CN116986303A - Floor tile batch arrangement equipment - Google Patents

Abstract

The invention provides floor tile batch arrangement equipment, and relates to the field of construction equipment. The floor tile batch arrangement equipment comprises a travelling mechanism, wherein a lifting rotating mechanism is arranged at the upper end of the travelling mechanism, a mechanical arm is fixedly connected to the lifting rotating mechanism, and a mechanical arm is fixedly connected to the other end of the mechanical arm; the manipulator comprises a fixed plate and a movable plate which are mutually attached, wherein two adjacent edges of the movable plate are provided with sliding grooves, and the front end of the push-pull rod is fixedly connected with two stop blocks; the lower extreme fixedly connected with of fixed plate is by the frame that two horizontal members and two vertical members made up, the tip below fixedly connected with metal shrapnel of member, the equal fixedly connected with pressure sensor in both ends lower part of metal shrapnel, the tip of member is fixedly connected with electronic gyroscope, strikes hammer and sucking disc in proper order. The mechanical arm can be finely adjusted vertically and horizontally, and simultaneously, the gesture of the floor tile can be obtained by means of the pressure sensor and the electronic gyroscope.

Description

Floor tile batch arrangement equipment

Technical Field

The invention relates to the technical field of construction equipment, in particular to floor tile batch arrangement equipment.

Background

The floor tile is a floor decorating material, also called a floor tile. Is prepared by firing clay. The specification is various. It is firm, pressure-resistant, wear-resistant and moisture-proof. Some are glazed, and have a decorative effect.

The floor tile has various specifications, but the specifications of the floor tile used indoors are generally square floor tiles with the specifications of 60 cm-80 cm. The existing paving modes are divided into two modes, namely a dry paving method and a wet paving method. The dry laying method is to remove floating sand and sundries after the base layer is watered and wet. And (3) plastering a bonding layer, namely paving and leveling the bonding layer by using dry cement mortar with a ratio of three, putting the brick on the mortar according to a horizontal line, compacting by using a rubber hammer, taking down the floor brick, plastering the cement mortar, and putting the floor brick into a solid state and leveling. Wet-laid processes differ from dry-laid processes in that a one-to-three dry cement mortar is replaced with normal water and cement mortar. Compared with a wet paving method, the dry paving method can effectively avoid the phenomena of bubbles, hollows and the like caused in the paving process of floor tiles, but is inconvenient to manually carry due to the fact that the floor tiles are large in size and heavy in size. There are also tiles of small size which, although relatively small in size and relatively light in weight, are laid over a large number of tiles that are used in the same area, with a high degree of labor being repeated.

Most of the existing floor tile paving devices are in an auxiliary mode, namely, are used for transferring the floor tiles, and particularly, the smooth paving of the floor tiles is finished manually. There are also related devices capable of automatically completing the laying of the tile, such as the "BIM-based tile automatic laying device" as the main patent title, and the "CN202010508327.5" patent application, in which the tile is to be adsorbed by the vacuum chuck and transferred to the laying place by the main motor, the second servo cylinder, etc. parts, but the structure is simpler, and no related fine tuning structure is provided, so that the placement position of the tile is determined by the position of the chassis of the whole device, the chassis is shifted by four mecanum wheels, and the tile laying requires higher precision, and has higher requirements on the control precision of the mecanum wheels. Meanwhile, the floor tile can be placed only, a floor tile leveling and tamping mechanism is not arranged, and the paving effect of the floor tile cannot be determined.

Disclosure of Invention

(one) solving the technical problems

Aiming at the defects of the prior art, the invention provides a floor tile batch arrangement device, which solves the problem of poor paving effect of the existing floor tile paving device.

