Floor tile seam beautifying all-in-one machine and seam beautifying method

Abstract

The invention discloses a floor tile seam beautifying all-in-one machine and a seam beautifying method.The floor tile seam beautifying all-in-one machine comprises a movable vehicle frame and a seam cleaning device, a camera, a rubberizing device, a glue extruding device and a glue pressing device which are installed on the movable vehicle frame, the camera is located at the front end of the movable vehicle frame and faces the ground, and the seam cleaning device comprises a grinding wheel capable of ascending, descending and rotating; the rubberizing device comprises a rubber outlet assembly and a rubberizing assembly, a first roller and a second roller of the rubberizing assembly pull out a rubber belt, a third roller presses the rubber belt on the two sides of a floor tile gap, the rubber extruding device comprises a pushing block and a rubber pipe, the pushing block ascends and descends to extrude rubber on the rubber pipe, and a rubber outlet nozzle is arranged at the lower end of the rubber pipe and correspondingly faces the ground. The glue pressing device is located behind the glue extruding device, the glue pressing device comprises a pressing rod capable of ascending and descending, and a ball head is arranged at the lower end of the pressing rod. According to the floor tile seam cleaning, glue pasting, glue extruding and glue pressing machine, floor tile seams are recognized through visual detection to control the moving frame to move, and the working procedures of seam cleaning, glue pasting, glue extruding and glue pressing are conducted on the floor tile seams in the moving process.

Description

Technical Field

[0001] The present invention relates to the technical field of floor tile caulking, and more particularly to an integrated floor tile caulking machine and a caulking method. Background Art

[0002] In the prior art, the caulking of floor tiles is performed manually. Before caulking, it is necessary to remove impurities such as dust and cement remaining in the caulking of the floor tiles, then affix masking tape to the edges of the caulking to protect the floor tiles, and then use a glue gun to squeeze the masking glue into the caulking. The extrusion speed of the masking glue must also be controlled, and finally the masking agent is pressed. Manual operation requires frequent switching of work, and the construction takes a long time. Therefore, a technical solution is needed to solve the above problems. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art. The equipment is integrated into one and can automatically perform seam cleaning, gluing, applying glue and pressing glue, thereby providing a floor tile seam beautifying machine and seam beautifying method.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The present invention discloses an all-in-one floor tile seam beautifying machine, comprising a movable frame and a seam cleaning device, a camera, a glue sticking device, a glue squeezing device, and a glue pressing device installed on the movable frame. The camera is located at the front end of the movable frame and faces the ground. The seam cleaning device comprises a rotatable grinding wheel and a first telescopic device. The grinding wheel can be raised and lowered by the first telescopic device. The glue sticking device is located behind the seam cleaning device. The glue sticking device comprises a glue discharging component and a glue sticking component. The glue discharging component comprises two adhesive tapes. The two adhesive tapes can move closer to or farther away from each other. The glue sticking component The device comprises a first roller, a second roller and a third roller, wherein the first roller and the second roller pull out the adhesive tape, and the third roller presses the two adhesive tapes on both sides of the gap between the floor tiles. The glue squeezing device is located behind the glue applying device, and the glue squeezing device comprises a push block and a rubber hose. The push block can be raised and lowered to squeeze the rubber hose. A glue outlet nozzle is provided at the lower end of the rubber hose, and the glue outlet nozzle is facing the ground. The glue pressing device is located behind the glue squeezing device, and the glue pressing device comprises a pressure rod that can be raised and lowered, and a ball head is provided at the lower end of the pressure rod, and the ball head can support the gap between the floor tiles.

[0006] Furthermore, the seam cleaning device includes a first motor and a dust cover, the grinding wheel is located in the dust cover, the first motor is fixedly installed on the dust cover, the first motor drives the grinding wheel to rotate, the first telescopic device is connected to the dust cover, the dust cover is provided with a dust suction port, and the dust suction port is connected to a vacuum cleaner.

[0007] Furthermore, the glue discharging assembly includes a movable frame, a slide rail, and a second motor. The adhesive tape is rotatably mounted on the movable frame, and the movable frame is slidably mounted on the slide rail. The second motor drives the two movable frames to move closer to or away from each other.

[0008] Furthermore, the glue-applying assembly includes a second telescopic device, a first connecting frame, and a second connecting frame. The second telescopic device is connected to the first connecting frame. The first connecting frame and the second connecting frame are slidably connected. A first spring is installed between the first connecting frame and the second connecting frame. A mounting groove is opened at the lower end of the second connecting frame. The first roller, the second roller, and the third roller are rotatably installed on the second connecting frame. The first roller and the second roller are distributed in the mounting groove up and down. The adhesive tape passes between the first roller and the second roller. The third roller is located behind the second roller. The third roller presses the upper end surface of the adhesive tape.

