CN216138938U - Full-automatic ceramic tile cavity detection and restoration robot - Google Patents

Abstract

The utility model discloses a full-automatic ceramic tile cavity detection and repair robot, which comprises: the ground tile cavity detects and restores the part, installs on full-automatic walking dolly, and it includes: the floor tile cavity detection mechanism is used for heating the tiles by utilizing the heating plate and scanning whether the tiles have cavities or not by using the thermal imager; the floor tile cavity repairing mechanism is used for drilling a tile hole with a cavity on the floor and injecting repairing glue for repairing; the wall ceramic tile cavity detection and repair part is arranged on the full-automatic walking trolley and comprises a mechanical arm tail end, a detection part and a repair part, wherein the mechanical arm tail end is used for drilling a ceramic tile hole with a cavity in the wall and injecting repair glue for repairing the ceramic tile hole; the ceiling tile cavity detection and repair part comprises a ceiling tile cavity detection and repair mechanism and is used for detecting whether a cavity exists in a ceiling tile through an arranged ultrasonic detector and injecting repair glue for repairing the cavity by drilling. The utility model can realize the detection and repair of the ceramic tile cavities of the floors, walls and ceilings of the whole house.

Description

Full-automatic ceramic tile cavity detection and restoration robot

Technical Field

The utility model relates to the technical field of constructional engineering, in particular to a full-automatic ceramic tile cavity detection and repair robot which is suitable for ceramic tile cavity detection and repair work during decoration and realizes full-automatic ceramic tile cavity detection and repair.

Background

Tiling is an important link of house decoration, and the following problems are frequently encountered in the tiling process: 1. the water absorption of the ceramic tile is relatively high, and the ceramic tile is empty. Secondly, before tile fitting, if the back surface of the tile and the surface of the foundation are cleaned, impurities can be mixed into the tile and the tile is not cleaned, so that the tile hollows. 2. Finished product protection is not carried out in time after the ceramic tiles are paved and pasted. Construction site is chaotic, and constructors do construction or trample when the tile bonding layer is not hardened, so that the bonding layer and the base layer are loosened to generate hollowing. Enough contraction expansion gaps are not reserved during paving, and stress is squeezed and raised between adjacent ceramic tiles under the action of thermal shock expansion or wet expansion due to the fact that enough expansion gaps are not reserved, so that a hollowing and dropping phenomenon is caused. The above problems can lead to hollowing after the tile has been laid.

The hollowing of the tile causes the following problems: 1. the ceramic tile at the hollow drum is not stressed, and the ceramic tile is easy to break when the external force is large; 2. the hollow bulging range of the ceramic tile is gradually expanded in the future days, and the ceramic tile is finally tilted or falls off; 3. the hollowing can cause water accumulation in the wall and the ground, rot and smell, even become a hiding place for cockroaches and the like, and influence the household sanitary environment; 4. a cabinet body, various electric appliances and the like are required to be installed on the wall surface of the ceramic tile in a drilling mode in many times, if the ceramic tile is hollow, the drilling is difficult, and the ceramic tile is easy to break; the current common treatment method is to break the tile and take out, and then re-lay the tile or pour glue into the gap at the edge of the tile. The broken ceramic tiles can damage electric wires and water pipes laid underground, and the whole process is extremely complex and inconvenient; glue is poured into gaps at the edges of the ceramic tiles, the repairing glue is difficult to permeate into cavities of the ceramic tiles, and the repairing effect is poor.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems in the prior art, the utility model aims to provide a full-automatic ceramic tile cavity detection and repair robot, which utilizes a full-automatic intelligent cruise trolley to run indoors, uses a heating plate to heat a ground ceramic tile, and detects the cavity position of the ground ceramic tile through thermal imaging; the cavity position of wall ceramic tile is surveyed to wall ceramic tile use manipulator and ultrasonic detection technique, utilizes the small-size electric drill accuracy to punch to the cavity position, and the mode of rethread pinhole injecting glue is with repairing in the gluey injection cavity, realizes full automated inspection and the restoration of ceramic tile cavity to the foldable lift platform of cooperation detects ceiling ceramic tile cavity, realizes the comprehensive detection and the restoration of ceramic tile cavity in the house.

In order to further achieve the purpose, the utility model adopts the following technical scheme: a full-automatic ceramic tile cavity detection and repair robot, comprising:

a full-automatic walking trolley;

the ground tile cavity detects and restores the part, installs on the full-automatic walking dolly, it includes:

the floor tile cavity detection mechanism is used for heating each tile by using the heating plate and scanning and detecting whether the tile has a cavity or not by using the thermal imager;

the ground ceramic tile cavity repairing mechanism is arranged on the ground ceramic tile cavity detecting mechanism and is used for drilling a ceramic tile hole with a cavity on the ground and injecting repairing glue for repairing;

wall ceramic tile cavity detects and restores the part, installs on the full-automatic walking dolly, it includes:

the mechanical arm is used for detecting whether the wall ceramic tile has a cavity or not through the ultrasonic detector arranged on the mechanical arm;

the mechanical arm tail end is arranged at the mechanical arm tail end and is used for drilling a ceramic tile with a cavity in the wall and injecting repairing glue for repairing;

the ceiling tile cavity detection and repair part is arranged on the full-automatic walking trolley and is used for adjusting the height from the full-automatic walking trolley to a ceiling;

the ceiling tile cavity detection and repair mechanism is used for detecting whether a cavity exists in a ceiling tile through the ultrasonic detector arranged on the ceiling tile cavity detection and repair mechanism and injecting repair glue into a ceramic tile drilled hole with the cavity for repair.

Optionally, the full-automatic walking trolley comprises a trolley body part and a trolley walking part, wherein:

the vehicle body part comprises a combined tricycle, a left baffle, a right baffle, a frame, a rear baffle, a front baffle, a vehicle bottom plate, a bearing and a vehicle top plate, wherein the front baffle, the rear baffle, the left baffle and the right baffle are respectively arranged at the front position, the rear position, the left position and the right position of the frame and are riveted with the frame; the transmission shafts of the four combined three wheels are in interference fit with the inner ring of the bearing, and the outer ring of the bearing is in interference fit with the mounting holes formed in the left baffle and the right baffle; the vehicle bottom plate is fixed at the bottom of the vehicle frame, and the vehicle top plate is fixed at the upper part of the vehicle frame;

the trolley walking part comprises a left driving motor, a right driving motor, a radar probe, a left speed reducer, a right speed reducer, a trolley controller and a pressure pump, wherein the left speed reducer and the right speed reducer are respectively connected with middle shaft holes of a left rear combined tricycle and a right front combined tricycle through key matching; the radar probes are installed on the end faces of the rear baffle and the front baffle close to two sides, the car controller is installed on the upper surface of the car bottom plate, and the pressure pump is installed on the upper end of the car top plate.

Optionally, the ground tile cavity detection mechanism comprises a heating plate, a raised support, a linear bearing a, a linear bearing b, a circular shaft a, a circular shaft b, an electric push rod a, a thermal imager a and a thermal imager b, wherein the raised support is installed on the upper surface of the vehicle bottom plate, the linear bearing a and the linear bearing b are installed on two sides of the upper surface of the raised support, the electric push rod a is installed in the middle of the upper surface of the raised support, and the circular shaft a and the circular shaft b which are matched with the linear bearing a and the linear bearing b respectively penetrate through a bearing inner hole and a hole formed in the raised support; the round shafts a and b are fixedly connected with the upper surface of the heating plate, the base part of the electric push rod a is connected with the convex support, and the telescopic end of the electric push rod a is connected with the heating plate; the telescopic end of the electric push rod a can vertically move up and down to drive the heating plate to move up and down.

Optionally, the ground tile cavity repairing mechanism includes an X-direction moving sliding table, a Y-direction moving sliding table and a 360-degree rotating part, the X-direction moving sliding table includes a sliding rail a, a sliding rail b, a sliding block a, a sliding block b, an X-direction base, a ball screw support a, a ball nut a, a ball screw a, a motor support a, a stepping motor a and a coupler a, the sliding rail a and the sliding rail b are parallelly mounted on the surface of the rear baffle at a certain interval, and the sliding block a and the sliding block b which are matched with the sliding rail a and the sliding rail b are respectively mounted on the sliding rail a and the sliding rail b; the bottom surface of the X-direction base is connected with the upper surfaces of a sliding block a and a sliding block b, the ball nut a is arranged below the X-direction base, and a ball screw a matched with the ball nut a penetrates through the ball nut a in a threaded fit manner; the head of the ball screw a is coaxially connected with an output shaft of a stepping motor a through a coupler a, the bottom of a motor support a is fixedly connected with a rear baffle, and the stepping motor a is fixedly arranged on the motor support a;

the Y-direction moving sliding table comprises a stepping motor b, a motor support b, a coupler b, a Y-direction base, a ball nut b, a ball screw support b, a sliding rail c and a sliding block c, the sliding rail c is fixedly installed on the X-direction base, the Y-direction base is fixedly connected with the upper surface of the sliding block c, the ball nut b is connected with the Y-direction base, and the ball screw b matched with the Y-direction base penetrates through the ball nut b in a threaded fit mode; the tail end of the ball screw b and the bearing inner hole of the ball screw support b are coaxial and fixed; the head of the ball screw b is coaxially connected with an output shaft of a stepping motor b through a coupler b, the bottom of a motor support b is fixedly connected with an X-direction base, and the stepping motor b is fixedly arranged on the motor support b;

the 360-degree rotating part comprises a stepping motor c, a mounting seat a, a small electric drill a and a pinhole injection head a, the stepping motor c is mounted on the base in the Y direction, the mounting seat a is fixed on an output shaft of the stepping motor c, the small electric drill a and the pinhole injection head a are mounted at two ends of the stepping motor a respectively, and the pinhole injection head a is connected with an electromagnetic valve of the pressure pump through a rubber pipe.

Preferably, the ground tile cavity detection and repair part further comprises a ground tile roller heating part, the ground tile roller heating part comprises a roller support mounting seat a, a roller support mounting seat b, a roller support a, a roller support b, a bearing a, a bearing b, a conductive sliding ring, a double-lug support a, a double-lug support b, an electric push rod b, a cross rod and a heating roller, the roller support mounting seat a and the roller support mounting seat b are respectively mounted at two sides of the front baffle and are connected with mounting holes in the roller support a and the roller support b through pin shafts, inner holes of the bearing a and the bearing b are respectively in interference fit with rotating shafts at two ends of the heating roller, and bases of the bearing a and the bearing b are respectively and fixedly mounted at the tail ends of the roller support mounting seat a and the roller support mounting seat b; the cross rod is arranged between the roller support a and the roller support b, the double-lug support a is arranged on the front baffle, the double-lug support b is arranged on the cross rod, pin holes are formed in the tail of the electric push rod b and the head of the telescopic end, and the electric push rod b is connected with the pin holes of the double-lug support a and the double-lug support b through pin shafts.