(II) technical scheme

In order to achieve the above purpose, the invention is realized by the following technical scheme: the floor tile batch arrangement equipment comprises a travelling mechanism, wherein a lifting rotating mechanism is arranged at the upper end of the travelling mechanism, a mechanical arm is fixedly connected to the lifting rotating mechanism, a mechanical arm is fixedly connected to the other end of the mechanical arm, floor tiles can be placed on the travelling mechanism, and then the floor tiles can be taken and placed by means of the lifting rotating mechanism, the mechanical arm and the mechanical arm;

the manipulator comprises a fixed plate and a movable plate which are mutually attached, wherein two adjacent sides of the movable plate are respectively provided with a sliding groove, two electric cylinders are fixedly connected to the fixed plate, the adjacent sides of the electric cylinders are arranged, the output end of each electric cylinder is fixedly connected with a push-pull rod, the front end of each push-pull rod is fixedly connected with two stop blocks, one stop block is positioned in the sliding groove, the other stop block is tightly attached to the edge of the movable plate, and the manipulator can deviate in two directions;

the lower extreme fixedly connected with of fixed plate is by the frame that two horizontal members and two vertical member combinations formed, the tip below fixedly connected with metal shrapnel of member to metal shrapnel is "nearly" shape structure, the equal fixedly connected with pressure sensor in both ends lower part of metal shrapnel, the tip of member is fixedly connected with electron gyroscope in proper order, strikes hammer and sucking disc, electron gyroscope is located directly over the metal shrapnel, and the ground tile is held with the mode of negative pressure through the sucking disc, conveniently transports, and the pressure sensor, electron gyroscope and the striking hammer that set up are used for installing the ground tile.

Preferably, the middle part fixedly connected with spliced pole in the upper end of fly leaf, the tip fixed connection of spliced pole upper end and arm, the top lid of fly leaf is covered and is provided with the open-ended apron in the middle part, the edge and the fixed plate fixed connection of apron show the concrete connected mode of arm and manipulator promptly.

Preferably, the upper end surface and the lower end surface of the movable plate are movably embedded into the first ball, the stop block is movably embedded into the second ball, and the second ball is contacted with the movable plate, so that the fluency of the movement of the manipulator is improved.

Preferably, the knocking hammer comprises a shell, a coil is fixedly connected to the inner wall of the shell, a magnet is inserted in the middle of the coil, a connecting rod is fixedly connected to the lower end of the magnet, a rubber hammer head is fixedly connected to the lower end of the connecting rod, the coil is electrified to generate an alternating magnetic field and acts with the magnet to realize the up-and-down motion of the coil, and the rubber hammer head connected with the coil acts up-and-down.

Preferably, the baffle is sleeved on the connecting rod, a spring is arranged below the baffle, the lower end of the spring props against the inner wall of the shell, and the spring is used for buffering and simultaneously keeping the high-position state of the rubber hammer.

Preferably, the travelling mechanism comprises a bottom plate, two first motors are arranged below the bottom plate, motor shafts are arranged at two ends of the first motors in an extending mode, belt wheels are fixedly connected to the motor shafts, the belt wheels on the same side are sleeved with crawler belts, the bottom plate is erected on the motor shafts, a power box is further arranged below the bottom plate, and a storage battery is arranged in the power box and used for supplying power to the device; the air pump realizes the negative pressure adsorption of the sucker and is also provided with a logic control module for controlling the action of the device.

Preferably, the lifting rotating mechanism comprises a supporting tube, a second motor is arranged at the lower end of the supporting tube, a screw is fixedly connected to the output end of the second motor and is inserted into the supporting tube, a thread bush is arranged in the supporting tube and is in threaded fit with the screw, the second motor works, the screw rotates, and lifting of the thread bush is achieved.

Furthermore, a camera can be arranged at the upper end of the supporting tube, and the auxiliary floor tile is paved through an image recognition technology.

Preferably, the upper portion lateral wall fixed connection side ear of screw sleeve, the side ear stretches out from the opening that the lateral wall of stay tube was preset, the lifting sleeve has been cup jointed in the outside of stay tube, the bottom and the side ear fixed connection of lifting sleeve, the rotation is connected with the rotation cover on the lifting sleeve, the tip fixed connection of arm is at the lateral wall of rotating the cover, realizes the rotation of arm.