[0009] Furthermore, the lower end of the third roller is lower than the lower end of the second connecting frame, and a plurality of racks are provided on the outer surface of the second roller, and the racks extend along the axial direction of the second roller.

[0010] Furthermore, the glue-applying device includes a glue-cutting component and a glue-pressing component. The glue-cutting component is located behind the glue-applying component, and the glue-pressing component is located behind the glue-cutting component. The glue-cutting component includes retractable scissors, and the scissors are extended to cut the tape between the glue-applying component and the glue-pressing component. The glue-pressing component includes a pressure roller, a connecting seat, a second spring, a guide rod, and a movable seat. The connecting seat is fixedly installed on the movable frame, and the pressure roller is rotatably installed on the movable seat. The movable seat is connected to the guide rod, and the guide rod passes through the connecting seat. A second spring is installed between the movable seat and the connecting seat, and the pressure roller presses the tape below the pressure roller.

[0011] Furthermore, the rubber shearing assembly includes a third telescopic device, a first plate, and a second plate, the third telescopic device is fixedly mounted on the first plate, the second plate is fixedly connected to the first plate, the scissors are located between the first plate and the second plate, the two handles of the scissors are fixedly mounted on a connecting block, the connecting block is provided with a guide column, the first plate is provided with two first guide grooves, the guide column can slide along the first guide groove, the first guide groove includes a horizontal section and an inclined section, the inclined section is located at one end of the horizontal section away from the third telescopic device, the inclined sections of the two first guide grooves are inclined close to each other, the third telescopic device is provided with a connecting head, the connecting head is provided with a slide groove, the slide groove extends in a vertical direction, the guide column passes through the first guide groove and partially extends into the slide groove.

[0012] Furthermore, the second plate is provided with a second guide groove with the same structure as the first guide groove, the guide column is partially located in the second guide groove, and the guide column can slide along the second guide groove. The scissors include a hinge block, and the second plate is provided with a third guide groove. The third guide groove is located on the side of the second plate facing the scissors, and the third guide groove extends horizontally. The hinge block can slide along the third guide groove.

[0013] Furthermore, the glue squeezing device includes a third motor, a screw rod, a fixed seat, and a sliding frame. The third motor drives the screw rod to rotate, the fixed seat is slidingly connected to the sliding frame, the screw rod is rotatably connected to the fixed seat, the sliding frame is threadedly connected to the screw rod, and the sliding frame can move along the axial direction of the screw rod. The push block is located at the lower end of the sliding frame, and the rubber hose is located below the fixed seat.

[0014] A method for beautifying caulking, based on the above-mentioned floor tile beautifying caulking machine, comprises the following steps:

[0015] S1: Start the machine, collect surrounding environment information through the camera, and output the horizontal coordinates of the tile gap in the environment where the machine is currently located. A global shutter CMOS sensor with a resolution of ≥160×120 pixels and a frame rate of ≥30fps is used. The RGB image is converted to a grayscale image using grayscale conversion. Gaussian filtering is used for smoothing using a 3×3 Gaussian kernel to retain edge information. An adaptive threshold method is used to enhance the contrast between the target and the background and separate the gap from other parts. Based on the lateral deviation between the central axis of the caulking machine and the navigation path and the heading deflection angle parameters, a comprehensive evaluation is performed by analyzing the steering parameters, steering angle, and lateral displacement to generate trajectory correction parameters. The mobile frame is driven to adjust its position so that the grinding wheel of the caulking device corresponds to the tile gap.

[0016] S2: The grinding wheel rotates and then descends to clean the gaps between the floor tiles. The vacuum cleaner of the gap cleaning device sucks away the dust removed by the grinding wheel. The mobile frame starts to move forward and continues to clean the gaps between the floor tiles during the movement. The vacuum cleaner connected to the gap cleaning device continues to suck away the dust removed by the grinding wheel.

[0017] S3: The width of the gap is identified through visual recognition, and the width between the two tapes in the glue dispensing assembly of the glue dispensing device is adjusted. The glue dispensing assembly of the glue dispensing device is lowered to press the tapes on the ground. The third roller of the glue dispensing assembly continuously presses the tapes on both sides of the gap between the tiles as the mobile frame moves.

[0018] S4: The push block of the glue squeezing device moves toward the rubber hose, and the push block squeezes the caulking agent in the rubber hose from the glue outlet into the gaps between the floor tiles. As the moving frame moves, the glue squeezing device applies glue to the gaps between the floor tiles.

