1. A feeding device, comprising:

the storage mechanism is provided with a storage channel, and the storage channel is used for accommodating and fixing at least two leveling devices; and

feeding mechanism, storage mechanism with feeding mechanism cooperation equipment, feeding mechanism includes first conveyer belt, shifting block and the ware determine module of making level, first conveyer belt with the storage passageway corresponds the setting, the direction of transfer of first conveyer belt with the extending direction of storage passageway is the same, shifting block fixed mounting in first conveyer belt, the shifting block stretches into the storage passageway is used for promoting during the conveying of first conveyer belt a plurality of the ware of making level along the storage passageway removes, the ware determine module of making level is used for the ware of making level moves and sends the sensing signal when predetermineeing the position, and according to the sensing signal detects in the storage passageway the position and the surplus quantity of the ware of making level.

2. The feeding device as claimed in claim 1, wherein the screed detecting assembly includes at least two sensors and at least one position detecting member, the at least one position detecting member is fixedly installed on the first conveyor belt, the at least two sensors are respectively disposed at two ends of the first conveyor belt and are oppositely disposed, and the at least two sensors are configured to send out sensing signals when the position detecting member is sensed due to the conveyance of the first conveyor belt.

3. The feeding device as claimed in claim 2, further comprising a controller in signal connection with the at least two sensors, and configured to obtain position information of the leveler adjacent to the dial block in the storage channel according to sensing signals sent by the at least two sensors.

4. The feeding device as set forth in claim 3, wherein the material channel assembly further comprises a position sensor, the position sensor is disposed at an outlet of the material channel, the position sensor is in signal connection with the controller, and the position sensor is configured to send a sensing signal when the outlet detects the leveler.

5. The feeding device as claimed in claim 2, wherein the sum of the distance from the shifting block to the end point of the first conveyor belt and the distance from the position detecting member to the end point is equal to half of the length of the first conveyor belt.

6. The feeding device as claimed in claim 1, wherein the storage mechanism includes a cartridge clip assembly and a material path assembly, the cartridge clip assembly is used for storing and fixing at least two levelers, the material path assembly is installed between the cartridge clip assembly and the feeding mechanism and includes at least two material paths, and the at least two material paths are used for supporting the cartridge clip assembly.

7. The feeding device as set forth in claim 6, wherein the cartridge clip assembly comprises at least one magazine for holding a plurality of levelers, the at least one magazine being disposed between the at least two lanes for supporting the at least one magazine.

8. The feeding device as claimed in claim 7, wherein the magazine has an accommodating cavity, an accommodating gap exists between the at least two material channels, and the accommodating cavity is communicated with the accommodating gap to jointly form the material storage channel.

9. The feeding device as claimed in claim 6, wherein the feeding mechanism further comprises a power device, a first driving wheel and a second driving wheel, the first belt is wound between the first driving wheel and the second driving wheel, and the power device is in transmission connection with the first driving wheel and is used for driving the first driving wheel to drive the first belt to move.

10. The feeding device according to claim 9, wherein the cartridge clip assembly includes two magazines, the at least two material channels include three material channels adjacent to each other, each magazine is disposed between two adjacent material channels, the two magazines cooperate with the three material channels to form two material storage channels, the feeding mechanism further includes a second conveyor belt, a first connecting shaft, a second connecting shaft, a third driving wheel and a fourth driving wheel, the first connecting shaft is connected between the first driving wheel and the third driving wheel, the second connecting shaft is connected between the second driving wheel and the fourth driving wheel, the second conveyor belt is wound between the third driving wheel and the fourth driving wheel, and the first conveyor belt and the second conveyor belt are disposed below the two material storage channels respectively.

11. The feeding device as claimed in claim 10, wherein the material channel assembly further includes a guide block disposed on the material channel, the clip assembly further includes a guide slot disposed between the two magazines, and the guide block is slidably mounted on the guide slot, so that the clip assembly is mounted on the material channel assembly.

12. The feeding device as set forth in claim 6, wherein the cartridge clip assembly is integrally provided with the throat assembly.

13. A tile leveling robot comprising a material take-off device adjacent to the first conveyor belt for removing the screed when it is clear of the first conveyor belt, and a feed device according to any one of claims 1 to 12.

