting, a lifting cylinder 121 and a lifting chain 122 are combined and placed on the left side and the right side, one end of the chain is connected with a frame, the other end of the chain is connected with a brick body lifting plate 103, bearings are arranged on the left side and the right side of the lifting plate 103, and the lifting plate can roll up and down on a vertical guide channel steel rail 105. The storage rack 130 is provided with a second transmission mechanism 132, and the second transmission mechanism 132 is composed of rollers, a chain wheel and chain 133, a driving motor 134 and the like, so as to receive and transmit the bricks.

As shown in fig. 3a-3d, the design of the lifting mechanism 100 highlights: 1) The continuous supply of the brick bodies can be guaranteed through the design of the storage and lifting parts, the requirement of the front-end brick bodies is met, the efficiency is improved, and the structure is tight. 2) The lifting part can be designed to accurately lift the corresponding height according to the thickness of the brick body. 3) When fork truck placed the material in the design, correspond the storage riser with the double-layered mouth that fork truck both ends board formed, and the width of storage riser is far less than and presss from both sides a mouthful width, applicable in various fork truck, the big or small brick body of being convenient for is placed and is transported, and the operation is very convenient. 4) When the operation is accomplished to the storage material, the manual promotion of accessible stores in a warehouse riser, and 90 rotates upwards, packs up the storage part to vertical state, reduces whole car length, is convenient for transition and transportation. When the storage mechanism is horizontally placed, the storage outer frame and the frame can be automatically limited to support the horizontal state, and the spring assembly can be used for easily placing and folding the storage structure.

The structure of the gripper pusher 200 will be further described with reference to fig. 4a-4 f:

the forward moving guide rail 210 is provided with two first slide rails 211 with a length in the X direction, an upper rail 212 is arranged on the opposite inner side surface of the first slide rail 211, a lower lifting rail 213 located below the upper rail 212 is arranged on the first slide rail 211, the lower side edge of the lower lifting rail 213 is provided with a front and a rear inlet opening 213-1 with two downward openings, a front and a rear pair of first rollers 202 are mounted in each upper rail 212, a second roller 221 is fixed at the front and the rear ends of the two sides of the clamping device 220, respectively, the corresponding first roller 202 and second roller 221 are movably connected through a driven rod 230, a first traverse pushing cylinder 240 drives the first roller 202 to slide forward in the upper rail 212 to drive the clamping device 220 to traverse forward, and the first roller 202 drives the second roller 221 to enter the lower lifting rail 213 from the inlet opening 213-1 through the driven rod 230 in the forward sliding process, so as to raise the height of the clamping device 220.

In an alternative embodiment, the front and rear pairs of first rollers 202 in the upper rail 212 are both mounted on a lateral push plate 214, the lateral push plate 214 is fixedly connected to the top rod of the first lateral pushing cylinder 240, and the lateral push plate 214 is pushed by the first lateral pushing cylinder 240 to drive the front and rear pairs of first rollers 202 to roll back and forth in the upper rail 212.

The upper end and the lower end of the driven rod 230 are respectively hinged with the first roller 202 in the upper first slide rail 211 and the second roller 221 of the clamping device, and there are four hinge points, so as to form a parallel four-bar linkage mechanism (as shown by the rectangle broken line frame in fig. 4 d), that is, four corners of the clamping device are respectively movably connected below the first slide rail 211 through the connecting rod 230; the second roller 221 is rotatably mounted on the frame of the clamping device 220. During specific work, the first transverse pushing cylinder 240 drives the side push plate 214 to drive the first roller 202 to roll forward in the upper rail 212, the lower end of the driven rod 230 drives the clamping device 220 to form a parallel four-bar linkage mechanism to realize forward pushing of the whole clamping mechanism, before the clamping device 220 slides forward, the second roller 221 arranged on the clamping device 220 firstly enters the lower lifting rail 213 to lift the height of the clamping device 220, so that the height of a brick clamped by the clamping device is also lifted, friction between the clamped brick and a brick below the clamped brick is avoided, and the surface of the brick is scratched, as shown in fig. 4 e. The clamping device 220 is raised a little bit high and then advanced. Preferably, when the clamping device 220 is at the rearmost position of the stroke, both of the second rollers 221 are located right at the entrance of the lower lifting rail 213, so that the clamping device 220 is lifted and then slid forward.

