CN113232004B - Automatic seam beautifying robot and seam beautifying construction method - Google Patents

Abstract

The invention provides an automatic seam beautifying robot and a seam beautifying construction method, wherein the automatic seam beautifying robot comprises a chassis, the chassis is used as a bearing support of a robot main body and is used for driving a vehicle body to move and advance, seam beautifying components and a battery for providing power for the robot are arranged on the chassis, and four moving wheels and wheel motors are symmetrically arranged at the corner positions of the chassis; the gluing device is arranged above the chassis and comprises a gluing assembly and a gluing base, and one end of the gluing assembly is connected with the gluing base; rotatory elevating system including rotary platform and the lead screw lifting unit of setting on rotary platform, guide assembly, its setting is on the terminal surface under the chassis for provide mechanical guide for beating the process of gluing. The seam beautifying robot is more intelligent, has the function of beautifying seams on the wall surface, can realize the switching of work between the automatic planning path of the seam beautifying robot and the ground and the wall surface, and does not need to frequently use manpower to move the seam beautifying robot.

Description

Automatic seam beautifying robot and seam beautifying construction method

Technical Field

The invention belongs to the technical field of construction machinery equipment, and particularly relates to an automatic seam beautifying robot and a seam beautifying construction method.

Background

Ceramic tiles are commonly used as decorative materials in the construction industry. When using ceramic tile fitment ground or wall, need to leave the gap of certain size between the ceramic tile because of following reason: 1. the ceramic tile can expand with heat and contract with cold; 2. the size error of the ceramic tile and the human error during construction. Therefore, the gap is treated when the tile is used for decoration. The conventional treatment method is to fill the gap with white cement. The treatment method has low cost, but the gaps of the ceramic tiles have the defects of easy dirtying, mildewing, bacteria breeding and the like in the later period of use. In order to overcome the defects, people increasingly adopt seam beautifying agents to fill gaps during decoration. The seam beautifying agent is a semi-fluid liquid formed by mixing an epoxy resin curing agent and a pigment, and has the advantages of seam beautifying, no blackening and mildew, permeation resistance, water resistance and the like compared with the traditional seam filling material. When seam beautifying construction is carried out, the process flows of seam cleaning, seam beautifying agent filling, seam pressing, edge hanging and the like are required. However, the existing seam beautifying construction is usually carried out manually, and has the problems of low efficiency, waste of seam beautifying agent, unstable seam beautifying effect, strain of workers and the like. Therefore, a low-cost and efficient automatic seam beautifying robot is needed to realize seam beautifying work.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides an automatic seam beautifying robot and a seam beautifying construction method.

In order to achieve the purpose, the invention adopts the following technical scheme: an automatic beauty-sewing robot comprising: the robot comprises a chassis, a robot body, a seam beautifying operation part, a battery, four moving wheels and wheel motors, wherein the chassis is used as a bearing support of the robot body and used for driving a vehicle body to move and advance; the gluing device is arranged above the chassis and comprises a gluing assembly and a gluing base, and one end of the gluing assembly is connected with the gluing base; the rotary lifting mechanism is arranged above the chassis and comprises a rotary platform and a lead screw lifting assembly arranged on the rotary platform, the rotary platform comprises a rotary base, a rotary motor arranged on the rotary base and a turntable arranged above the rotary base, the rotary base is fixed on the chassis, the rotary motor is fixedly arranged on the rotary base, a hollow rotary platform is arranged between the turntable and the rotary base and used for driving the turntable to rotate relative to the rotary base, and the lead screw lifting assembly is fixed on one side of the center of the turntable and used for adjusting the posture state of the gluing device; and the guide assembly is arranged on the lower end surface of the chassis and used for providing mechanical guide for the gluing process.

Further improve this scheme, beat the subassembly of gluing including beating the gluey motor, one pushes away gluey lead screw, a nut seat and four spinal branch vaulting poles I, the power shaft who beats the gluey motor passes through the shaft coupling and pushes away gluey lead screw one end and be connected, it is provided with adjusting nut on the gluey lead screw to push away, adjusting nut with push away gluey lead screw looks adaptation, adjusting nut and nut seat fixed connection, beat gluey motor and fix on the mount pad, be used for the drive to push away gluey lead screw and rotate, in order to realize that the nut seat moves along the length direction position of pushing away gluey lead screw, I same end fixed mounting of four spinal branch vaulting poles is on beating gluey base, the other end and the mount pad of bracing piece I are connected, bracing piece I sets up around pushing away gluey lead screw, and all parallel with pushing away gluey lead screw.

Further improve this scheme, beat and glue the base and include base plate, end plate and connecting rod, be the acute angle contained angle between end plate and the base plate, the connecting rod is connected by segmental arc and straight pole section and is constituteed, segmental arc one end is connected with the terminal surface center department of base plate, and the one end of straight pole section is connected with the terminal surface side of end plate, and end plate another side is connected with four spinal branch vaulting poles I.

The improved rubber straight rod structure is characterized in that a containing cavity used for containing a crack sealer is formed in the mounting seat, guide holes used for pushing rubber straight rods to pass through are formed in the end portion of the mounting seat, the two rubber straight rods are symmetrically arranged on two sides of the rubber screw pushing rod, one end of each rubber straight rod is connected with the nut seat, the other end of each rubber straight rod penetrates through the guide holes and stretches into the mounting seat, and a cylindrical push plate is arranged at the end of each rubber straight rod.