[0019] S5: The fourth driving device of the glue pressing device drives the pressing rod to descend, and the ball head of the pressing rod presses against the two side edges of the gap between the floor tiles. As the moving frame moves, the ball head squeezes out the excess caulking agent in the gap between the floor tiles, so that the excess caulking agent remains on the upper end surface of the tape;

[0020] S6: When the work on the gap of the floor tiles in a straight line is completed, the second telescopic device drives the third roller to lift up, and the motor fixed behind the electromagnetic clutch in the glue discharge component tightens the tape, and the tape is fixed to the ground by the glue pressing component in the glue application device, so that the tape is suspended in the air to form an angle. The glue cutting component in the glue application device extends the scissors to cut the tape, and the machine searches for the gap that needs to be caulked again.

[0021] The beneficial effects of the present invention are:

[0022] The present invention replaces manual caulking with an integrated caulking device, which not only reduces tedious manual steps but also reduces labor costs. It adopts visual recognition technology to automatically identify the gaps between floor tiles and achieve precise tracking to improve the accuracy of caulking. It also designs adaptive width adjustment for different gap widths, and can intelligently track, clean gaps, apply glue, cut, squeeze glue, press glue and other processes. Multiple workstations can work simultaneously, greatly shortening the caulking time and significantly improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of this embodiment.

[0024] Figure 2 This is a bottom view schematic diagram of this embodiment.

[0025] Figure 3 Schematic diagram of the seam cleaning device in this embodiment.

[0026] Figure 4 Schematic diagram of the adhesive laminating device in this embodiment.

[0027] Figure 5 This is a cross-sectional view of the glue application device in this embodiment.

[0028] Figure 6 Schematic diagram of the shear glue assembly in this embodiment.

[0029] Figure 7 This is an exploded view of the shear glue assembly in this embodiment.

[0030] Figure 8 Schematic diagram of the glue squeezing device in this embodiment.

[0031] Figure 9 Schematic diagram of the glue pressing device in this embodiment.

[0032] Figure numerals: 1, moving frame; 2, seam cleaning device; 21, grinding wheel; 22, first motor; 23, dust cover; 231, dust suction port; 24, first telescopic device; 3, camera; 4, glue device; 41, glue dispensing assembly; 411, adhesive tape; 412, moving frame; 413, slide rail; 414, second motor; 42, glue dispensing assembly; 421, second telescopic device; 422, first connecting frame; 423, second connecting frame; 4231, mounting groove; 424, first roller; 425, second roller; 426, third roller; 427, first spring; 43, glue cutting assembly; 431, third telescopic device; 4311, connector; 4312, slide groove; 432, First plate; 4321, first guide groove; 43211, horizontal section; 43212, inclined section; 433, scissors; 4331, connecting block; 4332, guide column; 4333, hinge block; 434, second plate; 4341, second guide groove; 4342, third guide groove; 44, glue pressing assembly; 441, pressure roller; 442, connecting seat; 443, second spring; 444, guide rod; 445, movable seat; 5, glue squeezing device; 51, third motor; 52, screw rod; 53, fixed seat; 54, sliding frame; 541, push block; 55, rubber hose; 551, glue outlet nozzle; 6, glue pressing device; 61, fourth telescopic device; 62, pressure rod; 621, ball head. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in this embodiment with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0034] like Figures 1 to 9 As shown, this embodiment discloses an all-in-one floor tile grouting machine, including a mobile frame 1 and a seam cleaning device 2, a camera 3, a gluing device 4, a glue squeezing device 5, and a glue pressing device 6 installed on the mobile frame 1. The camera 3 is located at the front end of the moving frame 1 in the forward direction, and the camera 3 faces the ground. The camera 3 can shoot the ground, and the position of the mobile frame 1 is controlled and adjusted and the width of the floor tile gap is measured through the visual recognition function. The mobile frame 1 is provided with four wheels that can be controlled by individual motors, and the mobile frame 1 is turned by adjusting the speed. The seam cleaning device 2, the camera 3, the gluing device 4, the glue squeezing device 5, and the glue pressing device 6 are located on the central axis of the mobile frame 1, and the seam cleaning device 2, the gluing device 4, the glue squeezing device 5, and the glue pressing device 6 are arranged in sequence from front to back along the forward direction of the mobile frame 1.

[0035] like Figure 1 、 Figure 3As shown, the seam cleaning device 2 includes a rotatable grinding wheel 21, a first motor 22, a dust cover 23, and a first telescopic device 24. The grinding wheel 21 can be raised and lowered by the first telescopic device 24. The grinding wheel 21 is located in the dust cover 23. The first motor 22 is fixedly installed on the dust cover 23. The first motor 22 drives the grinding wheel 21 to rotate. The first telescopic device 24 is connected to the dust cover 23. The dust cover 23 is provided with a dust suction port 231. The dust suction port 231 is connected to a vacuum cleaner. The first telescopic device 24 controls the grinding wheel 21 to descend so that the grinding wheel 21 partially enters the gap between the floor tiles. The grinding wheel 21 rotates to clear out the dust and the like in the gap between the floor tiles. The dust cover 23 covers the outside of the grinding wheel 21. The cleared dust can be sucked away by the vacuum cleaner connected to the dust suction port 231.

