CN115467217B - 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 floor tiles. The floor tile laying machine comprises a lifting mechanism, a clamping device, a laying mechanism and a turnover mechanism, wherein the lifting mechanism is used for lifting the floor tile upwards, the clamping device clamps two ends of the floor tile on the uppermost layer of the lifting mechanism to be conveyed forwards, then the floor tile is loosened and laid on a conveying mechanism in a lying mode, the conveying mechanism conveys the floor tile forwards in the X direction to the laying mechanism, the laying mechanism is provided with the turnover mechanism, and after the placing device of the turnover mechanism clamps the floor tile conveyed by the conveying mechanism, 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, transmission 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 the labor cost can be reduced.

Description

Mobile robot for paving floor tile and method for paving floor tile

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 pavement are higher and higher, and places such as sidewalks, squares and the like usually need to be paved with flat floor tiles and floor tiles in a large area. At present, the floor tiles are paved by adopting a pure manual operation or a mode of combining machinery and manpower, wherein the construction method of combining machinery and manpower comprises the steps of hoisting the bricks by ropes through a crane, then manually controlling the drop point position, then removing the bricks, and finally carrying out compaction operation. 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 increased.

Disclosure of Invention

The invention aims to provide a novel mobile robot for paving floor tiles and a floor tile paving method, and compared with the existing paving method, the novel mobile robot for paving floor tiles is fully automatically and mechanically operated in the whole paving process, has high paving efficiency, tidy paved bricks, does not need to be manually involved in carrying and reviving, and reduces the cost of people. In order to achieve the above purpose, the present invention adopts the following technical scheme:

The floor tile mobile robot is provided with a movable frame, wherein the length of the frame is X direction, the width of the frame is Y direction, a lifting mechanism and a clamping pushing mechanism are installed at the tail part of the frame, a multi-shaft mechanical arm is installed at the front part of the frame, a paving mechanism is installed on the mechanical arm, and a conveying mechanism positioned between the paving mechanism and the clamping pushing mechanism is installed 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 plate is driven by the lifting device to lift upwards;

The clamping pushing mechanism comprises an advancing guide rail and a clamping device which is slidably arranged on the advancing guide rail, wherein the two ends of the length of the uppermost floor tile lifted to the top are clamped by the clamping device, are conveyed forwards in the X direction, are loosened and are laid on the conveying mechanism in a lying manner, 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 sliding forwards and backwards in the X direction is arranged on the laying frame, the turnover mechanism is provided with a Y-direction turnover shaft, 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 one floor tile conveyed by the conveying mechanism, the placing device forwards turns over to lay the clamped floor tile on the ground;

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

Further, the lifting mechanism is provided with a longitudinal lifting bracket arranged at the tail part of the frame, the first transmission mechanism is fixedly arranged at the bottom of the longitudinal lifting bracket, the lifting plate is driven by the lifting device to do lifting motion in the vertical direction of the first transmission mechanism on the longitudinal lifting bracket, 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 descend below the upper surface of the first transmission mechanism;

a storage bracket is arranged at the bottom of the rear side of the lifting bracket, the front end of the storage bracket is rotationally connected with the bottom of the rear side of the longitudinal lifting bracket, the storage bracket can be turned up and down and folded for storage by taking the front end as a rotation point, and a second transmission mechanism is arranged on the storage bracket;

The storage bracket forwards conveys the floor tiles stacked up and down to the first conveying mechanism in the X direction, and the floor tiles are continuously conveyed forwards to the lifting plate by the first conveying mechanism.

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

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

The two ends of the lifting chain are respectively fixedly connected with the lifting plate and the ejector rod of the lifting cylinder, or

The lifting chain is characterized in that two ends of the lifting chain are respectively positioned at two sides of the lifting cylinder and transversely span the ejector rods 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 at one side of the lifting cylinder.

Further, vertical guide channel steel tracks positioned on two sides of the lifting plate are arranged on the longitudinal lifting support, lifting webs are vertically and slidably arranged on the vertical guide channel steel tracks, and one end of the lifting chain and the lifting plate are fixedly connected with the lifting webs.

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

The bottom of the self-resetting overturning bracket is provided with a limiting steel pipe and a reset spring, the limiting steel pipe sequentially penetrates through two baffles on the back surface of the self-resetting overturning bracket and is rotationally 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 bracket is smaller than that of the longitudinal lifting bracket, and the storage bracket is rotationally connected to the bottom center of the longitudinal lifting bracket.

Further, the forward moving guide rail is provided with two first sliding rails with the length of X direction, the opposite sides of the first sliding rails are provided with upper rails, the first sliding rails are provided with lower lifting rails positioned below the upper rails, the lower lifting rails are provided with front and rear inlet openings with downward openings, a front pair of first rollers and a rear pair of first rollers are arranged in each upper rail, the front and rear ends of two sides of the clamping device are respectively fixed with a second roller, the corresponding first rollers and the second rollers are movably connected through driven rods, the first rollers are driven by a first transverse moving pushing cylinder to slide forwards in the upper rails to drive the clamping device to move forwards, and the first rollers drive the second rollers to enter the lower lifting rails through the inlet openings in the forward sliding process, so that the height of the clamping device is improved;

The clamping device comprises a clamping frame, a second sliding rail in the Y direction and a multi-link linkage mechanism are arranged on the clamping frame, two clamping plates capable of sliding relatively are arranged on the second sliding rail, the multi-link linkage mechanism is composed of a middle swing rod and two clamping links hinged to 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 links are respectively hinged to opposite faces 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 sliding rail so as to clamp or loosen the floor tile.