14. A brick laying robot comprising an AGV trolley and a feeding device according to any one of claims 1-12 mounted to the AGV trolley.

Background

When the house is built to the internal construction step, people select which style to decorate the house in advance. Adopt ceramic tile to spread and paste ground or wall and can make whole building inside brighter and cleaner, adopt the ceramic tile of different surface decorative patterns and the ceramic tile of different specifications size also will embody different fitment styles.

The main procedures of paving and pasting the floor tiles comprise the procedures of cleaning the ground, sprinkling water and sweeping slurry, paving bottom layer mortar, jolt ramming and leveling, scraping slurry in gaps, filling joints, watering and maintaining and the like. Among them, leveling of the floor tile is an important issue. The floor tile leveling operation is a step for leveling the height difference of the floor tiles during the laying of the floor tiles. The transportation and floor tile leveling operation of the existing leveling device are mostly carried out manually, and the error is large; the general feeding mechanism of the leveling device can not detect the residual quantity of the leveling devices and the current position of the leveling devices, needs manual observation and calculation, and has the degree of automation to be improved.

Disclosure of Invention

The invention aims to provide a feeding device, a tile leveling robot and a tile paving robot, and aims to solve the problems. The embodiment of the invention achieves the aim through the following technical scheme.

In a first aspect, the invention provides a feeding device, which comprises a storage mechanism and a feeding mechanism, wherein the storage mechanism is provided with a storage channel, and the storage channel is used for accommodating and fixing at least two leveling devices. Feeding mechanism includes first conveyer belt, shifting block and the ware determine module of making level, first conveyer belt corresponds the setting with storage channel, the direction of transfer of first conveyer belt is the same with storage channel's extending direction, shifting block and at least one position determine module fixed mounting are in first conveyer belt, the shifting block stretches into storage channel for promote a plurality of the ware of making level when first conveyer belt conveying and remove along storage channel, the ware determine module of making level is used for making level the ware and moves the sensing signal when predetermineeing the position.

In one embodiment, the screed detecting assembly includes at least two sensors and at least one position detecting member, wherein the at least two sensors and the at least one position detecting member are matched with each other, the at least one position detecting member is fixedly installed on the first conveyor belt, and the at least two sensors are respectively disposed at two ends of the first conveyor belt and are oppositely disposed, and are used for sending out a sensing signal when the position detecting member is sensed due to the conveyance of the first conveyor belt.

In one embodiment, the feeding device further comprises a controller in signal connection with the at least two sensors, and the controller is used for obtaining the position information of the leveling device adjacent to the shifting block in the cartridge clip assembly according to sensing signals sent by the at least two sensors.

In one embodiment, the material channel assembly further comprises a position sensor, the position sensor is arranged at the outlet of the material channel and is in signal connection with the controller, and the position sensor is used for sending out a sensing signal when the outlet detects the leveler.

In one embodiment, the sum of the distance from the dial to the end point of the first conveyor belt and the distance from the position detector to the end point is equal to half the length of the first conveyor belt.

In one embodiment, the storage mechanism comprises a cartridge clip assembly and a material channel assembly which are assembled in a matched mode, the cartridge clip assembly is used for storing and fixing at least two leveling devices, the material channel assembly is installed between the cartridge clip assembly and the feeding mechanism and comprises at least two material channels, and the at least two material channels are used for supporting the cartridge clip assembly.

In one embodiment, the cartridge clip assembly includes at least one magazine for holding a plurality of levels, the at least one magazine disposed between at least two lanes for supporting the at least one magazine.

In an embodiment, the magazine is provided with a containing cavity, and at least two material channels are communicated through a containing gap to jointly form a material storage channel.

In one embodiment, the feeding mechanism further includes a power device, a first driving wheel and a second driving wheel, the first belt is wound between the first driving wheel and the second driving wheel, and the power device is in transmission connection with the first driving wheel and is used for driving the first driving wheel to drive the first belt to move.