[0036] like Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 As shown, the gluing device 4 is located behind the seam cleaning device 2, and the gluing device 4 includes a gluing component 41 and a gluing component 42. The gluing component 41 includes two adhesive tapes 411, a movable frame 412, a slide rail 413, and a second motor 414. The adhesive tape 411 is rotatably mounted on the movable frame 412, and the movable frame 412 is equipped with an electromagnetic clutch. The motor of the electromagnetic clutch can drive the adhesive tape 411 to reverse, and the movable frame 412 is slidably mounted on the slide rail 413. The second motor 414 drives the two movable frames 412 to move closer to or away from each other, and the two adhesive tapes 411 can move closer to or away from each other. The distance between the two adhesive tapes 411 is controlled by data collected by the camera 3, which can correspond to the width of the gap between the floor tiles.

[0037] The glue sticking assembly 42 is located below the glue discharging assembly 41. The glue sticking assembly 42 includes a second telescopic device 421, a first connecting frame 422, a second connecting frame 423, a first roller 424, a second roller 425, and a third roller 426. The second telescopic device 421 is connected to the first connecting frame 422. The second telescopic device 421 is fixedly installed on the mobile frame 1. The second telescopic device 421 controls the up and down movement of the glue sticking assembly 42. The first connecting frame 422 and the second connecting frame 423 are slidably connected. A first spring 427 is installed between the first connecting frame 422 and the second connecting frame 423. The second connecting frame 423 can approach or move away from the first connecting frame 422. A mounting groove 4231 is provided at the lower end of the second connecting frame 423. The first roller 424, the second roller 425, and the third roller 426 are rotatably installed on the second connecting frame 423. The first roller 424 and the second roller 425 are distributed in the mounting groove 4231 up and down. The adhesive tape 411 The first roller 424 and the second roller 425 pull the adhesive tape 411 out, and the first roller 424 and the second roller 425 can clamp the adhesive tape 411. The outer surface of the second roller 425 is provided with a plurality of racks, which extend along the axial direction of the second roller 425. The outer surface of the second roller 425 will contact the adhesive surface of the adhesive tape 411, and the racks can reduce the contact area between the second roller 425 and the adhesive tape 411, preventing the adhesive tape 411 from sticking to the second roller 425. The third roller 426 is located behind the second roller 425, and the lower end of the third roller 426 is lower than the lower end of the second connecting frame 423. The third roller 426 presses the upper end surface of the adhesive tape 411. The third roller 426 is located at the lowest position of the glue-applying assembly 42. The third roller 426 is used to press the adhesive tape 411. By moving the movable frame 1, the third roller 426 presses the two adhesive tapes 411 on both sides of the gap between the floor tiles.

[0038] After a straight line of seaming is completed, the tape 411 needs to be cut. The gluing device 4 also includes a gluing assembly 43 and a gluing assembly 44. The gluing assembly 43 is located behind the gluing assembly 42, and the gluing assembly 44 is located behind the gluing assembly 43. The gluing assembly 43 includes a retractable pair of scissors 433. The gluing assembly 43 includes a third retractable device 431, a first plate 432, and a second plate 434. The third retractable device 431 is fixedly installed on the first plate 432, and the second plate 434 is fixedly connected to the first plate 432. The scissors 433 are located between the first plate 432 and the second plate 434. The two handles of the scissors 433 are fixedly installed with a connecting block 4331. The connecting block 4331 is provided with a guide column 4332. The first plate 432 is provided with two first guide grooves 4321. The guide column 4332 can slide along the first guide groove 4321. The first guide groove 4321 includes a horizontal section 432. 11 and the inclined section 43212, the inclined section 43212 is located at one end horizontally away from the third telescopic device 431, the inclined sections 43212 of the two first guide grooves 4321 are inclined close to each other, the third telescopic device 431 is provided with a connecting head 4311, the connecting head 4311 is provided with a slide groove 4312, the slide groove 4312 extends in a vertical direction, the guide column 4332 passes through the first guide groove 4321 and partially extends into the slide groove 4312, the scissors 433 extend out to cut the tape 411 located between the glue sticking component 42 and the glue pressing component 44, the third telescopic device 431 drives the two handles of the scissors 433 to slide along the first guide groove 4321 through the connecting head 4311, when sliding along the horizontal section 43211, the scissors 433 can extend toward the direction of the tape 411, when sliding along the horizontal section 43211, the two handles of the scissors 433 rotate and approach each other, so that the scissors 433 cut the tape 411.