Further improve this scheme, lead screw lifting unit includes lead screw elevator motor, go up the supporting seat, the under bracing seat, bracing piece II, lift lead screw and lift nut seat, the under bracing seat is fixed on the carousel, it sets up directly over the under bracing seat to go up the supporting seat, two bracing pieces II are located lift lead screw both sides, and be used for connecting upper support seat and under bracing seat, the both ends of lift lead screw are respectively through bearing and last, the under bracing seat rotates to be connected, lift nut seat and lift lead screw looks adaptation, lead screw elevator motor is connected with the lower extreme of lift lead screw, a length direction position that is used for driving lift nut seat along the lift lead screw removes.

According to the scheme, the front side and the rear side of the chassis are provided with fixing frames for mounting the ultrasonic sensors, the ultrasonic sensors are used for sensing the distance between the automobile body and the barrier, the automobile body or the glue applying device is prevented from colliding with the barrier, and the automobile body posture is ensured to be in a wide environment when being changed.

According to the technical scheme, the rotary lifting mechanism further comprises a vertical lifting assembly, the vertical lifting assembly is arranged on the other side of the center of the rotary table relative to the screw rod lifting assembly, the vertical lifting assembly is hinged to one end of the movable rod, the other end of the movable rod is fixedly connected with the glue beating base, the movable rod is driven by the lifting nut seat to adjust the pitching angle and the height, so that the posture state of the glue beating device is adjusted, the vertical lifting assembly pushes the connecting end of the movable rod up and down at the same moving speed as the lifting nut seat, the posture of the glue beating device is kept stable and unchanged, and the glue beating device is enabled to move up and down to the preset height.

The utility model provides a further improvement scheme, the guide subassembly is including connecting the bottom plate, the guide motor, the actuating lever, guide rod and driven lever, connect the bottom plate and fix terminal surface under the chassis, the guide motor is installed on connecting the bottom plate, the output shaft of guide motor is articulated with the one end of actuating lever, the head and the tail of guide rod and driven lever are articulated in order, the tail end of driven lever articulates on connecting the bottom plate to constitute plane link mechanism, the swing of guide motor drive plane link mechanism drives the guide rod and inserts or take out the construction site seam, provide mechanical guide for gluing the operation.

The scheme also provides a seam beautifying construction method which comprises a ground gluing step; the ground gluing step is as follows:

step 11, moving the beauty robot for a circle at the indoor edge, and drawing an indoor ground space map;

step 12, partitioning the ground space, and automatically planning a robot operation path according to the required seam beautifying dosage and the tile size;

step 13, moving the beauty sewing robot to the initial position of the planned path;

step 14, firstly, adjusting the posture of the robot, and driving a guide rod to be inserted into the ground seam; the construction ground seam position is searched through the tracking camera, and the screw rod lifting assembly automatically adjusts the glue outlet to the ground seam position suitable for gluing work;

step 15, moving along a specific transverse or longitudinal gap of the ground seam, and synchronously starting gluing operation;

step 16, when the ultrasonic sensor detects that the vehicle body and the wall surface in the traveling target direction reach the set distance range, stopping the vehicle body, rotating the turntable by 180 degrees, then moving to the wall surface position in the traveling target direction, and performing gluing operation in the reverse direction until the seamless butt joint with the part where the gluing is finished is realized;

step 17, according to a preset planning path, searching a next construction ground seam by a tracking camera, then translating the vehicle body to the next ground seam, moving the vehicle body to a position where the ground seam to be constructed is close to one side wall surface, and preparing to carry out gluing operation;

step 18, repeating steps 14 to 17 in sequence to realize the gluing work in the specific construction site area;

the scheme is further improved, and the method further comprises a wall surface gluing step, wherein the wall surface gluing step comprises a transverse gluing step and a longitudinal gluing step; the transverse gluing steps are as follows:

step 21, firstly, automatically planning a path by a robot according to the wall area and the size of the ceramic tile;

step 22, adjusting the posture of the robot to be suitable for wall gluing operation;

step 23, adjusting the glue outlet to be lifted to a preset height by the screw rod lifting assembly, and then synchronously moving the screw rod lifting assembly and the linear push rod motor to keep the posture of the glue applying device stable and realize vertical lifting;

24, aligning the glue outlet to the highest wall surface transverse gap position which can be reached, transversely moving the vehicle body, and starting transverse gap gluing work;

step 25, when the ultrasonic sensor detects that the position of the vehicle body and the wall surface in the traveling target direction reaches a set distance range, stopping the vehicle body, rotating the turntable by 180 degrees, moving to the position of the wall surface in the traveling target direction, and performing gluing operation in the reverse direction until the seamless butt joint with the part of the glued wall seam is completed;

and step 26, sequentially reducing the height of the glue outlet according to the sequence from top to bottom, and finishing the gluing work of the transverse gap of the wall surface.

The longitudinal gluing step is as follows:

step 31, firstly, automatically planning a path by a robot according to the wall area and the size of the ceramic tile;

step 32, adjusting the posture of the robot to make the robot suitable for wall gluing operation;

step 33, adjusting the glue outlet to be lifted to a preset height by the screw rod lifting assembly, and then synchronously acting the screw rod lifting assembly and the linear push rod motor to keep the posture of the glue applying device stable and unchanged and realize vertical lifting;

step 34, aligning the glue applying device to the highest position of the longitudinal gap which can be reached by the glue outlet, synchronously moving the screw rod lifting assembly and the linear push rod motor to enable the glue outlet to vertically move downwards, continuously moving the screw rod lifting assembly to enable the glue outlet to swing downwards when the linear push rod motor descends to the lowest position, and simultaneously starting to move the vehicle body to one side in order to match the downward swing of the glue outlet to keep the glue outlet moving along the longitudinal gap to finish the glue applying work of the longitudinal wall gap;

step 35, translating the vehicle body to the next longitudinal wall gap;

and step 36, repeating the steps 32 to 35 to finish the gluing of the longitudinal gap of the wall surface.