As shown in fig. 4c, the clamping device 220 includes a clamping frame 223, the clamping frame 223 is mounted with a second slide rail 224 in the Y direction and a multi-link linkage mechanism, two clamping plates 225 capable of sliding relatively are disposed on the second slide rail 224, the multi-link linkage mechanism is composed of a middle swing rod 226 and two clamping links 227 hinged at two ends of the swing rod 226, the center of the swing rod 226 is rotatably connected to the clamping frame 223 through a swing rod center pin, and the other ends of the two clamping links 227 are respectively hinged with opposite surfaces of the two clamping plates 225; one end of the swing link 226 is hinged to the clamping driving cylinder 228, and the clamping driving cylinder 228 drives the multi-link linkage mechanism to drive the two clamping plates 225 to slide relatively or oppositely on the second slide rail 224 to clamp or release the floor tile.

By adopting the multi-link linkage mechanism, the two clamping plates 225 can slide relatively or oppositely on the second slide rail 224 to clamp or loosen the floor tile at the same time only by one clamping driving cylinder 228, so that the driving structure is simplified, and on the other hand, the movement of the two clamping plates 225 is synchronous, so that the clamping and loosening actions are more linear. Preferably, the opposing faces of the two clamping plates 225 are detachably mounted with rubber plates to protect the floor tile when clamping the floor tile.

In an alternative embodiment, the transfer mechanism 300 is a roller or belt based transport mechanism.

Referring now to FIGS. 6a-6f, the structure of paving mechanism 400 is further described below:

the main frame structure of the laying mechanism 400 is as follows: rear slide rail support plates 401 are arranged on two sides of the rear portion of the laying mechanism 400, front slide rail support plates 402 are arranged on two sides of the front portion of the laying mechanism, and support legs 404 and second support universal wheels 405 are arranged at the bottoms of the front slide rail support plates 402. The support feet 404 allow the laying mechanism 400 to remain parked and stable with the second support universal wheel 405 after the laying mechanism 400 has been removed from the mechanical boom 500. When the placing bracket 431-5 is drawn out after the road floor tiles are placed, the supporting legs of the mechanical arm can prop against the laid bricks to prevent the well-determined bricks from moving. The rear slide rail support plate 401 and the front slide rail support plate 402 are fixedly connected through a quick-release connection plate 403, and the laying mechanism 400 is detachably mounted between quick-release mounting brackets 531 on both sides through the quick-release connection plate 403.

Side frames 436 slidably engaged with the front rail support plate 402 are mounted on both sides of the turnover mechanism 430, i.e., the side frames 436 can drive the turnover mechanism 430 to slide back and forth, and the turnover mechanism 430 can rotate on the side frames 436. The rear rail support plate 401 is connected to the side frames 436 via the horizontal telescopic cylinder 406, and the side frames 436 and the turnover mechanism 430 thereof are moved forward and backward in the X direction by the horizontal telescopic cylinder 406.

As shown in fig. 6e-6f, the turning mechanism 430 is further provided with a strickle mechanism 432 and a roller mechanism 433 which rotate around the turning shaft as an axis, the strickle mechanism 432, the roller mechanism 433 and the placing device 431 synchronously rotate around the turning shaft as an axis, and the turning shaft is a turning cylinder 434. The structure and operation of the striking mechanism 432 and the rolling mechanism 433 will be further described below:

the scraping mechanism 432 is provided with a sawtooth scraper, the scraper is in inclined contact with the ground by the overturning of the scraping mechanism 432, and the horizontal telescopic cylinder 406 drives the overturning mechanism 430 to move back and forth integrally to scrape the ground. Wherein, through the scraper blade of adjustment or change different width to be suitable for different width brick bodies. The leveling mechanism 432 is positioned by the positioning mechanism to enable the paving mechanism 400 to reach a preset position, the overturning oil cylinder 434 is used for overturning to realize leveling of the initial position of the leveling mechanism 432, and then the horizontal telescopic cylinder 406 drives the overturning mechanism 430 to horizontally move back and forth in the X direction, so that the ground leveling purpose is realized.

The rolling mechanism 433 is provided with a rolling wheel with a convex rib on the outer diameter, the rolling wheel is contacted with the upper surface of the laid floor tile through the overturning of the rolling mechanism 433, and the horizontal telescopic cylinder 406 drives the overturning mechanism 430 to move back and forth so as to roll the laid floor tile. The outer diameter of the rolling wheel is provided with convex ribs, and the brick body is compacted by rolling and beating.

As shown in fig. 6d, a first laser emitter 421 is mounted at the front end of the front rail support plate 402 on both sides, and a second laser emitter 422 is mounted at the front end of the side frame 436 on both sides; each first laser emitter 421 is configured to emit first positioning laser 421-1 intersecting in a cross shape to the ground right below the first laser emitter 421 on the other side, the second laser emitter 422 is configured to emit second positioning laser 422-1 intersecting in a cross shape perpendicular to the ground, and is configured to perform preliminary positioning, the turnover mechanism 430 drives the second laser emitter 422 to move forward when sliding forward, and the positioning for paving the floor tile is determined by the coincidence of the second positioning laser 422-1 and the first positioning laser 421-1. The colors of the first positioning laser 421-1 and the second positioning laser 422-1 are different, so that the user can determine whether the first positioning laser 421-1 and the second positioning laser 422-1 on the same side of the ground are overlapped.