In an embodiment, the cartridge clip assembly comprises two magazine, at least two material channels comprise three material channels which are adjacent in sequence, each magazine is arranged between two adjacent material channels, the two magazine and the three material channels are matched to form two material storage channels, the feeding mechanism further comprises a second conveyor belt, a first connecting shaft, a second connecting shaft, a third driving wheel and a fourth driving wheel, the first connecting shaft is connected between the first driving wheel and the third driving wheel, the second connecting shaft is connected between the second driving wheel and the fourth driving wheel, the conveyor belt further comprises a second conveyor belt which is arranged side by side with the first conveyor belt, the second conveyor belt is arranged between the third driving wheel and the fourth driving wheel, and the first conveyor belt and the second conveyor belt are respectively arranged below the two material storage channels.

In one embodiment, the material channel assembly further comprises a guide block arranged on the material channel, the cartridge clip assembly is further provided with a guide groove, the guide groove is arranged between the two cartridge chambers, and the guide block is slidably arranged in the guide groove, so that the cartridge clip assembly is arranged on the material channel assembly.

In one embodiment, the cartridge clip assembly is integral with the chute assembly.

In a second aspect, the invention further provides a tile leveling robot, which comprises a material taking device and any one of the feeding devices, wherein the material taking device is adjacent to the first conveyor belt and is used for taking away the leveler when the leveler leaves the first conveyor belt.

In a third aspect, the invention further provides a brick paving robot, which comprises an AGV trolley and any one of the feeding devices, wherein the feeding device is arranged on the AGV trolley.

Compared with the prior art, the feeding device, the tile leveling robot and the tile paving robot provided by the invention can realize storage and feeding of the leveling device, and can detect the position of the leveling device in the cartridge clip assembly through the matching of the position detection piece and the sensor, so that the feeding automation degree is improved.

These and other aspects of the invention are apparent from and will be elucidated with reference to the embodiments described hereinafter.

Drawings

In order to more clearly illustrate the technical solution in the present embodiment, the drawings needed to be used in the description of the embodiment will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a feeding device provided in an embodiment of the present invention at a viewing angle.

Fig. 2 is a schematic structural diagram of a feeding device (not including a controller) provided in an embodiment of the present invention from another view angle.

Fig. 3 is a schematic structural view of a cartridge clip assembly provided by an embodiment of the present invention from one perspective.

Fig. 4 is a schematic structural view of a cartridge clip assembly provided by an embodiment of the invention from another perspective.

Fig. 5 is a schematic structural diagram of a material channel assembly (including a leveler) provided by an embodiment of the present invention at a viewing angle.

Fig. 6 is a schematic structural diagram of a material channel assembly (including a leveler) provided by an embodiment of the invention at another viewing angle.

Fig. 7 is a schematic structural diagram of a material channel assembly (including a leveler) provided by an embodiment of the present invention in another view.

Fig. 8 is a schematic structural diagram of a feeding mechanism provided in an embodiment of the present invention at a viewing angle.

Fig. 9 is a schematic structural diagram of a feeding mechanism provided in an embodiment of the present invention from another viewing angle.

Fig. 10 is a schematic structural diagram of a feeding mechanism provided in an embodiment of the present invention from another viewing angle.

Fig. 11 is a schematic structural diagram of a tile leveling robot provided by the embodiment of the invention.

Fig. 12 is a schematic structural diagram of a tile paving robot provided by an embodiment of the invention.

Wherein the figures include the following reference numerals:

the tile feeding device 1, the storing mechanism 10, the cartridge clip assembly 11, the cartridge magazine 112, the top wall 1120, the first side wall 1121, the second side wall 1122, the third side wall 1123, the fourth side wall 1124, the fifth side wall 1125, the discharge hole 1126, the feed hole 1127, the housing cavity 1128, the guide groove 114, the material channel assembly 13, the material channel 131, the housing gap 132, the guide block 133, the guide sheet metal 134, the position sensor 135, the storing channel 15, the leveler 20, the leveler body 21, the adjusting cover 23, the steel needle 25, the first conveyor belt 312, the second conveyor belt 314, the poking block 32, the locking block 33, the detector assembly 34, the sensor 341, the position detector, the power device 36, the first connecting shaft 37, the second connecting shaft 38, the first driving wheel 39, the second driving wheel 301, the third driving wheel 302, the fourth driving wheel 303, the controller 50, the tile leveling robot 100, the tile taking device 2, the tile laying robot 200, the tile laying robot, AGV Car 3

Detailed Description

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

Referring to fig. 1, the present invention provides a feeding device 1, which includes a material storage mechanism 10 and a feeding mechanism 30, wherein the material storage mechanism 10 includes a cartridge clip assembly 11 and a material channel assembly 13 that are assembled in a matching manner, and the material channel assembly 13 is installed between the cartridge clip assembly 11 and the feeding mechanism 30.