The invention has the beneficial effects that:

firstly, the invention, through innovation, puts the beauty-joint robot in the most wall gap of the room that needs beauty-joint, the beauty-joint robot plans the route automatically, finishes the beauty-joint work of the floor and wall tile gap in certain area automatically, the front and back both ends of the vehicle body mount the ultrasonic sensor, perceive the distance between the vehicle body and the obstacle. Prevent that automobile body or gluing mechanism from bumping with the barrier. Ensuring the wide environment in the process of posture conversion. The camera discerns ground gap and control automobile body and move to suitable position, and beautiful seam agent goes out the jiao kou and aims at ceramic tile gap and beat and glue the work in guaranteeing that the jiao kou moves along ceramic tile ground gap all the time.

The mechanical mechanism comprises four parts, namely a chassis, a rotating mechanism, a screw rod lifting assembly, a gluing device and the like, wherein the chassis is in a specially-made structural shape and is stable in advancing, a sharp corner is prevented from damaging a wall surface due to the polygonal structure, the rotating mechanism can rotate 360 degrees of the gluing device, the possibility is provided for gluing work at a special position of the ground, particularly gluing work at the corner, the lifting screw rod assembly works independently, the lifting and falling of a glue applying opening of a jointing agent can be realized, the glue applying working position of a joint leaving ground gap or falling joint ground gap can be realized, the adjustment of ground gluing work can be realized, and the gluing device is adjusted to a posture suitable for the gluing work of the wall surface. Then a linear push rod motor in the vertical lifting assembly pushes the connecting end of the movable rod up and down at the same speed as the lifting nut seat moves, the posture of the gluing mechanism is kept stable and unchanged, the gluing mechanism is made to move up and down to a proper height, and wall gaps with different heights are processed.

Thirdly, the scheme is innovated, the beautiful seam operation method is optimized, the beautiful seam construction method of the scheme is combined with the specific device structure, the route is automatically planned through the ground and the wall partition, the required proper operation action is selected according to the specific construction environment, meanwhile, the intelligent control system is combined, the wall barriers are automatically avoided, no dead angle is left in the beautiful seam process, the influence of corners and the like can not be caused, through automatic tracking, the gluing operation position is accurate, meanwhile, the specific guide mechanism is combined, deviation can not occur in the advancing path, the automatic beautiful seam robot mechanical structure of the scheme is combined, the problems of high labor intensity, low speed, material waste and the like in the beautiful seam process can be effectively solved, the construction cost is low, and the construction method can be widely applied.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a front view of an automatic seam-filling robot of the present invention;

FIG. 2 is a side view of the automatic seam robot of the present invention;

FIG. 3 is a top view of the automatic seam-beautifying robot of the present invention;

FIG. 4 is a perspective view of the automatic seam-beautifying robot of the present invention;

FIG. 5 is a block diagram of a rotary platform according to the present invention;

FIG. 6 is a structural view of a turntable according to the present invention;

FIG. 7 is a structural view of a lead screw lifting assembly of the present invention;

FIG. 8 is a structural view of a guide mechanism of the present invention;

FIG. 9 is a view of the glue in the present invention, shown in a first perspective;

FIG. 10 is a second perspective view of the glue applicator of the present invention;

FIG. 11 is a schematic diagram of a control system of the present invention;

the labels in the figure are: 1. a chassis, 11, a wheel motor, 12, a moving wheel, 2, a gluing device, 21, a gluing base, 22, a gluing component, 221, a gluing motor, 222, a glue pushing screw rod, 223, a nut seat, 224, a support rod I, 225, a coupler, 227, an adjusting nut, 229, a glue pushing straight rod, 23, a mounting seat, 3, a rotary lifting mechanism, 31, a rotary platform, 311, a rotary base, 312, a rotary motor, 313, a turntable, 314, a hollow rotary platform, 32, a screw rod lifting component, 321, a screw rod lifting motor, 322, an upper support seat, 323, a lower support seat, 324, a lifting screw rod, 325, a lifting nut seat, 326, a support rod II, 33, a vertical lifting mechanism, 331, a linear push rod motor, 332, a movable seat, 333, a three-layer stacking sleeve, 34, a movable rod, 4, a guide component, 41, a connecting bottom plate, 42, a guide motor, 43, a drive rod, 44, a guide component, a glue pushing rod component, a nut, a rotating platform, The device comprises a guide rod 45, a driven rod 101, an ultrasonic sensor 102, a tracking camera 103, a single chip microcomputer 104 and a battery.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Preferred embodiments of the present invention will be described in detail below.

As shown in fig. 1 to 4, the present embodiment provides an automatic seam-beautifying robot, including: the robot comprises four parts, namely a chassis 1, a gluing device 2, a rotary lifting mechanism 3 and a guide mechanism 4, wherein the chassis 1 and the chassis 1 are used as bearing supports of a robot main body and used for driving a vehicle body to move; the gluing device 2 is arranged above the chassis 1 and comprises a gluing component 22 and a gluing base 21, and one end of the gluing component 22 is connected with the gluing base 21; the rotary lifting mechanism 3 comprises a rotary platform 31 and a screw rod lifting assembly 32 arranged on the rotary platform 31; and the guide assembly 4 is arranged on the lower end surface of the chassis 1 and is used for providing mechanical guide for the gluing process. As shown in fig. 3, the chassis 1 is a polygonal plate-shaped structure with two wide ends and a narrow middle part, and is integrally dumbbell-shaped, through grooves 13 are formed on the plate surfaces of the two ends of the chassis 1, each vehicle-mounted component can be mounted at the through grooves 13 through bolts, a plurality of sections of arc-shaped grooves 14 are formed on the plate surface in the middle of the chassis 1, the plurality of sections of arc-shaped grooves 14 form an inner and outer concentric circular ring-shaped structure, the upper end surface of the center of the arc-shaped groove 14 is provided with a rotary lifting mechanism 3, and the lower end surface is provided with a guide assembly 4.