Preferably, a third motor is fixedly connected to the mechanical arm, a first gear is fixedly connected to the output end of the third motor, a second gear is fixedly connected to the side wall of the lifting sleeve, the first gear is meshed with the second gear, and the mechanical arm can be driven to rotate through the third motor.

Preferably, the motor shaft is further provided with four clutches, and the clutches are correspondingly provided with four belt wheels, and steering of the device is achieved by controlling rotation of the belt wheels.

(III) beneficial effects

The invention provides floor tile batch arrangement equipment. The beneficial effects are as follows:

1. the invention is provided with the mechanical arm, the connecting part of the mechanical arm is provided with the movable plate, the electric cylinder, the push-pull rod, the stop block and the like, so that the placement precision of the floor tile can be improved during the laying process, meanwhile, the floor tile placement position is not required to be adjusted through the travelling mechanism, the electric cylinders are adjacently arranged, the longitudinal and transverse movement can be realized on the same level, the adjustment in two directions can be realized, the electric cylinders are arranged at the same height, the height of the mechanical arm can be reduced, and the floor tile is relatively simple in structure, high in durability and relatively light in weight, and is beneficial to the laying of the floor tile.

2. The invention is provided with a plurality of pressure sensors and electronic gyroscopes, the pressure sensors not only act on the floor tiles which are being paved, but also resist against the floor tiles which are already paved, and through the comparison of the two groups of pressure data, whether the height of the floor tiles which are being paved is consistent with the height of the floor tiles which are already paved is judged, and the arranged electronic gyroscopes can detect the placement horizontality of the floor tiles, namely the use of the pressure sensors and the electronic gyroscopes can improve the paving quality of the floor tiles.

3. The invention is provided with the knocking hammers, the coils are electrified to generate a magnetic field and reciprocate up and down with the magnets, so that the rubber hammer head is used for knocking the floor tile to realize the compaction of the floor tile, the knocking hammers are arranged in a plurality of positions, the knocking hammers at corresponding positions can be started according to the postures of the floor tile, the strength of the knocking hammers can be controlled by further controlling the magnitude of current which is introduced into the coils, and the floor tile can be leveled by simulating manual operation through the rubber hammer.

4. The floor tile laying machine has the advantages that the whole structure is compact and smaller, the floor tiles can be placed on the arranged bottom plate, the floor tiles can be taken from the bottom plate through the arranged lifting rotating mechanism and the mechanical arm, and the floor tiles are transferred to the area to be laid, so that the floor tile laying task can be automatically completed indoors.

Drawings

FIG. 1 is a schematic perspective view of the whole of the present invention;

FIG. 2 is a schematic view of the running gear of the present invention;

FIG. 3 is a schematic view of a lifting and rotating mechanism according to the present invention;

FIG. 4 is an exploded view of the structure of the lifting and rotating mechanism of the present invention;

FIG. 5 is a schematic diagram of a robot of the present invention;

FIG. 6 is a schematic view of a manipulator joint structure according to the present invention;

FIG. 7 is a schematic view of the bottom structure of the manipulator edge of the present invention;

fig. 8 is a schematic view of the striking hammer according to the present invention.

Wherein, 1, a manipulator; 2. a mechanical arm; 3. a walking mechanism; 4. a lifting rotating mechanism;

11. a metal spring plate; 12. an electronic gyroscope; 13. knocking a hammer; 14. a suction cup; 15. a frame; 16. a fixing plate; 17. an electric cylinder; 18. a cover plate; 19. a connecting column; 110. a push-pull rod; 111. a stop block; 112. a chute; 113. a movable plate; 114. a pressure sensor; 31. a belt wheel; 32. a track; 33. a first motor; 34. a bottom plate; 41. a second motor; 42. a screw; 43. a support tube; 44. a rotating sleeve; 45. a third motor; 46. a lateral ear; 47. a thread sleeve; 48. a first gear; 49. a lifting sleeve; 410. a second gear;

