Patent ID: 9074381
Filing Date: 2015-07-07
Classification: B25J,E04F,E04G

Abstract:
1. A tile laying machine comprising: a) a movable platform capable of moving along an X-X axis, a Y-Y axis and a Z-Z axis; b) a robotic assembly having four spaced apart joints, said joints including a base, a shoulder, an elbow, and a wrist, said base joint being connected to said movable platform and said wrist joint capable of being spaced farthest away from said movable platform, and each of said joints having 360° of rotational motion; c) an effector having a first surface and an oppositely aligned second surface, said first surface being removable secured to said wrist joint, said effector having a first side, a second side, a third side and a fourth side, and said first side is perpendicularly aligned to said second side; d) a suction cup mounted on said second surface of said effector which is connected to a vacuum source, said suction cup capable of picking up, positioning and releasing a new tile relative to a first laid tile and a second laid tile, said first and second laid tiles each having an upper surface and each being aligned perpendicular to one another; e) first, second and third edge sensors, at least one of said edge sensors secured to said first side of said effector and capable of detecting an edge aligned along an X-X axis of said first laid tile, and at least one of said edge sensors secured to said second side of said effector and capable of detecting an edge aligned along a Y-Y axis of said second laid tile; f) first, second and third height sensors, at least one of said height sensors secured to said first side of said effector and capable of detecting the height of said upper surface of said first laid tile, and at least one of said height sensors secured to said second side of said effector and capable of detecting the height of said upper surface of said second laid tile; g) a control mechanism for operating said robotic assembly, said vacuum source and said edge and height sensors; and h) a power source for supplying power to said control mechanism.