[0039] More preferably, the second plate 434 is provided with a second guide groove 4341 having the same structure as the first guide groove 4321, and the guide column 4332 is partially located in the second guide groove 4341. The guide column 4332 can slide along the second guide groove 4341, so that the movement of the handle of the scissors 433 is more stable. The scissors 433 include a hinge block 4333, and the second plate 434 is provided with a third guide groove 4342. The third guide groove 4342 is located on the side of the second plate 434 facing the scissors 433. The third guide groove 4342 extends horizontally, and the hinge block 4333 can slide along the third guide groove 4342, so that the central axis of the scissors 433 can keep moving in the horizontal direction.

[0040] The adhesive pressing assembly 44 includes a pressure roller 441, a connecting seat 442, a second spring 443, a guide rod 444, and a movable seat 445. The connecting seat 442 is fixedly mounted on the movable frame 1, the pressure roller 441 is rotatably mounted on the movable seat 445, the movable seat 445 is connected to the guide rod 444, the guide rod 444 passes through the connecting seat 442, and the second spring 443 is installed between the movable seat 445 and the connecting seat 442. The pressure roller 441 presses the adhesive tape 411 located below the pressure roller 441. 441 can always press the tape 411 against the ground through the action of the second spring 443. When it is necessary to cut the glue, the second telescopic device 421 drives the third roller 426 to lift up, and the motor fixed behind the electromagnetic clutch in the glue output component 41 tightens the tape 411. At this time, the tape 411 is fixed to the ground by the pressure roller 441, so that the tape 411 of the pressure roller 441 between the glue pressing components 44 is suspended in the air to form an angle, and the scissors 433 are extended to cut the tape 411.

[0041] like Figure 1 、 Figure 2 、 Figure 8 As shown, the glue extrusion device 5 is located behind the glue sticking device 4, and the glue extrusion device 5 includes a push block 541 and a hose 55. The glue extrusion device 5 includes a third motor 51, a screw rod 52, a fixed seat 53, and a sliding frame 54. The third motor 51 drives the screw rod 52 to rotate, the fixed seat 53 is slidably connected to the sliding frame 54, the screw rod 52 is rotatably connected to the fixed seat 53, the sliding frame 54 is threadedly connected to the screw rod 52, and the sliding frame 54 can move along the axial direction of the screw rod 52. The push block 541 is located at the lower end of the sliding frame 54, and the hose 55 is located below the fixed seat 53. The push block 541 can be raised and lowered into the hose 55 to squeeze glue from the hose 55. A glue nozzle 551 is provided at the lower end of the hose 55, and the glue nozzle 551 is correspondingly facing the ground. The caulking agent is squeezed into the gap between the floor tiles from the glue nozzle 551.

[0042] like Figure 1 、 Figure 2 、 Figure 9 As shown, the glue pressing device 6 is located behind the glue squeezing device 5. The glue pressing device 6 includes a fourth telescopic device 61 and a pressure rod 62. The fourth telescopic device 61 controls the pressure rod 62 to rise and fall close to or away from the ground. The lower end of the pressure rod 62 is provided with a ball head 621. The ball head 621 can support the gap between the floor tiles. When the ball head 621 moves with the moving frame 1, the excess caulking agent in the gap between the floor tiles is squeezed away, so that the excess caulking agent can be located on the tape 411 on both sides.

[0043] The machine of this embodiment is applicable to large-surface floor tile caulking. For the part where the gap between the floor tiles reaches the edge of the wall, manual caulking is required.

[0044] A method for beautifying caulking, using the above-mentioned floor tile beautifying caulking machine, comprises the following steps:

[0045] S1: Start the machine, collect the surrounding environment information through camera 3, and output the horizontal coordinates of the tile gap in the environment where the mobile robot is currently located. Use a global shutter CMOS sensor (such as OV7725) with a resolution of ≥160×120 pixels and a frame rate of ≥30fps to ensure dynamic measurement stability. Use grayscale conversion to convert the RGB image into a grayscale image to reduce the amount of data processing. Use Gaussian filtering with a 3×3 Gaussian kernel for smoothing to suppress noise and retain edge information. Use the adaptive threshold method (threshold range 0 to 70 grayscale values) to enhance the contrast between the target and the background, separate the gap and other parts, use Canny edge detection, set the double threshold to (50, 100), optimize edge continuity, and cooperate with ROI area limitation. By setting a rectangular area (such as x=25, y=27, w=99, h=54), irrelevant interference is eliminated, and the robustness of the system in various environments is improved to ensure that the machine can accurately identify the gaps in the tiles and complete the caulking work;