Further, a pair of front and back first gyro wheels in the upper rail are all installed on a side push pedal, the side push pedal with the ejector pin fixed connection of first sideslip propulsion cylinder, by first sideslip propulsion cylinder promotes the side push pedal is in order to drive first gyro wheel rolls around in the upper rail.

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

Further, the left side and the right side of the front part of the frame are symmetrically provided with one mechanical arm, the two mechanical 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 slides up and down, the horizontal guide rail is provided with a horizontal sliding block which slides 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 cylinder, an electric push rod and a screw pair;

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

Further, the laying frame is composed of a front sliding rail supporting plate at the front side and a rear sliding rail supporting plate at the rear side, the rear sliding rail supporting plate is fixedly connected with the front sliding rail supporting plate through a quick-release connecting plate, the laying mechanism is detachably arranged on the mechanical arm through the quick-release connecting plate, and supporting feet and second supporting universal wheels are arranged at the bottom of the front sliding rail supporting plate;

The side frames which are in sliding fit with the front sliding rail supporting plates are arranged on two sides of the turnover mechanism, the turnover mechanism can rotate on the side frames, and the rear sliding rail supporting plates are connected with the side frames through horizontal telescopic cylinders.

Further, the turnover mechanism is also provided with a scraping mechanism and a rolling mechanism which rotate by taking the turnover shaft as an axle center,

The scraping mechanism is provided with a sawtooth scraping plate, the sawtooth scraping plate is obliquely contacted with the ground by the overturning of the scraping mechanism, the horizontal telescopic cylinder drives the overturning mechanism to move forwards and backwards, the sawtooth scraping plate is used for scraping the ground,

The rolling mechanism is provided with a rolling wheel with convex ribs on the outer diameter, the rolling wheel is in contact with the upper surface of the paved floor tile by overturning of the rolling mechanism, the horizontal telescopic cylinder drives the overturning mechanism to move back and forth, and the rolling wheel carries out rolling operation on the paved floor tile;

The scraping mechanism, the rolling mechanism and the placing device synchronously rotate around the turnover shaft serving as an axle center, and the turnover shaft is a turnover oil cylinder.

Further, a first laser emitter is arranged at the front ends of the front sliding rail supporting plates at two sides, and a second laser emitter is arranged at the front ends of the side frames at two sides;

each first laser emitter is used for emitting first positioning lasers crossed in a cross shape to the ground under the first laser emitters at the other side, each second laser emitter is used for emitting second positioning lasers crossed in a cross shape perpendicular to the ground, and the paving position of the floor tile is determined through superposition of the second positioning lasers and the first positioning lasers;

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

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

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

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

A method for paving floor tiles based on the mobile robot, comprising 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 the two ends of the floor tile Y on the uppermost layer of the lifting plate in the Y direction, forwards conveys the floor tile Y in the X direction, then loosens the floor tile Y and horizontally places the floor tile Y on the conveying mechanism, and the conveying mechanism forwards conveys the floor tile Y in the X direction to the laying mechanism;

The floor tile conveyed by the conveying mechanism is clamped by the placing device, the placing device turns forwards around the turning shaft as an axis, and the clamped floor tile is paved on the ground;

The turnover mechanism withdraws the placement device from the gap between the floor tile and the ground, and then the placement device turns backwards to return to the original position.

Further, the method further comprises:

Tilting the serrated blade into contact with the floor by turning the striking-off mechanism, moving the striking-off mechanism back and forth to strike off the floor, and

After the floor tile is paved and the placement device is pulled out from the gap between the floor tile and the ground, the rolling wheel is contacted with the upper surface of the paved floor tile by the overturning of the rolling mechanism, the overturning mechanism moves back and forth to roll the paved floor tile,

The scraping mechanism, the rolling mechanism and the placing device synchronously rotate around the turnover shaft serving as an axle center.

The invention has the advantages that:

1) The storage, lifting and transmission of the floor tiles are performed completely mechanically, and compared with a manual paving mode, the floor tile paving machine has the advantages of good paving effect and high efficiency, and can reduce the labor cost;

2) The floor tile is 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 floor tile is more stable in the lifting process;

3) The clamping mechanism is used for clamping the floor tile on the lifting plate, conveying the floor tile forwards and placing the floor tile on the conveying mechanism, the clamping mechanism slides towards the direction of the head of the vehicle after clamping the floor tile, the height of the clamping mechanism can be lifted in the forward sliding process, and the lower surface of the floor tile clamped by the clamping mechanism and the upper surface of the floor tile on the lifting plate are prevented from being scratched, so that the beauty of the floor tile in the conveying process is ensured, the clamping mechanism adopts a multi-link linkage mechanism to enable the two clamping plates to move simultaneously, the structure is more compact, and the synchronous movement and the linearity of the movement of the two clamping plates are ensured all the time;

4) The laying mechanism is provided with a turnover mechanism, the turnover mechanism is provided with a placement device capable of rotating around the turnover shaft as an axis, a strickling mechanism and a rolling mechanism, and by means of rotation of the turnover mechanism, floor strickling, floor tile placement and floor tile rolling can be realized, the structure is more compact, and the functions are more complete;

5) On the one hand, the mechanical movable arm provides stable support for the paving mechanism, and in addition, the mechanical movable arm can drive the paving mechanism to move vertically and horizontally back and forth, so that the paving mechanism can be accurately adjusted to reach a designated position so as to conveniently pave bricks.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

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

Fig. 2 is a top view of the mobile robot as a whole laying the slab blocks;