Optionally, the manipulator includes a servo motor a, a servo motor b, a servo motor c, a servo motor d, a manipulator base, a pinion, a gearwheel, a base rotating shaft, a first joint arm, a second joint arm, a third joint arm and a rotating motor, the manipulator base is mounted above the roof plate, the base rotating shaft is in interference fit with a bearing inner ring embedded in the roof plate, a shaft below the base rotating shaft is matched with the gearwheel through a key slot, the servo motor a is fixedly connected with the lower part of the roof plate, an output shaft of the servo motor a penetrates through holes formed in the roof plate and the manipulator base and is coaxially connected with the pinion through the key slot, and meanwhile, the pinion is meshed with the gearwheel;

the first joint arm is provided with a key hole which is coaxially matched with a bearing arranged in the base rotating shaft hole, an output shaft of the servo motor b is in key connection with the key hole of the first joint arm, the first joint arm can relatively rotate around the output shaft of the servo motor b after being connected with the base rotating shaft, and the output shaft of the servo motor b can drive the first joint arm to rotate;

the key hole of the second joint arm is coaxially matched with the bearing installed in the first joint arm hole, the servo motor c is installed on the side surface of the bearing hole of the first joint arm, the output shaft of the servo motor c is in key connection with the key hole of the second joint arm, the second joint arm can relatively rotate along the servo motor c after being connected with the first joint arm, and the output shaft of the servo motor c can drive the second joint arm to rotate;

the rotary motor is installed at the tail end of the third joint arm, a pin shaft is installed at the other end of the third joint arm, a pin hole of the third joint arm is in interference fit with a bearing in a hole of the second joint arm, the third joint arm can rotate relative to the second joint arm along the pin shaft after being connected with the second joint arm, the servo motor d is installed on the side face of the hole of the second joint arm, a key hole at the output position of the servo motor d is connected with the pin shaft of the third joint arm through a key, and the output shaft of the servo motor d can rotate to drive the third joint arm to rotate.

Optionally, the tail end of the manipulator comprises a small electric drill b, a mounting seat b, an ultrasonic detector, an L-shaped mounting block and a pinhole injection head b, the mounting seat b is fixed on an output shaft of the rotating motor, two ends of the mounting seat b are respectively provided with two L-shaped mounting blocks, and the small electric drill b and the pinhole injection head b are respectively arranged on the two L-shaped mounting blocks; the ultrasonic detector is fixed in the middle of the mounting seat b; the pinhole injection head b is connected with an electromagnetic valve of the pressure pump through a rubber tube.

Optionally, the foldable lifting platform comprises a lifting platform base, an electric push rod c, a lifting platform top plate and a foldable truss, and the lifting platform base is mounted on the vehicle top plate; an electric push rod c is arranged in the folding truss; the lifting platform top plate is hinged to the top end of the folding truss and used for controlling the lifting platform top plate to ascend and descend through the stretching of the folding truss.

Optionally, the ceiling tile cavity detection and repair mechanism comprises an installation base, a small electric drill c, an installation base c, an ultrasonic detector a, an ultrasonic detector b, a pinhole injection head c, an L-shaped installation base and a stepping motor d, wherein the installation base is installed on a top plate of the lifting platform, the ultrasonic detector a and the ultrasonic detector b are installed at two ends of the installation base respectively, the stepping motor d is installed in the middle of the installation base, and the installation base c is fixed with an output shaft of the stepping motor d; the small electric drill c and the pinhole injection head c are respectively arranged on the L-shaped mounting seat, and the pinhole injection head c is connected with an electromagnetic valve of the pressure pump through a rubber tube.

Optionally, the small electric drill a, the small electric drill b and the small electric drill c are sleeved with dust hoods c; and the small electric drill a, the small electric drill b and the small electric drill c are respectively provided with a special ceramic tile drill bit with the diameter of 5 mm.

In the utility model, the automatic cruise and robot control technology is mainly used as a core, and the aim of full-automatic detection of the ceramic tile cavity by the robot is fulfilled by utilizing the mature thermal imaging and ultrasonic cavity detection technology at present. At present, workers generally judge whether a cavity exists in a ceramic tile by using a knocking and hearing method, the detection method is low in efficiency and general in position accuracy, and the method obviously has defects for ceramic tile floors with large areas, such as halls and halls; and the ceramic tile cavity is difficult to repair even if the ceramic tile cavity is judged to be repaired after the ceramic tile is pasted and completely solidified, and the common repairing method comprises the following steps: 1. breaking the ceramic tile and then buckling out, and sticking a new ceramic tile again; 2. the ceramic tiles with the cavities are tilted, and then repairing glue is extruded into gaps of the tilted edges; the former consumes a great deal of energy and seriously damages cement ground, pipelines and the like, and has great influence; the latter needs to wait for a long time after finding the ceramic tile cavity, and the repair glue can be squeezed in through the gap after the ceramic tile cavity is damaged and aggravated to a raised edge in the using process. In order to solve the problems, the utility model provides a full-automatic ceramic tile cavity detection and repair robot which has the following characteristics:

based on the fact that the existing mature intelligent cruise robot is used as a running chassis, a tile cavity detection part is added, and the detection of the first floor ground by ultrasonic waves can be deep into the ground due to the difference of the thicknesses of the first floor ground and the upper floor ground, the detection result can be influenced, and the ground is detected in a thermal imaging mode; in the current conventional houses, the difference between the wall thickness and the ceiling thickness is not particularly large, ultrasonic detection can be adopted, and the detection efficiency is higher. The ceramic tile cavity repairing part adopts the mechanical arm to punch, and then glue is repaired in accurate injection, and the mode can be repaired accurately, and is good in repairing effect, saves the labor cost and has higher efficiency compared with the manual repairing mode.

Compared with the prior art, the utility model has at least the following beneficial effects:

1. the full-automatic intelligent cruise trolley is used as a chassis and automatically runs indoors, so that the manpower is saved, the operation and the control are simple and convenient, and the detection efficiency of the ceramic tile cavity is high; simultaneously, possess oneself and climb the building function, be applicable to the building of not installing the elevator, the practicality is strong.

2. Through two tile cavity detection modes of thermal imaging and ultrasonic wave, floor tiles, wall tiles and ceiling tiles are independently detected without mutual influence, the detection effect is accurate, and the complete detection without dead angles in a house is realized;

3. the detection and repair work of the wall ceramic tile is finished by using the manipulator, the flexibility is good, and the detection efficiency is high; the robot can automatically repair the ceramic tiles in the cavity after detection, so that the complex manual repair process is omitted, the automatic repair is finished, and a large amount of labor and time can be saved;

4. the special drill bit for the miniature ceramic tile is adopted for punching, and the pinhole is used for injecting the repairing glue, so that the damage to the ceramic tile of the house, the embedded electric wire, the embedded water pipe and the like is minimized, and the unnecessary loss is reduced.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application.

In the drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of a part of the structure of the cart according to the present invention;

FIG. 3 is a schematic view of the structure of the walking part of the cart of the present invention;

FIG. 4 is a schematic view of the heating portion of the tile of the present invention;

FIG. 5 is a schematic view of the heating portion of the floor tile roller of the present invention;

FIG. 6 is a schematic view of a partial structure of the frame of the cart of the present invention;

FIG. 7 is a schematic view of the power portion of the cart of the present invention;

FIG. 8 is a schematic view of a three-wheel assembly of the present invention;

FIG. 9 is a schematic view of the top structure of the cart of the present invention;

FIG. 10 is a schematic view of a robot structure according to the present invention;

FIG. 11 is a schematic view of a base shaft portion according to the present invention;

FIG. 12 is a schematic view of a first articulated arm according to the present invention;

FIG. 13 is a schematic view of a second and third joint arm according to the present invention;

FIG. 14 is a schematic view of the end structure of the robot of the present invention;

FIG. 15 is a schematic view of the construction of the wall tile cavity inspection and repair section of the present invention;

FIG. 16 is a schematic structural view of a floor tile cavity repair mechanism of the present invention;

FIG. 17 is a schematic view of a sliding table in the X direction according to the present invention;

FIG. 18 is a schematic view of a partial structure of a Y-direction slide table according to the present invention;

fig. 19 is a schematic structural view of a part for switching the functions of an electric drill and a pinhole injection in the utility model;

fig. 20 is a schematic structural view of the foldable lifting platform of the present invention;

FIG. 21 is a schematic view of the ceiling tile cavity detection and repair mechanism of the present invention;

FIG. 22 is a logic control block diagram of the present invention.

Reference numerals:

1000-full automatic walking trolley;

1100-vehicle body section:

1101-combined three wheels, 1102 a-left baffle, 1102 b-right baffle, 1103-vehicle frame, 1104 a-rear baffle, 1104 b-front baffle, 1105-vehicle bottom plate, 1106-bearing, 1107-vehicle top plate;

1200-trolley walking part:

1201 a-left drive motor, 1201 b-right drive motor, 1202-radar probe, 1203 a-left reducer, 1203 b-right reducer, 1204-car controller, 1205-pressure pump, 1206-liquid storage tank, 1207-cooling fan, 1208-vacuum cleaner;

2000-floor tile cavity detection and repair part:

2100-floor tile cavity detection mechanism:

2101-hot plate, 2102-projection mount, 2103 a-linear bearing a, 2103 b-linear bearing b, 2104 a-circular shaft a, 2104 b-circular shaft b, 2105-electric push rod a; 2121 a-thermal imager a, 2121 b-thermal imager b;

2200-floor tile cavity repairing mechanism:

moving the sliding table in a 2210-X direction;

2211 a-slide rail a, 2211 b-slide rail b, 2212 a-slide block a, 2212 b-slide block b, 2213-X direction base, 2214-ball screw support a, 2215-ball nut a, 2216-ball screw a, 2217-motor support a, 2218-stepping motor a, 2219-coupler a;

2220-Y direction moving sliding table:

2221-a stepping motor b, 2222-a motor support b, 2223-a coupling b, 2224-a Y-direction base, 2225-a ball nut b, 2226-a ball screw b, 2227-a ball screw support b, 2228-a slide rail c and 2229-a slide block c;

2230 + 360 degree rotation section:

2231, stepping motor c, 2232, mounting seat a, 2233, small electric drill a, 2234, pinhole injector a, 2235, dust hood a;

2300-floor tile drum heating section:

2301a roller frame mount a, 2301b roller frame mount b, 2302a roller frame a, 2302b roller frame b, 2303a bearing a, 2303b bearing b, 2304 conductive slip ring, 2305a binaural support a, 2305b binaural support b, 2306 electric putter b, 2307 cross bar, 2308 heated roller;

2401-a tile cavity detection and repair controller:

3000-wall tile cavity detection and repair part;

3100-a manipulator;

3101 a-servomotor a, 3101 b-servomotor b, 3101 c-servomotor c, 3101 d-servomotor d, 3102-manipulator base, 3103-pinion, 3104-bull gear, 3105-base rotating shaft, 3106-first joint arm, 3107-second joint arm, 3108-third joint arm, 3109-rotating motor;

3200 — a robot end;

3201-small electric drill b, 3202-mounting seat b, 3203-ultrasonic detector, 3204-L-shaped mounting block, 3205-pinhole injection head b, 3206-dust hood b;

3301-wall tile cavity detection and repair controller;

4000-ceiling tile cavity detection and repair part:

4100-folding lifting platform:

4101-lifting platform base, 4102-electric push rod c, 4103-lifting platform top plate, 4104-folding truss;

4200-ceiling tile cavity detection and repair mechanism:

4201-mounting base, 4202-electric mini-drill c, 4203-suction hood c, 4204-mounting base c, 4205 a-ultrasonic probe a, 4205 b-ultrasonic probe b, 4206-pinhole injection head c, 4207-L-shaped mounting base, 4208-stepper motor d.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

The robot for detecting and repairing a full-automatic ceramic tile cavity provided by the embodiment comprises a full-automatic walking trolley 1000, a floor ceramic tile cavity detecting and repairing part 2000, a wall ceramic tile cavity detecting and repairing part 3000 and a ceiling ceramic tile cavity detecting and repairing part 4000, as shown in fig. 1-22; 220V commercial power is provided for the robot through a wire, and the four parts are cooperatively controlled by a plurality of controllers inside, so that the robot automatically finishes the detection and repair work of the ceramic tile cavity in the building.

