Intelligent arc-shaped grooving robot and grooving method thereof

Abstract

The invention discloses an intelligent arc-shaped grooving robot and a grooving method thereof. The intelligent arc-shaped grooving robot comprises a carrier part; the elevator part is mounted on one side of the carrier part and is used for enabling the slotting part to slot each wall body from the ground to the high position of the wall; the tail cleaning part is mounted on the other side of the carrier part and is used for carrying out timely dust removal treatment on the site after grooving every time; the slotting part is mounted below the elevator part and is used for coordinating a slotting platform, an angle control unit and a height adjustment, chain force application and tensioning unit, so that a cutter chain unit of the slotting cutter chain unit is adaptive to the arc-shaped ground or wall surface; and arc-shaped grooving can be carried out on wall bodies of all parts from the ground to the high position of the wall at different directions and angles. The intelligent arc-shaped grooving robot is convenient to mount and dismount, the grooving range is expanded to the arc-shaped ground and the arc-shaped wall from the plane ground and the plane wall, the multi-degree-of-freedom orientation can be achieved, and therefore the application scene of the intelligent arc-shaped grooving robot is expanded, and the grooving quality is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering, and in particular to an intelligent arc-shaped grooving robot, and also to an intelligent arc-shaped grooving method, which is suitable for grooving arc-shaped floors and walls. Background Art

[0002] After the building is completed, a large number of grooves need to be cut on the walls or floors inside the building to bury various wiring in the ground and walls, which is both safe and beautiful. In addition to the common flat ground and flat walls, sometimes it is inevitable to encounter curved, uneven ground or walls.

[0003] Traditional grooving is done manually, but it takes a lot of time. It is extremely inconvenient for high places and some complex curved surfaces, and may even pose a safety hazard. On the other hand, the quality of manual grooving cannot be guaranteed.

[0004] Currently, most of the grooving robots on the market can only perform grooving on flat floors or walls, and the grooving technology for complex curved planes needs to be improved. Summary of the invention

[0005] Based on the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide an intelligent arc grooving robot and a grooving method thereof, which are easy to install and disassemble, simple to operate, and the grooving range is expanded from flat ground and walls to arc-shaped ground and walls, and multiple degrees of freedom can be achieved, thereby expanding the application scenarios of the intelligent arc grooving robot and ensuring the grooving quality.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical measures:

[0007] The intelligent arc slotting robot of the present invention comprises: a carrier part, which is used to carry the intelligent arc slotting robot for movement, and cooperate with the lifting part and the slotting part to perform slotting operations, and after slotting, cooperate with the tail cleaning part to clean up waste residues; the lifting part is installed on one side of the carrier part, and is used to enable the slotting part to slot each wall from the ground to the height of the wall; the tail cleaning part is installed on the other side of the carrier part, and is used to clean the site in time after each slotting; the tail cleaning part comprises a mechanical arm unit and a rotating bucket unit installed at the end of the mechanical arm unit, and the mechanical arm unit is used to adjust the height of the entire rotating bucket unit and rotate on the horizontal plane, so that it can clean dust along the working path during the working process; the front part of the mechanical arm unit adjusts the platform angle of the rotating bucket unit to realize the collection and dumping of dust residues; the slotting part is installed on the lifting part Below the lowering part, it includes a six-axis arm unit, a slotting platform and angle control unit, a height adjustment and chain force and tensioning unit, a gear drive unit and a slotting knife chain unit. The slotting platform and angle control unit have a magnetic interface on the upper part, which is closely connected to the magnetic head of the six-axis arm unit, and the lower part is connected to the height adjustment and chain force and tensioning unit to jointly control the adaptation and tensioning state of the chain to the surface shape of the arc-shaped ground or arc-shaped wall; the gear drive unit is installed on the fork component unit of the height adjustment and chain force and tensioning unit, and the angle and height are controlled by the height adjustment and chain force and tensioning unit; the slotting knife chain unit is meshed with the gear drive unit to perform the slotting operation, and the slotting platform and angle control unit are coordinated with the height adjustment and chain force and tensioning unit, so that the knife chain unit of the slotting knife chain unit is adapted to the arc-shaped ground or wall, so as to realize arc slotting of each part of the wall from the ground to the height of the wall in different directions and angles.

[0008] Preferably, the slotting platform and angle control unit includes a control platform unit and a slideway slider unit, the upper part of the control platform unit is connected to the front end of the six-axis arm unit by magnetic attraction, and the two ends thereof are respectively provided with a built-in motor a and a built-in motor b; the slideway slider unit includes a slideway a and a slideway b, a slider a and a slider b, a wheel a and a wheel axle b, a sliding wheel group a and a sliding wheel group b, the slideway a is connected to the transmission shaft of the built-in motor a through a key, the slideway b is connected to the transmission shaft of the built-in motor b through a key, and the wheel axle a and the wheel axle b are respectively connected from the slider a and the slider b The middle through hole passes through, and the two ends of the wheel shaft a and the wheel shaft b are respectively fastened to the sliding wheel group a and the sliding wheel group b with screws. At the same time, the sliding wheel group a is inserted into the notch of the slide groove a, and the sliding wheel group b is inserted into the notch of the slide groove b. The slider a and the slider b can slide in the slide groove a and the slide groove b respectively. The built-in motor a and the built-in motor b control the rotation angle of the slide groove a and the slide groove b, thereby cooperating with the slider a and the slider b and the height adjustment of the lower connection of the control platform and the chain force and tensioning unit to control the angle and height of the slotting knife chain unit and the chain tension.

[0009] Furthermore, the height adjustment and chain force and tensioning unit includes a cylinder telescopic unit, a fork component unit and a connecting rod unit, the cylinder telescopic unit includes an air control motor a, an air control motor b and an air control motor c, and a cylinder b, a cylinder a and a cylinder c, the ends of the air control motor a, the air control motor b and the air control motor c are respectively fixed on the slider a, the control platform and the bottom end of the slider b, the air control motor a, the air control motor b and the air control motor c are respectively connected to the cylinder b, the cylinder a and the cylinder c, and the amount of gas in the cylinder is controlled to adjust the telescopic movement of each cylinder along the direction of the fork component unit; the fork component unit includes a front fork, a middle fork and a rear fork, and the telescopic rods of the cylinder b, the cylinder a and the cylinder c are respectively connected to the top ends of the front fork, the middle fork and the rear fork; the connecting rod unit includes a motor frame connecting rod, a piston The connecting rod and the telescopic connecting rod, the upper part of the telescopic connecting rod is hinged with the through hole extending outward from the rear of the control platform unit, which is hollow and has a through hole for gas to enter and exit, the upper part of the piston connecting rod is connected with the lower oil seal of the telescopic connecting rod, and the lower part is hinged with the motor frame connecting rod to ensure that the motor frame connecting rod can always maintain a horizontal state, thereby preventing the driving wheel motor b mounted on the motor frame connecting rod from rotating with the rear driving gear, and the through hole on one side of the motor frame connecting rod is hinged with the through hole on one side of the lower part of the rear fork; while the built-in motor a and the built-in motor b control the slide a and the slide b, the cylinder telescopic unit together with the slider a and the slider b are also moved and adjusted, so as to achieve the effect of jointly controlling the angle, tension and height of the slotting knife chain unit, and always keep the slotting knife chain unit close to the curved ground or curved wall for slotting.