131. rubber hammer; 132. a connecting rod; 133. a housing; 134. a spring; 135. a baffle; 136. a coil; 137. and (3) a magnet.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Examples:

as shown in fig. 1-8, the embodiment of the invention provides a floor tile batch arrangement device, which comprises a travelling mechanism 3, wherein the travelling mechanism 3 is used for moving the device, a lifting rotating mechanism 4 is arranged at the upper end of the travelling mechanism 3, a mechanical arm 2 is fixedly connected to the lifting rotating mechanism 4, the mechanical arm 2 is an L-shaped pipe fitting in one direction, a rounded corner is formed by bending and is arranged on four edges of the pipe fitting, the other end of the mechanical arm 2 is fixedly connected with a mechanical arm 1, the floor tile can be placed on the travelling mechanism 3, then the floor tile is taken and placed by the lifting rotating mechanism 4, the mechanical arm 2 and the mechanical arm 1, the lifting rotating mechanism 4 rotates 180 degrees, the mechanical arm 1 is hovered above the travelling mechanism 3, collision is avoided in the process, the mechanical arm 1 also needs to adjust the height by the lifting rotating mechanism 4, then the floor tile is placed on the travelling mechanism 3, then the lifting rotating mechanism 4 acts, and the floor tile is placed at a laying area.

The manipulator 1 includes fixed plate 16 and fly leaf 113 that mutually laminating set up, fixed plate 16 and fly leaf 113 are square plate, spout 112 has all been seted up to two adjacent limits of fly leaf 113, and set up the edge subsidence setting of spout 112 at the seting up, be about to this edge thickness control for original half, fixed plate 16 goes up fixedly connected with two electronic jars 17, and electronic jar 17 adjacent limit sets up, namely electric rod 17 and spout 112 one-to-one, the output fixedly connected with push-and-pull rod 110 of electronic jar 17, the action of electronic jar 17 can realize the flexible of push-and-pull rod 110, and the front end fixedly connected with two dogs 111 of push-and-pull rod 110, one dog 111 is located spout 112, the edge of fly leaf 113 is hugged closely to another dog 111, two dogs 111 just hold the edge of fly leaf 113, electronic jar 17 action, realize the push-and-pull of fly leaf 113, and set up two electronic jars 17, realize the skew of manipulator 1 in two directions, in the production process of ceramic tile, because there is the error of equipment's walking route and walking mechanism 3, if not increase in the floor tile's the position if the structure lays down, the precision greatly reduced.

In the prior art, two shafts or screw rods are mostly adopted in a two-dimensional moving mechanism, such as a common 3D printer, two screws are usually used in the two-dimensional moving mechanism to control horizontal transverse and longitudinal movement, but in the structure, the two screws are in an up-down relationship, if the manipulator 1 adopts a similar structure, the height of the manipulator 1 is definitely increased, meanwhile, the size of a floor tile commonly used indoors is generally 600 x 600mm, and floor tiles with larger size are larger, the mass of the floor tile is larger, in the horizontal plane action process of the manipulator 1 in the mode, the problem of unstable gravity center exists, so that the floor tile is inclined in the floor tile placing process, the floor tile is not easy to lay, and in the invention, the two designed electric cylinders 17 are positioned on the same plane, so that the height of the manipulator 1 can be reduced, and the structure is simple and more durable.

The lower extreme fixedly connected with of fixed plate 16 is by two horizontal member and two vertical member combination forms frame 15, four angles in up end department of fixed plate 16 are provided with the bolt, through the mode of bolt, the fixed connection of fixed plate 16 and frame 15 has been realized, the structure of frame 15 can reduce the weight of manipulator 1 and indirectly increased the load capacity of manipulator 1, the tip below fixedly connected with metal shell fragment 11 of member, and metal shell fragment 11 becomes "nearly" shape structure, when taking the ceramic tile, the one end of metal shell fragment 11 supports the ceramic tile up end of transporting, the size of manipulator 1 and the ceramic tile that takes need cooperate on its size at this moment, can make the type that can stretch out and draw back through changing the manipulator 1 that suits with the ceramic tile, the position of metal shell fragment 11 is adjusted according to the size of ground tile to the member that metal shell fragment 11, the both ends lower part of metal shell fragment 11 all fixedly connected with pressure sensor 114, when manipulator 1 lays the ceramic tile, the ceramic tile that one tip of metal shell fragment 11 grasps, the adjacent up end supports the ceramic tile of manipulator 1, when taking the ceramic tile, the floor tile is placed, whether the quality of floor tile has been laid by the two tiles has been guaranteed to have been pressed by the floor tile and has been laid by the floor tile has been judged whether the floor tile has been laid.