The full-automatic walking trolley 1000 comprises a trolley body part 1100 and a trolley walking part 1200, wherein the trolley body part 1100 is used for bearing and stabilizing the whole device, the trolley walking part 1200 is used for driving and controlling the trolley to walk and turn indoors by self, four combined type three wheels 1101 are arranged on two sides of a trolley frame 1103, two driving motors are used as power for a robot to go upstairs, two groups of combined type three wheels 1101 at diagonal angles are driven to rotate through a speed reducer, the action that the trolley climbs the stairs is achieved, motors are arranged in two wheels in each combined type three wheel 1101, and the action that the trolley walks and turns at a differential speed is achieved. The following will be described in detail with respect to the above two parts:

the body portion 1100 includes a combination three wheel 1101, a left baffle 1102a, a right baffle 1102b, a frame 1103, a rear baffle 1104a, a front baffle 1104b, a floor 1105, bearings 1106, a roof 1107, as explained in detail below with respect to the body portion 1100:

as shown in fig. 2, the frame 1103 is a rectangular steel frame structure formed by welding a plurality of square steels, and has strong bearing capacity and stability; the rear baffle 1104a, the front baffle 1104b, the left baffle 1102a and the right baffle 1102b are fixed at the front, rear, left and right positions of the frame 1103 in a riveting manner according to the positions shown in fig. 2, wherein the left baffle 1102a and the right baffle 1102b are steel plates and have certain rigidity, mounting holes are formed in the two ends of the left baffle 1102a and the right baffle 1102b according to the structures shown in fig. 2 and 3, transmission shafts of four combined tricycles 1101 are in interference fit with inner rings of bearings 1106, outer rings of the bearings 1106 are in interference fit with the mounting holes formed in the left baffle 1102a and the right baffle 1102b, the four combined tricycles 1101 are respectively located on the two sides of the body part 1100, two wheels of each combined tricycle 1101 are internally provided with motors and are connected to the trolley controller 1204 through conductive slip rings, and the combined tricycles 1101 support and stabilize the body part 1100 and drive the full-automatic traveling trolley 1000 to travel; the chassis 1105 and the roof 1107 are steel plates with certain rigidity, and the chassis 1105 is fixed at the bottom of the vehicle frame 1103 by riveting and is used for bearing the controller and elements inside the vehicle body; bolt holes are respectively formed in the upper portions of the roof plate 1107 and the frame 1103, the roof plate 1107 is fixedly connected with the upper portion of the frame 1103 through bolts, and the roof plate 1107 is detachably connected so as to be convenient for overhauling and replacing instruments and parts in the vehicle. The connecting position of the vehicle roof 1107 and other parts is provided with a mounting hole, the liquid storage tank 1206 is fixed at the corner position of the vehicle roof 1107, the ceramic tile cavity repair glue is added into the liquid storage tank 1206 for storage, and the liquid outlet of the ceramic tile cavity repair glue is connected with the inlet of the booster pump 1205 through a rubber tube; the model of the pressure pump 1205 is RGB15-15, the pressure pump 1205 pumps and pressurizes the tile cavity repair glue in the liquid storage tank 1206, three electromagnetic valves are installed at the output port of the pressure pump, the three electromagnetic valves are respectively connected with the pinhole injection head a2234, the pinhole injection head b3205 and the pinhole injection head c4206 through rubber pipes, the inner cavity of the pressure pump 1205 is filled with the high-pressure repair glue, and the tile cavity detection and repair controller 2401 controls the on-off of the electromagnetic valve corresponding to the pinhole injection head a2234, so that whether the repair glue flows out of the pinhole injection head a2234 or not can be controlled. The heat dissipation fan 1207 is installed above the roof panel 1107 according to the position shown in fig. 9, a square hole is formed in the roof panel 1107 at the projection position corresponding to the fan, and when the robot works, the heat dissipation fan 1207 is electrified to draw out hot air in the trolley, so that the purpose of heat dissipation is achieved; the dust suction port of the vacuum cleaner 1208 is connected with the dust suction hood a2235, the dust suction hood b3206 and the dust suction hood c4203 through the distributing valve and the air pipe, so that dust can be sufficiently absorbed when the electric mini-drill is used for punching the ceramic tiles, and pollution is avoided. The pressurizing pump 1205, the heat dissipation fan 1207 and the vacuum cleaner 1208 are controlled by the car controller 1204, and when the robot is detected to start working, the heat dissipation fan 1207 is started to dissipate heat of electrical components; the pressure pump 1205 pumps the tile cavity repair glue in the liquid storage tank 1206, and the tile cavity repair glue is sent to the three electromagnetic valves after being pressurized; the vacuum cleaner 1208 collects dust generated during drilling through the dust hood a2235, the dust hood b3206, and the dust hood c 4203.

The trolley traveling part 1200 is composed of a left driving motor 1201a, a right driving motor 1201b, a radar probe 1202, a left speed reducer 1203a, a right speed reducer 1203b, a trolley controller 1204, a pressure pump 1205, a liquid storage tank 1206, a cooling fan 1207, and a vacuum cleaner 1208, and the following detailed description is made for the above structures:

the output ends of the left speed reducer 1203a and the right speed reducer 1203b are keyholes, and are respectively connected with middle shaft holes of the combined three wheel 1101 at the left rear side and the combined three wheel 1101 at the right front side shown in fig. 2 and fig. 3 through key matching, and the left speed reducer 1203a and the right speed reducer 1203b are fixedly installed on the side walls of the left baffle 1102a and the right baffle 1102 b; the output shafts of the left driving motor 1201a and the right driving motor 1201b are respectively matched with input keyholes of the left speed reducer 1203a and the right speed reducer 1203b, the left driving motor 1201a and the right driving motor 1201b are respectively and fixedly connected with the left speed reducer 1203a and the right speed reducer 1203b through bolts, the driving motors are servo motors, when a built-in motor of a wheel of the combined three-wheel 1101 stops working and is locked, the trolley can be accurately controlled to climb the stairs through the left driving motor and the right driving motor, wherein the servo motor is SMG80-M02430, and the speed reducer is PX57N 006;

the four radar probes 1202 are mounted on the rear baffle 1104a, the end face of the front baffle 1104b is close to two sides and used for detecting the distance between the car body 1100 and an obstacle and sending a signal to the car controller 1204 to realize automatic cruising driving of the car indoors; the car controller 1204 is installed on the upper surface of the car bottom plate 1105, and the left and right driving motors are connected with the combined three wheels, so that the whole combined three wheels can rotate around the bearing 1106 and can be used for climbing stairs; meanwhile, each two wheels in the combined three wheels are internally provided with a built-in motor, so that the two wheels which land when the combined three wheels rotate around the bearing 1106 are always provided with driving wheels on the ground, and the trolley can normally run; the built-in motor in the wheel is connected to the small car controller 1204 through a conductive slip ring, the rotation of the small wheel can be independently controlled, the small car controller 1204 controls the operation of the wheel built-in motor in the left combined tricycle and the wheel built-in motor in the right combined tricycle through a conducting wire, when the wheel built-in motor in the left combined tricycle and the wheel built-in motor in the right combined tricycle synchronously rotate forwards or reversely, the combined tricycle 1101 synchronously rotates forwards or backwards, and the vehicle moves forwards or backwards; when the speed of the wheel built-in motor in the left combined three wheel is slower than the speed of the wheel built-in motor in the right combined three wheel in forward rotation, the left combined three wheel rotates slower than the right combined three wheel, and the trolley can rotate left; similarly, when the speed of the wheel built-in motor in the left combined three wheel is higher than that of the wheel built-in motor in the right combined three wheel in forward rotation, the left combined three wheel rotates faster than the right combined three wheel, and the trolley can rotate to the right; when the wheel built-in motor in the left combined type three wheel rotates forwards and the wheel built-in motor in the right combined type three wheel rotates backwards, the left combined type three wheel moves forwards and the right combined type three wheel moves backwards, and clockwise in-situ turning can be achieved; when the wheel built-in motor in the left combined type three wheel rotates reversely and the wheel built-in motor in the right combined type three wheel rotates forwards, the left combined type three wheel rotates backwards and the right combined type three wheel rotates forwards, and therefore the anticlockwise in-situ turning can be achieved; the steering and rotating speed of the wheel built-in motor in the left combined three-wheel and the wheel built-in motor in the right combined three-wheel are flexibly adjusted through the trolley controller 1204, so that the trolley can automatically and flexibly cruise indoors. Judging whether stairs exist in front of the stair climbing device or not by using a radar, and starting a left driving motor and a right driving motor to realize the stair climbing function when the stairs exist; when no obstacle or stair exists, the combined three-wheel electric vehicle runs by using the built-in motor of the wheels in the combined three wheels.