The chassis 1 is provided with seam beautifying operation parts and a battery 104 for providing power for the robot, the battery 104 is fixed in the through groove 13 through bolts, and a power supply system supplies power for a control panel, a sensor, a motor and the like. The OV7670 small tracking camera positioned at the front end of the crack sealer mounting seat 23 identifies a ceramic tile gap and controls the vehicle body to move to a proper position, and a crack sealer glue outlet is aligned with the ceramic tile gap and glue is applied to the ceramic tile gap, so that the glue outlet is guaranteed to move along the ceramic tile ground joint all the time. Four moving wheels 12 and wheel motors 11 are symmetrically arranged at the corner positions of the chassis 1; the moving wheels 12 are mecanum wheels, and the front and rear sides of the chassis 1 are provided with fixing frames 14 for mounting the ultrasonic sensors 101. Ultrasonic sensors 101 are installed at the front end and the rear end of the vehicle body to sense the distance between the vehicle body and the obstacle. The collision of the vehicle body or the glue applying device 2 with the obstacle is prevented. Ensuring the wide environment in the process of posture conversion. The seam beautifying robot is more intelligent, has the function of beautifying seams of the wall surface, and can realize the conversion of work between the automatic planning path of the seam beautifying robot and the ground and wall surfaces. The seam beautifying robot is placed in a seam, which is closest to a wall, of a room needing seam beautifying, the seam beautifying robot automatically plans a path, seam beautifying work of seams of ground tiles and wall tiles in a certain area is automatically completed, and the seam beautifying robot does not need to be frequently moved manually.

As shown in fig. 9 and 10, the gluing device 2 is implemented by a gluing mechanism consisting of a mounting seat 23 for a crack sealer, a gluing component 22 and a gluing base 21, wherein the mounting seat 23 consists of a plastic integrated shell and a tracking camera 102. Beat and glue base 21 and include base plate 211, end plate 212 and connecting rod 213, be acute angle contained angle between end plate 212 and the base plate 211, connecting rod 213 is connected by arc section and straight pole section and constitutes, and arc section one end is connected with the terminal surface center department of base plate 211, and the one end of straight pole section is connected with the terminal surface center department of end plate 212, when base plate 211 is in vertical state for the play jiao kou of mount pad 23 is to the state setting of holding down to one side.

The gluing component 22 comprises a gluing motor 221, a glue pushing screw rod 222, a nut seat 223 and four support rods I224, a power shaft of the gluing motor 221 is connected with one end of the glue pushing screw rod 222 through a coupler 225, an adjusting nut 227 is arranged on the glue pushing screw rod 222, the adjusting nut 227 is matched with the glue pushing screw rod 222, the adjusting nut 227 is fixedly connected with the nut seat 223, the gluing motor 221 is used for driving the glue pushing screw rod 222 to rotate so as to enable the nut seat 223 to move along the length direction of the glue pushing screw rod 222, the four support rods I224 are arranged around the glue pushing screw rod 222, the same ends of the four support rods I224 are fixedly installed on the end plate 212, the other ends of the support rods I224 are connected with the installation seat 23 and are parallel to the glue pushing screw rod 222. The glue pushing rod 222 and the adjusting nut 227 are driven to move by the stepping motor, so that the glue pushing straight rod 229 is driven to move along the length direction of the screw rod, and the seam beautifying agent is extruded from a glue outlet and enters gaps of the ceramic tiles. The stepping motor can also control the glue discharging amount and the glue applying speed so as to improve the working quality.

Be formed with the chamber that holds that is used for placing the beautiful seam agent on mount pad 23, tip at mount pad 23 is formed with the guide hole that is used for pushing away gluey straight-bar 229 and passes through, one end is connected with nut seat 223, and be located the both sides of pushing away gluey lead screw 222, the other end passes through and stretches into in mount pad 23 by guide hole department, be provided with cylindrical push pedal at the end of pushing away gluey straight-bar 229, cylindrical push pedal contacts with the bottom of beautiful seam agent bottle, mount pad 23 is the integrative shell of plastics, it is provided with tracking camera 102 to go out the jiao kou at mount pad 23, the base of beating gluey motor 221 is fixed in the one end that the glue outlet was kept away from to mount pad 23. The seam pressing ball device can be locked and installed on the seam beautifying agent rubber tube, and the contact part of the seam pressing ball device is provided with yellow sponge. The rear end of the seam pressing ball is provided with a spring, the seam pressing ball can contract after contacting with the ground seam, gives pressure to seam beautifying agent in the ground seam, smoothes the seam beautifying agent, and can adjust the installation position and angle of the seam pressing ball according to different requirements.

As shown in fig. 5, 6 and 7, the rotary lifting mechanism 3 is implemented by a lifting screw mechanism including a rotary platform 31, a screw lifting unit 32, a vertical lifting unit 33 and a movable rod 34. The rotary platform 31 is mainly realized by matching and connecting a hollow rotary platform 314 with a specially-made circular turntable 313, and the hollow rotary platform 314 is a rotary load device and has the same principle as a planetary reducer. The motor has the advantages of being hollow in structure, high in repeated positioning accuracy, high in rigidity and rotation accuracy and free in motor configuration. The rotary platform 31 realizes 360-degree rotation of the gluing mechanism, and provides possibility for gluing work at a special position on the ground.