[0010] Furthermore, the gear drive unit includes a driving wheel motor unit and a gear unit, the driving wheel motor unit includes a driving wheel motor a and a driving wheel motor b, the driving wheel motor a is fixed in a motor slot designated at the lower part of the middle fork, and the driving wheel motor b is fixed in a motor slot of the motor frame connecting rod to limit the gear unit; the gear unit includes a front driven gear, a middle driving gear and a rear driving gear, the front driven gear is connected to the front fork pin, the driving wheel motor a is keyed to the middle driving gear, the driving wheel motor b is keyed to the rear driving gear, and the speeds of the driving wheel motor a and the driving wheel motor b are synchronized and coordinated to control the speed of the gear unit.

[0011] Preferably, the slotting knife chain unit includes a roller unit and a knife chain unit, the knife chain unit is a closed knife chain, which is driven by the gear unit by meshing with the front driven gear, the middle driving gear and the rear driving gear, and the roller unit is a cylindrical roller, and the cylindrical rollers are connected by pins on both sides of the inner chain and the outer chain of the knife chain unit, so that the chain plane of the knife chain unit will not directly contact the ground or the wall during slotting, thereby reducing friction resistance.

[0012] Furthermore, the robotic arm unit includes a rotating base unit and a double parallelogram robotic arm unit, and the rotating base unit includes a rotating base, a ball bearing, a rotating motor, a rod adjustment motor a and a rod adjustment motor b; the rotating motor is installed at the tail of the carrier part of the vehicle body, and its shaft passes through the ball bearing and is connected to the rotating base through a bushing and a key, and the ball bearing is stuck in the hole of the rotating base and is located between the rotating base and the tail of the vehicle body, so that the rotating motor can drive the rotating base to rotate.

[0013] Preferably, the double parallelogram mechanical arm unit includes a large arm connecting rod, a front connecting rod, an upper horizontal connecting rod, an intermediate connecting rod, a lower horizontal connecting rod, a first rocker and a triangular connecting rod. The small hole of the first rocker is hinged to the hole at one end of the intermediate connecting rod through bolts and bearings, and the bearing is stuck in the coaxial circular hole of the intermediate connecting rod. Similarly, the other end of the intermediate connecting rod is hinged to the circular hole at the rear of the front connecting rod. The large arm connecting rod is connected to the rod adjustment motor b in the rotating base unit, and the other end of the large arm connecting rod is hinged to the circular hole in the middle of the front connecting rod; similarly, one end of the lower horizontal connecting rod is connected to the rotating base, and the other end of the lower horizontal connecting rod is hinged to one of the holes at the T-shaped rear end of the triangular connecting rod, and the other hole at the T-shaped rear end of the triangular connecting rod is connected to the hole at one end of the upper horizontal connecting rod. The front end hole of the triangular connecting rod is hinged with the circular hole in the middle of the front connecting rod, so that the three rods are connected together for linkage. The front connecting rod, the big arm connecting rod, the middle connecting rod and the first rocker form a parallelogram. At the same time, the big arm connecting rod, the triangular connecting rod, the lower horizontal connecting rod and the rotating base also form a parallelogram structure. The two together constitute a double parallelogram structure, so that the rotating base unit and the front connecting rod remain in the same plane; the rod adjustment motor b is embedded in the rotating base and connected to the big arm connecting rod through a bushing and a key to drive the rotation angle of the big arm connecting rod. The rod adjustment motor a is embedded in the other side of the rotating base and connected to the first rocker through a key, thereby achieving the problem of controlling the height and tilt angle of the rotating bucket unit.

[0014] Furthermore, the rotating bucket unit includes a bucket rotating motor, a bucket platform and a bucket. The large circular hole on the upper part of the bucket platform is hinged to the circular hole at the front end of the front connecting rod, and the small circular hole on the lower part is hinged to the circular hole at the other end of the upper horizontal connecting rod. The bucket rotating motor is fixed on the bucket platform, and its output shaft passes through the longitudinal hole on the upper end of the bucket platform to be connected to the bucket below. A bearing is installed between the bucket and the bucket platform and stuck in the circular hole at the upper end of the bucket, so that the bucket itself can rotate on the plane based on the bucket platform, thereby completing the functions of collecting dust and debris forward and dumping it backward for centralized processing under the coordination of the mechanical arm unit.

[0015] Preferably, the elevator part includes an elevator case, a height adjustment motor, a straight longitudinal rack and a driving gear; the elevator case is fixed to the front position of the vehicle body of the carrier part by bolts and screws, the height adjustment motor is tightly fixed to the side of the elevator case, the shaft of the height adjustment motor extends into the case, and is connected to the driving gear through a bushing and a key; the straight longitudinal rack is embedded in the limiting guide groove at the front of the elevator case, and the driving gear is engaged with the straight longitudinal rack, so that the height adjustment motor drives the driving gear to adjust the movement of the straight longitudinal rack in the vertical direction, thereby driving the slotted part to move up and down.

[0016] Correspondingly, the present invention also provides a slotting method of an intelligent arc slotting robot, the steps of which are:

[0017] S1. In the case of grooving a vertical curved wall, the carrier part is first moved to the curved wall where the groove is to be made, so that the front part of the vehicle body reaches the front part of the designated position;

[0018] S2. If it is necessary to start grooving from the lower part of the wall, the driving wheel motor a and the driving wheel motor b must be turned on first, and the middle driving gear and the rear driving gear must be driven to drive the knife chain unit to rotate. The air control motor a, the air control motor b and the air control motor c and the control platform unit must be adjusted in angle and height so that the knife chain meshing with the front driven gear outside contacts the bottom of the wall first. The height adjustment motor must be regulated so that the grooving part moves slowly upward.

[0019] S3, adjusting the transmission shaft of the six-axis arm unit to the motor unit to rotate slowly, and after reaching a positioning height, the middle driving gear and the rear driving gear are adjusted to slowly fit the wall, and the knife chain unit is adapted to the wall surface while still in a tensioned state through the adjustment of the driving wheel motor a and the driving wheel motor b and the built-in motor a, the built-in motor b and the air control motor a, the air control motor b and the air control motor c;

[0020] S4, continue to adjust the height adjustment motor until the lower end of the straight longitudinal rack reaches the highest point, and then adjust the height adjustment motor so that the slotter stops rising temporarily;

[0021] S5. If it is necessary to groove a horizontal curved wall, first adjust the front end of the six-axis arm unit to rotate 90° on the XY plane without driving the grooved platform and the angle control unit below, then drive the grooved platform and the angle control unit to rotate 90° on the YZ plane, adjust the height adjustment motor to make the grooved knife chain unit reach the specified height, turn on the driving wheel motor a and the driving wheel motor b, and then slowly approach the wall. After the knife chain unit contacts the wall and presses against the wall, the carrier part moves slowly horizontally along the wall and stops at the specified length position.