The floor tile cavity detection and repair portion 2000 comprises a floor tile cavity detection mechanism 2100, a floor tile cavity repair mechanism 2200, and a tile cavity detection and repair controller 2401; ground ceramic tile cavity detection mechanism 2100 utilizes the hot plate to heat every ceramic tile, through the thermal distribution condition on thermal imager scanning ceramic tile surface, the speed of air heat conduction and object contact heat conduction has very big difference, air heat conduction speed is slower, so inside behind the ceramic tile cavity have behind the cavity of great area lead to behind the cavity with the floor heat transfer inhomogeneous, ceramic tile heat distribution after the heating is inhomogeneous, ceramic tile surface temperature difference is big, can utilize this characteristic to detect whether there is the cavity in the ceramic tile. If the integral temperature difference of the surface of the ceramic tile is not large, the ceramic tile does not have a cavity; if the temperature of a local area on the surface of the ceramic tile is obviously higher, the ceramic tile in the area has a cavity and needs to be further repaired; ground ceramic tile cavity repair mechanism 2200 utilizes small-size electric drill a2233 and 5 mm's special drill bit of ceramic tile, punch the ceramic tile in cavity region, cavity repair glue injection after the rethread pinhole injection head a2234 will pressurize is downthehole to set up, during the filling, pinhole injection head a 2234's syringe needle aperture is the toper, and the surface adhesion has soft materials, can be inseparabler with hole edge contact when inserting, repair glue when filling gradually progressively grows up to when full completely, inside can form great pressure, when pressure is greater than the suitable pressure that force (forcing) pump 1205 set for, solenoid valve self-closing, repair the cavity that glues the complete filling ceramic tile, accomplish the restoration to the ceramic tile in cavity. The following explains the above sections in detail:

the floor tile cavity detection mechanism 2100 comprises a heating plate 2101, a convex support 2102, a linear bearing a2103a, a linear bearing b2103b, a circular shaft a2104a, a circular shaft b2104b, an electric push rod a2105, a thermal imager a2121a and a thermal imager b2121b, and the following detailed description is made for the logical relationship of the above parts:

the structure of the convex support 2102 is as shown in fig. 4, the convex support is fixedly arranged on the upper surface of a car bottom plate 1105 in a welding mode, the upper part of the convex support is respectively provided with a linear bearing a2103a, a linear bearing b2103b and an installation hole of an electric push rod a2105, and the model of the electric push rod a2105 is TUIGAN; according to the structure shown in fig. 4, the linear bearing a2103a and the linear bearing b2103b are arranged on two sides of the upper surface, the electric push rod a2105 is arranged in the middle of the upper surface, the circular shaft a2104a and the circular shaft b2104b which are matched with the linear bearing a2103a and the linear bearing b2103b respectively penetrate through the bearing inner hole and the hole formed in the convex support 2102, and the circular shaft a2104a and the circular shaft b2104b can vertically move along the axes thereof; the round shaft a2104a and the round shaft B2104B are fixedly connected with the upper surface of the heating plate 2101, the base part of the electric push rod a2105 is fixedly connected with a middle mounting hole formed in the protruding support 2102, the telescopic end of the electric push rod a2105 is connected with the middle position of the upper part of the heating plate 2101, and the type of the heating plate 2101 is B-35 x 21; the telescopic end of the electric push rod a2105 can vertically move up and down to drive the heating plate 2101 to move up and down, and the linear bearing a2103a and the linear bearing b2103b play a role in stable guiding; the heating plate 2101 vertically projects downwards to the position of a car bottom plate 1105, the car bottom plate 1105 is provided with a square hole slightly larger than the heating plate 2101, the heating plate 2101 can pass through the square hole to move up and down, the model of the heating plate 2101 is LXZ919042, and the heating plate can quickly heat after being electrified; the thermal imaging instrument a2121a and the thermal imaging instrument b2121b are mounted on the upper surface of the car bottom plate 1105, proper square holes are formed in the positions where the thermal imaging instrument a2121a and the thermal imaging instrument b2121b vertically project onto the car bottom plate 1105, the thermal imaging instrument a2121a and the thermal imaging instrument b2121b can monitor the heat and temperature distribution of tiles below the car, and the models of the thermal imaging instrument a2121a and the thermal imaging instrument b2121b are D384F.

The floor tile cavity repairing mechanism 2200 comprises an X-direction moving sliding table 2210, a Y-direction moving sliding table 2220 and a 360-degree rotating part 2230, wherein a two-dimensional sliding table in the direction of X, Y is arranged on a trolley back plate 1104a, a small electric drill a2233 and a pinhole injection head a2234 which can be rotated and switched are arranged on the sliding table, and the actions of punching and injecting repairing glue to the cavity tile are automatically completed through a controller. The specific structure is introduced as follows:

the X-direction moving slide table 2210 includes a slide rail a2211a, a slide rail b2211b, a slide block a2212a, a slide block b2212b, an X-direction base 2213, a ball screw holder a2214, a ball nut a2215, a ball screw a2216, a motor holder a2217, a stepping motor a2218 and a coupling a2219, and the positional relationship of the components is as follows:

the slide rail a2211a and the slide rail b2211b are arranged on the surface of the rear baffle 1104a of the trolley in parallel at a certain distance according to the structure shown in fig. 1, 17 and 18, the matched slide block a2212a and the matched slide block b2212b are respectively arranged on the slide rail a2211a and the slide rail b2211b, and the slide block a2212a and the slide block b2212b can axially move along the slide rails and bear loads in various directions; the bottom surface of the X-direction base 2213 is fixedly connected with the upper surfaces of the slide block a2212a and the slide block b2212b through bolts; the ball nut a2215 is fixedly arranged below the X-direction base 2213 through a bolt, and a ball screw a2216 matched with the ball nut a2215 penetrates through the ball nut a2215 through threaded fit; the tail end of the ball screw a2216 is coaxial and fixed with the inner hole of the bearing of the ball screw support a2214, and the ball screw a2216 can rotate freely but cannot move axially; the head of the ball screw a2216 is coaxially connected with the output shaft of the stepping motor a2218 through a coupler a2219, and the stepping motor a2218 can drive the ball screw a2216 to synchronously rotate; the bottom of the motor support a2217 is fixedly connected with the trolley back plate 1104a through bolts, and the stepping motor a2218 is fixedly arranged on the motor support a2217 through bolts. The tile cavity detection and repair controller 2401 can control the rotating speed and the rotating direction of the stepping motor a2218, when the stepping motor a2218 rotates forwards, the ball screw a2216 is driven to rotate forwards through the coupler a2219, and the ball nut a2215 drives the X-direction base 2213 to move rightwards along the axial direction of the ball screw a 2216; when the direction is reversed, the ball screw a2216 is driven to be reversed through the coupler a2219, and the ball nut a2215 drives the X-direction base 2213 to move leftwards along the axial direction of the ball screw a 2216.

The Y-direction moving sliding table 2220 is composed of a stepping motor b2221, a motor support b2222, a coupler b2223, a Y-direction base 2224, a ball nut b2225, a ball screw b2226, a ball screw support b2227, a sliding rail c2228, and a sliding block c2229, and the positional relationship between the above elements will be described in detail below:

the slide rail c2228 is fixedly mounted at the right position of the X-direction base 2213 through bolts according to the structure shown in fig. 18, and the matched slide block c2229 can freely slide on the slide rail c2228 along the axial direction of the slide rail and bear loads in various directions; the right position of the Y-direction base 2224 is fixedly connected with the upper surface of a sliding block c2229 through a bolt, the ball nut b2225 is fixedly connected with the left position of the Y-direction base 2224 through a bolt, and a ball screw b2226 matched with the ball nut b2225 penetrates through the ball nut b2225 in a threaded fit manner; the tail end of the ball screw b2226 and the bearing inner hole of the ball screw support b2227 are coaxial and fixed, and the ball screw b2226 can rotate freely but cannot move axially; the head of the ball screw b2226 is coaxially connected with the output shaft of the stepping motor b2221 through a coupler b2223, and the stepping motor b2221 can drive the ball screw b2226 to synchronously rotate by rotating; the bottom of the motor support b2222 is fixedly connected with the X-direction base 2213 through bolts, and the stepping motor b2221 is fixedly arranged on the motor support b2222 through bolts. The tile cavity detection and repair controller 2401 can control the rotating speed and the rotating direction of the stepping motor b2221, when the stepping motor b2221 rotates forwards, the ball screw b2226 is driven to rotate forwards through the coupler b2223, and the ball nut b2225 drives the Y-direction base 2224 to move upwards along the axial direction of the ball screw b 2226; when the rotation is performed, the ball screw b2226 is driven to rotate reversely by the coupler b2223, and the Y-direction base 2224 is driven to move downwards along the axial direction of the ball screw b2226 by the ball nut b 2225.

The 360-degree rotating part 2230 consists of a stepping motor c2231, a mounting seat a2232, a miniature electric drill a2233, a pinhole injection head a2234 and a dust hood a 2235; the positional relationship of the above elements is explained in detail below:

the stepping motor c2231 is fixedly arranged on a Y-direction base 2224 through a bolt and a motor mounting bracket, an output shaft of the stepping motor c2231 is fixedly provided with a mounting seat a2232 through a bolt, the specific structure of the mounting seat a2232 is shown in figure 19, two ends of the mounting seat a2232 are respectively and fixedly provided with a small electric drill a2233 and a pinhole injection head a2234, the small electric drill a2233 is MNT992810 in model number, the on-off of the small electric drill can be controlled through a tile cavity detection and repair controller 2401, and the small electric drill a2233 is provided with a special ceramic tile drill bit of 5mm, so that the ceramic tile in the cavity area can be drilled; the dust hood a2235 is a funnel structure made of rubber, is sleeved around the small electric drill a2233 and is connected with a dust suction port of the vacuum cleaner 1208 through an air pipe, and fully absorbs dust generated in the drilling process of the drill bit; the pinhole injection head a2234 is connected with an electromagnetic valve of the pressure pump 1205 through a rubber tube, the tile cavity detection and repair controller 2401 enables the electromagnetic valve to be electrified and opened, high-pressure tile cavity repair glue in the inner cavity of the pressure pump 1205 flows to the pinhole injection head a2234 through the rubber tube, the pinhole injection head a2234 injects the pressurized cavity repair glue into the opened hole to fill the cavity in the tile, and a piece of repair glue is marked on the surface of the repaired tile after repair is completed, so that a worker can conveniently detect the repair quality of the tile;

the floor tile roller heating part 2300 comprises a roller bracket mounting seat a2301a, a roller bracket mounting seat b2301b, a roller bracket a2302a, a roller bracket b2302b, a bearing a2303a, a bearing b2303b, a conductive slip ring 2304, a double-lug support a2305a, a double-lug support b2305b, an electric push rod b2306, a cross bar 2307 and a heating roller 2308,

the roller bracket mounting seat a2301a and the roller bracket mounting seat b2301b are respectively fixedly mounted on two sides of the front baffle 1104b and provided with mounting holes, the roller bracket mounting seat a2301a and the roller bracket mounting seat b2301b are connected with the mounting holes on the roller bracket a2302a and the roller bracket b2302b through pin shafts, and the roller bracket a2302a and the roller bracket b2302b can rotate around the pin holes of the roller bracket mounting seat a2301a and the roller bracket mounting seat b2301 b; according to the structure shown in fig. 5, the inner holes of the bearing a2303a and the bearing b2303b are respectively in interference fit with the rotating shafts at two ends of the heating roller 2308, the bearing bases are respectively fixedly installed at the tail ends of the roller bracket mounting seat a2301a and the roller bracket mounting seat b2301b, and the heating roller 2308 can be lifted or lowered when the roller bracket a2302a and the roller bracket b2302b rotate around the pin holes. The cross bar 2307 is fixedly installed between the roller bracket a2302a and the roller bracket b2302b and is connected with the two roller brackets; the double-lug support a2305a is fixedly arranged on the front baffle 1104b, and the double-lug support b2305b is fixedly arranged on the cross bar 2307; pin holes are formed in the tail part of the electric push rod b2306 and the head part of the telescopic end, and the model of the electric push rod b2306 is G-ROCK; the pin shaft is connected with pin holes of a double-lug support a2305a and a double-lug support b2305b, and the electric push rod b2306 stretches and retracts to drive the roller support b2302b to rotate around the pin holes so as to lift or lower the heating roller 2308;

the heating roller 2308 is a steel cylindrical cavity roller, the inner wall surface of the heating roller is fixed with an insulating heating wire, the model is PLZ-058A, and the heating roller 2308 can be heated by the electric heating wire; the two ends of the heating roller 2308 are provided with thin rolling shafts, the rolling shaft at one end is in interference fit with the inner ring of the conductive slip ring 2304, the conductive slip ring 2304 is JSR-TH in model, the electric heating wire and the ceramic tile cavity detection and repair controller 2401 are connected, and the wire is prevented from being wound in the process of supplying power to the electric heating wire. When the telescopic end of the electric push rod b2306 extends out, the heating roller 2308 is in contact with the ground, the electric heating wire is electrified for heating, and the heating roller 2308 rolls on the ceramic tile to preheat the ceramic tile on the ground in the walking process of the trolley, so that the temperature of the ceramic tile is increased, and the detection efficiency of the ground ceramic tile cavity detection mechanism 2100 is improved; when the trolley stops working, the telescopic end of the electric push rod b2306 retracts to drive the roller bracket b2302b to rotate upwards around the pin hole, so that the heating roller 2308 is lifted to leave the ground, and the heating roller 2308 is protected.