FIG. 3a is a perspective view of a lifting 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 storage rack of the lift mechanism after deployment;

FIG. 3d is a side view of the storage rack after being folded;

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

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

FIG. 4c is a bottom view of the grip pushing mechanism;

FIG. 4d is a schematic view of FIG. 4a after hiding the side plate of the front rail, showing a schematic view of the front rail having two upper and lower rails (i.e., an upper rail and a lower lifting rail), wherein the clamping device is the stroke start section of the front rail;

FIG. 4e is an end-of-travel side view of the clamp pushing mechanism slid to the advancing rail;

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

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

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

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 body frame of the paving mechanism;

FIG. 6d is a view of the positioning mechanism mounting location of the paving mechanism front end;

fig. 6e is a perspective view of the paving mechanism in which the placement device of the flipping mechanism is used to receive bricks from the conveying mechanism;

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

FIG. 6g is a schematic diagram of a screeding mechanism of the tilting mechanism in performing a screeding operation;

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

Fig. 6i is a schematic view of the placement device of the turnover mechanism after being turned forward to lay the brick on the ground;

Fig. 6j is a schematic diagram of the rolling mechanism of the turnover mechanism in 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 invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.

In order to provide a thorough understanding of the present invention, detailed steps and detailed structures will be presented in the following description in order to explain the technical solution of the present invention. Preferred embodiments of the present invention are described in detail below, however, the present invention may have other embodiments in addition to these detailed descriptions.

Referring to fig. 1, the invention provides a mobile robot 10 for paving plate tiles, as shown in fig. 1, a walking device 12 is mounted on a chassis of a frame 11 of the mobile robot 10, the walking device 12 is provided with 4 steerable walking wheels 13, and the walking device 12 can drive the tile mobile robot 10 to walk. For convenience of the following description, let us say that the longitudinal direction of the frame 11 is the X direction and the width direction is the Y direction.

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

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

The clamping and pushing mechanism 200 comprises an advancing guide rail 210 and a clamping device 220 which is slidably arranged on the advancing guide rail 210, wherein the clamping device 220 clamps the two ends of the length of the floor tile lifted to the top, forwards conveys the floor tile in the X direction, then loosens the floor tile and horizontally places the floor tile on the conveying mechanism 300, and the conveying mechanism 300 forwards conveys the floor tile to the paving mechanism 400 in the X direction;

The paving mechanism 400 is provided with a paving frame, a turnover mechanism 430 sliding back and forth in the X direction is arranged 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 rotating around the turnover shaft as an axis, the placing device 431 clamps one floor tile conveyed by the conveying mechanism 300, and after the placing device 431 clamps the floor tile, the placing device 431 forwards turns to lay the clamped floor tile on the ground;

positioning mechanisms are mounted on the paving frame and the turnover mechanism 430 respectively, and the two positioning mechanisms cooperate to provide positioning for paving the floor tiles.

According to the mobile robot 10 provided by the invention, the stacked floor tiles are integrally lifted through the lifting mechanism 100, then the clamping pushing mechanism 200 clamps the floor tiles block by block and transfers the floor tiles to the conveying mechanism 300 to be laid horizontally, the conveying mechanism 300 transfers the floor tiles laid horizontally to the laying mechanism 400, and the laying mechanism 400 lays the floor tiles on the ground in a horizontal lying mode. The whole process is completely mechanized, the paving efficiency is greatly improved, the required labor cost is reduced, meanwhile, when the floor tile paving device is used for paving floor tiles, manual assistance is not needed, operators do not need to participate in reviving, and 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 bracket 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 bracket 102, the lifting plate 103 is driven by the lifting device 120 on the longitudinal lifting bracket 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 descend below the upper surface of the first transmission mechanism 104. A storage bracket 130 is installed 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 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 bracket 130, the storage bracket 130 forwards conveys the floor tiles stacked up and down to the first transmission mechanism 104 in the X direction, and the first transmission mechanism 104 continuously forwards conveys the floor tiles to the lifting plate 103. A guard plate 101 is provided at an upper portion of the vertical lift bracket 102.

In an alternative embodiment, on the longitudinal lifting brackets 102 are mounted lifting devices 120 located on both sides of the lifting plate 103 in the Y-direction, respectively, each lifting device 120 comprising 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 and fixedly connected with the lifting plate 103 and the ejector rod 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 transversely span 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 is fixed on 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 end of the lifting chain 122 to move upwards, and the two groups of lifting chains 122 drive the middle lifting plate 103 to lift steadily.

In an alternative embodiment, vertical guide channel steel tracks 105 are arranged on the two sides of the lifting plate 103 on the longitudinal lifting support 102, lifting webs 106 are vertically and slidably arranged on each vertical guide channel steel track 105, and one end of a lifting chain 122 and the lifting plate 103 are fixedly connected with the lifting webs 106.

In an alternative embodiment, the warehouse rack 130 is mounted at the bottom of the longitudinal lifting rack 102 by 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 reset spring 137 are arranged at the bottom of the self-reset turnover bracket 131, the limiting steel pipe 138 sequentially passes through two baffle plates 136 on the back of the self-reset turnover bracket 131 and is rotationally connected with the spring support 135, and the reset spring 137 is sleeved on the limiting steel pipe 138 between the two baffle plates 136;

The lateral width of the warehouse rack 130 is smaller than the lateral width of the longitudinal lifting rack 102, and the warehouse rack 130 is rotatably coupled to the bottom center of the longitudinal lifting rack 102.