Preferably, the angles of the two first laser emitters 421 on the front rail support plate 402 are adjustable, so that the included angle between the first positioning laser 421-1 and the ground can be changed, and the distance between the two first positioning lasers 421-1 can be adjusted to adapt to the positioning of floor tiles with different widths.

The laser positioning mechanism controls the laying mechanism 400 to be kept horizontal at any time through the mechanical movable arm, and carries out longitudinal and transverse positioning on the laying mechanism 400 based on the laser positioning principle, and the positioning principle is as follows:

because the two groups of laser positioning devices are arranged on the left side and the right side of the frame, the two groups of laser positioning devices are symmetrically arranged in the left-right direction. One group of first laser transmitters 421 fixed on front slide rail support plates 402 on two sides of the front end of the laying frame are fixedly connected with a mechanical movable arm and are used for positioning the whole vehicle, when the next brick body is laid, the two groups of first laser transmitters 421 of the whole vehicle emit cross-shaped first positioning laser 421-1 to the ground on the opposite side, the position of the whole vehicle is roughly positioned by using the laid brick body or marked lines and the like as marks, the position deviation is ensured to be within a specified range, and preparation is made for adjusting the position of the front laying mechanism 400; the other group is a second laser emitter 422 fixed on the side frame 436 of the turnover mechanism 430, the second laser emitter 422 moves synchronously with the side frame 436 and the turnover mechanism 430, after the whole machine stops, before links of scraping, paving and compacting, the second laser emitter 422 emits two beams of left and right cross-shaped second positioning lasers 422-1 perpendicular to the ground, when the second positioning lasers 422-1 on the same side are basically overlapped with the first positioning lasers 421-1, the placement position can be judged in advance, and the laying position can be positioned only by carrying out position adjustment in a small range, so that laid bricks are more tidy.

As shown in FIG. 6f, the placement device 431 is provided with a clamping fixing frame 431-1, one side of the clamping fixing frame 431-1 is provided with a support plate 431-4, the clamping fixing frame 431-1 is provided with a Y-direction adjusting guide rail 431-2, the adjusting guide rail 431-2 is provided with a bracket 431-5 on the same side as the support plate, the bracket 431-5 is connected with the clamping fixing frame 431-1 through a fine adjustment cylinder 431-3 to adjust the position of the bracket 431-5 in the Y direction, and transverse fine adjustment positioning can be achieved when the paving mechanism 400 places the road floor tiles.

A plurality of X-direction support plates 407 are mounted on the rear rail support plate 401, and rollers are provided on the support plates 407. The supporting plate 407 serves as a brick transfer function, and the transfer mechanism 300 transfers the floor tiles forward in the X direction through the supporting plate 407 to between the pallet 431-4 and the bracket 431-5.

The paving mechanism 400 of the present invention is an infrared laser positioning paving system that integrates leveling, placement, and compaction. When paving the pavement bricks, the paving mechanism 400 first screeds the ground under the guidance of the positioning mechanism, then places the floor tiles and compacts the floor tiles. The strickle mechanism 432, the placing device 431 and the rolling mechanism 433 are all connected with an overturning oil cylinder 434, the overturning oil cylinder 434 is installed on a side frame 436 through an overturning oil cylinder supporting plate 435, and the strickle mechanism 432, the placing device 431 and the rolling mechanism 433 are overturned by more than 180 degrees along with the overturning oil cylinder 434 by the overturning oil cylinder 434.

Referring now to fig. 5a-5b, the structure of the mechanical boom 500 is further described:

the left side and the right side of the front part of the frame 11 are symmetrically provided with a mechanical movable arm 500, the two mechanical movable arms 500 are fixedly connected through a connecting rod 540, the left side and the right side of the front part of the frame 11 are fixedly provided with a vertical guide rail 501 and a horizontal guide rail 503, the vertical guide rail 501 is provided with a vertical sliding block support 502 which slides up and down, and the horizontal guide rail 503 is provided with a horizontal sliding block 504 which slides horizontally; the vertical slide mount 502 is connected to a vertical jack 505 fixed to the front of the frame 11, and the horizontal slide 504 is connected to a horizontal pusher 506 fixed to the front of the frame 11. The vertical jacking mechanism 505 and the horizontal pushing mechanism 506 are any one of an air cylinder, a hydraulic oil cylinder, an electric push rod and a screw pair.