The specific working principle is as follows:

the car controller 1204 can set different programs according to the interior decoration condition, and the effect is as follows: when the trolley runs according to a preset cruising track, when a heating plate 2101 reaches the position above a ceramic tile, the trolley controller 1204 stops the rotation of a wheel built-in motor in the combined three-wheel, the trolley stops, the ceramic tile cavity detection and repair controller 2401 controls an electric push rod a2105 to extend downwards to drive the heating plate 2101 to vertically move downwards to be attached to the upper surface of the ceramic tile, then the heating plate 2101 is started to start heating, after the heating is carried out for a preset time, the heating plate 2101 is controlled to stop heating, the electric push rod a2105 retracts upwards to drive the heating plate 2101 to move upwards to the inside of the trolley, and the heating plate 2101 is protected from being damaged in the running process of the trolley. After the heating plate 2101 is retracted, the trolley continues to run above the next tile, the above actions are repeated, and simultaneously the thermal imager a2121a and the thermal imager b2121b at the rear positions of the trolley reach the position above the heated tile, the monitoring of the heat distribution condition on the surface of the tile is started, and if the temperature difference of the whole surface of the tile is not large, the tile has no cavity; if the temperature of a local area on the surface of the ceramic tile is obviously higher, the ceramic tile in the area has a cavity, the trolley automatically adjusts the position of the vehicle body, so that the ground ceramic tile cavity repairing mechanism 2200 reaches the position above the cavity ceramic tile to carry out the next ceramic tile repairing work. Meanwhile, the ground tile roller heating part 2300 assists in preheating, when the telescopic end of the electric push rod b2306 extends out, the heating roller 2308 contacts the ground, the electric heating wire is electrified for heating, and the heating roller 2308 rolls on the tile in the walking process of the trolley to preheat the tile on the ground, so that the temperature of the tile is increased, and the detection efficiency of the ground tile cavity detection mechanism 2100 is improved;

the tile cavity detection and repair controller 2401 comprises a PLC controller, a stepping motor closed-loop control system, a relay and the like, wherein the PLC controller can control the action of the tile repair mechanism according to a set program, is communicated with a thermal imager, converts a temperature analog quantity signal into a digital quantity signal, stores the digital quantity signal in the PLC controller, judges the temperature distribution condition of the current heated tile, meanwhile, the small electric drill is communicated with a small car controller 1204 through a Modbus communication protocol, analog quantity signals of the position of the vehicle and the position of the ceramic tile cavity are converted into digital signals to be transmitted and checked, the small car controller 1204 jointly controls the small car and motors of all action elements through a stepping motor closed-loop control system to be coordinated and matched with each other, a relay controls the on-off of electromagnetic valve doors corresponding to the small electric drill a2233 and the hole injection head a2234, and the coordination action elements precisely punch and repair the ceramic tile in the cavity through glue injection. An output shaft of a stepping motor c2231 is controlled to drive a mounting seat a2232 to rotate, so that a small electric drill a2233 is vertically downward, and the position of the sliding table is adjusted in the X direction to a position right above the cavity tile by moving a drill bit special for the tile in the X direction through controlling the rotating speed and the steering direction of a stepping motor a 2218; starting the small electric drill a2233, further controlling the rotating speed and the rotating direction of the stepping motor b2221, enabling the Y-direction base 2224 to vertically move downwards along the axis of the ball screw b2226, and slowly moving the small electric drill a2233 downwards until the cavity ceramic tile is drilled through; and finally, controlling the stepping motor b2221 to rotate reversely, enabling the Y-direction base 2224 to move vertically upwards along the axis of the ball screw b2226, and enabling the small electric drill a2233 to slowly move upwards to a certain position to finish the drilling work.

Further starting glue injection repair, after punching, recording the mechanical punching action state to a PLC controller to form a coordinate of a three-position point, keeping the whole device stationary and unmovable, controlling an output shaft of a stepping motor c2231 by a tile cavity detection and repair controller 2401 to drive an installation seat a2232 to rotate 180 degrees accurately, switching to a pinhole injection head a2234, controlling the rotation speed and the rotation direction of a stepping motor b2221 to enable a base 2224 in the Y direction to vertically move downwards along the axis of a ball screw b2226, slowly moving the pinhole injection head a2234 downwards until a needle head is inserted into a small hole at the beginning of a cavity tile, enabling an electromagnetic valve corresponding to a pressurizing pump 1205 to be powered on by the tile cavity detection and repair controller 2401, enabling high-pressure tile cavity repair glue in an inner cavity of the pressurizing pump 1205 to flow to the pinhole injection head a2234 through a glue pipe, injecting the pressurized cavity repair glue into the opened hole by the pinhole injection head a2234, and filling the cavity inside the ceramic tile to finish the repair work of the cavity ceramic tile.

Wall ceramic tile cavity detects and restores part 3000 including manipulator 3100, manipulator end 3200 and wall ceramic tile cavity detect and restore controller 3301, utilize manipulator 3100 adjustment manipulator end 3200 to suitable position, carry out the scan through the ceramic tile of ultrasonic wave detection instrument to the wall and survey, wall ceramic tile cavity detects and restores controller 3301 and receives the signal judgement ceramic tile inside cavity that has of ultrasonic wave detection instrument, if there is the cavity, wall ceramic tile cavity detects and restores controller 3301 and controls the small-size electric drill b3201 and pinhole injection head b3205 that the rotatable switching of manipulator end 3200, automatically, accomplish the action of punching the cavity ceramic tile, injection restoration is glued. The specific structure is introduced as follows:

the manipulator 3100 is composed of a servo motor a3101a, a servo motor b3101b, a servo motor c3101c, a servo motor d3101d, a manipulator base 3102, a pinion 3103, a bull gear 3104, a base rotating shaft 3105, a first joint arm 3106, a second joint arm 3107, a third joint arm 3108 and a rotating motor 3109; the positional relationship of the above elements is explained in detail below:

the manipulator base 3102 is a steel disc, mounting holes are formed in positions connected with other parts, the manipulator base 3102 is fixedly mounted above the roof board 1107, the mounting hole is formed in the center of the manipulator base 3102, a bearing is embedded inside the manipulator base 3102, the structure of the base rotating shaft 3105 is shown in figure 10 and is in interference fit with an inner ring of the bearing embedded in the roof board 1107, the base rotating shaft 3105 can freely rotate, a shaft below the base rotating shaft 3105 is matched with the large gear 3104 through a key groove, and the large gear 3104 can drive the base rotating shaft 3105 to freely rotate; the servo motor a3101a is fixedly connected with the lower part of the roof board 1107 through a bolt, an output shaft of the servo motor a3101a penetrates through holes formed in the roof board 1107 and the manipulator base 3102 and is coaxially connected with the pinion 3103 through a key groove, meanwhile, the pinion 3103 is meshed with the gearwheel 3104, the wall tile cavity detection and repair controller 3301 controls the rotation angle and the rotation direction of the servo motor a3101a, namely, the base rotating shaft 3105 can be driven to rotate through the gearwheel, and the rotation angle and the rotation speed of the base rotating shaft are accurately controlled.

Holes are formed in two ends of the first joint arm 3106, a keyhole is formed in the left end, a bearing is installed in the right end hole, a bearing is installed in the hole of the base rotating shaft 3105, and the keyhole of the first joint arm 3106 is coaxially matched with the bearing in the hole of the base rotating shaft 3105; the servo motor b3101b is fixedly installed at the hole side of the base rotating shaft 3105, the output shaft of the servo motor b3101b is connected with the keyhole of the first joint arm 3106 through a key, the first joint arm 3106 can rotate relatively around the output shaft of the servo motor b3101b after being connected with the base rotating shaft 3105, the output shaft of the servo motor b3101b can drive the first joint arm 3106 to rotate, and the rotation angle and the rotation speed of the first joint arm 3106 are accurately controlled through the servo motor b3101 b.

The second joint arm 3107 has a similar structure to the first joint arm 3106, a keyhole is formed at the left end, a bearing is installed in the right end hole, the keyhole of the second joint arm 3107 is coaxially matched with the bearing in the hole of the first joint arm 3106, the servo motor c3101c is fixedly installed on the side surface of the bearing hole of the first joint arm 3106, an output shaft of the servo motor c3101c is connected with the keyhole of the second joint arm 3107 through a key, the second joint arm 3107 is connected with the first joint arm 3106 and can relatively rotate along the servo motor c3101c, the output shaft of the servo motor c3101c can drive the second joint arm 3107 to rotate, and the rotation angle and the rotation speed of the second joint arm 3107 are accurately controlled by the servo motor c3101 c.

The tail end of the third joint arm 3108 is fixed with a rotary motor 3109, the other end of the third joint arm is fixed with a pin shaft, a pin hole of the third joint arm 3108 is in interference fit with a bearing in a hole of the second joint arm 3107, the third joint arm 3108 and the second joint arm 3107 can relatively rotate along the pin shaft after being connected, the servo motor d3101d is fixedly arranged on the side surface of the hole of the second joint arm 3107, a key hole at the output part of the servo motor d3101d is in key connection with the pin shaft of the third joint arm 3108, an output shaft of the servo motor d3101d can drive the third joint arm 3108 to rotate, and the rotation angle and the rotation speed of the third joint arm 3108 are accurately controlled by the servo motor d3101 d.

The servo motor a3101a, the servo motor b3101b, the servo motor c3101c and the servo motor d3101d are identical in model and are EMJ-08APB 22; the rotating electrical machine 3109 is model 20 BYGH.