The lifting mechanism 100 adopts a forklift lifting principle, a lifting cylinder 121 and lifting chains 122 are combined to be placed on the left side and the right side, one end of each chain is connected with a frame, the other end of each chain is connected with a brick lifting plate 103, bearings are arranged on the left side and the right side of each lifting plate 103, and the lifting plates can roll up and down on a vertical guide channel steel track 105. The second transmission mechanism 132 is arranged on the storage bracket 130, and the second transmission mechanism 132 consists of a roller, a chain wheel and chain 133, a driving motor 134 and the like, so as to realize the receiving and the transmitting of the brick body.

The design of the lifting mechanism 100, as shown in fig. 3a-3, is that 1) the design of the storage and lifting parts can ensure continuous supply of bricks, meet the requirements of front-end bricks, improve efficiency and have compact structure. 2) The lifting part design can accurately lift the corresponding height according to the thickness of the brick body. 3) When fork truck places the material in the design, the clamp mouth that forms fork truck both ends board corresponds the storage riser, and the width of storage riser is less than clamp mouth width far away, applicable various fork truck, and 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, accessible manual promotion storage riser, upwards rotates 90, packs up the storage part to vertical state, reduces whole car length, is convenient for transition and transportation. And when the storage mechanism is horizontally placed, the storage outer frame and the frame can be automatically limited to support the storage mechanism in a horizontally placed state, and the storage mechanism is easily placed and retracted by the spring assembly.

The structure of the clamp push mechanism 200 is further described below with reference to fig. 4a-4 f:

The front moving guide rail 210 is provided with two first sliding rails 211 with the length of X direction, the opposite inner side surfaces of the first sliding rails 211 are provided with upper rails 212, the first sliding rails 211 are provided with lower lifting rails 213 positioned below the upper rails 212, the lower side edges of the lower lifting rails 213 are provided with front and rear inlet openings 213-1 with downward openings, a front and rear pair of first rollers 202 are arranged in each upper rail 212, the front and rear ends of two sides of the clamping device 220 are respectively fixed with a second roller 221, the corresponding first rollers 202 and the second rollers 221 are movably connected through driven rods 230, the first sliding pushing cylinders 240 drive the first rollers 202 to slide forwards in the upper rails 212 to drive the clamping device 220 to move forwards, and the first rollers 202 drive the second rollers 221 to enter the lower lifting rails 213 through the driven rods 230 in the forward sliding process, so that the heights of the clamping device 220 are lifted.

In an alternative embodiment, the front and rear pair of first rollers 202 in the upper rail 212 are mounted on a side push plate 214, the side push plate 214 is fixedly connected with the ejector rod of the first traversing propulsion cylinder 240, and the side push plate 214 is pushed by the first traversing propulsion cylinder 240 to drive the front and rear pair of first rollers 202 to roll back and forth in the upper rail 212.

The upper and lower ends of the driven rod 230 are hinged to the first roller 202 in the upper first sliding rail 211 and the second roller 221 of the clamping device respectively, and four hinge points are formed, so that a parallel four-bar mechanism (such as a rectangular dotted line frame in fig. 4 d) is formed, namely, four corners of the clamping device are movably connected below the first sliding rail 211 through the connecting rod 230 respectively, and the second roller 221 is rotatably mounted on the frame of the clamping device 220. In particular, during operation, the first lateral movement 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 mechanism to realize forward pushing of the whole clamping mechanism, and before the clamping device 220 slides forward, the second roller 221 arranged on the clamping device 220 advances into the lower lifting rail 213 to lift the height of the clamping device 220, so that the height of the clamped brick is lifted, friction between the clamped brick and the brick below the clamped brick is avoided, and the surface of the brick is scratched, as shown in fig. 4 e. The gripping device 220 is moved forward by first lifting a bit of height. Preferably, when the clamping device 220 is at the position of the rearmost end of the travel, both second rollers 221 are located just 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, a second slide rail 224 in the Y direction and a multi-link linkage mechanism, wherein 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 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, the other ends of the two clamping links 227 are respectively hinged to opposite surfaces of the two clamping plates 225, one end of the swing rod 226 is hinged to a 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 release the floor tile.

By adopting the multi-link linkage mechanism, the two clamping plates 225 can slide relatively or oppositely on the second sliding rail 224 to clamp or loosen the floor tile only through 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 opposite sides of the two clamping plates 225 are detachably provided with rubber plates, which play a role in protecting the floor tile when clamping the floor tile.

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

The construction of paving mechanism 400 is further described below with reference to fig. 6a-6 f:

The main body frame structure of the paving mechanism 400 is as follows, rear slide rail supporting plates 401 are arranged on two sides of the rear part of the paving mechanism 400, front slide rail supporting plates 402 are arranged on two sides of the front part, and supporting feet 404 and second supporting universal wheels 405 are arranged at the bottoms of the front slide rail supporting plates 402. Support feet 404 enable maintenance of the parking of laying mechanism 400 and its stability, together with second support casters 405, after laying mechanism 400 has been detached from robotic arm 500. When the placing bracket 431-5 is pulled out after placing the road floor tile, the supporting leg of the manipulator can prop against the laid brick body to prevent the positioned brick body from moving. The rear slide rail supporting plate 401 is fixedly connected with the front slide rail supporting plate 402 through a quick-release connecting plate 403, and the laying mechanism 400 is detachably arranged between quick-release mounting brackets 531 on two sides through the quick-release connecting plate 403.