The mechanical movable arm 500 comprises a longitudinal supporting leg 530, a horizontal upper arm 510 and a horizontal lower arm 520, wherein the front ends of the upper arm 510 and the lower arm 520 are hinged with the supporting leg 530, the rear end of the upper arm 510 is hinged on the vertical slider support 502, the lower arm 520 is fixedly connected with the horizontal slider 504, and the rear end of the lower arm 520 is movably connected with the upper arm 510 through a connecting rod supporting arm 521. As shown in fig. 5b, the upper arm 510, the lower arm 520, the leg 530 and the link support arm 521 form a parallelogram structure (shown by dotted lines), which has an advantage in that the front leg can be better controlled by the rear vertical lift mechanism 505 and the horizontal push mechanism 506. Quick-release mounting bracket 531 is installed at the bottom of landing leg 530, a swing cylinder 532 is connected between quick-release mounting bracket 531 and landing leg 530, and a quick-release first support universal wheel 533 is installed at the bottom of quick-release mounting bracket 531.

As shown in FIG. 5c, the quick release mounting bracket 531 is provided with two rotating shafts, the first rotating shaft is mounted on the supporting leg 530 through a pin 531-2, the second rotating shaft 531-6 is hinged to the swing rod of the swing cylinder 532, and the swing cylinder 532 drives the quick release mounting bracket 531 to rotate around the pin 531-2.

The quick-release mounting bracket 531 is provided with two triangular plates 531-1 which are arranged in parallel, three vertexes of the two triangular plates 531-1 are fixedly connected through connecting columns, a first connecting column is coaxially arranged with a pin roll 531-2, the other two connecting columns 531-7 are used for being connected with a bayonet reserved by a laying mechanism, and a second rotating shaft 531-6 is arranged between the two connecting columns; one of the second connecting columns is an optical axis 531-7, the other second connecting column is a locking shaft 531-3 with a non-circular section, one end of the locking shaft 531-3 is fixedly connected with a handle 531-4, two reserved bayonets of the laying mechanism are clamped on the optical axis 531-7 and the locking shaft 531-3 respectively, and then the handle 531-4 is rotated to enable the locking shaft 531-3 to rotate so as to clamp the laying mechanism, so that the laying mechanism is fixedly connected with the quick-release mounting bracket 531 in a locking manner. A buckle 531-5 for fixing the handle 531-4 is arranged on the outer side surface of one triangular plate and is used for keeping the handle 531-4 fixed in a locking state.

The mechanical boom 500 may enable longitudinal and vertical positioning of and provide support for the front mounted paving mechanism 400. The vertical jacking mechanism 505, the horizontal pushing mechanism 506 and the swinging cylinder 532 of the mechanical boom 500 cooperate to ensure that the front-end laying mechanism 400 is always kept in a horizontal state, thereby facilitating ground leveling, floor tile placement, floor tile rolling and the like.

Quick detach installing support 531 is installed to landing leg 530 bottom, is convenient for and lays the quick detach connection of quick detach connecting plate 403 on the mechanism 400 main body frame, and through the flexible of swing cylinder 532, the angle of adjustable quick detach installing support 531 is convenient to fix a position fast and combine with the connection structure of laying mechanism 400, realizes quick installation and dismantlement.

In other embodiments, the paving mechanism 400 can be detached from the mechanical movable arm 500 and replaced with another mechanism, for example, the paving mechanism 400 for paving floor tiles is replaced with a mechanism for paving curb stones, so as to meet different brick paving requirements, and meanwhile, the structures of the lifting mechanism 100, the clamping and pushing mechanism 200 and the conveying mechanism 300 on the frame do not need to be changed, so that the expansibility of the invention is stronger.

The working process of the present invention is explained in detail below:

first, we stack the tiles 01 on the forks of a forklift, and the front and back sides of the stacked tiles 01 are in contact. Then we put down the warehouse rack 130 to be horizontal and drive the fork truck to transfer the stacked floor tiles to the warehouse rack 130, because the warehouse rack 130 is rotatably connected to the bottom center of the longitudinal lifting rack 102, a space for the fork to advance is formed on both sides of the warehouse rack 130, and the warehouse rack 130 can extend into the open center of the fork when the fork truck travels near the mobile robot 10 of the flat brick. The forklift unloads the tiles and leaves after driving into position.

The storage rack 130 is provided with a second conveying mechanism 132 of a roller or a belt, and the second conveying mechanism 132 conveys the stacked floor tiles 01 forward to the lifting plate 103. The rods of the lifting devices 120 on both sides of the lifting plate 103 slide upwards, and the rods move upwards through the lifting chains 122 to drive the lifting webs 106 on both sides to move upwards steadily, so as to lift the lifting plate 103 at the height shown in fig. 3 b.