The end of the rod is fixedly connected with an electronic gyroscope 12, a knocking hammer 13 and a sucker 14 in sequence, the electronic gyroscope 12 is positioned right above the metal elastic sheet 11, the electronic gyroscope 12 is used for checking the level of the placed floor tile and is also used for improving the paving quality, the floor tile is sucked in a negative pressure mode through the sucker 14 and is convenient to transport, the arranged pressure sensor 114, the electronic gyroscope 12 and the knocking hammer 13 are used for installing the floor tile, the knocking hammer 13 is used for compacting and adjusting the paving posture of the floor tile, the metal elastic sheet 11, the electronic gyroscope 12 and the knocking hammer 13 are provided with a plurality of components, namely, a group is arranged at the end of each rod, the accuracy of the floor tile is guaranteed, most of the existing floor tile paving devices are only provided with the function of placing the floor tile, or only provided with a vibrating and tamping mechanism, the mechanism is generally positioned in the middle of the manipulator 1, the whole floor tile is vibrated greatly in the using process, each corner of the floor tile is very easy to incline, and the electronic gyroscope 13 acts on different positions of the floor tile paving device, and the floor tile paving quality can be realized by starting up the different positions of the pressure sensor 12 and the knocking hammer 13.

The upper end middle part fixedly connected with spliced pole 19 of fly leaf 113, spliced pole 19 is circular member, the upper end of spliced pole 19 and the tip fixed connection of arm 2, the top lid of fly leaf 113 has the middle part to be provided with open-ended apron 18, the edge and the fixed plate 16 fixed connection of apron 18, fly leaf 113 is located between apron 18 and the fixed plate 16 promptly, and fly leaf 113 can move about between apron 18 and fixed plate 16, realize the horizontal and vertical regulation on the manipulator 1 horizontal plane promptly, the apron 18 passes through the bolt and realizes fixed connection with fixed plate 16 simultaneously.

The upper end face and the lower end face of the movable plate 113 are movably embedded into the first balls, namely, the first balls located on the upper end face are in contact with the lower end face of the cover plate 18, the first balls located on the lower end face are in contact with the upper end face of the fixed plate 16, friction force can be reduced when the movable plate 113 moves, the first balls are provided with a plurality of blocks, each end face is not less than three, the second balls are movably embedded into the block 111, the second balls are in contact with the movable plate 113, namely, each block 111 is provided with at least one second ball, if the movable plate 113 moves transversely, the second balls located on the longitudinal block 111 can reduce friction force of the movable plate 113 moving transversely, and similarly, the first balls and the second balls are used for improving the moving fluency of the manipulator 1, and the running resistance of the electric cylinder 17 can be reduced.

The knocking hammer 13 comprises a shell 133, the knocking hammer 13 is integrally cylindrical, the shell 133 is of a cylindrical structure, a coil 136 is fixedly connected to the inner wall of the shell 133, the coil 136 is used for being electrified to generate a magnetic field, alternating current needs to be introduced into the coil 136 according to construction requirements, a magnet 137 is arranged in the middle of the coil 136 in an inserted mode, namely, the magnetic field generated by the coil 136 acts on the magnet 137, so that the magnet 137 acts up and down, a connecting rod 132 is fixedly connected to the lower end of the magnet 137, a rubber hammer 131 is fixedly connected to the lower end of the connecting rod 132, the rubber hammer 131 is of a cylindrical structure, and a round corner is arranged at the edge of the lower end of the rubber hammer 131.

The coil 136 is electrified to generate an alternating magnetic field and acts with the magnet 137 to realize the up-down motion of the coil, and the rubber hammer 131 connected with the coil is operated up-down.