[0022] S6. If it is necessary to groove the ground in a straight line, there is no need to use the six-axis arm unit. First, turn on the driving wheel motor a and the driving wheel motor b, and then slowly adjust the height adjustment motor to make the knife chain unit press against the ground. Through the autonomous adjustment of each motor of the grooved part, the knife chain unit is tightened and adapted to the arc shape of the ground. The carrier part moves slowly horizontally along the specified path on the ground and stops at the specified length position.

[0023] S7. If it is necessary to make an arc groove on the ground or wall, firstly, the motors of the groove opening part are adjusted autonomously so that the contact surface between the knife chain unit and the ground or wall is only one section that meshes with the front driven gear, and this section is used as the groove opening point. The arc groove is opened on the ground or wall through the rotation of the six-axis arm unit in the XY plane and the cooperation of the track wheel drive.

[0024] S8. After grooving, the identification device on the tail cleaning part will automatically identify the waste residue after grooving, the rotating motor adjusts the rotation of the entire mechanical arm unit, the rod adjustment motor a and the rod adjustment motor b adjust the double parallelogram mechanical arm unit, so as to adjust the height and angle of the bucket platform at the end, and the bucket rotation motor adjusts the direction of the bucket, so that after cleaning, the dust and waste can be poured out to the designated position normally.

[0025] As described above, the carrier part and the main structure of the vehicle body of the present invention are used to carry the electric box and the control system, and have the functions of stabilizing the entire vehicle body during operation and cooperating with other parts to perform grooving operations; the elevator part includes an elevator box unit and a gear rack lifting unit in the elevator box unit, which is used to realize the functions of rising and falling, so that the grooving part can be grooved from the (arc-shaped) ground to all walls of the high (arc-shaped) wall surface; the tail cleaning part includes a mechanical arm unit installed on the carrier part and a rotating bucket unit at the end of the mechanical arm, which is used to clean the dust and centrally process it after the grooving is completed; the grooving part includes a six-axis arm unit installed on the gear rack unit, a grooving platform and an angle control unit installed on the magnetic suction connection port at the end of the six-axis arm unit, and a height adjustment and chain force application device installed on the grooving platform and the angle control unit and tensioning unit, a gear drive unit installed at the end of the longitudinal height adjustment and chain tensioning unit, and a slotting knife chain unit adapted to the gear, a six-axis arm unit, through the coordination of the built-in three axes, the end connected to the slotting main body can be steered with multiple degrees of freedom in space, thereby enhancing the flexibility and use of the tool. At the same time, the magnetic suction head at the end can realize the role of multiple replaceable tools to adapt to more complex slotting work; the slotting platform and angle control unit are used to adjust the overall slotting angle and the chain height adapted to the curved surface; the height adjustment and chain force and tensioning unit are used to assist in the precise control of the driving wheel angle and the knife chain height. After the slotting part is adjusted to the specified position, pressure is applied to make the slotting knife chain close to the wall and the knife chain is in a tensioned state; the gear drive unit and the slotting knife chain unit are used for slotting cutting with the (curved) ground or (curved) wall.

[0026] The intelligent arc-shaped slotting robot and the slotting method thereof of the present invention have at least the following beneficial effects:

[0027] 1. The slotting part of the present invention makes the shape of the knife chain adapt to the wall and / or the ground through the mutual adjustment of each motor, which solves the problem of slotting on the curved wall or curved ground. At the same time, through the cooperation of the six-axis arm unit, functions such as opening curved slots can be realized.

[0028] 2. The front end of the six-axis arm unit of the slotting part of the present invention is connected by a magnetic suction head, which can achieve tool replacement to adapt to more working conditions.

[0029] 3. The tail cleaning part of the present invention can achieve timely dust cleaning through the adjustment of the motor system, and can place the dust at a designated location for centralized treatment after the operation is completed, thereby reducing the workload of manual dust cleaning after grooving and making the working scene after grooving more beautiful.

[0030] 4. The device is designed to be small in size, which reduces the space occupancy of the trolley and reduces the impact on other parts of the trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0032] Figure 1 It is a structural schematic diagram of the intelligent arc-shaped slotting robot of the present invention;

[0033] Figure 2 It is a schematic structural diagram of the carrier part of the present invention;

[0034] Figure 3 It is a structural schematic diagram of the elevator part of the present invention;

[0035] Figure 4 It is a structural schematic diagram of the tail cleaning part of the present invention;

[0036] Figure 5 It is a structural schematic diagram of the mechanical arm unit of the present invention;

[0037] Figure 6 This is one of the detailed views of the robot arm unit of the present invention;

[0038] Figure 7 This is a second detailed view of the robot arm unit of the present invention;

[0039] Figure 8 It is a structural schematic diagram of the rotary bucket unit of the present invention;

[0040] Fig. 9 It is a structural schematic diagram of the slotted portion of the present invention;

[0041] Fig.10 It is a structural schematic diagram of the six-axis arm unit of the present invention;

[0042] Fig.11 It is a structural schematic diagram of the slotting platform and the angle control unit of the present invention;

[0043] Fig.12 A detailed view of the slotting platform and the angle control unit of the present invention;

[0044] Fig.13It is a structural schematic diagram of the height adjustment and chain force application and tensioning unit of the present invention;

[0045] Fig.14 A detailed view of the height adjustment and chain force application and tensioning unit of the present invention;

[0046] Fig.15 It is a structural schematic diagram of the gear drive unit of the present invention;

[0047] Fig.16 A detailed view of the gear drive unit of the present invention;

[0048] Fig.17 This is a schematic diagram of the structure of the slotting knife chain unit of the present invention.