Side frames 436 in sliding fit with the front rail support plates 402 are installed at both sides of the turnover mechanism 430, that is, 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 slide rail support plate 401 is connected with the side frame 436 through a horizontal telescopic cylinder 406, and the side frame 436 and the turnover mechanism 430 thereof are driven to move back and forth in the X direction by the horizontal telescopic cylinder 406.

As shown in fig. 6e to 6f, the tilting mechanism 430 is further provided with a scraping mechanism 432 and a rolling mechanism 433 which rotate around a tilting shaft as an axis, and the scraping mechanism 432, the rolling mechanism 433 and the placing device 431 synchronously rotate around the tilting shaft as an axis, and the tilting shaft is a tilting cylinder 434. The following further describes the structural and operational principles of the screeding mechanism 432 and the rolling mechanism 433:

The scraping mechanism 432 is provided with a saw-tooth scraping plate, the scraping plate is in inclined contact with the ground through the overturning of the scraping mechanism 432, and the overturning mechanism 430 is driven by the horizontal telescopic cylinder 406 to integrally move back and forth so as to scrape the ground. Wherein, through adjusting or changing the scraper blade of different width, in order to be suitable for the brick body of different width. The leveling mechanism 432 is positioned by the positioning mechanism, so that the paving mechanism 400 reaches a preset position, the leveling mechanism 432 is turned over by the turning oil cylinder 434 to achieve the leveling starting position, and then the turning mechanism 430 is driven by the horizontal telescopic cylinder 406 to horizontally move back and forth in the X direction to achieve the purpose of ground leveling.

The rolling mechanism 433 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 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 roller 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 used for emitting a first positioning laser 421-1 crossing the cross to the ground directly under the first laser emitter 421 on the other side, the second laser emitter 422 is used for emitting a second positioning laser 422-1 crossing the cross perpendicular to the ground, and for preliminary positioning, and the turnover mechanism 430 drives the second laser emitter 422 to move forward when sliding forward, so as to determine the positioning of the laid floor tile by the superposition of the second positioning laser 422-1 and the first positioning laser 421-1. Wherein, the colors of the first positioning laser 421-1 and the second positioning laser 422-1 are different, so that we can conveniently judge 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 transmitters 421 on the front slide rail supporting plate 402 are adjustable, so that the included angle between the first positioning lasers 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 the floor tiles with different widths.

The positioning mechanism of the laser controls the paving mechanism 400 to be kept horizontal at all times through the mechanical arm, and positions the paving mechanism 400 longitudinally and transversely based on the principle of laser positioning, wherein 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 laser positioning devices are symmetrically arranged on the left side and the right side. One group is a first laser emitter 421 fixed on a front slide rail supporting plate 402 on two sides of the front end of a paving frame and fixedly connected with a mechanical arm, and is used for positioning a whole vehicle, when a next brick body is paved, the two groups of first laser emitters 421 of the whole vehicle emit cross-shaped first positioning lasers 421-1 to the opposite side ground, the paved brick body or a marking line is used as marks to roughly position the whole vehicle, the position deviation is ensured to be within a specified range, the adjustment position of the front paving mechanism 400 is prepared, the other group is a second laser emitter 422 fixed on a side frame 436 of the turnover mechanism 430 and synchronously moves with the side frame 436 and the turnover mechanism 430, after the whole vehicle stops, before the leveling, paving and compacting links, the second laser emitter 422 emits left and right two 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 position adjustment can be pre-determined by a small amplitude, and the position positioning can be completed, so that paving of the paved bricks can be tidier.

As shown in fig. 6f, the placing device 431 is provided with a clamping fixing frame 431-1, one side of the clamping fixing frame 431-1 is provided with a supporting plate 431-4, the clamping fixing frame 431-1 is provided with a Y-direction adjusting guide rail 431-2, a bracket 431-5 on the same side of the supporting plate is arranged on the adjusting guide rail 431-2, and the bracket 431-5 is connected with the clamping fixing frame 431-1 through a fine adjusting cylinder 431-3 to adjust the position of the bracket 431-5 in the Y direction, so that the transverse fine adjusting and positioning can be realized when the paving mechanism 400 places road tiles.

A plurality of support plates 407 in the X direction are mounted on the rear slide support plate 401, and rollers are provided on the support plates 407. The support plate 407 serves as a brick transfer mechanism, and the conveyor 300 transfers the tile forward in the X-direction through the support plate 407 and 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 screeding, placement, and compaction. When paving the pavement bricks, the paving mechanism 400 is guided by the positioning mechanism to firstly scrape the ground, then place the floor tiles and then compact the floor tiles. The scraping mechanism 432, the placing device 431 and the rolling mechanism 433 are all connected with the overturning oil cylinder 434, the overturning oil cylinder 434 is installed on the side frame 436 through the overturning oil cylinder supporting plate 435, and the scraping mechanism 432, the placing device 431 and the rolling mechanism 433 overturned by more than 180 degrees along with the overturning oil cylinder 434 are realized by the overturning oil cylinder 434.

The structure of the mechanical arm 500 is further described below with reference to fig. 5a-5 b:

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

The mechanical arm 500 includes a longitudinal 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 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 support 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 in phantom) having an advantage in that the front leg can be better controlled by the rear vertical lift mechanism 505 and the horizontal pushing mechanism 506. The quick-release mounting bracket 531 is installed to landing leg 530 bottom, is connected with a swinging cylinder 532 between quick-release mounting bracket 531 and the landing leg 530, installs quick-release's first support universal wheel 533 in quick-release mounting bracket 531 bottom.