The baffle 135 is sleeved on the connecting rod 132, the knocking hammer 13 reciprocates up and down in the using process, so that a protective piece is required to be arranged between the baffle 135 and the coil 136, damage to the coil 136 caused by the baffle 135 in the moving process is avoided, a spring 134 is arranged below the baffle 135, the lower end of the spring 134 abuts against the inner wall of the shell 133, the spring 134 is used for buffering, meanwhile, the rubber hammer 131 is kept in a high-position state, namely, the rubber hammer 131 is kept close to the shell 133 under the action of the spring 134, and meanwhile, the magnet 137 is fully retracted inside the coil 136.

The travelling mechanism 3 comprises a bottom plate 34, the bottom plate 34 is a platform of the device, the floor tiles to be paved are placed on the bottom plate 34, as the mechanical arm 2 is of a rigid structure and cannot be subjected to operations such as stretching and retracting, the floor tiles are required to be placed at the designated positions on the bottom plate 34, a limit or position indication structure can be arranged on the upper end face of the bottom plate 34, such as a convex strip for positioning is arranged on the bottom plate 34, the floor tile transfer bottom plate 34 is aligned by the convex strip, two first motors 33 are arranged below the bottom plate 34, the first motors 33 are used for driving the device to move, motor shafts are arranged at two ends of the first motors 33 in an extending mode, belt wheels 31 are fixedly connected to the motor shafts, the same-side belt wheels 31 are sleeved with caterpillar tracks 32, the bottom plate 34 is erected on the motor shafts, namely the first motors 33 work, the belt wheels 31 are rotated through the motor shafts, so that the caterpillar wheels 32 move, a power box is further arranged below the bottom plate 34, and a storage battery is arranged in the power box for supplying power to the device; the air pump realizes the negative pressure adsorption of the sucker 14 and is also provided with a logic control module for controlling the action of the device.

The lifting rotating mechanism 4 comprises a supporting tube 43, the lower end of the supporting tube 43 is fixed on the upper end face of the bottom plate 34, a second motor 41 is arranged at the lower end of the supporting tube 43, specifically, the end valley of the end portion of the second motor 41 is connected to the lower end face of the bottom plate 34, the output end of the second motor 41 is fixedly connected with a screw rod 42, the screw rod 42 is inserted into the supporting tube 43, namely, an opening is formed in the bottom plate 34, the screw rod 42 penetrates into the supporting tube 43 from the opening, an upper cover is further arranged at the upper end of the supporting tube 43, a bearing is fixedly connected to the middle of the lower end of the upper cover, the upper end of the screw rod 42 is inserted into an inner ring of the bearing, the supporting limiting of the screw rod 42 is achieved, the screw rod 42 is kept in a vertical state, a thread bush 47 is arranged in the supporting tube 43, the thread bush 47 is in threaded fit with the screw rod 42, the second motor 41 works, and the screw rod 47 rotates to achieve lifting of the thread bush 47.

Further, a camera may be installed at the upper end of the support tube 43, and the tile may be laid by using an image recognition technology, for example, by using an image recognition technology to scan an indoor scene, automatically move the guiding device, and determine the quality effect of the tile laid during the tile laying process.

The upper portion lateral wall fixed connection side ear 46 of thread bush 47, the side ear 46 stretches out from the opening that the lateral wall of stay tube 43 predetermines, the lifting sleeve 49 has been cup jointed in the outside of stay tube 43, the bottom and the side ear 46 fixed connection of lifting sleeve 49, and the setting of side ear 46 is not only used for the support, simultaneously the side ear 46 stretches out from stay tube 43 can restrict the rotation of thread bush 47, guarantee that thread bush 47 normally rises and descends, be connected with rotation cover 44 on the lifting sleeve 49 rotation, be provided with the chimb at lifting sleeve 49's lower extreme edge, its structure is similar to the flange, make rotation cover 44 can place on lifting sleeve 49, simultaneously can set up plane bearing on the chimb, and the lower extreme of rotation cover 44 contacts with plane bearing's up end, improve one rotation effect of rotation cover 44, the tip fixed connection of arm 2 is at the lateral wall of rotation cover 44, promptly rotation cover 44 rotates for lifting sleeve 49, realize the rotation of arm 2.