The robot end 3200 includes a small electric drill b3201, a mounting base b3202, an ultrasonic detector 3203, an L-shaped mounting block 3204, and a pinhole injection head b3205, and a dust hood b3206, and the positional relationship of the above elements will be described in detail below:

an output shaft of the rotating motor 3109 is fixedly provided with a mounting seat b3202 through bolts, the specific structure of the mounting seat b3202 is as shown in fig. 14, two L-shaped mounting blocks 3204 are respectively and fixedly mounted at two ends of the mounting seat b3202, and a small electric drill b3201 and a pinhole injection head b3205 are respectively mounted on the two L-shaped mounting blocks 3204; the ultrasonic detector 3203 is fixed in the middle of the mounting seat b3202, the model of the ultrasonic detector 3203 is DNNUT-930, and the cavity condition of the wall tile can be detected by ultrasonic waves; the type of small-size electric drill b3201 is MNT992810, and accessible wall ceramic tile cavity detects and restores controller 3301 control, and wall ceramic tile cavity detects and restores controller 3301 and comprises PLC controller, servo motor control system, relay etc. PLC controller and servo motor communication, each servo motor on the steerable manipulator, make each joint of manipulator coordinate each other and cooperate, control the manipulator accuracy and punch to the cavity ceramic tile, the injecting glue is restoreed. The PLC controls the electromagnetic valves corresponding to the small electric drill b3201 and the pinhole injection head b3205 to be switched on and off through a relay according to a program, and the small electric drill b3201 is provided with a special ceramic tile drill bit with the diameter of 5mm, so that ceramic tiles in a cavity area can be drilled; the dust hood b3206 is a rubber funnel structure, is sleeved around the drill bit, and is connected with a dust suction port of the vacuum cleaner 1208 through an air pipe, so that dust generated in the drilling process of the drill bit is fully absorbed. The pinhole injection head b3205 is connected with an electromagnetic valve of the pressure pump 1205 through a rubber tube, the wall surface ceramic tile cavity detection and repair controller 3301 enables the electromagnetic valve to be electrified and opened, high-pressure ceramic tile cavity repair glue in the inner cavity of the pressure pump 1205 flows to the pinhole injection head b3205 through the rubber tube, the pinhole injection head b3205 injects the pressurized cavity repair glue into the opened hole to fill the cavity in the ceramic tile, and a piece of repair glue is marked on the surface of the repaired ceramic tile after repair is completed, so that the repair quality can be conveniently detected by personnel ceramic tiles;

the specific working principle is as follows:

the wall tile cavity detection and repair controller 3301 controls the actions of the servo motors a3101a, b3101b, c3101c and d3101d, so that the servo motors cooperate with each other to control the actions of the manipulator, the ultrasonic detector 3203 is used for detecting the cavity condition of the wall tiles, the wall tile cavity detection and repair controller 3301 receives the detection signal of the ultrasonic detector 3203, if no cavity exists in the tiles, the trolley continues to move, and the manipulator moves back and forth near the wall surface to continue to perform ultrasonic detection on the wall tiles; if the tiles in a certain area have cavities, the positions of the trolley and the manipulator are automatically adjusted, so that the tail end 3200 of the manipulator reaches the position close to the tiles with the cavities, and the next tile repairing work is carried out.

Further starting glue injection repair, controlling an output shaft of a rotating motor 3109 to drive a mounting seat b3202 to rotate by a wall tile cavity detection and repair controller 3301, controlling cooperative actions of a servo motor a3101a, a servo motor b3101b, a servo motor c3101c and a servo motor d3101d, starting a small electric drill b3201 to punch the tiles in the cavity, recording the action state of the mechanical arm during punching to a PLC (programmable logic controller), forming a coordinate of three-point, and keeping the whole device static and unmovable until the cavity tiles are drilled; further, the output shaft of the control rotating motor 3109 drives the mounting seat b3202 to rotate 180 degrees accurately, the pinhole injection head b3205 is switched, the center line of the pinhole injection head b3205 is the same as the center line of the drill bit, the action of the manipulator is controlled in the same way until the needle head is accurately inserted into the small hole formed by the cavity tile, the electromagnetic valve corresponding to the pressure pump 1205 is electrified by the wall tile cavity detection and repair controller 3301, the high-pressure tile cavity repair glue in the inner cavity of the pressure pump 1205 flows into the pinhole injection head b3205 through the glue pipe, the pressurized cavity repair glue is injected into the formed hole by the pinhole injection head b3205, the cavity inside the tile is filled, and the repair work of the cavity tile is completed.

The ceiling tile cavity detection and repair part 4000 comprises a folding lifting platform 4100 and a ceiling tile cavity detection and repair mechanism 4200, the height of the ceiling tile cavity detection and repair mechanism is adjusted to the ceiling by the folding lifting platform 4100, and the ceiling tile cavity detection and repair system 4200 detects and repairs the ceiling tile cavity. Two major parts are explained in detail below:

the folding lifting platform 4100 comprises a lifting platform base 4101, an electric push rod c4102, a lifting platform top plate 4103 and a folding truss 4104, and the position relationship of the elements is as follows:

the lifting platform base 4101 is a steel plate and is fixed on the roof 1107; the folding truss 4104 has a structure shown in fig. 20, the model of the folding truss is SPB00400, an electric push rod c4102 is installed in the truss, and the model of the electric push rod c4102 is G-ROCK; the electric push rod c4102 can drive the folding truss 4104 to do telescopic action; the top plate 4103 of the lifting platform is a steel platform and is hinged with the top end of the folding truss 4104, and the folding truss 4104 can be extended and contracted to control the lifting and lowering of the top plate 4103 of the lifting platform;

the ceiling tile cavity detection and repair mechanism 4200 is composed of a mounting base 4201, a miniature electric drill c4202, a dust hood c4203, a mounting base c4204, an ultrasonic probe a4205a, an ultrasonic probe b4205b, a pinhole injection head c4206, an L-shaped mounting base 4207 and a stepping motor d4208, and the positional relations of the elements are as follows:

the mounting base 4201 is of a door-shaped structure, is fixedly mounted on the top plate 4103 of the lifting platform, is fixedly mounted with an ultrasonic detector a4205a and an ultrasonic detector b4205b at two ends respectively, is connected with the repair controller 3301 through lead wire and wall tile cavity detection, and judges whether the ceiling tile has a cavity through ultrasonic detection; the stepping motor d4208 is fixedly mounted in the middle of the mounting base 4201, the mounting base c4204 is fixed with an output shaft of the stepping motor d4208 through a bolt, and the output shaft of the stepping motor d4208 can drive the mounting base c4204 to rotate synchronously; the L-shaped mounting seat 4207 is fixedly mounted on the mounting seat c4204 respectively, mounting holes are formed in positions connected with other parts, the miniature electric drill c4202 and the pinhole injection head c4206 are fixed on the L-shaped mounting seat 4207 respectively, the dust hood c4203 is of a rubber funnel structure, is fixed on the L-shaped mounting seat 4207, is sleeved on the periphery of the drill bit and is connected with a dust suction port of the vacuum cleaner 1208 through an air pipe, and dust generated in the drilling process of the drill bit is fully absorbed. The small electric drill c4202 is MNT992810, the power on and off of the small electric drill can be controlled by the wall tile cavity detection and repair controller 3301, and a 5mm tile special drill bit is mounted on the small electric drill c4202 and can be used for punching tiles in a cavity area; the pinhole injection head c4206 is connected with an electromagnetic valve of the pressure pump 1205 through a rubber tube, the wall surface tile cavity detection and repair controller 3301 enables the electromagnetic valve to be powered on and opened, high-pressure tile cavity repair glue in the inner cavity of the pressure pump 1205 flows to the pinhole injection head c4206 through the rubber tube, the pinhole injection head c4206 injects the pressurized cavity repair glue into the opened hole to fill the cavity inside the tile, and a piece of repair glue is marked on the surface of the repaired tile after repair is completed, so that the repair quality of the tile can be detected conveniently.

The specific working principle is as follows:

when the system works, the electric push rod c4102 is controlled to extend out to drive the folding truss 4104 to unfold, the top plate 4103 of the lifting platform is lifted to a proper position, and the ceiling tile cavity detection and repair part 4200 carries out ultrasonic detection on the wall tiles; if the tiles in a certain area have cavities, the trolley automatically adjusts the position, so that the ceiling tile cavity detection and repair mechanism 4200 reaches the position near the tiles in the cavities, and the next tile repair work is carried out.

Glue injection repair is started, the wall surface tile cavity detection and repair controller 3301 controls the stepping motor d4208 to drive the mounting seat c4204 to rotate synchronously, so that the drill bit of the small electric drill c4202 is perpendicular to the surface of the cavity tile, the small electric drill c4202 is further started to punch a hole in the cavity tile, the height of the top plate 4103 of the lifting platform is gradually increased until the cavity tile is drilled through, and meanwhile, the whole device is kept static and does not move; further, an output shaft of a stepping motor d4208 is controlled to drive a c4204 to rotate 180 degrees accurately, the pin hole injection head c4206 is switched to, a center line of a pin hole injection head b3205 is the same as a center line of a drill bit, the height of a top plate 4103 of a lifting platform is controlled in the same way until a needle is inserted into a small hole where a cavity tile starts, a wall tile cavity detection and repair controller 3301 enables an electromagnetic valve corresponding to a pressure pump 1205 to be electrified, high-pressure tile cavity repair glue in an inner cavity of the pressure pump 1205 flows to the pin hole injection head c4206 through a glue pipe, the pin hole injection head c4206 injects the pressurized cavity repair glue into the opened hole to fill the cavity inside the tile, based on that the hole drilling of the pin hole drill bit is small, when the repair glue liquid passes through the small hole to form liquid drops, the radius is set as R, the liquid surface tension is a, additional pressure P is generated, the additional pressure P is overcome compared with normal flowing water, and the R is smaller, the larger P is; the used repairing glue is thick, the added particles have the probability of depositing and accumulating near the micropores, the dropping probability of the repairing glue is reduced, and the repairing glue is influenced by the factors, so that the overflowing probability of the repairing glue is low; meanwhile, aiming at the cavity in a larger area, a distributed punching and porous injection mode can be adopted, so that the repairing glue can more uniformly fill the cavity of the ceramic tile, and the repairing work of the cavity ceramic tile is finished.

The stepping motor a2218, the stepping motor b2221, the stepping motor c2231 and the stepping motor d4208 are of the same type, and the type is SL 57; the ultrasonic detectors a4205a and b4205b are DNNUT-930.

The following briefly describes the specific working principle of the robot for full-automatic tile cavity detection and repair according to the present invention with reference to fig. 1-22, in conjunction with the above structural description.

The full-automatic walking trolley 1000 comprises a trolley body part 1100 and a trolley walking part 1200, wherein the trolley body part 1100 is used for bearing and stabilizing the whole device, the trolley walking part 1200 is used for driving and controlling the trolley to walk and steer indoors by oneself, four combined type three wheels 1101 are arranged on two sides of a frame, a left driving motor 1201a and a right driving motor 1201b are used as power, and two combined type three wheels 1101 at diagonal angles are driven to rotate by a left speed reducer 1203a and a right speed reducer 1203b, so that the trolley can climb stairs by oneself, and the automatic walking capacity is improved; meanwhile, when the combined tricycle normally walks on the ground, the built-in motors are arranged in each two wheels of the combined tricycle, so that the two wheels which land on the ground when the combined tricycle rotates around the bearing 1106 are always provided with driving wheels on the ground, and the trolley can normally walk on the ground; the built-in motor in the wheel is connected to the small vehicle controller 1204 through the conductive slip ring, and can independently control the rotation of the small wheel, and realize actions such as turning.