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 with 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-dismantling 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 shaft 531-2, two other second connecting columns 531-7 are used for being connected with reserved bayonets of a paving mechanism, a second rotating shaft 531-6 is arranged between the two connecting columns, one second connecting column 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, and after the reserved two bayonets of the paving mechanism are respectively clamped on the optical axis 531-7 and the locking shaft 531-3, the handle 531-4 is rotated to enable the locking shaft 531-3 to rotate so as to clamp the paving mechanism, and the paving mechanism and the quick-dismantling mounting bracket 531 are fixedly connected in a locking mode. The outer side surface of one of the triangular plates is provided with a buckle 531-5 for fixing the handle 531-4, and the buckle is used for keeping the handle 531-4 fixed in a locking state.

The mechanical arm 500 may enable longitudinal and vertical positioning of the front mounted paving mechanism 400 and provide support thereto. By the cooperation of the vertical jacking mechanism 505, the horizontal pushing mechanism 506 and the swinging cylinder 532 of the mechanical arm 500, the front end laying mechanism 400 can be ensured to be always kept in a horizontal state, so that the ground surface is convenient to scrape, place and roll.

The quick-release mounting bracket 531 is installed to landing leg 530 bottom, is convenient for with lay the quick-release connection board 403 quick detach connection on the mechanism 400 main body frame, through the flexible of swinging cylinder 532, the angle of adjustable quick-release mounting bracket 531, the convenience is located fast with the connection structure of laying mechanism 400 and is combined, realizes quick installation and dismantlement.

In other embodiments, the paving mechanism 400 can be detached from the mechanical arm 500 and replaced by other mechanisms, for example, the paving mechanism 400 for paving the floor tiles is replaced by a mechanism for paving the kerbstone, so that different brick paving requirements can be met, and meanwhile, the structures of the lifting mechanism 100, the clamping pushing mechanism 200 and the conveying mechanism 300 on the frame are not changed, so that the expansibility of the invention is stronger.

The working process of the invention is described in detail below:

Firstly, the floor tiles 01 are stacked on the fork of a forklift, and the front side and the back side of the stacked floor tiles 01 are contacted. Then we put down the warehouse rack 130 to be in a horizontal state, and drive the forklift to transfer the stacked floor tiles onto 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 feeding fork to travel is formed at both sides of the warehouse rack 130, and when the forklift travels by the mobile robot 10 near the flat plate brick, the warehouse rack 130 can extend into the center of the opening of the feeding fork. And the floor tile is removed and separated after the forklift is driven into place.

A second conveyor 132 of rollers or belts is provided on the stocker rack 130, and the stacked floor tiles 01 are conveyed forward by the second conveyor 132 onto the lift plate 103. The ejector pins of the lifting devices 120 on both sides of the lifting plate 103 slide upwards, and the ejector pins drive the lifting webs 106 on both sides to move upwards steadily by moving upwards through the lifting chains 122, so that the height of the lifting plate 103 is lifted as shown in fig. 3 b.

The clamping device 220 of the clamping and pushing mechanism 200 slides backwards to the tail direction, 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 head direction. In the process of sliding forward, the second roller 221 slides into the lower lifting rail 213 to lift the height of the floor tile 01, 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 avoiding scraping the floor tile 01 clamped by the clamping device and the floor tile 01 on the lifting plate 103, and affecting the beauty of the floor tile 01.

When the gripping device 220 slides on the advancement rail 210 over the conveyor 300, the two cleats 225 are released and the tile 01 falls onto the conveyor 300 and continues to be conveyed forward by the conveyor 300 with the tile 01 lying flat.

After the carriage moves to the designated position of the laying area, the positioning mechanism 320 is used for positioning the position of the laying mechanism 400, the turning cylinder 434 drives the turning mechanism 430 to integrally turn over, so that the saw-tooth scraping plate of the scraping mechanism 432 is in inclined contact with the ground, and then the horizontal telescopic cylinder 406 drives the turning mechanism 430 to integrally move back and forth on the setting frame to scrape the ground, as shown in fig. 6 g.

After the ground is scraped, the tile transferred by the transfer mechanism 300 is transferred between the pallet 431-4 and the bracket 431-5 through the support plate 407 so that the tile is held by the placement mechanism 431. Then the turnover cylinder 434 drives the turnover mechanism 430 to integrally turn over, so that the placement mechanism 431 with the bricks clamped at the rear side is turned over to the front side and is in a horizontal state, as shown in fig. 6h-6i, and then the horizontal telescopic cylinder 406 drives the turnover mechanism 430 to retract, so that the bracket 431-5 is pulled out from the gap between the floor tile 01 and the ground, and the floor tile 01 is paved on the ground.

The turning cylinder 434 then drives the turning mechanism 430 to turn over integrally, so that the rolling mechanism 433 turns over to make the rolling wheel contact with the upper surface of the laid tile, and then the horizontal telescopic cylinder 406 drives the turning mechanism 430 to move back and forth, so that the rolling wheel rolls the upper surface of the laid tile back and forth, as shown in fig. 6 j.

After the rolling is completed, the horizontal telescopic cylinder 406 drives the tilting mechanism 430 to retract to the initial position, and the tilting mechanism 430 is driven by the tilting cylinder 434 to tilt to a state in which the placing mechanism 431 is connected with the conveying mechanism 300 (i.e., to return to the state of fig. 6 e). The body is then moved to the next brick laying position, with the positioning provided by two sets of positioning mechanisms to ensure that the laid bricks fall into the designated positions.

Mechanical arm 500 is used to provide support for paving mechanism 400. When the movable robot of the plate brick moves to a designated position, the movable arm 500 descends and the horizontal pushing mechanism 506 drives the supporting leg 530 to horizontally move back and forth so as to adjust the position of the paving mechanism 400 at the bottom of the movable arm 500.