The mechanical arm 2 is fixedly connected with a third motor 45, the output end of the third motor 45 is fixedly connected with a first gear 48, the first gear 48 is positioned in the mechanical arm 2, the side wall of the lifting sleeve 49 is fixedly connected with a second gear 410, the second gear 410 is hidden in the rotating sleeve 44, the first gear 48 is meshed with the second gear 410, the mechanical arm 2 can be driven to rotate through the third motor 45, namely, the third motor 45 is started, the first gear 48 rotates, the second gear 410 is fixed in the lifting sleeve 49, and the lifting sleeve 49 only can keep lifting movement, so that in the rotating process of the first gear 48, the second gear 410 is fixed, the first gear 48 rotates around the second gear 410, namely, the mechanical arm 2 rotates around the supporting tube 43.

The motor shaft is also provided with clutches, not shown in the figure, which are provided with four, and the rotation of the corresponding four pulleys 31 is controlled to realize the steering of the device, the clutches in diagonal positions keep the same state when the steering is carried out, the clutch states of the two sets of clutches in diagonal positions are different, and the rotation directions of the two first motors 33 are opposite, so that the two tracks 32 move in opposite directions, namely the device rotates, and the rotation angle can be set by the steering angle.

Working principle: when the floor tile paving machine is used, the soaked floor tile is placed on the bottom plate 34, cement mortar is evenly paved on the ground to be paved, mortar can be paved according to the paving speed of the floor tile, then equipment is started, the first motor 33 works, the equipment moves to the paving position, then the second motor 41 works, the mechanical arm 2 ascends under the transmission of the screw rod 42 and the thread bush 47, meanwhile, the third motor 45 is linked, the mechanical arm 2 rotates through the transmission of the first gear 48 and the second gear 410, finally, the mechanical arm 1 moves to the upper side of the floor tile, then the mechanical arm 1 descends under the operation of the second motor 41, the sucker 14 on the mechanical arm 1 is attached to the upper end face of the floor tile, at the moment, one end part of each metal spring piece 11 is propped against the upper end face of the floor tile, namely the upper end face of the pressure sensor 114 is contacted with the upper end face of the floor tile, the floor tile is fixed through the negative pressure adsorption mode, and finally, the floor tile is placed at the paving position through the second motor 41 and the third motor 45, if the floor tile is placed, the floor tile is vertically and horizontally offset in two directions exists, the two motor 17 can be pulled, the movable plates 113 are correspondingly pulled, and the floor tile 15 is moved to be paved when the floor tile is placed, and the floor tile is aligned and paved;

at this time, the other end of the metal elastic sheet 11 abuts against the upper end face of the paved floor tile, then, through the comparison of the readings of the two pressure sensors 114, it is judged whether the height of the paved floor tile is consistent with that of the paved floor tile, and whether the floor tile is in a horizontal position is judged through the electronic gyroscope 12, if the situation occurs, the knocking hammer 13 at the corresponding position is started according to the posture of the floor tile, the knocking hammer 13 uses the principle that the knocking hammer 13 at the high position acts, the coil 136 is introduced with alternating current to generate a changing magnetic field and acts up and down with the magnet 137, so that the rubber hammer 131 is driven to reciprocate up and down to strike the floor tile, the knocking force of the rubber 131 is controlled by the magnitude of the current introduced by the coil 136, and the specific knocking force can be regulated by the data fed back by the pressure sensors 114 and the electronic gyroscope 12.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The utility model provides a ceramic tile batch arrangement equipment, includes running gear (3), its characterized in that: the upper end of the travelling mechanism (3) is provided with a lifting rotating mechanism (4), the lifting rotating mechanism (4) is fixedly connected with a mechanical arm (2), and the other end of the mechanical arm (2) is fixedly connected with a mechanical arm (1);