[0046] Based on the lateral deviation between the central axis of the equipment and the navigation path and the heading deflection angle parameters, a comprehensive evaluation is performed by analyzing the steering parameters, steering angle and lateral displacement to generate trajectory correction parameters. The optimized path correction instructions are transmitted to the underlying motion controller to achieve autonomous tracking motion of the machine along the target trajectory, driving the mobile frame 1 to adjust its position so that the grinding wheel 21 of the gap cleaning device 2 is aligned with the gap between the floor tiles;

[0047] S2: The grinding wheel 21 rotates and then descends to clean the gaps between the floor tiles. The vacuum cleaner of the gap cleaning device 2 sucks away the dust removed by the grinding wheel 21. The mobile frame 1 starts to move forward and continues to clean the gaps between the floor tiles during the movement. The vacuum cleaner connected to the gap cleaning device 2 continues to suck away the dust removed by the grinding wheel 21.

[0048] S3: After preprocessing in S1, use Hough transform to detect line segments. Parameter settings: angle tolerance ±2.5°, distance tolerance ±25 pixels, minimum segment length ≥50 pixels, filter short noise segments; use parallel line judgment criteria: the angle difference Δθ between two segments must satisfy |Δθ| < 1.5 or |Δθ-180°| < 1.5°, give priority to the two longest segments to ensure measurement stability; calculate the vertical distance: for inclined segments (θ ≠ 0°), calculate the coordinates of the midpoint of the segment ((x1+x2) / 2, (y1+y2) / 2); according to the formula d = |b2-b1| / √(1+k 2 ) Calculate the exact distance and intercept a horizontal line segment (θ = 0°): directly take the difference in the ordinates of the midpoints of the two line segments, d = |y2-y1|; use calibration compensation: perform pixel-to-physical size conversion using a standard component of known size to eliminate lens distortion errors; finally, mark the parallel lines, midpoint position, and measured width (e.g., "Width: 1.6mm") on the image interface;

[0049] The acquired tile gap width information is converted into motor parameters, which control the first motor 22 to rotate at different angles according to the tile gap width. The gap width is identified through visual recognition, and the width between the two tapes 411 in the glue dispensing assembly 41 of the glue applying device 4 is adjusted. The glue applying assembly 42 of the glue applying device 4 is lowered to press the tapes 411 against the ground. The third roller 426 of the glue applying assembly 42 continuously presses the tapes 411 against both sides of the tile gap as the movable frame 1 moves.

[0050] S4: The push block 541 of the glue squeezing device 5 moves toward the rubber tube 55. The push block 541 squeezes the caulking agent in the rubber tube 55 into the gap between the floor tiles through the glue outlet 551. As the mobile frame 1 moves, the glue squeezing device 5 applies glue to the gap between the floor tiles. The amount of caulking agent squeezed out is adjusted to a suitable amount based on the width information of the floor tile gap, thereby preventing the masking tape from being unable to adhere to both sides of the gap, the caulking agent from being squeezed out too little to fill the gap, or the caulking agent from being squeezed out too much and overflowing.

[0051] S5: The fourth driving device of the glue pressing device 6 drives the pressing rod 62 to descend, and the ball head 621 of the pressing rod 62 presses against the two side edges of the gap between the floor tiles. As the moving frame 1 moves, the ball head 621 squeezes the excess caulking agent in the gap between the floor tiles, so that the excess caulking agent remains on the upper end surface of the tape 411;

[0052] S6: When the work on the gap of the floor tiles in a straight line is completed, the second telescopic device 421 drives the third roller 426 to be lifted, and the motor fixed behind the electromagnetic clutch in the glue discharge component 41 tightens the tape 411, and the tape 411 is fixed to the ground by the glue pressing component 44 in the glue applying device 4, so that the tape 411 is suspended in the air to form an angle, and the glue cutting component 43 in the glue applying device 4 extends the scissors 433 to cut the tape 411, and the machine searches for the gap that needs to be caulked again.