The preferred embodiments of the present invention have been described above. It is to be understood that the invention is not limited to the particular embodiments described above, in which the apparatus and structures not described in detail are to be understood as being embodied in a manner commonly understood in the art, and that many possible variations and modifications may be made to the technical solution of the invention by any person skilled in the art using the methods and techniques disclosed above, or modified to equivalent embodiments without departing from the spirit of the invention. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.

Claims (14)

1. A mobile robot for paving floor tiles, wherein the floor tiles are flat-plate pavement tiles, the mobile robot is provided with a movable frame (11), the length of the frame (11) is X-direction, and the width of the frame is Y-direction, and the mobile robot is characterized in that a lifting mechanism (100) and a clamping pushing mechanism (200) are installed at the tail part of the frame (11), a multi-shaft mechanical movable arm (500) is installed at the front part of the frame (11), a paving mechanism (400) is installed on the mechanical movable arm (500), and a conveying mechanism (300) positioned between the paving mechanism (400) and the clamping pushing mechanism (200) is installed 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 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 an advancing guide rail (210) and a clamping device (220) which is slidably arranged on the advancing guide rail (210), wherein the clamping device (220) clamps the uppermost floor tile lifted to the top, forwards conveys the uppermost floor tile in the X direction, then loosens the uppermost floor tile and horizontally places the uppermost floor tile on a conveying mechanism (300), the conveying mechanism (300) forwards conveys the floor tile to a laying mechanism (400) in the X direction, and the conveying mechanism (300) is a roller or belt-based conveying mechanism;

The laying mechanism (400) is provided with a laying frame fixedly connected with the mechanical arm (500), a turnover mechanism (430) sliding forwards and backwards in the X direction is arranged on the laying frame, the turnover mechanism (430) is provided with a Y-direction turnover shaft, the turnover mechanism (430) is provided with a placement device (431) rotating by taking the turnover shaft as an axis, the placement device (431) clamps one floor tile conveyed by the conveying mechanism (300), and after the placement device (431) clamps the floor tile conveyed by the conveying mechanism (300), the placement device (431) forwards turns to lay the clamped floor tile on the ground;

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

The front moving guide rail (210) is provided with two first sliding rails (211) with the length of X direction, the opposite sides of the first sliding rails (211) are provided with upper rails (212), the first sliding rails (211) are provided with lower lifting rails (213) positioned below the upper rails (212), the lower lifting rails (213) are provided with front and rear inlet openings (213-1) with downward openings, a pair of front and rear first rollers (202) are arranged in each upper rail (212), the front and rear ends of two sides of the clamping device (220) are respectively fixed with a second roller (221), the corresponding first rollers (202) and the second rollers (221) are movably connected through driven rods (230), a first transverse moving pushing cylinder (240) drives the first rollers (202) to slide forwards in the upper rails (212), and the first rollers (202) drive the second rollers (221) to enter the lower lifting rails (213-1) from the inlet openings through the driven rods (230) in the forward sliding process so as to be high in the clamping device (220);

The clamping device (220) comprises a clamping frame (223), a second sliding rail (224) in the Y direction and a multi-link linkage mechanism are arranged on the clamping frame (223), two clamping plates (225) capable of sliding relatively are arranged on the second sliding rail (224), the multi-link 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 a 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 sliding rail (224) so as to clamp or loosen the floor tile.

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

A storage bracket (130) is arranged at the bottom of the rear side of the lifting bracket, the front end of the storage bracket (130) is rotationally 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 and stored by taking the front end as a rotation point, and a second transmission mechanism (132) is arranged on the storage bracket (130);

The warehouse support (130) conveys the floor tiles stacked up and down forwards to the first conveying mechanism (104) in the X direction, and the floor tiles are continuously conveyed forwards to the lifting plate (103) by the first conveying mechanism (104).

3. The floor tile running mobile robot according to claim 2, wherein lifting devices (120) are mounted on the longitudinal lifting frame (102) on both sides of the lifting plate (103) in the Y direction, respectively, and each lifting device (120) comprises:

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

A lifting chain (122), wherein two ends of the lifting chain (122) are respectively and fixedly connected with the lifting plate (103) and the ejector rod 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 transversely span the ejector rods 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. A mobile robot for laying floor tiles according to claim 3, wherein vertical guide channel steel tracks (105) are arranged on the longitudinal lifting support (102) and are positioned on two sides of the lifting plate (103), lifting webs (106) are vertically and slidably arranged on the vertical guide channel steel tracks (105), and one end of the lifting chain (122) and the lifting plate (103) are fixedly connected with the lifting webs (106).

5. The mobile robot for paving floor tiles according to claim 2, wherein the warehouse rack (130) is mounted at the bottom of the longitudinal lifting rack (102) by 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 reset spring (137) are arranged at the bottom of the self-resetting overturning bracket (131), the limiting steel pipe (138) sequentially penetrates through two baffles (136) on the back of the self-resetting overturning bracket (131) and is rotationally connected with the spring support (135), and the reset spring (137) is sleeved on the limiting steel pipe (138) between the two baffles (136);

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

6. The mobile robot for paving tiles according to claim 1, wherein a pair of front and rear first rollers (202) in the upper rail (212) are mounted on a side push plate (214), the side push plate (214) is fixedly connected with a push rod of the first traversing pushing cylinder (240), and the first traversing pushing cylinder (240) pushes the side push plate (214) to drive the first rollers (202) to roll back and forth in the upper rail (212).