The four radar probes 1202 are mounted on the rear baffle 1104a, the end face of the front baffle 1104b is close to two sides and used for detecting the distance between the car body 1100 and an obstacle and sending a signal to the car controller 1204 to realize automatic cruising driving of the car indoors; the car controller 1204 is installed on the upper surface of the car bottom plate 1105, and the left and right driving motors are connected with the combined three wheels, so that the whole combined three wheels can rotate around the bearing 1106 and can be used for climbing stairs; meanwhile, each two wheels in the combined three wheels are internally provided with a built-in motor, so that the two wheels which land when the combined three wheels rotate around the bearing 1106 are always provided with driving wheels on the ground, and the trolley can normally run; the built-in motor in the wheel is connected to the small car controller 1204 through a conductive slip ring, the rotation of the small wheel can be independently controlled, the small car controller 1204 controls the operation of the built-in motor in the left combined tricycle and the built-in motor in the right combined tricycle through a conducting wire, when the built-in motor in the left combined tricycle and the built-in motor in the right combined tricycle rotate forwards or backwards synchronously, the combined tricycle 1101 rotates forwards or backwards synchronously, and the vehicle moves forwards or backwards; when the speed of the wheel built-in motor in the left combined three wheel is slower than the speed of the wheel built-in motor in the right combined three wheel in forward rotation, the left combined three wheel rotates slower than the right combined three wheel, and the trolley can rotate left; similarly, when the speed of the wheel built-in motor in the left combined three wheel is higher than that of the wheel built-in motor in the right combined three wheel in forward rotation, the left combined three wheel rotates faster than the right combined three wheel, and the trolley can rotate to the right; when the wheel built-in motor in the left combined type three wheel rotates forwards and the wheel built-in motor in the right combined type three wheel rotates backwards, the left combined type three wheel moves forwards and the right combined type three wheel moves backwards, and clockwise in-situ turning can be achieved; when the wheel built-in motor in the left combined type three wheel rotates reversely and the wheel built-in motor in the right combined type three wheel rotates forwards, the left combined type three wheel rotates backwards and the right combined type three wheel rotates forwards, and therefore the anticlockwise in-situ turning can be achieved; the steering and rotating speed of the wheel built-in motor in the left combined three-wheel and the wheel built-in motor in the right combined three-wheel are flexibly adjusted through the trolley controller 1204, so that the trolley can automatically and flexibly cruise indoors.

The floor tile cavity detection and repair portion 2000 comprises a floor tile cavity detection mechanism 2100, a floor tile cavity repair mechanism 2200, and a tile cavity detection and repair controller 2401; ground ceramic tile cavity detection mechanism 2100 utilizes the hot plate, ground ceramic tile cylinder heating part 2300 utilizes heating cylinder 2308 to heat every ceramic tile, through the heat distribution condition on thermal imager scanning ceramic tile surface, the speed of air heat conduction and object contact heat conduction has very big difference, air heat conduction speed is slower, so inside behind the ceramic tile cavity lead to behind the cavity of great area with the floor heat transfer inhomogeneous, ceramic tile heat distribution after the heating is inhomogeneous, ceramic tile surface temperature difference is big, can utilize this characteristic to detect whether there is the cavity in the ceramic tile. If the integral temperature difference of the surface of the ceramic tile is not large, the ceramic tile does not have a cavity; if the temperature of a local area on the surface of the ceramic tile is obviously higher, the ceramic tile in the area has a cavity and needs to be further repaired; ground ceramic tile cavity repair body 2200 utilizes small-size electric drill a2233 to install 5 mm's ceramic tile special drill bit, punches the ceramic tile in cavity region, and rethread pinhole injector a2234 is glued the injection to the cavity after will pressurizeing downthehole of seting up, fills the cavity of ceramic tile, accomplishes the restoration to the ceramic tile in cavity, and pinhole injector marks a restoration glue in prosthetic ceramic tile surface mark simultaneously, and the personnel's of being convenient for ceramic tile detects the quality of repairing.

Wall ceramic tile cavity detects and restores part 3000 includes manipulator 3100, manipulator end 3200 and wall ceramic tile cavity detect and restore controller 3301, utilize the manipulator to adjust manipulator end 3200 to suitable position, carry out the scan through the ceramic tile of ultrasonic wave detection instrument to the wall and survey, wall ceramic tile cavity detects and restores controller 3301 and receives the signal judgement ceramic tile inside cavity that has of ultrasonic wave detection instrument, if there is the cavity, wall ceramic tile cavity detects and restores controller control terminal rotary switching's of manipulator small-size electric drill b3201 and pinhole injection head b3205, automatically, accomplish and punch the cavity ceramic tile, the action of injection restoration glue.

The ceiling tile cavity detection and repair part 4000 comprises a folding lifting platform 4100 and a ceiling tile cavity detection and repair mechanism 4200, and when the ceiling tile cavity detection and repair device works, an electric push rod c4102 is controlled to extend out to drive a folding truss 4104 to unfold, a top plate 4103 of the lifting platform is lifted to a proper position, and the ceiling tile cavity detection and repair mechanism 4200 carries out ultrasonic detection on wall tiles; if the tiles in a certain area have cavities, the trolley automatically adjusts the position, so that the ceiling tile cavity detection and repair mechanism 4200 reaches the position near the tiles in the cavities, and the next tile repair work is carried out. The wall surface tile cavity detection and repair controller 3301 controls a stepping motor d4208 to drive a mounting seat c4204 to rotate synchronously, so that a drill bit of a small electric drill c4202 is perpendicular to the surface of a cavity tile, the small electric drill c4202 is further started to punch a hole in the cavity tile, and the height of a top plate 4103 of a lifting platform is gradually increased until the cavity tile is drilled through; further, an output shaft of the stepping motor d4208 is controlled to drive the c4204 to rotate, the pinhole injection head c4206 is switched to, the height of the top plate 4103 of the lifting platform is controlled to be the same until a needle head is inserted into a small hole where cavity tiles start, the electromagnetic valve corresponding to the pressure pump 1205 is powered on by the wall tile cavity detection and repair controller 3301, high-pressure tile cavity repair glue in the inner cavity of the pressure pump 1205 flows into the pinhole injection head c4206 through a glue pipe, and the pinhole injection head c4206 injects the pressurized cavity repair glue into the opened hole to finish the repair work of the cavity tiles.

The utility model relates to the following control principles: the car controller 1204, the tile cavity detection and repair controller 2401 and the wall tile cavity detection and repair controller 3301 communicate with each other through a Modbus communication protocol. The car controller 1204 and the tile cavity detection and repair controller 2401 are mainly responsible for converting temperature analog signals into digital signals, storing the digital signals in the PLC, judging the temperature distribution condition of the current heated tiles, judging the position of the vehicle and the position of the tile cavity by combining the car controller 1204, converting the analog signals into the digital signals, mutually transmitting the digital signals, and checking to ensure the real-time accuracy of data. The trolley controller 1204 and the wall surface ceramic tile cavity detection and repair controller 3301 are mainly responsible for converting ultrasonic analog signals into digital quantity signals, storing the digital quantity signals in the PLC, judging the positions of the ceramic tile cavities on the wall and the ceiling, judging the position of a vehicle by combining the trolley controller 1204, and sending an instruction to the trolley controller 1204 to move the trolley to a proper position, so that the ceramic tile cavity repair mechanism can carry out repair work conveniently.

The trolley automatically and flexibly cruises indoors and runs in a barrier avoiding manner, the ground tile cavity detection and repair part 2000 and the wall tile cavity detection and repair part 3000 work in coordination without mutual interference, when the tile cavities are detected, the tiles in the cavities are solved and repaired one by one, and for the tiles in the ceiling, the tile cavities are lifted by the aid of the foldable lifting platform to detect and repair the tiles in the ceiling according to the principle.

While the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the utility model may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.

Claims (10)

1. The utility model provides a full-automatic ceramic tile cavity detects and prosthetic robot which characterized in that includes:

a full-automatic traveling trolley (1000);

ground tile cavity detects and restores part (2000), installs on full-automatic walking dolly (1000), it includes:

the floor tile cavity detection mechanism (2100) is used for heating each tile by using the heating plate (2101) and scanning and detecting whether a cavity exists in the tile or not by using a thermal imager;

the ground tile cavity repairing mechanism (2200) is arranged on the ground tile cavity detecting mechanism (2100) and is used for drilling a tile hole with a cavity on the ground and injecting repairing glue for repairing;

wall ceramic tile cavity detects and restores part (3000), installs on full-automatic walking dolly (1000), it includes:

a manipulator (3100) for detecting whether a cavity exists in the wall tile by an ultrasonic detector provided thereon;

the manipulator tail end (3200) is arranged at the tail end of the manipulator (3100), and is used for drilling a ceramic tile with a cavity in the wall and injecting repairing glue for repairing;

ceiling tile cavity detection and restoration part (4000) is installed on full-automatic walking dolly (1000), it includes:

a folding lifting platform (4100) for adjusting the height of the full-automatic walking trolley (1000) from the ceiling;

the ceiling tile cavity detection and repair mechanism (4200) is used for detecting whether a cavity exists in a ceiling tile through an ultrasonic detector arranged on the ceiling tile cavity detection and repair mechanism and injecting repair glue into a tile drilling hole with the cavity for repair.

2. The robot for the detection and repair of ceramic tile cavities according to claim 1, characterized in that said fully automatic walking trolley (1000) comprises a body part (1100) and a trolley walking part (1200), wherein:

the vehicle body part (1100) comprises a combined three-wheel (1101), a left baffle (1102a), a right baffle (1102b), a vehicle frame (1103), a rear baffle (1104a), a front baffle (1104b), a vehicle bottom plate (1105), a bearing (1106) and a roof plate (1107), wherein the front baffle (1104b), the rear baffle (1104a), the left baffle (1102a) and the right baffle (1102b) are respectively arranged at the front position, the rear position, the left position and the right position of the vehicle frame (1103) and are riveted with the vehicle frame (1103); the transmission shafts of the four combined three wheels (1101) are in interference fit with the inner ring of the bearing (1106), and the outer ring of the bearing (1106) is in interference fit with mounting holes formed in the left baffle plate (1102a) and the right baffle plate (1102 b); the vehicle bottom plate (1105) is fixed at the bottom of the vehicle frame (1103), and the vehicle top plate (1107) is fixed at the upper part of the vehicle frame (1103);

the trolley travelling part (1200) comprises a left driving motor (1201a), a right driving motor (1201b), a radar probe (1202), a left speed reducer (1203a), a right speed reducer (1203b), a trolley controller (1204) and a pressurizing pump (1205), wherein the left speed reducer (1203a) and the right speed reducer (1203b) are respectively connected with middle shaft holes of a left rear combined tricycle (1101) and a right front combined tricycle (1101) through key matching, the left speed reducer (1203a) and the right speed reducer (1203b) are installed on the side walls of the left baffle plate (1102a) and the right baffle plate (1102b), and output shafts of the left driving motor (1201a) and the right driving motor (1201b) are respectively matched with input key holes of the left speed reducer (1203a) and the right speed reducer (1203 b); the radar probes (1202) are mounted on the end faces of a rear baffle (1104a) and a front baffle (1104b) close to two sides, the car controller (1204) is mounted on the upper surface of a car bottom plate (1105), and the pressurizing pump (1205) is mounted on the upper end of the car top plate (1107).