The clamping device 220 of the clamping and pushing mechanism 200 slides backwards to the rear direction of the vehicle, the clamping plate 225 clamps and fixes the left end and the right end of the uppermost floor tile 01, and then the clamping device 220 moves towards the front direction of the vehicle. In the process of forward sliding of the clamping device 220, the second roller 221 slides into the lower lifting rail 213 to lift the height thereof, so that the clamping device 220 slightly lifts the height of the floor tile 01 while driving the floor tile 01 to move forward, thereby preventing the clamped floor tile 01 from scraping the floor tile 01 on the lifting plate 103, and further preventing the appearance of the floor tile 01 from being affected.

When the clamping device 220 slides on the forward rail 210 to above the transfer mechanism 300, the two clamping plates 225 are released, and the floor tile 01 falls to the transfer mechanism 300, and the transfer mechanism 300 continues to convey the floor tile 01 lying flat forward.

After the carriage moves to the designated position of the paving area, the position of the paving mechanism 400 is positioned by the positioning mechanism 320, the turnover cylinder 434 drives the turnover mechanism 430 to turn over integrally, so that the sawtooth scrapers of the scraping mechanism 432 are in inclined contact with the ground, and then the horizontal telescopic cylinder 406 drives the turnover mechanism 430 to move back and forth integrally on the frame to scrape the ground, as shown in fig. 6 g.

After the floor is leveled, the floor tiles transferred by the transfer mechanism 300 are transferred between the pallet 431-4 and the bracket 431-5 through the support plate 407, so that the tiles are held by the placing mechanism 431. Then, the turnover cylinder 434 drives the turnover mechanism 430 to turn over integrally, so that the placement mechanism 431 with the brick clamped on the rear side turns over to the front side and becomes horizontal, as shown in fig. 6h-6i, then the horizontal telescopic cylinder 406 drives the turnover mechanism 430 to retreat, the bracket 431-5 is pulled out from the gap between the floor tile 01 and the ground, and at this time, the floor tile 01 is laid on the ground.

Then, the turnover cylinder 434 drives the turnover mechanism 430 to turn over integrally, so that the rolling wheel contacts with the upper surface of the laid floor tile by turning over of the rolling mechanism 433, and then the horizontal telescopic cylinder 406 drives the turnover mechanism 430 to move back and forth, so that the rolling wheel performs rolling operation on the upper surface of the laid floor tile back and forth, as shown in fig. 6 j.

After the rolling is completed, the horizontal telescopic cylinder 406 drives the turnover mechanism 430 to retract to the initial position, and the turnover cylinder 434 drives the turnover mechanism 430 to turn over to a state where the placement mechanism 431 is connected to the conveying mechanism 300 (i.e., to return to the state of fig. 6 e). And then the vehicle body moves to the next brick laying position, and two sets of positioning mechanisms are used for positioning to ensure that the laid bricks fall into the specified positions.

Mechanical boom 500 is used to provide support for paving mechanism 400. When the mobile robot for the flat brick is in a non-laying working state, the mechanical movable arm 500 slides upwards on the vertical guide rail 501 to drive the laying mechanism 400 to leave the ground to suspend, so that the effect of protecting the laying mechanism 400 is achieved; when the mobile robot for the flat bricks moves to a designated position, the mechanical arm 500 descends, and the horizontal pushing mechanism 506 drives the supporting leg 530 to move horizontally back and forth, so as to adjust the position of the laying mechanism 400 at the bottom of the mechanical arm 500.

The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed solution, or modify the equivalent embodiments with equivalent variations, without departing from the scope of the solution, without thereby affecting the spirit of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.

Claims (16)

1. A mobile robot for paving floor tiles is characterized in that a lifting mechanism (100) and a clamping and pushing mechanism (200) are mounted at the tail of a vehicle frame (11), a multi-shaft mechanical movable arm (500) is mounted at the front of the vehicle frame (11), a paving mechanism (400) is mounted on the mechanical movable arm (500), and a conveying mechanism (300) located between the paving mechanism (400) and the clamping and pushing mechanism (200) is mounted on the vehicle frame (11);

the lifting mechanism (100) is provided with a first transmission mechanism (104), a lifting plate (103) and a lifting device (120), wherein the first transmission mechanism (104) transfers a plurality of floor tiles stacked up and down to the lifting plate (103) and the lifting device (120) drives the lifting plate (103) to lift upwards;

the clamping and pushing mechanism (200) comprises a forward moving guide rail (210) and a clamping device (220) installed on the forward moving guide rail (210) in a sliding mode, the clamping device (220) clamps the topmost floor tile lifted to the top and conveys the topmost floor tile forwards in the X direction, then releases the floor tile and lays on the conveying mechanism (300), and the floor tile is conveyed forwards in the X direction to the laying mechanism (400) by the conveying mechanism (300);

the paving mechanism (400) is provided with a paving frame fixedly connected with the mechanical movable arm (500), a turnover mechanism (430) which slides back and forth in the X direction is installed on the paving frame, the turnover mechanism (430) is provided with a Y-direction turnover shaft, the turnover mechanism (430) is provided with a placing device (431) which rotates by taking the turnover shaft as an axis, after the placing device (431) clamps a floor tile conveyed by the conveying mechanism (300), the placing device (431) turns forwards to lay the clamped floor tile on the ground;

a group of positioning mechanisms are respectively arranged on the laying frame and the turnover mechanism (430), and the two groups of positioning mechanisms are matched to provide positioning for floor tile laying.