[0053] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A floor tile seam beautifying machine, characterized in that: The invention comprises a movable frame (1) and a seam cleaning device (2), a camera (3), a glue sticking device (4), a glue squeezing device (5), and a glue pressing device (6) installed on the movable frame (1); the camera (3) is located at the front end of the movable frame (1) and faces the ground; the seam cleaning device (2) comprises a rotatable grinding wheel (21) and a first telescopic device (24); the grinding wheel (21) can be raised and lowered by the first telescopic device (24); the glue sticking device (4) is located behind the seam cleaning device (2); the glue sticking device (4) comprises a glue discharging component (41) and a glue sticking component (42); the glue discharging component (41) comprises two adhesive tapes (411); the two adhesive tapes (411) can move closer to or farther from each other; the glue sticking component (42) comprises a first roller (424), a second roller (425) and a second roller (426). ), a third roller (426), the first roller (424) and the second roller (425) pull the adhesive tape (411) out, the third roller (426) presses the two adhesive tapes (411) on both sides of the gap between the floor tiles, the glue squeezing device (5) is located behind the glue sticking device (4), the glue squeezing device (5) includes a push block (541) and a rubber tube (55), the push block (541) can be raised and lowered to squeeze the rubber tube (55), the lower end of the rubber tube (55) is provided with a glue outlet (551), the glue outlet (551) is correspondingly facing the ground, the glue pressing device (6) is located behind the glue squeezing device (5), the glue pressing device (6) includes a pressure rod (62) that can be raised and lowered, the lower end of the pressure rod (62) is provided with a ball head (621), the ball head (621) can press against the gap between the floor tiles.

2. A floor tile seam beautifying machine according to claim 1, characterized in that: The seam cleaning device (2) comprises a first motor (22) and a dust cover (23); the grinding wheel (21) is located in the dust cover (23); the first motor (22) is fixedly mounted on the dust cover (23); the first motor (22) drives the grinding wheel (21) to rotate; the first telescopic device (24) is connected to the dust cover (23); the dust cover (23) is provided with a dust suction port (231); and the dust suction port (231) is connected to a dust collector.

3. The floor tile seaming integrated machine according to claim 1, characterized in that: The glue discharging assembly (41) comprises a movable frame (412), a slide rail (413), and a second motor (414); the adhesive tape (411) is rotatably mounted on the movable frame (412); the movable frame (412) is slidably mounted on the slide rail (413); and the second motor (414) drives the two movable frames (412) to move closer to or farther away from each other.

4. The floor tile seaming integrated machine according to claim 1, characterized in that: The adhesive component (42) includes a second telescopic device (421), a first connecting frame (422), and a second connecting frame (423). The second telescopic device (421) is connected to the first connecting frame (422). The first connecting frame (422) and the second connecting frame (423) are slidably connected. A first spring (427) is installed between the first connecting frame (422) and the second connecting frame (423). The lower end of the second connecting frame (423) is provided with a mounting groove (4231). The first roller ( 424), the second roller (425), and the third roller (426) are rotatably installed on the second connecting frame (423), the first roller (424) and the second roller (425) are distributed in the installation groove (4231) from top to bottom, the adhesive tape (411) passes between the first roller (424) and the second roller (425), the third roller (426) is located behind the second roller (425), and the third roller (426) presses the upper end surface of the adhesive tape (411).

5. The floor tile seaming integrated machine according to claim 4, characterized in that: The lower end of the third roller (426) is lower than the lower end of the second connecting frame (423), and the outer surface of the second roller (425) is provided with a plurality of racks, and the racks extend along the axial direction of the second roller (425).

6. The floor tile seaming integrated machine according to claim 1, characterized in that: The glue-applying device (4) comprises a glue-cutting assembly (43) and a glue-pressing assembly (44); the glue-cutting assembly (43) is located behind the glue-applying assembly (42); the glue-pressing assembly (44) is located behind the glue-cutting assembly (43); the glue-cutting assembly (43) comprises a pair of retractable scissors (433); the scissors (433) extend to cut the adhesive tape (411) between the glue-applying assembly (42) and the glue-pressing assembly (44); the glue-pressing assembly (44) comprises a pressure roller (441), a connecting seat (442), a second spring (443), a guide rod (444), and a movable seat (445), wherein the connecting seat (442) is fixedly mounted on the movable frame (1), the pressure roller (441) is rotatably mounted on the movable seat (445), the movable seat (445) is connected to the guide rod (444), the guide rod (444) passes through the connecting seat (442), a second spring (443) is installed between the movable seat (445) and the connecting seat (442), and the pressure roller (441) presses the tape (411) located below the pressure roller (441).

7. The floor tile seaming integrated machine according to claim 6, characterized in that: The shearing and rubberizing assembly (43) comprises a third telescopic device (431), a first plate (432), and a second plate (434); the third telescopic device (431) is fixedly mounted on the first plate (432); the second plate (434) is fixedly connected to the first plate (432); the scissors (433) are located between the first plate (432) and the second plate (434); the two handles of the scissors (433) are fixedly mounted on a connecting block (4331); the connecting block (4331) is provided with a guide column (4332); the first plate (432) is provided with two first guide grooves (4321); the guide column (4332) can be moved along the first guide groove (4321); The first guide groove (4321) slides, and the first guide groove (4321) includes a horizontal section (43211) and an inclined section (43212), and the inclined section (43212) is located at one end of the horizontal section away from the third telescopic device (431), and the inclined sections (43212) of the two first guide grooves (4321) are inclined close to each other, and the third telescopic device (431) is provided with a connecting head (4311), and the connecting head (4311) is provided with a sliding groove (4312), and the sliding groove (4312) extends in a vertical direction, and the guide column (4332) passes through the first guide groove (4321) and partially extends into the sliding groove (4312).