Specifically, the rotary platform 31 includes a rotary base 311, a rotary motor 312 mounted on the rotary base 311, and a turntable 313 disposed above the rotary base 311, the rotary base 311 is fixed on the chassis 1, a square hole for mounting the screw rod lifting motor 321 is disposed on the turntable 313, a central circular hole is formed in the center of the turntable 313, a hollow rotary platform 314 is mounted below the central circular hole, a hole for mounting the vertical lifting mechanism 33 is disposed on the other side of the central circular hole, the rotary motor 312 is mounted and fixed on the rotary base 311, a hollow rotary platform 314 is disposed between the turntable 313 and the rotary base 311 and used for driving the turntable 313 to rotate relative to the rotary base 311, and the screw rod lifting assembly 32 is fixed on the turntable 313 and used for adjusting the posture state of the gluing device 2.

The screw lifting assembly 32 comprises a screw lifting motor 321, an upper support seat 322, a lower support seat 323, a lifting screw 324, a lifting nut seat 325 and a support rod II 326, the lower support seat 323 is fixed on the turntable 313, the upper support seat 322 is arranged right above the lower support seat 323, two ends of the lifting screw 324 are respectively rotatably connected with the upper support seat 322 and the lower support seat 323 through bearings, the lifting nut seat 325 comprises a nut seat and a lifting nut, the nut seat is fixedly connected with the lifting nut, the lifting nut is matched with the lifting screw 324, the screw lifting motor 321 is fixed on the turntable 313 and connected with the lower end of the lifting screw 324, and the screw lifting motor 321 is used for driving the lifting nut seat 325 to move along the length direction of the lifting screw 324. Two support rods II 326 are symmetrically arranged on two sides of the lifting screw rod 324, two ends of each support rod II 326 are respectively connected with the upper supporting seat 322 and the lower supporting seat 323, the lifting screw rod 324 is longitudinally placed along the vertical direction during installation, and the screw rod lifting motor 321 is arranged on the lower turntable 313. The lifting screw rod assembly 32 realizes the rising and falling of the glue applying opening of the seam beautifying agent and corresponds to wall brick seams with different heights.

Specifically, the vertical lifting assembly 33 is disposed on the other side of the center of the rotating disc 313 relative to the lead screw lifting assembly 32, the vertical lifting assembly 33 includes a linear push rod motor 331 and a movable seat 332, the movable seat 332 is mounted on the rotating disc 313, a base of the linear push rod motor 331 is fixedly connected with the movable seat 332, a push rod of the linear push rod motor 331 is hinged to one end of a movable rod 34, the other end of the movable rod 34 is fixedly connected with a base plate 211 of the gluing base 21, the movable rod 34 is driven by a lifting nut seat 325 to adjust a pitch angle and a height, so that the posture state of the gluing device 2 is adjusted, and the linear push rod motor 331 pushes a connecting end of the movable rod 34 up and down at the same moving speed as the lifting nut seat 325 to keep the posture of the gluing device 2 stable and move up and down to a preset height. The linear push rod motor 331 is externally provided with three-layer stacking sleeves 333 which are nested inside and outside, and when the push rod of the linear push rod motor 331 extends, the three-layer stacking sleeves 333 are sequentially stretched.

The movable rod 34 is composed of two parallel and oppositely arranged guide groove plates, the two guide groove plates have the same structure, and the two guide groove plates are aluminum alloy plates with special shapes and are formed by connecting four groups of bolts. The guide groove plate comprises a connecting section and a guide groove section, the two connecting sections are connected through four bolts, the end part of the connecting section is hinged with a pin shaft of a push rod end of the linear push rod motor 331, a guide groove suitable for the lifting nut seat 325 to slide along the length direction of the guide groove section is formed in the guide groove section, a notch is formed in one end of the guide groove and used for connecting or separating the lifting nut seat 325 and the movable rod 34, guide arms are symmetrically arranged on two sides of the lifting nut seat 325, and the guide arms enter the guide groove from the notch and can slide along the length direction of the guide groove.

When ground is glued: in the lifting screw rod assembly 32, the stepping motor drives the lifting nut base 325 to move up and down along the direction of the lifting screw rod 324, the lifting nut base 325 moves along the guide groove of the movable rod 34 to drive the movable rod 34 to swing correspondingly, and the glue outlet is lifted to leave a ground gap or descend to be attached to the ground gap and glue the working position.

When the wall surface is glued: in the lifting screw assembly 32, the stepping motor drives the lifting nut to move up and down along the direction of the lifting screw 324, so as to adjust the gluing assembly 22 to a posture suitable for the gluing work of the wall surface. Then, the linear push rod motor 331 in the vertical lifting assembly 33 pushes the connecting end of the movable rod 34 up and down at the same speed as the lifting nut seat 325 moves, so as to keep the posture of the gluing device 2 stable and make the gluing device move up and down to a proper height, thereby treating wall gaps with different heights.

As shown in fig. 8, the guiding assembly 4 is implemented by a guiding mechanism consisting of a driving motor, a lifting guiding mechanism and a connecting bottom plate 41. The lifting guide mechanism utilizes the principle of a plane four-bar mechanism and consists of a driving rod 43, a guide rod 44 and a driven rod 45. The connection bottom plate 41 is composed of connection screw holes, a motor mounting groove and a special motor fixing wedge block.