Specifically, the magazine mechanism 10 has a magazine channel 15, the magazine channel 15 is formed by installing the cartridge clip assembly 11 on the material channel assembly 13, and the magazine channel 15 is used for accommodating and fixing at least two levelers 20.

The cartridge clip assembly 11 is mounted above the chute assembly 13. The cartridge clip assembly 11 is used to secure at least two levels 20, and the cartridge clip assembly 11 can be replaced after the levels 20 in the cartridge clip assembly 11 are exhausted to continuously supply the levels 20 to the feeding apparatus 1.

Referring to fig. 3 and 4, the cartridge holder assembly 11 includes at least one magazine 112, the magazine 112 is substantially hollow and has a long bar shape, and the magazine 112 is mounted to the chute assembly 13. The magazine 112 is used to secure a plurality of levelers 20. The magazine 112 has a receiving cavity 1128, and the receiving cavity 1128 is used for receiving a plurality of levelers 20. In this embodiment, the magazine assembly 11 includes two side-by-side magazines 112.

In other embodiments, the magazine 112 of the clip assembly 11 may be expanded horizontally or vertically to accommodate multiple rows or (and) columns of the screed 20, depending on the requirements of the leveling robot, so as to provide the leveling robot with sufficient screeds 20.

In other embodiments, magazine 112 may be loaded with more levelers 20 by reducing the size of the levelers 20 while maintaining the same size of magazine 112.

In this embodiment, the magazine 112 includes a top wall 1120, two first side walls 1121, a second side wall 1122, a third side wall 1123, a fourth side wall 1124 and a fifth side wall 1125 which are symmetrical about a central axis of the top wall 1120, wherein the first side wall 1121, the third side wall 1123 and the fifth side wall 1125 are perpendicular to the top wall 1120, and the second side wall 1122 and the fourth side wall 1124 are parallel to the top wall 1120. The spacing between the two third sidewalls 1123 is smaller than the spacing between the two first sidewalls 1121 and the spacing between the two fifth sidewalls 1125, so that the cross-section of the magazine 112 is substantially "luer" shaped. Magazine 112 is provided with opposing feed port 1127 and discharge port 1126, wherein feed port 1127 is used for feeding, i.e., leveler 20 enters magazine 112 through feed port 1127. Spout 1126 is provided for the outflow of screed 20 for the grasping of screed 20.

The side walls of the screed 20 correspond to the side walls of the magazine 112. Specifically, the leveling device 20 is a common screw-type leveling device 20 on the market, and includes a leveling device main body 21, an adjusting cover 23 and a steel needle 25, wherein the steel needle 25 is fixedly mounted on the leveling device main body 21, and the adjusting cover 23 is movably connected to the leveling device main body 21, and the connection manner may be threaded connection. The main screed body 21 corresponds to the first side wall 1121, and the adjusting cover 23 corresponds to the fifth side wall 1125. Because the appearance of the leveling device 20 corresponds to the side wall of the magazine 112 of the leveling device 20, the cartridge clip assembly 11 can limit the leveling device main body 21, the adjusting cover 23 and the steel needle 25, so that each part of the leveling device 20 is not rotatable in the feeding process, thereby ensuring that the feeding of the feeding device 1 is smooth and the leveling device 20 discharges materials in a required posture, ensuring that the postures of the discharge ports 1126 where each leveling device 20 reaches are consistent, and the brick paving robot 200 can accurately grab the leveling device 20.

The cartridge clip assembly 11 is further provided with a guide groove 114, the extending direction of the guide groove 114 is parallel to the extending direction of the magazine 112, the guide groove 114 is located between the two magazines 112, and the guide groove 114 can be used for installing the cartridge clip assembly 11 on the material path assembly 13.