8. The floor tile seaming integrated machine according to claim 7, characterized in that: The second plate (434) is provided with a second guide groove (4341) having the same structure as the first guide groove (4321), the guide column (4332) is partially located in the second guide groove (4341), and the guide column (4332) can slide along the second guide groove (4341), the scissors (433) include a hinge block (4333), the second plate (434) is provided with a third guide groove (4342), the third guide groove (4342) is located on the side of the second plate (434) facing the scissors (433), the third guide groove (4342) extends horizontally, and the hinge block (4333) can slide along the third guide groove (4342).

9. The floor tile seaming integrated machine according to claim 1, characterized in that: The glue squeezing device (5) comprises a third motor (51), a screw rod (52), a fixed seat (53), and a sliding frame (54). The third motor (51) drives the screw rod (52) to rotate. The fixed seat (53) is slidably connected to the sliding frame (54). The screw rod (52) is rotatably connected to the fixed seat (53). The sliding frame (54) is threadedly connected to the screw rod (52). The sliding frame (54) can move along the axial direction of the screw rod (52). The push block (541) is located at the lower end of the sliding frame (54). The rubber hose (55) is located below the fixed seat (53).

10. A method for beautifying caulking, based on the floor tile beautifying caulking machine according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Start the machine, collect the surrounding environment information through the camera (3), output the horizontal coordinates of the tile gap in the environment where the machine is currently located, use a global shutter CMOS sensor with a resolution of ≥160×120 pixels and a frame rate of ≥30fps, use grayscale conversion to convert the RGB image into a grayscale image, use Gaussian filtering with a 3×3 Gaussian kernel for smoothing, retain edge information, use an adaptive threshold method to enhance the contrast between the target and the background, separate the gap and other parts, based on the lateral deviation between the machine center axis and the navigation path and the heading deflection angle parameter, conduct a comprehensive evaluation by analyzing the steering parameter, steering angle and lateral displacement, generate a trajectory correction parameter, and drive the mobile frame (1) to adjust the position so that the grinding wheel (21) of the cleaning device (2) corresponds to the tile gap; S2: The grinding wheel (21) rotates and then descends to clean the gaps between the floor tiles. The vacuum cleaner of the gap cleaning device (2) sucks away the dust removed by the grinding wheel (21). The moving frame (1) starts to move forward. During the movement, the gaps between the floor tiles are continuously cleaned. The vacuum cleaner connected to the gap cleaning device (2) continuously sucks away the dust removed by the grinding wheel (21). S3: Identify the width of the gap through a visual recognition function, adjust the width between the two adhesive tapes (411) in the adhesive discharging assembly (41) of the adhesive dispensing device (4), lower the adhesive tape (411) on the ground by the adhesive dispensing assembly (42) of the adhesive dispensing device (4), and continuously press the adhesive tape (411) on both sides of the gap between the floor tiles as the movable frame (1) moves; S4: The push block (541) of the glue squeezing device (5) moves toward the rubber tube (55), and the push block (541) squeezes the caulking agent in the rubber tube (55) into the gaps between the floor tiles from the glue outlet (551), and the glue squeezing device (5) moves with the moving frame (1) to apply glue to the gaps between the floor tiles; S5: The fourth driving device of the glue pressing device (6) drives the pressing rod (62) to descend, and the ball head (621) of the pressing rod (62) presses against the two side edges of the gap between the floor tiles. As the moving frame (1) moves, the ball head (621) squeezes out the excess caulking agent in the gap between the floor tiles, so that the excess caulking agent remains on the upper end surface of the adhesive tape (411); S6: When the work of the floor tile gap in a straight line is completed, the second telescopic device (421) drives the third roller (426) to be lifted, and the motor fixed behind the electromagnetic clutch in the glue discharge component (41) tightens the adhesive tape (411), and the adhesive tape (411) is fixed to the ground by the glue pressing component (44) in the glue application device (4), so that the adhesive tape (411) is suspended in the air to form an angle, and the glue cutting component (43) in the glue application device (4) extends the scissors (433) to cut the adhesive tape (411), and the machine searches for the gap that needs to be beautifully seamed again.

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