[0049] 1000-carrier part;

[0050] 1100-Roof cover;

[0051] 1200-body;

[0052] 1300-track wheels;

[0053] 1400-Electric box;

[0054] 2000-lift part;

[0055] 2100-lift box;

[0056] 2200-Height adjustment motor;

[0057] 2300-straight longitudinal rack;

[0058] 2400-driving gear;

[0059] 3000-tail cleaning part;

[0060] 3100-Robotic arm unit;

[0061] 3110-Swivel base unit;

[0062] 3111- rotating base;

[0063] 3112-ball bearing;

[0064] 3113-Rotating electrical machines;

[0065] 3114-rod adjustment motor a, 3115-rod adjustment motor b; 3120-dual parallelogram robot arm unit;

[0066] 3121-big arm connecting rod;

[0067] 3122-Front connecting rod;

[0068] 3123-upper horizontal connecting rod;

[0069] 3124-intermediate connecting rod;

[0070] 3125-lower horizontal connecting rod;

[0071] 3126-First joystick;

[0072] 3127-triangular connecting rod;

[0073] 3200-Rotating bucket unit;

[0074] 3210-Bucket rotation motor;

[0075] 3220-bucket platform;

[0076] 3230-bucket;

[0077] 4000-slotted part;

[0078] 4100-six-axis arm unit;

[0079] 4110-Wrist motor gearbox;

[0080] 4120-drive shaft to motor unit;

[0081] 4130-axis unit;

[0082] 4140-Multi-degree-of-freedom rotation platform unit;

[0083] 4150-magnetic suction head;

[0084] 4200- slotting platform and angle control unit;

[0085] 4210-Control platform unit;

[0086] 4211-Control platform;

[0087] 4212-built-in motor a, 4213-built-in motor b;

[0088] 4220-chute slider unit;

[0089] 4221-chute a, 4222-chute b;

[0090] 4223-slider a, 4224-slider b;

[0091] 4225-sliding wheel set a, 4226-sliding wheel set b;

[0092] 4227-axle a, 4228-axle b;

[0093] 4300-Height adjustment and chain force and tensioning unit;

[0094] 4310-cylinder telescopic unit;

[0095] 4311-cylinder a, 4312-cylinder b, 4313-cylinder c;

[0096] 4314-gas control motor a, 4315-gas control motor b, 4316-gas control motor c;

[0097] 4320-fork member unit;

[0098] 4321-middle fork, 4322-front fork, 4323-rear fork;

[0099] 4330-connecting rod unit;

[0100] 4331- telescopic connecting rod;

[0101] 4332-piston connecting rod;

[0102] 4333-motor frame connecting rod;

[0103] 4400-Gear drive unit;

[0104] 4410-driving wheel motor unit;

[0105] 4411-driving wheel motor a, 4412-driving wheel motor b;

[0106] 4420-Gear unit;

[0107] 4421-front driven gear;

[0108] 4422-middle driving gear;

[0109] 4423-rear driving gear;

[0110] 4500-slotting knife chain unit;

[0111] 4510-Drum unit;

[0112] 4520-Knife-chain unit. DETAILED DESCRIPTION

[0113] Next, combine Figures 1 to 17 An intelligent arc-shaped slotting robot and a slotting method thereof provided by the present invention are introduced in detail.

[0114] Depend on Figure 1As shown, the intelligent arc slotting robot of the present invention is divided into four parts: a carrier part 1000, an elevator part 2000, a tail cleaning part 3000 and a slotting part 4000. The carrier part 1000 is used to carry the intelligent arc slotting robot, and is equipped with a control box to coordinate the operation of the other parts. And in the process of horizontal grooving of the wall and grooving of the ground, the carrier part 1000 will cooperate with the elevator part 2000 and the grooving part 4000 to perform the grooving operation, and after the grooving, cooperate with the tail cleaning part 3000 to clean the waste residue; the elevator part 2000 can achieve rising and falling, so that the grooving part 4000 can groove every wall from the ground to the top of the wall; the tail cleaning part 3000 can promptly clean the site after each grooving to ensure a clean and tidy working environment; the grooving part 4000 can coordinate the grooving platform and angle control unit 4200 and the height adjustment and chain force and tensioning unit 4300, so that the knife chain unit 4520 of the grooving knife chain unit 4500 is adapted to the curved ground or wall, so as to realize the arc grooving of each part of the wall from the ground to the top of the wall in different directions and angles. The following is a detailed introduction to the several major parts of the device:

[0115] The carrier part 1000 includes a roof cover 1100, a vehicle body 1200, track wheels 1300 and an electric box 1400. The logical relationship between the above components is described in detail below:

[0116] like Figure 2 As shown, the vehicle body 1200 is used as a carrier to carry several other parts. The electric box 1400 is placed in the middle of the vehicle body 1200 and fixed, which is used to control and coordinate the operation of each part and has the function of stabilizing the vehicle body. The track 1300 is connected to the lower part of the vehicle body 1200 to achieve the functions of linear motion and rotation in place. The front part of the vehicle body 1200 is connected to the elevator part 2000, and the rear part is connected to the tail cleaning part 3000.

[0117] like Figure 3 As shown, the elevator part 2000 includes an elevator box 2100, a height adjustment motor 2200, a straight longitudinal rack 2300 and a driving gear 2400. The logical relationship of the above components is described in detail below:

[0118] The lift box 2100 is fixed to the front position of the vehicle body 1200 by bolts and screws, the height adjustment motor 2200 is fixed to the side of the lift box 2100, the shaft of the height adjustment motor 2200 extends into the box, and is connected to the driving gear 2400 by a sleeve and a key. The straight longitudinal rack 2300 is embedded in the limiting guide groove at the front of the lift box 2100, and the driving gear 2400 is meshed with the straight longitudinal rack 2300, so that the height adjustment motor 2200 drives the driving gear 2400 to adjust the movement of the straight longitudinal rack 2300 in the vertical direction, driving the slotted part 4000 to move up and down.

[0119] like Figure 4 As shown, the tail cleaning part 3000 includes a mechanical arm unit 3100 connected to the vehicle body 1200 and a rotating bucket unit 3200 installed at the end of the mechanical arm unit 3100. The mechanical arm unit 3100 is used to adjust the height of the entire rotating bucket unit 3200 and can rotate on a horizontal plane so that dust cleaning can be performed along the working path during the working process. The front part of the mechanical arm unit 3100 can adjust the platform angle of the rotating bucket unit 3200 to achieve the collection and dumping of dust residues. The logical relationship of the above elements is described in detail below:

[0120] like Figures 5 to 7 As shown, the robot unit 3100 includes a rotating base unit 3110 and a double parallelogram robot unit 3120. The rotating base unit 3110 includes a rotating base 3111, a ball bearing 3112, a rotating motor 3113, a rod adjustment motor a3114 and a rod adjustment motor b3115. The rotating motor 3113 is installed at the tail of the vehicle body 1200, and its shaft passes through the ball bearing 3112 and is connected to the rotating base 3111 through a sleeve and a key. The ball bearing 3112 is stuck in the hole of the rotating base 3111 and is located between the rotating base 3111 and the tail of the vehicle body 1200, so that the rotating motor 3113 can drive the rotating base 3111 to rotate.