Referring to fig. 5, 6 and 7, the material channel assembly 13 includes at least two material channels 131, at least two material channels 131 are used for supporting at least one magazine 112, and at least one magazine 112 is disposed between at least two adjacent material channels 131. An accommodating gap 132 is formed between the at least two material channels 131, and the accommodating cavity 1128 is communicated with the accommodating gap 132 to jointly form the material storage channel 15. In this embodiment, the at least two material channels 131 include three material channels 131 adjacent to each other in sequence, and the three material channels 131 cooperate with the two magazines 112 to form two material storage channels 15. The leveling device 20 is supported by the material channel 131 and partially inserted into the receiving gap 132, specifically, the lower surface of the adjusting cover 23 is supported by the material channel 131, and the steel needle 25 is inserted into the receiving gap 132. The leveler 20 can be stored in the housing cavity 1128 of the cartridge clip assembly 11 and can slide along the magazine 15 under the action of external force.

In this embodiment, the material channel assembly 13 further includes a guide block 133 disposed on the material channel 131, the guide block 133 extends in a direction parallel to the extending direction of the material channel 131, and the guide block 133 is slidably mounted in the guide groove 114, so that the clip assembly 11 is mounted on the material channel assembly 13. The material channel assembly 13 may further include two guide metal plates 134 parallel to the guide block 133, and the two guide metal plates 134 are respectively located at two sides of the guide block 133. The guide metal plate 134 can also be used for being matched with the cartridge clip assembly 11, and the cartridge clip assembly 11 can be matched with the material channel assembly 13 through the guide block 133 and the guide metal plate 134, so that the cartridge clip assembly 11 is favorably installed in place.

Referring to fig. 3 and 7, the chute assembly 13 further includes a position sensor 135, the position sensor 135 is disposed at an outlet of the chute 131, i.e., the discharge hole 1126, the position sensor 135 can be used for detecting whether the leveler 20 reaches the discharge hole 1126, so as to remove the leveler 20, and specifically, the position sensor 135 can be used for sending a sensing signal when the outlet detects the leveler 20. In this embodiment, the number of the position sensors 135 is two, the two position sensors 135 are respectively located at the two discharge ports 1126, and whether the leveling device 20 in the two magazines 112 reaches the discharge ports 1126 is respectively detected.

In other embodiments, the cartridge clip assembly 11 is integrated with the material channel assembly 13, and the production process of the storing mechanism 10 can be simplified by integrating the cartridge clip assembly 11 with the material channel assembly 13. When the cartridge clip is replaced, the whole storing mechanism 10 can be replaced without independently assembling the cartridge clip assembly 11.

Referring to fig. 8, 9 and 10, the feeding mechanism 30 includes a first conveyor 312, a second conveyor 314, a pick 32 and a screed detecting assembly 34.

The conveying direction of the first conveyor belt 312 and the second conveyor belt 314 is the same as the extending direction of the magazine 15, and in this embodiment, the first conveyor belt 312 and the second conveyor belt 314 may be conveyor belts. In other embodiments, the first conveyor belt 312 and/or the second conveyor belt 314 may also be a timing belt, chain, or other mechanical drive.

In the present embodiment, the first conveyor belt 312 and the second conveyor belt 314 are disposed side by side and respectively correspond to the magazine lane 15, and specifically, the first conveyor belt 312 and the second conveyor belt 314 are respectively disposed below the two magazine lanes 15. Both the first conveyor belt 312 and the second conveyor belt 314 may be used to power the movement of the screed 20. Specifically, the first conveyor belt 312 and the second conveyor belt 314 each engage one of the magazines 112 and are used to move the screed 20 within the magazine 112.

The screed detecting assembly 34 is used for sending out a sensing signal when the screed 20 moves to a preset position, the screed detecting assembly 34 comprises at least two sensors 341 and at least one position detecting piece 342 which are matched with each other, and the screed detecting assembly 34 is used for detecting the number of the screeds 20 remaining in the storage channel 15.

In this embodiment, at least two sensors 341 are disposed at two ends of the first conveyor belt 312 and opposite to each other, and cooperate with at least one position detecting member 342 to emit a sensing signal when the position detecting member 342 is sensed due to the conveyance of the first conveyor belt 312. In this embodiment, the at least two sensors 341 include three sensors 341, two of the sensors 341 are located at two ends of the first conveyor belt 312, and can be respectively used to detect whether the cartridge clip assembly 11 is full and whether the cartridge clip assembly 11 is short of remaining material, and another sensor 341 is located between the two sensors and is used to detect the number of remaining levelers 20 in the cartridge clip assembly 11 and the moving position of the levelers 20.