Specifically, the guiding assembly 4 comprises a connecting bottom plate 41, a guiding motor 42, a driving rod 43, a guiding rod 44 and a driven rod 45, the connecting bottom plate 41 is fixed on the lower end face of the chassis 1, the guiding motor 42 is installed on the connecting bottom plate 41, an output shaft of the guiding motor 42 is hinged to one end of the driving rod 43, the guiding rod 44 and the driven rod 45 are sequentially hinged end to end, tail ends of the driving rod 43 and the driven rod 45 are hinged to the connecting bottom plate 41 to form a link mechanism, hinge joints are formed at the head end and the tail end of the guiding rod 44 and the driven rod 45, the thickness of each hinge joint is smaller than that of a rod main body, the guiding motor 42 drives the link mechanism to swing to drive the guiding rod 44 to be inserted into or pulled out of an application seam, and mechanical guiding is provided for gluing operation. The guarantee is beaten jiao kou and is followed the ceramic tile gap and removed. After finishing one-time transverse or longitudinal sewing and gluing work, the motor drives the connecting rod mechanism to swing, and drives the guide rod 44 to be drawn out from the ground seam, so that the seam beautifying robot can freely move to the next working ground seam.

The scheme also provides a seam beautifying construction method which comprises a ground seam beautifying step and a wall surface seam beautifying step; the ground seam beautifying steps are as follows: step 11, moving the beauty robot for a circle at the indoor edge, and drawing an indoor ground space map; step 12, partitioning the ground space, and automatically planning a robot operation path according to the required seam beautifying dosage and the tile size; step 13, moving the beauty sewing robot to the initial position of the planned path; step 14, firstly, adjusting the posture of the robot, and driving the guide rod 44 to be inserted into the ground seam; the tracking camera 102 is used for searching a construction ground seam position, the lead screw lifting assembly 32 automatically adjusts a glue outlet to a ground seam position suitable for gluing work, the stepping motor drives the lifting nut seat 325 to move up and down along the direction of the lifting lead screw 324, the lifting nut seat 325 moves along the guide groove of the movable rod 34 to drive the movable rod 34 to swing correspondingly, and the glue outlet is lifted to leave a ground seam or descend to a gluing work position of a joint ground seam; step 15, moving along a specific transverse or longitudinal gap of the ground seam, and synchronously starting gluing operation; step 16, when the ultrasonic sensor 101 detects that the distance between the vehicle body and the wall surface in the advancing direction reaches a set distance range, stopping the vehicle body, rotating the turntable 313 by 180 degrees, moving to the wall surface position in the advancing direction, and performing gluing operation in a reverse direction until the seamless butt joint with the previous glued ground seam part is realized; step 17, according to a preset planning path, the tracking camera 102 searches for the next construction ground seam, then the vehicle body is translated to the next ground seam, the vehicle body moves to the position, close to one side wall surface, of the ground seam to be constructed, and glue applying operation is prepared; and 18, repeating the steps 14 to 17 in sequence to realize the gluing work in the specific construction site area.

The wall surface gluing step comprises a transverse gluing step and a longitudinal gluing step; the transverse gluing step is as follows: step 21, firstly, automatically planning a path by a robot according to the wall area and the tile size; step 22, adjusting the posture of the robot to make the robot suitable for wall surface gluing operation, wherein in the lifting screw rod assembly 32, the stepping motor drives the lifting nut seat 325 to move up and down along the direction of the lifting screw rod 324, and the gluing assembly 22 is adjusted to be suitable for the wall surface gluing operation; step 23, adjusting the glue outlet to be lifted to a preset height by the screw rod lifting assembly 32, and then synchronously moving the screw rod lifting assembly 32 and the linear push rod motor 331 to keep the posture of the gluing device 2 stable and unchanged and realize vertical lifting; 24, aligning the glue outlet to the highest wall surface transverse gap position which can be reached, transversely moving the vehicle body, and starting transverse brick joint gluing work; step 25, when the ultrasonic sensor 101 detects that the position of the vehicle body and the wall surface in the advancing direction reaches a set distance range, stopping the vehicle body, rotating the turntable 313 by 180 degrees, moving to the position of the wall surface in the advancing direction, and performing gluing operation in the reverse direction until the seamless butt joint with the part of the glued wall seam is completed; and step 26, sequentially reducing the height of the glue outlet according to the sequence from top to bottom, and finishing the gluing operation of the transverse gap of the wall surface.

The longitudinal gluing steps are as follows: step 31, firstly, automatically planning a path by a robot according to the wall area and the tile size; step 32, adjusting the posture of the robot to be suitable for wall surface gluing operation, driving the lifting nut seat 325 to move up and down along the direction of the lifting screw rod 324 by the stepping motor, and adjusting the gluing component 22 to be in a posture suitable for wall surface gluing operation; step 33, adjusting the glue outlet to be lifted to a preset height by the screw rod lifting assembly 32, and then synchronously moving the screw rod lifting assembly 32 and the linear push rod motor 331 to keep the posture of the glue applying device 2 stable and unchanged and realize vertical lifting; step 34, aligning the glue applying device 2 to the highest position of the longitudinal gap which can be reached by the glue outlet, synchronously moving the screw rod lifting assembly 32 and the linear push rod motor 331 to enable the glue outlet to vertically move downwards, when the linear push rod motor 331 descends to the lowest position, continuously moving the screw rod lifting assembly 32 to enable the glue outlet to swing downwards, and simultaneously moving the vehicle body to one side to match the downward swing of the glue outlet to keep the glue outlet moving along the longitudinal gap to finish the glue applying work of the longitudinal wall gap; step 35, translating the vehicle body to the next longitudinal wall gap; and step 36, repeating the steps 32 to 35 to finish the gluing of the longitudinal gap of the wall surface.