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

The mechanical arm (500) comprises a longitudinal supporting leg (530) and 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 with the supporting leg (530), the rear end of the upper arm (510) is hinged on a vertical sliding block support (502), the lower arm (520) is fixedly connected with a horizontal sliding block (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 leg (530) with hinged front and rear ends and the connecting rod supporting arm (521) form a parallel four-bar mechanism;

Quick-release mounting brackets (531) are installed to landing leg (530) bottom, be connected with a swinging cylinder (532) between quick-release mounting brackets (531) and landing leg (530) quick-release first support universal wheel (533) are installed to quick-release mounting brackets (531) bottom.

8. The mobile robot for paving floor tiles according to claim 7, wherein the quick-release mounting bracket (531) is provided with two rotating shafts, a first rotating shaft is mounted on the supporting leg (530) through a pin shaft (531-2), a second rotating shaft (531-6) is hinged with a swinging rod of the swinging cylinder (532), the swinging cylinder (532) drives the quick-release mounting bracket (531) to rotate by taking the pin shaft (531-2) as an axis, 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 the pin shaft (531-2), the other two second connecting columns (531-7) are used for being connected with a bayonet reserved by the paving mechanism, and the second rotating shaft (531-6) is arranged between the two connecting columns;

One of the second connecting columns (531-7) is an optical axis, 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 bayonets of the quick-release mounting bracket (531) are respectively clamped on the second connecting column and rotate the handle to enable the laying mechanism and the quick-release mounting bracket (531) to be locked and fixedly connected, and a buckle (531-5) for fixing the handle (531-4) is arranged on the outer side face of one triangular plate.

9. The mobile robot for paving floor tiles according to claim 1, wherein the paving frame is composed of a front sliding rail supporting plate (402) at the front side and a rear sliding rail supporting plate (401) at the rear side, the rear sliding rail supporting plate (401) is fixedly connected with the front sliding rail supporting plate (402) through a quick-dismantling connecting plate (403), the paving mechanism (400) is detachably installed on the mechanical arm (500) through the quick-dismantling connecting plate (403), and supporting feet (404) and second supporting universal wheels (405) are arranged at the bottom of the front sliding rail supporting plate (402);

Side frames (436) which are in sliding fit with the front sliding rail supporting plates (402) are arranged 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 plates (401) are connected with the side frames (436) through horizontal telescopic cylinders (406).

10. The mobile robot for paving the floor tile according to claim 9, wherein the turning mechanism (430) is further provided with a screeding mechanism (432) and a rolling mechanism (433) which rotate around the turning shaft as an axis, and the screeding mechanism (432), the rolling 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 scraping mechanism (432) is provided with a sawtooth scraping plate, the sawtooth scraping plate is obliquely contacted with the ground by the overturning of the scraping mechanism (432), the horizontal telescopic cylinder (406) drives the overturning mechanism (430) to move forwards and backwards, the sawtooth scraping plate scrapes the ground,

The rolling mechanism (433) is provided with a rolling wheel with convex ribs on the outer diameter, the rolling wheel is in contact with the upper surface of the paved 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 carries out rolling operation on the paved floor tile.

11. The mobile robot for laying floor tiles according to claim 9, wherein a first laser emitter (421) is installed at the front ends of the front rail supporting plates (402) at both sides, and a second laser emitter (422) is installed at the front ends of the side frames (436) at both sides;

Each first laser emitter (421) is used for emitting first positioning lasers crossed in a cross shape to the ground under the first laser emitters (421) on the other side, each second laser emitter (422) is used for emitting second positioning lasers crossed in a cross shape perpendicular to the ground, and the paving position of the floor tile is determined through superposition of the second positioning lasers and the first positioning lasers;

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

12. The mobile robot for paving tiles according to claim 10, wherein 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 supporting plate (431-4), the clamping fixing frame (431-1) is provided with a Y-direction adjusting guide rail (431-2), 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 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 support plates (407) are arranged on the rear slide rail support plate (401), and rollers are arranged on the support plates (407);

The conveying mechanism (300) conveys the floor tile forward in the X direction through the supporting plate (407) and between the pallet (431-4) and the bracket (431-5).

13. A method of laying tiles based on a mobile robot according to any one of claims 1 to 12, comprising the steps of:

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

The clamping device (220) clamps the two ends of the Y-direction of the uppermost floor tile of the lifting plate (103) to forward convey in the X-direction, then loosens and lays on the conveying mechanism (300), and the conveying mechanism (300) conveys the floor tile forward in the X-direction to the laying mechanism (400);

The floor tile conveyed by the conveying mechanism (300) is clamped by the placing device (431), the placing device (431) turns forwards around the turning shaft as an axis, and the clamped floor tile is paved on the ground;

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

14. The method of claim 13, wherein the method further comprises:

Before the floor tile is held by the placement device (431), the saw blade is brought into inclined contact with the floor by turning the striking-off mechanism (432), and the floor is struck off by moving the turning-off mechanism (430) back and forth, and

After the floor tile is paved and the placement device (431) is pulled out from the gap between the floor tile and the ground, the rolling wheel is contacted with the upper surface of the paved floor tile by the overturning of the rolling mechanism (433), the overturning mechanism (430) moves back and forth to roll the paved floor tile,

The strickling mechanism (432) and the rolling mechanism (433) are fixedly arranged on the turnover mechanism (430), and the strickling mechanism (432), the rolling mechanism (433) and the placement device (431) synchronously rotate around the turnover shaft as an axle center.