At least one position detector 342 is fixedly mounted to the first conveyor belt 312. The position detector 342 is fixedly installed below the first conveyor belt 312, and the position detector 342 may be used to cooperate with the sensor 341. In this embodiment, the position detector 342 is a sensor sheet. In other embodiments, the position detector 342 may be a micro switch or other element that can cooperate with the sensor 341.

The feeding mechanism 30 further includes a locking block 33, and the locking block 33 is used for locking the position detector 342 to the first conveyor belt 312 and also used for locking the dial block 32 to the first conveyor belt 312.

The poking block 32 is fixedly installed above the first conveying belt 312, the poking block 32 extends into the storage channel 15 and is used for pushing a plurality of the levelers 20 to move along the storage channel 15 when the first conveying belt 312 is conveyed, specifically, the poking block 32 pushes the levelers 20 close to the feed opening 1127 of the pinch clamp assembly 11, and the previous levelers 20 are pushed by the levelers 20, so that the whole row of the levelers 20 is pushed forwards under the action of the poking block 32. The position of the pick 32 is related to the position of the position detector 342, in this embodiment, in a given direction, the sum of the distance from the outermost point of the first conveyor belt 312 to the pick 32 and the distance from the outermost point of the first conveyor belt 312 to the position detector 342 is equal to half of the length of the first conveyor belt 312, so that the position detector 342 and the pick 32 move exactly towards each other as the feeding process proceeds, and after the pick 32 moves the last leveler 20 to the discharge hole 1126, the position detector 342 reaches the end position along with the first conveyor belt 312, and the sensor 341 senses the position detector 342, and informs the user that only the last leveler 20 remains in the cartridge assembly 11 at this time, and the cartridge assembly 11 needs to be replaced.

In other embodiments, the position of the pick 32 may be the same as the position of the position detector 342, and the position detector 342 moves with the pick 32 to detect the remaining number and position of the levels 20 in the clip assembly 11.

In the present embodiment, the paddle 32 is substantially a rod-like structure. In other embodiments, the dial 32 may have other shapes, and is not limited to the specific shape, so as to satisfy the requirement of dialing the screed 20.

Referring to fig. 10, in the present embodiment, the feeding mechanism 30 further includes a power device 36, a first connecting shaft 37, a second connecting shaft 38, a first driving wheel 39, a second driving wheel 301, a third driving wheel 302 and a fourth driving wheel 303, wherein the first belt 312 is wound between the first driving wheel 39 and the second driving wheel 301, and the second belt 314 is wound between the third driving wheel 302 and the fourth driving wheel 303. The power device 36 is in transmission connection with the first driving wheel 39 and is used for driving the first driving wheel 39 to drive the first conveyor belt 312 to move. The first connecting shaft 37 is connected between the first drive wheel 39 and the third drive wheel 302, and the second connecting shaft 38 is connected between the second drive wheel 301 and the fourth drive wheel 303. The power device 36 drives the first driving wheel 39 to rotate, the first driving wheel 39 drives the third driving wheel 302 to rotate through the first connecting shaft 37, and the third driving wheel 302 drives the second conveying belt 314 to rotate, so that the first conveying belt 312 and the second conveying belt 314 rotate synchronously, and the control of the levelers 20 in different magazine 112 of the cartridge clip assembly 11 is facilitated. In this embodiment, the number of the two blocks 32 is two, and the two blocks 32 are located correspondingly, that is, the two leveling machines 20 in the magazine 112 can be controlled to discharge synchronously.

With continued reference to fig. 1, 3 and 10, the feeding device 1 further includes a controller 50, wherein the controller 50 is in signal connection with the at least two sensors 341, and is configured to obtain the position information of the leveling device 20 adjacent to the dial block 32 in the clip assembly 11 according to the sensing signals sent by the at least two sensors 341. As an example, when the position detecting member 342 is sensed by the sensor 341 near the material inlet 1127, the sensor 341 sends a first sensing signal, and the controller 50 obtains the information that the dial block 32 has moved to the material outlet 1126 according to the first sensing signal, that is, when there is no leveler 20 left in the cartridge holder assembly 11, the cartridge holder assembly 11 needs to be replaced. As another example, when the position detecting member 342 is sensed by the sensor 341 near the discharge hole 1126, the sensor 341 sends a second sensing signal, and the controller 50 obtains the information that the dial 32 still stays at the discharge hole 1127 according to the second sensing signal, that is, the level-finding unit 20 in the cartridge holder assembly 11 is not pushed out. The controller 50 is in signal communication with the position sensor 135 and the take-off structure, and the controller 50 is configured to control the take-off structure to remove the screed machine 20 based on the sensed signals. After the first screed 20 is removed, the next screed is replenished until all of the screeds 20 in the cartridge assembly 11 have been removed.