2. The mobile robot for laying floor tiles according to claim 1, wherein the lifting mechanism (100) is provided with a longitudinal lifting support (102) installed at the rear part of the frame (11), the first transmission mechanism (104) is fixedly installed at the bottom of the longitudinal lifting support (102), the lifting plate (103) is driven by the lifting device (120) on the longitudinal lifting support (102) to perform lifting motion in the vertical direction of the first transmission mechanism (104), and the lifting plate (103) is provided with an open slot corresponding to the position of the first transmission mechanism (104) so that the lifting plate (103) can be lowered below the upper surface of the first transmission mechanism (104);

a storage bracket (130) is mounted at the bottom of the rear side of the lifting bracket, the front end of the storage bracket (130) is rotatably connected to the bottom of the rear side of the longitudinal lifting bracket (102), the storage bracket (130) can be turned up and down and folded for storage by taking the front end as a rotating point, and a second transmission mechanism (132) is arranged on the storage bracket (130);

the storage rack (130) conveys the floor tiles stacked up and down forwards to the first conveying mechanism (104) in the X direction, and the first conveying mechanism (104) continuously conveys the floor tiles forwards to the lifting plate (103).

3. The mobile robot for laying floor tiles according to claim 2, wherein lifting devices (120) are installed on the longitudinal lifting support (102) at both sides of the lifting plate (103) in the Y direction, respectively, each lifting device (120) comprising:

a lifting cylinder (121), the lifting cylinder (121) being vertically fixed on the longitudinal lifting bracket (102);

the two ends of the lifting chain (122) are respectively fixedly connected with the lifting plate (103) and the mandril of the lifting cylinder (121), or

Two ends of the lifting chain (122) are respectively positioned at two sides of the lifting cylinder (121) and cross the ejector rod of the lifting cylinder (121), one end of the lifting chain (122) is fixedly connected with the lifting plate (103), and the other end of the lifting chain is fixed on the longitudinal lifting support (102) at one side of the lifting cylinder (121).

4. The mobile robot for laying floor tiles according to claim 3, wherein vertical guide channel rails (105) are provided on the longitudinal lifting bracket (102) at both sides of the lifting plate (103), a lifting web (106) is slidably mounted on each vertical guide channel rail (105) up and down, and one end of the lifting chain (122) and the lifting plate (103) are fixedly connected to the lifting web (106).

5. The mobile robot for laying floor tiles according to claim 2, characterized in that the warehouse rack (130) is mounted at the bottom of the longitudinal lifting rack (102) through a self-resetting flip rack (131), and a spring support (135) is mounted at the bottom of the longitudinal lifting rack (102);

the bottom of the self-resetting overturning support (131) is provided with a limiting steel pipe (138) and a return spring (137), the limiting steel pipe (138) sequentially penetrates through two baffles (136) on the back of the self-resetting overturning support (131) and is rotatably connected with the spring support (135), and the return spring (137) is sleeved on the limiting steel pipe (138) between the two baffles (136);

the transverse width of the storage rack (130) is smaller than that of the longitudinal lifting rack (102), and the storage rack (130) is rotatably connected to the bottom center of the longitudinal lifting rack (102).

6. The mobile robot for laying floor tiles as claimed in claim 1, wherein the forward moving guide rail (210) is provided with two first sliding rails (211) having a length in the X direction, upper rails (212) are provided at opposite sides of the first sliding rails (211), a lower lifting rail (213) is provided on the first sliding rails (211) and below the upper rails (212), the lower lifting rail (213) is provided with a front inlet opening (213-1) and a rear inlet opening (213-1) having a downward opening, a front pair of front and rear first rollers (202) are installed in each upper rail (212), a second roller (221) is fixed at front and rear ends of both sides of the gripping device (220), the corresponding first roller (202) and the second roller (221) are movably connected through a driven rod (230), the first traverse pushing cylinder (240) drives the first roller (202) to slide forward in the upper rail (212) to drive the gripping device (220) to traverse forward, the first roller (202) drives the second roller (221) to enter the lower rail (213-1) through the driven rod (230) during the forward sliding process, and the height of the first roller (202) is increased by the lower lifting device (213-1);