the manipulator (1) comprises a fixed plate (16) and a movable plate (113) which are mutually attached, wherein two adjacent edges of the movable plate (113) are respectively provided with a chute (112), two electric cylinders (17) are fixedly connected to the fixed plate (16), the adjacent edges of the electric cylinders (17) are arranged, the output end of each electric cylinder (17) is fixedly connected with a push-pull rod (110), the front end of each push-pull rod (110) is fixedly connected with two stop blocks (111), one stop block (111) is positioned in each chute (112), and the other stop block (111) is tightly attached to the edge of the movable plate (113);

the lower extreme fixedly connected with of fixed plate (16) is by frame (15) that two horizontal poles and two vertical poles made up, the tip below fixedly connected with metal shrapnel (11) of pole to metal shrapnel (11) are "nearly" shape structure, the equal fixedly connected with pressure sensor (114) in both ends lower part of metal shrapnel (11), the tip of pole is fixedly connected with electronic gyroscope (12), strikes hammer (13) and sucking disc (14) in proper order, electronic gyroscope (12) are located directly over metal shrapnel (11).

2. The tile batch alignment apparatus of claim 1, wherein: the upper end middle part fixedly connected with spliced pole (19) of fly leaf (113), the tip fixed connection of spliced pole (19) and arm (2), the top lid of fly leaf (113) is covered and is provided with open-ended apron (18) in the middle part, the edge and the fixed plate (16) fixed connection of apron (18).

3. The tile batch alignment apparatus of claim 1, wherein: the upper end face and the lower end face of the movable plate (113) are movably embedded into first balls, the stop block (111) is movably embedded into second balls, and the second balls are in contact with the movable plate (113).

4. The tile batch alignment apparatus of claim 1, wherein: the knocking hammer (13) comprises a shell (133), a coil (136) is fixedly connected to the inner wall of the shell (133), a magnet (137) is arranged in the middle of the coil (136) in an inserted mode, a connecting rod (132) is fixedly connected to the lower end of the magnet (137), and a rubber hammer head (131) is fixedly connected to the lower end of the connecting rod (132).

5. The tile batch alignment apparatus of claim 4, wherein: the connecting rod (132) is sleeved with a baffle (135), a spring (134) is arranged below the baffle (135), and the lower end of the spring (134) props against the inner wall of the shell (133).

6. The tile batch alignment apparatus of claim 1, wherein: the walking mechanism (3) comprises a bottom plate (34), two first motors (33) are arranged below the bottom plate (34), motor shafts are arranged at two ends of each first motor (33) in an extending mode, belt wheels (31) are fixedly connected to the motor shafts, the belt wheels (31) on the same side are sleeved with crawler belts (32), and the bottom plate (34) is erected on the motor shafts.

7. The tile batch alignment apparatus of claim 1, wherein: the lifting rotating mechanism (4) comprises a supporting tube (43), a second motor (41) is arranged at the lower end of the supporting tube (43), a screw rod (42) is fixedly connected to the output end of the second motor (41), the screw rod (42) is inserted into the supporting tube (43), a thread bush (47) is arranged in the supporting tube (43), and the thread bush (47) is in threaded fit with the screw rod (42).

8. The tile batch alignment apparatus of claim 7, wherein: the upper portion lateral wall fixed connection side ear (46) of thread bush (47), the opening that the lateral wall of side ear (46) follow stay tube (43) was preset stretches out, the outside of stay tube (43) has cup jointed lift cover (49), the bottom and the lateral ear (46) fixed connection of lift cover (49), rotate on lift cover (49) and be connected with rotation cover (44), the tip fixed connection of arm (2) is at the lateral wall of rotating cover (44).

9. The tile batch alignment apparatus of claim 8, wherein: the mechanical arm (2) is fixedly connected with a third motor (45), the output end of the third motor (45) is fixedly connected with a first gear (48), the side wall of the lifting sleeve (49) is fixedly connected with a second gear (410), and the first gear (48) is meshed with the second gear (410).

10. The tile batch alignment apparatus of claim 6, wherein: and a clutch is further arranged on the motor shaft.