In order to enable the device to have a better effect, the scheme is further optimized, the single chip microcomputer 103 is arranged in the center of the upper end face of the chassis 1, the single chip microcomputer 103 is fixed below the rotary lifting mechanism and used as a brain of the whole control system, and signals of a camera and an ultrasonic sensor are collected and processed; controlling the rotation of Mecanum wheels so as to drive the movement of the trolley chassis 1; carry out simultaneously for realizing gluing and caulking, avoid beautiful seam agent to do not convenient to clear up in ceramic tile gap both sides, the pressure seam ball device that sets up at beautiful seam agent rubber tube front end can adopt following structure: comprises a seam pressing frame, a front seam pressing ball, a cleaning folded plate and a rear seam pressing ball are sequentially arranged on the seam pressing frame along the advancing direction, the cleaning folded plate is of a V-shaped structure, one protruding side of the cleaning folded plate points to the front seam pressing ball, one recessed side of the cleaning folded plate faces to the rear seam pressing ball and is used for pushing seam beautifying agents pressed out by the front seam pressing ball to the two sides of the folded plate, a notch is formed in the bending part of the bottom of the cleaning folded plate, the width of the lower end of the notch is smaller than the diameter of the front seam pressing ball and the diameter of the rear seam pressing ball so as to realize the complete cleaning of the seam beautifying agents by the cleaning folded plate, the upper end of a cleaning scraper blade is fixed on the two sides of the seam pressing frame through a spring push rod, the spring push rod comprises push rods connected to the two sides above the cleaning scraper, a spring penetrates through a guide hole of the short arm, the spring can press the cleaning folded plate to abut against a ceramic tile, and when the front seam pressing ball presses the seam beautifying agents in the gap of the ceramic tile, clean folded plate scrapes away the joint compound, and pushes to the joint compound that beautifies of a small amount of both sides and can follow-up unified clearance, presses the seam once more through back crack pressing ball, avoids clean folded plate to scrape the back, leaves the seal of a government organization in old china in the ceramic tile gap, further accelerates the construction progress simultaneously.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (9)

1. An automatic beauty-seam robot, characterized by comprising:

the robot comprises a chassis, a robot body, a seam beautifying operation part, a battery, four moving wheels and wheel motors, wherein the chassis is used as a bearing support of the robot body and used for driving a vehicle body to move and advance;

the gluing device is arranged above the chassis and comprises a gluing assembly and a gluing base, and one end of the gluing assembly is connected with the gluing base;

the rotary lifting mechanism is arranged above the chassis and comprises a rotary platform and a lead screw lifting assembly arranged on the rotary platform, the rotary platform comprises a rotary base, a rotary motor arranged on the rotary base and a turntable arranged above the rotary base, the rotary base is fixed on the chassis, the rotary motor is fixedly arranged on the rotary base, a hollow rotary platform is arranged between the turntable and the rotary base and used for driving the turntable to rotate relative to the rotary base, and the lead screw lifting assembly is fixed on one side of the center of the turntable and used for adjusting the posture state of the gluing device;

the guide assembly is arranged on the lower end face of the chassis and used for providing mechanical guide for the gluing process;

the automatic seam beautifying robot adopts the following seam beautifying construction method: comprises a ground gluing step; the ground gluing step is as follows:

step 11, moving the beauty robot for a circle at the indoor edge, and drawing an indoor ground space map;

step 12, partitioning the ground space, and automatically planning a robot operation path according to the required seam beautifying dosage and the tile size;

step 13, moving the beauty sewing robot to the initial position of the planned path;

step 14, firstly, adjusting the posture of the robot, and driving a guide rod to be inserted into the ground seam; the construction ground seam position is searched through the tracking camera, and the screw rod lifting assembly automatically adjusts the glue outlet to the ground seam position suitable for gluing work;

step 15, moving along a specific transverse or longitudinal gap of the ground seam, and synchronously starting gluing operation;

step 16, when the ultrasonic sensor detects that the vehicle body and the wall surface in the traveling target direction reach the set distance range, stopping the vehicle body, rotating the turntable by 180 degrees, then moving to the wall surface position in the traveling target direction, and performing gluing operation in the reverse direction until the seamless butt joint with the part where the gluing is finished is realized;

step 17, according to a preset planning path, searching a next construction seam by a tracking camera, then translating the vehicle body to the next construction seam, moving the vehicle body to a position of the construction seam close to one side wall surface, and preparing to perform gluing operation;

and 18, repeating the steps 14 to 17 in sequence to realize the gluing work in the specific construction site area.

2. An automatic beauty robot according to claim 1, characterized in that: beat and glue the subassembly including beating the gluey motor, one pushes away gluey lead screw, a nut seat and four spinal branch vaulting poles I, the power shaft who beats gluey motor passes through the shaft coupling and pushes away gluey lead screw one end and be connected, it is provided with adjusting nut on the gluey lead screw to push away, adjusting nut with push away gluey lead screw looks adaptation, adjusting nut and nut seat fixed connection, beat to glue the motor and fix on the mount pad, be used for the drive to push away gluey lead screw and rotate, in order to realize that the nut seat removes along the length direction position of pushing away gluey lead screw, I same end fixed mounting of four spinal branch vaulting poles is on beating gluey base, the other end and the mount pad of bracing piece I are connected, bracing piece I sets up around pushing away gluey lead screw, and all with pushing away gluey lead screw parallel.