the clamping device (220) comprises a clamping frame (223), the clamping frame (223) is provided with a second slide rail (224) in the Y direction and a multi-connecting-rod linkage mechanism, two clamping plates (225) capable of sliding relatively are arranged on the second slide rail (224), the multi-connecting-rod linkage mechanism is composed of a middle swing rod (226) and two clamping connecting rods (227) hinged to two ends of the swing rod (226), the center of the swing rod (226) is rotatably connected to the clamping frame (223) through a swing rod center pin, and the other ends of the two clamping connecting rods (227) are respectively hinged to opposite surfaces of the two clamping plates (225);

one end of the swing rod (226) is hinged with the clamping driving cylinder (228), and the clamping driving cylinder (228) drives the multi-link linkage mechanism to drive the two clamping plates (225) to slide relatively or oppositely on the second slide rail (224) so as to clamp or loosen the floor tile.

7. The mobile robot for laying floor tiles of claim 6, wherein a pair of front and rear first rollers (202) in the upper rail (212) are installed on a side push plate (214), the side push plate (214) is fixedly connected to a top rod of the first traverse propulsion cylinder (240), and the first traverse propulsion cylinder (240) pushes the side push plate (214) to drive the first rollers (202) to roll back and forth in the upper rail (212).

8. The mobile robot for laying floor tiles according to claim 1, wherein the transfer mechanism (300) is a roller or belt based transfer mechanism.

9. The mobile robot for laying floor tiles according to claim 1, wherein one mechanical arm (500) is symmetrically installed at the left and right sides of the front part of the frame (11), the two mechanical arms (500) are fixedly connected with each other through a connecting rod (540), a vertical guide rail (501) and a horizontal guide rail (503) are fixed at the left and right sides of the front part of the frame (11), a vertical slider support (502) which slides up and down is installed on the vertical guide rail (501), a horizontal slider (504) which slides horizontally is installed on the horizontal guide rail (503), the vertical slider support (502) is connected with a vertical jacking mechanism (505) fixed at the front part of the frame (11), and the horizontal slider (504) is connected with a horizontal pushing mechanism (506) fixed at the front part of the frame (11);

the mechanical movable arm (500) comprises longitudinal supporting legs (530), a horizontal upper arm (510) and a horizontal lower arm (520), the front ends of the upper arm (510) and the lower arm (520) are hinged to the supporting legs (530), the rear end of the upper arm (510) is hinged to the vertical slider support (502), the lower arm (520) is fixedly connected with the horizontal slider (504), the rear end of the lower arm (520) is movably connected with the upper arm (510) through a connecting rod supporting arm (521), and the upper arm (510), the lower arm (520), the supporting legs (530) and the connecting rod supporting arm (521) which are hinged to the front end and the rear end form a parallel four-bar linkage mechanism;

quick detach installing support (531) is installed to landing leg (530) bottom, be connected with a swing cylinder (532) between quick detach installing support (531) and landing leg (530) quick detach's first support universal wheel (533) of quick detach formula are installed to quick detach installing support (531) bottom.

10. The mobile robot for laying floor tiles according to claim 9, wherein the quick release mounting bracket (531) has two rotating shafts, the first rotating shaft is mounted on the supporting leg (530) through a pin (531-2), the second rotating shaft (531-6) is hinged to a swing link of a swing cylinder (532), and the swing cylinder (532) drives the quick release mounting bracket (531) to rotate around the pin (531-2); the quick-release mounting bracket (531) is provided with two triangular plates (531-1) which are arranged in parallel, three vertexes of the two triangular plates (531-1) are fixedly connected through connecting columns, a first connecting column and the pin shaft (531-2) are coaxially arranged, the other two second connecting columns (531-7) are used for being connected with bayonet reserved by the laying mechanism, and a second rotating shaft (531-6) is arranged between the two connecting columns;

one of the second connecting columns is an optical axis (531-7), the other second connecting column is a locking shaft (531-3) with a non-circular cross section, one end of the locking shaft (531-3) is fixedly connected with a handle (531-4), two bayonets of the quick-release mounting bracket (531) are respectively clamped on the second connecting columns and rotate the handle to enable the laying mechanism and the quick-release mounting bracket (531) to be fixedly connected in a locking manner, and a buckle (531-5) used for fixing the handle (531-4) is arranged on the outer side face of one triangular plate.