[0121] The double parallelogram mechanical arm unit 3120 includes a large arm link 3121, a front link 3122, an upper horizontal link 3123, an intermediate link 3124, a lower horizontal link 3125, a first rocker 3126 and a triangular link 3127. The small hole of the first rocker 3126 is hinged to the hole at one end of the intermediate link 3124 through bolts and bearings, and the bearing is stuck in the coaxial circular hole of the intermediate link 3124. As above, the other end of the intermediate link 3124 is hinged to the circular hole at the rear of the front link 3122. The large arm link 3121 is connected to the rod adjustment motor b3115 in the rotating base unit 3110, and the other end is hinged to the circular hole in the middle of the front link 3122. Similarly, one end of the lower horizontal link 3125 is connected to the rotating base 3111, and the other end thereof is hinged to one of the holes at the T-shaped rear end of the triangular link 3127. The other hole at the T-shaped rear end of the triangular link 3127 is connected to one end hole of the upper horizontal link 3123. The front end hole of the triangular link 3127 is hinged to the circular hole in the middle of the front link 3122, so that the three rods are connected together for linkage. The front link 3122, the upper arm link 3121, the middle link 3124 and the first rocker 3126 form a parallelogram. At the same time, the upper arm link 3121, the triangular link 3127, the lower horizontal link 3125 and the rotating base 3111 also form a parallelogram structure. The two together form a double parallelogram structure, so that the rotating base unit 3110 and the front link 3122 remain in the same plane. After the rod adjustment motor b3115 is embedded in the rotating base 3111, it is connected to the boom link 3121 through a bushing and a key to drive the rotation angle of the boom link 3121. The rod adjustment motor a3114 is embedded in the other side of the rotating base 3111 and connected to the first rocker 3126 through a key, thereby achieving the problem of controlling the height and tilt angle of the rotating bucket unit 3200.

[0122] like Figure 8 As shown, the rotating bucket unit 3200 includes a bucket rotating motor 3210, a bucket platform 3220 and a bucket 3230. The large circular hole on the upper part of the bucket platform 3220 is hinged to the circular hole at the front end of the front connecting rod 3122, and the small circular hole on the lower part is hinged to the circular hole at the other end of the upper horizontal connecting rod 3123. The bucket rotating motor 3210 is fixed on the bucket platform 3220, and its output shaft passes through the longitudinal hole at the upper end of the bucket platform 3220 to be connected to the bucket 3230 below. A bearing is installed between the bucket 3230 and the bucket platform 3220 and stuck in the circular hole at the upper end of the bucket 3230, so that the bucket 3230 itself can also rotate on the plane with the bucket platform 3220 as the reference, thereby completing the functions of collecting dust and debris forward and dumping it backward for centralized processing under the coordination of the mechanical arm unit 3100.

[0123] like Fig. 9As shown, the slotting part 4000 includes a six-axis arm unit 4100, a slotting platform and angle control unit 4200, a height adjustment and chain force and tensioning unit 4300, a gear drive unit 4400 and a slotting knife chain unit 4500. The six-axis arm unit 4100 is fixed on the straight vertical rack 2300, and moves up and down together with the straight vertical rack 2300, so that the slotting knife chain unit 4500 can slot from the ground to the wall. At the same time, the front end of the six-axis arm unit 4100 is a magnetic suction head, which can replace the tool to adapt to more slotting conditions. The front part of the six-axis arm unit 4100 has three degrees of freedom, namely, the 360° rotation of the XY plane of the axis arm itself, the 90° rotation of the front XZ plane and the 360° rotation of the XY plane of the magnetic suction head connection end, so that it can change the slotting direction more flexibly, and perform (arc-shaped) ground slotting and (arc-shaped) wall horizontal or vertical slotting. The upper part of the slotting platform and angle control unit 4200 has a magnetic interface, which is closely connected to the magnetic head of the six-axis arm unit 4100, and its lower part is connected to the height adjustment and chain force and tensioning unit 4300, which jointly control the surface shape adaptation and tensioning state of the chain and the curved ground or curved wall. The gear drive unit 4400 is installed on the fork component unit 4320 of the height adjustment and chain force and tensioning unit 4300, and the angle and height are controlled by the height adjustment and chain force and tensioning unit 4300. The slotting knife chain unit 4500 is engaged with the gear drive unit 4400 to perform the slotting operation. The logical relationship between the above components is described in detail below:

[0124] like Fig.10 As shown, the six-axis arm unit 4100 includes a wrist motor gearbox 4110, a transmission shaft motor unit 4120, a shaft unit 4130, a multi-degree-of-freedom rotating platform unit 4140 and a magnetic suction head 4150. The wrist motor gearbox 4110 is fixed to the outer surface of the straight vertical rack 2400 with a large-caliber screw, and moves up and down with the straight vertical rack 2400. At the same time, the transmission shaft motor unit 4120 is driven by the shaft unit 4130 to make the front-connected slotted part 4400 rotate 360° in the XY plane, 90° in the XZ plane and 180° in the YZ plane with the contact position as the center. The magnetic suction head 4150 is installed at the front end of the six-axis arm unit 4100, and generates electromagnetics through the built-in generator, so as to adsorb and replace the used tools.

[0125] like Figure 11 to Figure 12As shown, the slotting platform and angle control unit 4200 includes a control platform unit 4210 and a slideway slider unit 4220. The upper part of the control platform unit 4210 is connected to the front end of the six-axis arm unit 4100 by magnetic attraction, and the two ends thereof are respectively equipped with a built-in motor a4212 and a built-in motor b4213. The slideway slider unit 4220 includes a slideway a4221 and a slideway b4222, a slider a4223 and a slider b4224, a wheel a4227 and a wheel b4228, and a sliding wheel group a4225 and a sliding wheel group b4226. The slide groove a4221 is connected to the transmission shaft of the built-in motor a4212 through a key, and the slide groove b4222 is connected to the transmission shaft of the built-in motor b4213 through a key. The wheel axle a4227 and the wheel axle b4228 pass through the middle through holes of the slider a4223 and the slider b4224 respectively. The two ends of the wheel axle a4227 and the wheel axle b4228 are respectively fastened to the sliding wheel group a4225 and the sliding wheel group b4226 with screws. At the same time, the sliding wheel group a4225 is inserted into the groove of the slide groove a4221, and the sliding wheel group b4226 is inserted into the groove of the slide groove b4222. The slider a4223 and the slider b4224 can slide in the slide groove a4221 and the slide groove b4222 respectively. The built-in motor a4212 and the built-in motor b4213 control the rotation angle of the slide groove a4221 and the slide groove b4222, thereby cooperating with the slider a4223 and the slider b4224 and the height adjustment of the lower connection of the control platform 4211 of the control platform unit 4210 and the chain force and tensioning unit 4300 to control the angle and height of the slotting knife chain unit 4500 and the chain tension.

[0126] like Figure 13 to Figure 14 As shown, the height adjustment and chain force and tensioning unit 4300 includes a cylinder telescopic unit 4310, a fork member unit 4320 and a connecting rod unit 4330. The cylinder telescopic unit 4310 includes an air control motor a4314, an air control motor b4315 and an air control motor c4316, as well as a cylinder b4312, a cylinder a4311 and a cylinder c4313. The ends of the air control motors a4314, b4315 and c4316 are respectively fixed to the bottom ends of the slider a4223, the control platform 4211 and the slider b4224. The air control motors a4314, b4315 and c4316 are respectively connected to the cylinders b4312, a4311 and c4313, and the amount of gas in the cylinders is controlled to adjust the telescopic movement of each cylinder along the direction of the fork member unit 4320.