3. An automatic beauty robot according to claim 2, characterized in that: beat and glue base and include base plate, end plate and connecting rod, be the acute angle contained angle between end plate and the base plate, the connecting rod is connected by segmental arc and straight rod section and is constituteed, segmental arc one end is connected with the terminal surface center department of base plate, and the one end of straight rod section is connected with the terminal surface side of end plate, and end plate another side is connected with four spinal branch vaulting poles I.

4. An automatic beauty robot according to claim 3, characterized in that: be formed with the chamber that holds that is used for placing beautiful seam agent in the mount pad, be formed with the guide hole that is used for pushing away gluey straight-bar and passes through at the tip of mount pad, two are pushed away gluey straight-bars symmetries and set up in the both sides of pushing away gluey lead screw, push away gluey straight-bar one end and are connected with the nut seat, and the other end is passed and stretch into in the mount pad by guide hole department, is provided with cylindrical push pedal pushing away the end of gluing the straight-bar.

5. An automatic beauty robot according to claim 2, characterized in that: lead screw lifting unit includes lead screw elevator motor, go up the supporting seat, the under bracing seat, bracing piece II, lift lead screw and lift nut seat, the under bracing seat is fixed on the carousel, it sets up directly over the under bracing seat to go up the supporting seat, two bracing pieces II are located lift lead screw both sides, and be used for connecting upper support seat and under bracing seat, the both ends of lift lead screw are respectively through the bearing with last, the under bracing seat rotates to be connected, lift nut seat and lift lead screw looks adaptation, lead screw elevator motor is connected with the lower extreme of lift lead screw, be used for driving lift nut seat along the length direction removal of lift lead screw.

6. An automatic beauty robot according to claim 5, characterized in that: the front side and the rear side of the chassis are provided with fixing frames for mounting ultrasonic sensors, the ultrasonic sensors are used for sensing the distance between the vehicle body and the barrier, the vehicle body or the glue applying device is prevented from colliding with the barrier, and the vehicle body is ensured to be in an open environment when the posture of the vehicle body is changed.

7. An automatic seam-beautifying robot according to claim 6, characterized in that: the rotary lifting mechanism further comprises a vertical lifting assembly, the vertical lifting assembly is arranged on the other side of the center of the rotary table relative to the screw rod lifting assembly, the vertical lifting assembly comprises a linear push rod motor and a movable seat, the movable seat is mounted on the rotary table, a base of the linear push rod motor is fixedly connected with the movable seat, a push rod of the linear push rod motor is hinged with one end of a movable rod, the other end of the movable rod is fixedly connected with a gluing base, the movable rod is driven by a lifting nut seat to perform pitching angle and height adjustment, and therefore the posture state of the gluing device is adjusted.

8. An automatic beauty robot according to claim 7, characterized in that: the guide assembly comprises a connecting bottom plate, a guide motor, a driving rod, a guide rod and a driven rod, the connecting bottom plate is fixed on the lower end face of the chassis, the guide motor is installed on the connecting bottom plate, an output shaft of the guide motor is hinged to one end of the driving rod, the guide rod and the driven rod are sequentially hinged in head and tail, and the tail end of the driven rod is hinged to the connecting bottom plate to form a plane connecting rod mechanism.

9. An automatic beauty robot according to claim 7, characterized in that: the method also comprises a wall surface gluing step, wherein the wall surface gluing step comprises a transverse gluing step and a longitudinal gluing step;

the transverse gluing steps are as follows:

step 21, firstly, automatically planning a path by a robot according to the wall area and the size of the ceramic tile;

step 22, adjusting the posture of the robot to be suitable for wall gluing operation;

step 23, adjusting the glue outlet to be lifted to a preset height by the screw rod lifting assembly, and then synchronously moving the screw rod lifting assembly and the linear push rod motor to keep the posture of the glue applying device stable and realize vertical lifting;

step 24, aligning the glue outlet with the highest wall surface transverse gap position which can be reached, transversely moving the vehicle body, and starting the transverse gap gluing work;

step 25, when the ultrasonic sensor detects that the position of the vehicle body and the wall surface in the traveling target direction reaches a set distance range, stopping the vehicle body, rotating the turntable by 180 degrees, moving to the position of the wall surface in the traveling target direction, and performing gluing operation in the reverse direction until the seamless butt joint with the part of the glued wall seam is completed;

step 26, sequentially reducing the height of the glue outlet according to the sequence from top to bottom, and finishing the gluing work of the transverse gap of the wall surface;

the longitudinal gluing step is as follows:

step 31, firstly, automatically planning a path by a robot according to the wall area and the tile size;

step 32, adjusting the posture of the robot to make the robot suitable for wall gluing operation;

step 33, adjusting the glue outlet to be lifted to a preset height by the screw rod lifting assembly, and then synchronously moving the screw rod lifting assembly and the linear push rod motor to keep the posture of the glue applying device stable and realize vertical lifting;

step 34, aligning the glue applying device to the highest position of the longitudinal gap which can be reached by the glue outlet, synchronously moving the screw rod lifting assembly and the linear push rod motor to enable the glue outlet to vertically move downwards, continuously moving the screw rod lifting assembly to enable the glue outlet to swing downwards when the linear push rod motor descends to the lowest position, and simultaneously starting to move the vehicle body to one side in order to match the downward swing of the glue outlet to keep the glue outlet moving along the longitudinal gap to finish the glue applying work of the longitudinal wall gap;

step 35, translating the vehicle body to the next longitudinal wall gap;

and step 36, repeating the steps 32 to 35 to finish the gluing of the longitudinal gap of the wall surface.

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