3. A robot for full automatic tile cavity detection and repair according to claim 1 or 2, wherein the floor tile cavity detection mechanism (2100) comprises a heating plate (2101), a raised support (2102), a linear bearing a (2103a), a linear bearing b (2103b), a circular shaft a (2104a), a circular shaft b (2104b), an electric push rod a (2105), a thermal imager a (2121a) and a thermal imager b (2121b), the raised support (2102) is installed on the upper surface of the floor (1105), the linear bearing a (2103a), the linear bearing b (2103b) are installed on two sides of the upper surface of the raised support (2102), the electric push rod a (2105) is installed on the middle position of the upper surface of the raised support (2102), and the circular shaft a (2104a) and the circular shaft b (2103b) are matched with the linear bearing a (2103a) and the linear bearing b (2103b), The round shaft b (2104b) penetrates through an inner hole of the bearing and a hole formed in the protruding support (2102) respectively; the round shafts a (2104a) and b (2104b) are fixedly connected with the upper surface of the heating plate (2101), the base part of the electric push rod a (2105) is connected with the protruding support (2102), and the telescopic end of the electric push rod a (2105) is connected with the heating plate (2101); the telescopic end of the electric push rod a (2105) can vertically move up and down to drive the heating plate (2101) to move up and down.

4. The robot for detecting and repairing the cavity of a ceramic tile as claimed in claim 3, wherein the ground cavity repairing mechanism (2200) comprises an X-direction moving sliding table (2210), a Y-direction moving sliding table (2220) and a 360-degree rotating part (2230), the X-direction moving sliding table (2210) comprises a sliding rail a (2211a), a sliding rail b (2211b), a sliding block a (2212a), a sliding block b (2212b), an X-direction base (2213), a ball screw support a (2214), a ball nut a (2215), a ball screw a (2216), a motor support a (2217), a stepping motor a (2218) and a coupling a (2219), the sliding rail a (2211a) and the sliding rail b (2211b) are arranged on the surface of the rear baffle (1104a) in parallel at a certain distance, and the sliding block a (2212a) and the sliding block b (2212b) which are matched with the sliding rail a (2211a) and the sliding block b are respectively arranged on the sliding rail a (2211a), On the sliding rail b (2211 b); the bottom surface of the X-direction base (2213) is connected with the upper surfaces of a sliding block a (2212a) and a sliding block b (2212b), the ball nut a (2215) is installed below the X-direction base (2213), and a ball screw a (2216) matched with the ball nut a (2215) penetrates through the ball nut a (2215) in a threaded fit manner; the head of the ball screw a (2216) is coaxially connected with the output shaft of the stepping motor a (2218) through a coupling a (2219), the bottom of the motor support a (2217) is fixedly connected with the rear baffle plate (1104a), and the stepping motor a (2218) is fixedly arranged on the motor support a (2217);

the Y-direction moving sliding table (2220) comprises a stepping motor b (2221), a motor support b (2222), a coupler b (2223), a Y-direction base (2224), a ball nut b (2225), a ball screw b (2226), a ball screw support b (2227), a sliding rail c (2228) and a sliding block c (2229), wherein the sliding rail c (2228) is fixedly installed on the X-direction base (2213), the Y-direction base (2224) is fixedly connected with the upper surface of the sliding block c (2229), the ball nut b (2225) is connected with the Y-direction base (2224), and the ball screw b (2226) matched with the Y-direction moving sliding table penetrates through the ball nut b (2225) in a threaded fit manner; the tail end of the ball screw b (2226) and the bearing inner hole of the ball screw support b (2227) are coaxial and fixed; the head of the ball screw b (2226) is coaxially connected with an output shaft of a stepping motor b (2221) through a coupling b (2223), the bottom of the motor support b (2222) is fixedly connected with an X-direction base (2213), and the stepping motor b (2221) is fixedly installed on the motor support b (2222);

the 360-degree rotating part (2230) comprises a stepping motor c (2231), a mounting seat a (2232), a small electric drill a (2233) and a pinhole injection head a (2234), wherein the stepping motor c (2231) is mounted on the Y-direction base (2224), the mounting seat a (2232) is fixed on an output shaft of the stepping motor c, the small electric drill a (2233) and the pinhole injection head a (2234) are mounted at two ends of the stepping motor c, and the pinhole injection head a (2234) is connected with an electromagnetic valve of the pressurizing pump (1205) through a rubber tube.

5. The robot for full-automatic tile cavity detection and repair according to claim 4, wherein the ground tile cavity detection and repair part (2000) further comprises a ground tile roller heating part (2300), the ground tile roller heating part (2300) comprises a roller bracket mount a (2301a), a roller bracket mount b (2301b), a roller bracket a (2302a), a roller bracket b (2302b), a bearing a (2303a), a bearing b (2303b), a conductive slip ring (2304), a double-lug support a (2305a), a double-lug support b (2305b), an electric push rod b (2306), a cross rod (2307) and a heating roller (2308), the roller bracket mount a (2301a) and the roller bracket mount b (2301b) are respectively mounted on both sides of a front baffle plate (1104b) and are connected with the roller bracket a (2302a) through a pin shaft, the mounting holes on the roller bracket b (2302b) are connected, the inner holes of the bearing a (2303a) and the bearing b (2303b) are respectively in interference fit with rotating shafts at two ends of the heating roller (2308), and the bases of the bearing a (2303a) and the bearing b (2303b) are respectively and fixedly mounted at the tail ends of the roller bracket mounting seat a (2301a) and the roller bracket mounting seat b (2301 b); the cross rod (2307) is installed between the roller support a (2302a) and the roller support b (2302b), the double-lug support a (2305a) is installed on the front baffle (1104b), the double-lug support b (2305b) is installed on the cross rod (2307), pin holes are formed in the tail portion of the electric push rod b (2306) and the head portion of the telescopic end, and the electric push rod b is connected with the pin holes of the double-lug support a (2305a) and the double-lug support b (2305b) through pin shafts.

6. The robot for detecting and repairing the full-automatic tile cavity according to claim 1, wherein the manipulator (3100) comprises a servo motor a (3101a), a servo motor b (3101b), a servo motor c (3101c), a servo motor d (3101d), a manipulator base (3102), a pinion (3103), a bull gear (3104), a base rotating shaft (3105), a first joint arm (3106), a second joint arm (3107), a third joint arm (3108) and a rotating motor (3109), the manipulator base (3102) is installed above the roof plate (1107), the base rotating shaft (3105) is in interference fit with a bearing embedded in the roof plate (1107), an inner ring below the base shaft is matched with the bull gear (3104) through a key groove, the servo motor a (3101a) is fixedly connected with the lower part of the roof plate (1107), and an output shaft passes through the roof plate (1107), The hole formed in the manipulator base (3102) is coaxially connected with the small gear (3103) through a key groove, and the small gear (3103) is meshed with the large gear (3104);

the first joint arm (3106) is provided with a key hole which is coaxially matched with a bearing arranged in the base rotating shaft (3105) hole, an output shaft of the servo motor b (3101b) is connected with the key hole of the first joint arm (3106) through a key, the first joint arm (3106) can relatively rotate around the output shaft of the servo motor b (3101b) after being connected with the base rotating shaft (3105), and the output shaft of the servo motor b (3101b) can rotate to drive the first joint arm (3106) to rotate;

the key hole of the second joint arm (3107) is coaxially matched with the bearing arranged in the hole of the first joint arm (3106), the servo motor c (3101c) is arranged on the side surface of the bearing hole of the first joint arm (3106), the output shaft of the servo motor c (3101c) is connected with the key hole of the second joint arm (3107) through a key, the second joint arm (3107) can relatively rotate along the servo motor c (3101c) after being connected with the first joint arm (3106), and the output shaft of the servo motor c (3101c) can drive the second joint arm (3107) to rotate;

the tail end of the third joint arm (3108) is provided with a rotating motor (3109), the other end of the third joint arm is provided with a pin shaft, a pin hole of the third joint arm (3108) is in interference fit with a bearing in a hole of the second joint arm (3107), the third joint arm (3108) and the second joint arm (3107) can rotate relatively along the pin shaft after being connected, the servo motor d (3101d) is arranged on the side surface of the hole of the second joint arm (3107), a key hole at the output part of the servo motor d (3101d) is in key connection with the pin shaft of the third joint arm (3108), and the output shaft of the servo motor d (3101d) rotates to drive the third joint arm (3108) to rotate.

7. The robot for full-automatic tile cavity detection and repair according to claim 6, wherein the manipulator end (3200) comprises a small electric drill b (3201), a mounting seat b (3202), an ultrasonic detector (3203), L-shaped mounting blocks (3204) and a pinhole injection head b (3205), the mounting seat b (3202) is fixed on an output shaft of the rotating motor (3109), two L-shaped mounting blocks (3204) are respectively mounted at two ends of the mounting seat b (3202), and the small electric drill b (3201) and the pinhole injection head b (3205) are respectively mounted on the two L-shaped mounting blocks (3204); the ultrasonic detector (3203) is fixed in the middle of the mounting seat b (3202); the pinhole injection head b (3205) is connected with an electromagnetic valve of a pressure pump (1205) through a rubber tube.

8. A robot for full automatic tile cavity detection and repair according to claim 1, wherein the folding lift platform (4100) comprises a lift platform base (4101), an electric push rod c (4102), a lift platform top plate (4103) and a folding truss (4104), the lift platform base (4101) being mounted on a vehicle top plate (1107); an electric push rod c (4102) is arranged in the folding truss (4104); the lifting platform top plate (4103) is hinged with the top end of a folding truss (4104) and is used for controlling the lifting and the lowering of the lifting platform top plate (4103) through the expansion and contraction of the folding truss (4104).

9. The robot for full-automatic tile cavity inspection and repair according to claim 1 or 8, wherein the ceiling tile cavity inspection and repair mechanism (4200) comprises a mounting base (4201), a small electric drill c (4202), a mounting base c (4204), an ultrasonic probe a (4205a), an ultrasonic probe b (4205b), a pin hole injection head c (4206), an L-shaped mounting base (4207), and a stepping motor d (4208), wherein the mounting base (4201) is mounted on a top plate (4103) of an elevating platform, and both ends of the mounting base are respectively mounted with the ultrasonic probe a (4205a) and the ultrasonic probe b (4205b), the stepping motor d (4208) is mounted in the middle of the mounting base (4201), and the mounting base c (4204) is fixed to an output shaft of the stepping motor d (4208); the miniature electric drill c (4202) and the pinhole injection head c (4206) are respectively arranged on an L-shaped mounting seat (4207), and the pinhole injection head c (4206) is connected with an electromagnetic valve of the pressure pump (1205) through a rubber hose.

10. The robot for full automatic tile cavity detection and repair of claim 9, wherein a dust hood c (4203) is sleeved outside each of the mini electric drill a (2233), the mini electric drill b (3201) and the mini electric drill c (4202); and 5mm special ceramic tile drill bits are mounted on the small electric drill a (2233), the small electric drill b (3201) and the small electric drill c (4202).

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