[0127] The fork member unit 4320 includes a front fork 4322, a middle fork 4321 and a rear fork 4323. The telescopic rods of the cylinder b4312, the cylinder a4311 and the cylinder c4313 are respectively connected to the top ends of the front fork 4322, the middle fork 4321 and the rear fork 4323. The connecting rod unit 4330 includes a motor frame connecting rod 4333, a piston connecting rod 4332 and a telescopic connecting rod 4331. The upper part of the telescopic connecting rod 4331 is hinged to the through hole extending outward from the rear of the control platform unit 4210. The telescopic connecting rod 4331 is hollow and has a through hole for gas to enter and exit. The upper part of the piston connecting rod 4332 is connected to the lower oil seal of the telescopic connecting rod 4331, and the lower part thereof is hinged to the motor frame connecting rod 4333 to ensure that the motor frame connecting rod 4333 can always maintain a horizontal state, thereby preventing the driving wheel motor b4412 mounted on the motor frame connecting rod 4333 from rotating together with the rear driving gear 4423. The through hole on one side of the motor frame connecting rod 4333 is hinged with the through hole on the lower side of the rear fork 4323. While the built-in motor a4212 and the built-in motor b4213 control the slide slot a4221 and the slide slot b4222, the cylinder telescopic unit 4310 together with the slider a4223 and the slider b4224 also move and adjust, thereby achieving the function of jointly controlling the angle, tension and height of the slotting knife chain unit 4500, and always making the slotting knife chain unit 4500 close to the curved ground or curved wall for slotting.

[0128] like Figure 15 to Figure 16 As shown, the gear drive unit 4400 includes a driving wheel motor unit 4410 and a gear unit 4420. The driving wheel motor unit 4410 includes a driving wheel motor a4411 and a driving wheel motor b4412. The driving wheel motor a4411 is fixed in the motor slot designated at the lower part of the middle fork 4321, and the driving wheel motor b4412 is fixed in the motor slot of the motor frame connecting rod 4333 to limit the gear unit 4420. The gear unit 4420 includes a front driven gear 4421, a middle driving gear 4422 and a rear driving gear 4423. The front driven gear 4421 is pin-connected with the front fork 4322, the driving wheel motor a4411 is key-connected with the middle driving gear 4422, the driving wheel motor b4412 is key-connected with the rear driving gear 4423, and the speeds of the driving wheel motor a4411 and the driving wheel motor b4412 are synchronized and coordinated to control the speed of the gear unit 4420.

[0129] like Fig.17As shown, the slotting knife chain unit 4500 includes a roller unit 4510 and a knife chain unit 4520. The knife chain unit 4520 is a closed knife chain, which is driven by the gear unit 4420 by meshing with the front driven gear 4421, the middle driving gear 4422 and the rear driving gear 4423. The roller unit 4510 is a cylindrical roller, and the cylindrical rollers are connected by pins on both sides of the inner chain and the outer chain of the knife chain unit 4520, so that the chain plane of the knife chain unit 4520 will not directly contact the (arc-shaped) ground or (arc-shaped) wall when slotting, thereby reducing friction resistance.

[0130] Based on the above-mentioned intelligent arc-shaped slotting robot, correspondingly, the slotting method of the intelligent arc-shaped slotting robot provided by the present invention is as follows:

[0131] S1. In the case of grooving a vertical curved wall, the carrier part 1000 is first moved to the curved wall where the groove is to be made, so that the front part of the vehicle body reaches the front part of the designated position;

[0132] S2. If it is necessary to start grooving from the lower part of the wall, the driving wheel motor a4411 and the driving wheel motor b4412 must be turned on first, and the middle driving gear 4422 and the rear driving gear 4423 are driven to drive the knife chain unit 4520 to rotate. The air control motor a4314, the air control motor b4315 and the air control motor c4316 and the control platform unit 4210 adjust the angle and height so that the knife chain meshing outside the front driven gear 4421 first contacts the bottom of the wall, and the height adjustment motor 2200 is regulated to make the grooving part 4400 move slowly upwards;

[0133] S3, adjust the transmission shaft motor unit 4120 (XZ plane rotation motor) of the six-axis arm unit 4100 to make it rotate slowly. After reaching a positioning height, the middle driving gear 4422 and the rear driving gear 4423 are adjusted to slowly fit the (arc-shaped) wall, and the knife chain unit 4520 is adapted to the (arc-shaped) wall surface while still being in a tensioned state through the adjustment of the driving wheel motor a4411 and the driving wheel motor b4412 and the built-in motor a4212, the built-in motor b4213 and the air control motor a4314, the air control motor b4315 and the air control motor c4316;

[0134] S4, continue to adjust the height adjustment motor 2200 until the lower end of the straight longitudinal rack 2300 reaches the highest point, and then adjust the height adjustment motor 2200 so that the slotter temporarily stops rising;

[0135] S5. If it is necessary to groove a horizontal curved wall, first adjust the front end of the six-axis arm unit 4100 to rotate 90° on the XY plane without driving the grooved platform and the angle control unit 4200 below, then drive the grooved platform and the angle control unit 4200 to rotate 90° on the YZ plane, adjust the height adjustment motor 2200 to make the grooved knife chain unit 4500 reach the specified height, turn on the driving wheel motor a4411 and the driving wheel motor b4412, and then slowly approach the (curved) wall. After the knife chain unit 4520 contacts the (curved) wall and presses against the wall, the carrier part 1000 moves slowly horizontally along the wall and stops at the specified length position.

[0136] S6. If it is necessary to slot the (arc-shaped) ground straight line, there is no need to use the six-axis arm unit 4100. First, turn on the driving wheel motor a4411 and the driving wheel motor b4412, and then slowly adjust the height adjustment motor 2200 to make the knife chain unit 4520 press against the ground. Through the autonomous adjustment of each motor of the slotting part 4000, the knife chain unit 4520 is tightened and adapted to the arc shape of the ground. The carrier part 1000 moves slowly horizontally along the specified path on the ground and stops at the specified length position.

[0137] S7. If it is necessary to make an arc groove on the ground or wall, first, through the autonomous adjustment of each motor of the groove opening part 4000, the contact surface of the knife chain unit 4520 with the ground or wall is only one section that is meshed with the front driven gear 4421, which is used as the groove opening point. Through the rotation of the six-axis arm unit 4100 in the XY plane and the cooperation of the drive of the track wheel 1300, the arc groove is opened on the ground or wall.

[0138] S8. After slotting, the identification device on the tail cleaning part 3000 will automatically identify the waste residue after slotting. The rotating motor 3113 adjusts the rotation of the entire mechanical arm unit 3100, the rod adjustment motor a3114 and the rod adjustment motor b3115 adjust the double parallelogram mechanical arm unit 3120, so as to adjust the height and angle of the bucket platform 3220 at the end, and the bucket rotating motor 3210 adjusts the direction of the bucket 3230, so that after cleaning, the dust and waste can be poured out to the designated position normally.