The working principle of the feeding device 1 according to the present invention will be explained below.

1. Firstly, the levelers 20 are sequentially loaded into the clip assemblies 11, and after the clip assemblies 11 are fully loaded, the clip assemblies 11 are matched and assembled with the material channel assembly 13 under the guide blocks 133 and the guide metal plates 134 of the material channel assembly 13 to form a material storage structure.

2. And installing a material storage structure above the feeding assembly.

3. The power device 36 is powered on, the rotating shaft of the power device 36 drives the first driving wheel 39, the first driving wheel 39 drives the first conveying belt 312 and the second driving wheel 301 to move, and the first driving wheel 39 further drives the third driving wheel 302 to rotate through the first connecting shaft 37, so that the second conveying belt 314 is driven to synchronously rotate. At this time, the poking block 32 on the first conveyor belt 312 pushes the leveling device 20 located at the feeding port 1127 of the cartridge assembly 11, and under the pushing force, the leveling device 20 moves in the cartridge assembly 11, and when the position sensor 135 detects that the first leveling device 20 reaches the preset position close to the discharging port 1126, the controller 50 sends out a control signal to control the material taking structure to take away the first leveling device 20. After the first screed 20 is removed, the next screed is replenished until all of the screeds 20 in the cartridge assembly 11 have been removed.

4. The position detector 342 located below the first conveyor belt 312 is in an initial position corresponding to the discharge hole 1126 when the cartridge holder assembly 11 is full, and when the position detector 342 is sensed by the sensor 341 near the discharge hole 1126, it informs that the cartridge holder is full of the screw-type leveler 20. As the feeding process proceeds, the position detector 342 and the dial 32 move toward each other, after the dial 32 dials the last screw-type leveler 20 to the discharge hole 1126, the position detector 342 reaches a position opposite to the feed hole 1127 along with the first conveyor belt 312, the sensor 341 at the feed hole 1127 senses the position detector 342, and informs that only the last screw-type leveler 20 remains in the cartridge holder assembly 11 at this time, and the cartridge holder assembly 11 needs to be replaced.

5. When the last screw-type screed 20 is removed, the system alerts that a new load is required. The power unit 36 starts to output power in the reverse direction, the position detection member 342 returns to the initial position (position near the discharge hole 1126), and the dial 32 also returns to the initial position (position near the discharge hole 1127). At this time, the cartridge clip assembly 11 which is filled with the spiral-type screed machine 20 in advance is replaced, and the feeding of the spiral-type screed machine 20 in the next cartridge clip assembly 11 can be completed by repeating the above steps.

In summary, the feeding device 1 provided by the present invention can realize storage and feeding of the leveler 20, and the position of the leveler 20 in the cartridge clip assembly 11 can be detected through the cooperation of the position detecting member 342 and the sensor 341, so as to improve the feeding automation degree.

Referring to fig. 11, the present invention further provides a tile leveling robot 100, wherein the tile leveling robot 100 includes a material taking device 2 and a material feeding device 1, the material taking device 2 is adjacent to the first conveyor belt 312 for taking away the leveler 20 when the leveler 20 leaves the first conveyor belt 312. The tile leveling robot 100 may install the leveler 20 to the tiles and level the tiles through the leveler 20.

Referring to fig. 12, the present invention further provides a tile paving robot 200, which can be used for paving and pasting floor tiles. The brick laying robot 200 includes an AGV (automatic Guided Vehicle) carriage and a feeding device 1, and the feeding device 1 is mounted on an AGV carriage 3. Wherein the AGV dolly 3 can be used for material feeding unit 1's removal to transport the leveler 20 to the operation place, improve the degree of automation of pay-off.

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

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