11. The mobile robot for laying floor tiles according to claim 1, wherein the laying frame is composed of a front rail support plate (402) at the front side and a rear rail support plate (401) at the rear side, the rear rail support plate (401) and the front rail support plate (402) are fixedly connected through a quick-release connection plate (403), the laying mechanism (400) is detachably mounted on the mechanical movable arm (500) through the quick-release connection plate (403), and a support foot (404) and a second support universal wheel (405) are arranged at the bottom of the front rail support plate (402);

and side frames (436) which are in sliding fit with the front sliding rail supporting plate (402) are installed on two sides of the turnover mechanism (430), the turnover mechanism (430) can rotate on the side frames (436), and the rear sliding rail supporting plate (401) is connected with the side frames (436) through a horizontal telescopic cylinder (406).

12. The mobile robot for laying floor tiles of claim 11, wherein the turning mechanism (430) is further provided with a striking mechanism (432) and a rolling mechanism (433) which rotate around the turning shaft, the striking mechanism (432), the rolling mechanism (433) and the placing device (431) rotate synchronously around the turning shaft, and the turning shaft is a turning cylinder (434);

the scraping mechanism (432) is provided with a sawtooth scraper blade, the sawtooth scraper blade is obliquely contacted with the ground by the turnover of the scraping mechanism (432), the horizontal telescopic cylinder (406) drives the turnover mechanism (430) to move back and forth, and the sawtooth scraper blade scrapes the ground,

the rolling mechanism (433) is provided with a rolling wheel with a convex rib on the outer diameter, the rolling wheel is contacted with the upper surface of the laid floor tile by the overturning of the rolling mechanism (433), the horizontal telescopic cylinder (406) drives the overturning mechanism (430) to move back and forth, and the rolling wheel performs rolling operation on the laid floor tile.

13. The mobile robot for laying floor tiles according to claim 11, wherein a first laser emitter (421) is installed at the front end of the front rail support plate (402) of both sides, and a second laser emitter (422) is installed at the front end of the side frame (436) of both sides;

each first laser emitter (421) is used for emitting crossed first positioning laser to the ground right below the first laser emitter (421) on the other side, each second laser emitter (422) is used for emitting crossed second positioning laser perpendicular to the ground, and the laying position of the floor tile is determined through the superposition of the second positioning laser and the first positioning laser;

the included angle between the first positioning laser emitted by the two first laser emitters (421) and the ground is adjustable so as to adjust the distance between the two first positioning lasers.

14. The mobile robot for laying floor tiles according to claim 12, wherein the placement device (431) is provided with a clamping and fixing frame (431-1), a supporting plate (431-4) is arranged on one side of the clamping and fixing frame (431-1), a Y-direction adjusting guide rail (431-2) is arranged on the clamping and fixing frame (431-1), a bracket (431-5) on the same side of the supporting plate is arranged on the adjusting guide rail, and the bracket (431-5) is connected with the clamping and fixing frame (431-1) through a fine adjustment cylinder (431-3) to adjust the position of the bracket (431-5) in the Y direction;

a plurality of X-direction supporting plates (407) are mounted on the rear slide rail supporting plate (401), and rollers are arranged on the supporting plates (407);

the conveying mechanism (300) conveys the floor tiles forwards in the X direction through the supporting plate (407) to be transferred between the pallet (431-4) and the bracket (431-5).

15. A method for laying floor tiles based on a mobile robot according to any one of claims 1 to 14, comprising the steps of:

transferring the floor tiles stacked up and down onto the lifting plate (103), and driving the lifting plate (103) to be lifted upwards by the lifting device (120);

the clamping device (220) clamps two ends of a floor tile Y at the uppermost layer of the lifting plate (103), conveys the floor tile forward in the X direction, then releases the floor tile Y and lays on the conveying mechanism (300), and the floor tile is conveyed forward in the X direction to the laying mechanism (400) by the conveying mechanism (300);

the placing device (431) clamps the floor tiles conveyed by the conveying mechanism (300), the placing device (431) turns forwards around the turning shaft as an axis, and the clamped floor tiles are laid on the ground;

the turnover mechanism (430) retracts in the X direction to draw the placement device (431) out of the gap between the floor tile and the ground, and then the placement device (431) turns backwards to return.

16. The method of claim 15, wherein the method further comprises:

before the placing device (431) clamps the floor tiles, the sawtooth scrapers are in inclined contact with the ground by the overturning of the scraping mechanism (432), and the ground is scraped by the back and forth movement of the overturning mechanism (430); and

after the floor tiles are laid and the placement device (431) is pulled out from a gap between the floor tiles and the ground, the rolling wheels are contacted with the upper surfaces of the laid floor tiles through the overturning of the rolling mechanism (433), and the overturning mechanism (430) moves back and forth to roll the laid floor tiles; wherein,

the scraping mechanism (432) and the rolling mechanism (433) are fixedly mounted on the turnover mechanism (430), and the scraping mechanism (432), the rolling mechanism (433) and the placement device (431) rotate synchronously around the turnover shaft serving as an axis.

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