[0139] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. An intelligent arc-shaped slotting robot, characterized in that: include: The carrier part (1000) is used to carry the intelligent arc slotting robot for movement, and cooperate with the elevator part (2000) and the slotting part (4000) to perform slotting operations. After the slotting is completed, it cooperates with the tail cleaning part (3000) to clean the waste residue. The elevator part (2000) is installed on one side of the carrier part (1000) and is used to enable the slotting part (4000) to slot each wall from the ground to the height of the wall; The tail cleaning part (3000) is installed on the other side of the carrier part (1000) and is used to promptly clean the site after each slot opening; the tail cleaning part (3000) comprises a mechanical arm unit (3100) and a rotating bucket unit (3200) installed at the end of the mechanical arm unit (3100); the mechanical arm unit (3100) is used to adjust the height of the entire rotating bucket unit (3200) and rotate on a horizontal plane, so that during the working process, the cleaning work can be carried out along the working path; the front part of the mechanical arm unit (3100) adjusts the platform angle of the rotating bucket unit (3200) to realize the collection and dumping of dust residues; The slotting part (4000) is installed below the elevator part (2000), and includes a six-axis arm unit (4100), a slotting platform and angle control unit (4200), a height adjustment and chain force and tensioning unit (4300), a gear drive unit (4400) and a slotting knife chain unit (4500). The slotting platform and angle control unit (4200) has a magnetic suction interface at the top, which is closely connected to the magnetic suction head of the six-axis arm unit (4100), and its bottom is connected to the height adjustment and chain force and tensioning unit (4300), and jointly controls the adaptation and tensioning state of the chain to the surface shape of the curved ground or curved wall; the gear drive unit (4400) The unit (4400) is installed on the fork component unit (4320) of the height adjustment and chain force and tensioning unit (4300), and the angle and height are controlled by the height adjustment and chain force and tensioning unit (4300); the slotting knife chain unit (4500) is meshed with the gear driving unit (4400) to perform slotting operations, and the knife chain unit (4520) of the slotting knife chain unit (4500) is adapted to the curved ground or wall by coordinating the slotting platform and angle control unit (4200) and the height adjustment and chain force and tensioning unit (4300), so as to realize arc slotting of various parts of the wall from the ground to the height of the wall in different directions and angles.

2. The intelligent arc slotting robot according to claim 1, characterized in that: The slotting platform and angle control unit (4200) comprises a control platform unit (4210) and a slot slider unit (4220), the upper part of the control platform unit (4210) is connected to the front end of the six-axis arm unit (4100) by magnetic attraction, and the two ends thereof are respectively provided with a built-in motor a (4212) and a built-in motor b (4213); The slideway and slider unit (4220) comprises a slideway a (4221) and a slideway b (4222), a slider a (4223) and a slider b (4224), a wheel shaft a (4227) and a wheel shaft b (4228), a sliding wheel group a (4225) and a sliding wheel group b (4226), wherein the slideway a (4221) is connected to the transmission shaft of the built-in motor a (4212) through a key, the slideway b (4222) is connected to the transmission shaft of the built-in motor b (4213) through a key, the wheel shaft a (4227) and the wheel shaft b (4228) pass through the middle through holes of the slider a (4223) and the slider b (4224) respectively, and the two ends of the wheel shaft a (4227) and the wheel shaft b (4228) are connected to the sliding wheel group a (4225) and the sliding wheel group b (4226) respectively. The screws are fastened together, and at the same time, the sliding wheel group a (4225) is inserted into the notch of the slide groove a (4221), and the sliding wheel group b (4226) is inserted into the notch of the slide groove b (4222). The slider a (4223) and the slider b (4224) slide in the slide groove a (4221) and the slide groove b (4222) respectively. The built-in motor a (4212) and the built-in motor b (4213) control the rotation angle of the slide groove a (4221) and the slide groove b (4222), thereby cooperating with the slider a (4223) and the slider b (4224) and the height adjustment of the lower connection of the control platform (4211) of the control platform unit (4210) and the chain force and tensioning unit (4300) to control the angle and height of the slotting knife chain unit (4500) and the chain tension.

3. The intelligent arc slotting robot according to claim 2, characterized in that: The height adjustment and chain force and tensioning unit (4300) comprises a cylinder telescopic unit (4310), a fork member unit (4320) and a connecting rod unit (4330), wherein the cylinder telescopic unit (4310) comprises an air control motor a (4314), an air control motor b (4315) and an air control motor c (4316), as well as a cylinder b (4312), a cylinder a (4311) and a cylinder c (4313), and the air control motor a (4314), the air control motor b (4315) and the air control motor c (4316) are connected to the cylinder. The ends of the air control motor c (4316) and the air control motor a (4314) are respectively fixed to the bottom ends of the slider a (4223), the control platform (4211) and the slider b (4224), and the air control motor a (4314), the air control motor b (4315) and the air control motor c (4316) are respectively connected to the cylinder b (4312), the cylinder a (4311) and the cylinder c (4313), and the amount of gas in the cylinder is controlled to adjust the extension and contraction of each cylinder along the direction of the fork component unit (4320); The fork component unit (4320) includes a front fork (4322), a middle fork (4321) and a rear fork (4323), and the telescopic rods of the cylinder b (4312), the cylinder a (4311) and the cylinder c (4313) are respectively connected to the top ends of the front fork (4322), the middle fork (4321) and the rear fork (4323); the connecting rod unit (4330) includes a motor frame connecting rod (4333), a piston connecting rod (4332) and a telescopic connecting rod (4331), the upper part of the telescopic connecting rod (4331) is hinged to a through hole extending outward from the rear of the control platform unit (4210), and the telescopic connecting rod (4331) is hollow and has a through hole for gas to enter and exit, the upper part of the piston connecting rod (4332) is connected to the lower oil seal of the telescopic connecting rod (4331), and the lower part of the piston connecting rod (4332) is hinged to the motor frame connecting rod (4333) to ensure The motor frame connecting rod (4333) can always maintain a horizontal state, thereby preventing the driving wheel motor b (4412) mounted on the motor frame connecting rod (4333) from rotating together with the rear driving gear (4423), and the through hole on one side of the motor frame connecting rod (4333) is hinged with the through hole on the lower side of the rear fork (4323); while the built-in motor a (4212) and the built-in motor b (4213) control the slide groove a (4221) and the slide groove b (4222), the cylinder telescopic unit (4310) together with the slider a (4223) and the slider b (4224) are also moved and adjusted, thereby achieving the effect of jointly controlling the angle, tension and height of the slotting knife chain unit (4500), and always making the slotting knife chain unit (4500) close to the curved ground or curved wall for slotting.

4. The intelligent arc slotting robot according to claim 3, characterized in that: The gear drive unit (4400) comprises a driving wheel motor unit (4410) and a gear unit (4420), the driving wheel motor unit (4410) comprises a driving wheel motor a (4411) and a driving wheel motor b (4412), the driving wheel motor a (4411) is fixed in a motor slot designated at the lower part of the middle fork (4321), and the driving wheel motor b (4412) is fixed in a motor slot of the motor frame connecting rod (4333), so as to limit the gear unit (4420); The gear unit (4420) comprises a front driven gear (4421), a middle driving gear (4422) and a rear driving gear (4423); the front driven gear (4421) is pin-connected to the front fork (4322); the driving wheel motor a (4411) is key-connected to the middle driving gear (4422); the driving wheel motor b (4412) is key-connected to the rear driving gear (4423); the speeds of the driving wheel motor a (4411) and the driving wheel motor b (4412) are synchronously coordinated to control the speed of the gear unit (4420).

5. The intelligent arc slotting robot according to claim 4, characterized in that: The slotting knife chain unit (4500) comprises a roller unit (4510) and a knife chain unit (4520). The knife chain unit (4520) is a closed knife chain, which is meshed with a front driven gear (4421), a middle driving gear (4422) and a rear driving gear (4423) and driven by the gear unit (4420). The roller unit (4510) is connected to cylindrical rollers via pins on both sides of the inner chain and the outer chain of the knife chain unit (4520), so that the chain plane of the knife chain unit (4520) will not directly contact the ground or the wall when slotting.

6. The intelligent arc slotting robot according to claim 1, characterized in that: The mechanical arm unit (3100) comprises a rotating base unit (3110) and a double parallelogram mechanical arm unit (3120), wherein the rotating base unit (3110) comprises a rotating base (3111), a ball bearing (3112), a rotating motor (3113), a rod adjustment motor a (3114) and a rod adjustment motor b (3115); the rotating motor (3113) is installed at the tail of the vehicle body (1200) of the carrier part (1000), and its shaft passes through the ball bearing (3112) and is connected to the rotating base (3111) through a bushing and a key, and the ball bearing (3112) is stuck in a hole of the rotating base (3111) and is located between the rotating base (3111) and the tail of the vehicle body (1200), so that the rotating motor (3113) can drive the rotating base (3111) to rotate.

7. The intelligent arc slotting robot according to claim 6, characterized in that: The double parallelogram mechanical arm unit (3120) comprises a large arm connecting rod (3121), a front connecting rod (3122), an upper horizontal connecting rod (3123), an intermediate connecting rod (3124), a lower horizontal connecting rod (3125), a first rocking rod (3126) and a triangular connecting rod (3127), wherein a small hole of the first rocking rod (3126) and an end hole of the intermediate connecting rod (3124) are hingedly connected by bolts and bearings, and the bearing is stuck in a coaxial circular hole of the intermediate connecting rod (3124), and the other end hole of the intermediate connecting rod (3124) is hingedly connected to the first rocking rod (3126). One end of the lower horizontal connecting rod (3125) is hinged to the round hole at the rear of the front connecting rod (3122); the upper arm connecting rod (3121) is connected to the rod adjustment motor b (3115) in the rotating base unit (3110); and the other end is hinged to the round hole in the middle of the front connecting rod (3122); one end of the lower horizontal connecting rod (3125) is connected to the rotating base (3111); and the other end of the lower horizontal connecting rod (3125) is hinged to one of the holes at the T-shaped rear end of the triangular connecting rod (3127); and the other end of the T-shaped rear end of the triangular connecting rod (3127) is hinged to one end of the upper horizontal connecting rod (3123). The front hole of the triangular connecting rod (3127) is connected with the circular hole in the middle of the front connecting rod (3122), so that the three rods are connected together to realize linkage. The front connecting rod (3122), the big arm connecting rod (3121), the middle connecting rod (3124) and the first rocker (3126) form a parallelogram. At the same time, the big arm connecting rod (3121), the triangular connecting rod (3127), the lower horizontal connecting rod (3125) and the rotating base (3111) also form a parallelogram structure. The two together form a parallelogram structure. A double parallelogram structure is formed so that the rotating base unit (3110) and the front connecting rod (3122) remain in the same plane; the rod adjustment motor b (3115) is embedded in the rotating base (3111) and connected to the boom connecting rod (3121) through a shaft sleeve and a key to drive the rotation angle of the boom connecting rod (3121); the rod adjustment motor a (3114) is embedded in the other side of the rotating base (3111) and connected to the first rocker (3126) through a key, thereby controlling the height and tilt angle of the rotating bucket unit (3200).

8. The intelligent arc slotting robot according to claim 7, characterized in that: The rotating bucket unit (3200) comprises a bucket rotating motor (3210), a bucket platform (3220) and a bucket (3230). The large circular hole on the upper part of the bucket platform (3220) is hinged to the circular hole at the front end of the front connecting rod (3122), and the small circular hole on the lower part is hinged to the circular hole at the other end of the upper horizontal connecting rod (3123). The bucket rotating motor (3210) is fixed on the bucket platform (3220), and its output shaft passes through the bucket. The longitudinal hole at the upper end of the platform (3220) is connected to the bucket (3230) below, and a bearing is installed between the bucket (3230) and the bucket platform (3220), and is stuck in the circular hole at the upper end of the bucket (3230), so that the bucket (3230) itself can also rotate on the plane based on the bucket platform (3220), thereby completing the functions of collecting dust and debris forward and dumping it backward for centralized processing under the coordination of the robotic arm unit (3100).

9. The intelligent arc slotting robot according to claim 1, characterized in that: The elevator part (2000) comprises an elevator box (2100), a height adjustment motor (2200), a straight longitudinal rack (2300) and a driving gear (2400); the elevator box (2100) is fixed to the front position of the body (1200) of the carrier part (1000) by bolts and screws, the height adjustment motor (2200) is fastened to the side of the elevator box (2100), the shaft of the height adjustment motor (2200) extends into the box, and is connected to the driving gear (2400) by a shaft sleeve and a key; The straight longitudinal rack (2300) is embedded in the limiting guide groove at the front of the elevator box (2100), and the driving gear (2400) is meshed with the straight longitudinal rack (2300), so that the height adjustment motor (2200) drives the driving gear (2400) to adjust the movement of the straight longitudinal rack (2300) in the vertical direction, thereby driving the slotted part (4000) to move up and down.

10. A slotting method using the intelligent arc slotting robot according to any one of claims 1 to 9, characterized in that: The steps are: S1. In the case of grooving a vertical curved wall, the carrier part (1000) is first moved to the curved wall where the groove is to be made, so that the front part of the vehicle body reaches the front part of the designated position; S2. If it is necessary to start grooving from the lower part of the wall, the driving wheel motor a (4411) and the driving wheel motor b (4412) must be turned on first, and the middle driving gear (4422) and the rear driving gear (4423) are driven to drive the knife chain unit (4520) to rotate, and the air control motor a (4314), the air control motor b (4315) and the air control motor c (4316) and the control platform unit (4210) are adjusted in angle and height so that the knife chain meshing outside the front driven gear (4421) first contacts the bottom of the wall, and the height adjustment motor (2200) is regulated to make the grooving part (4400) move slowly upward; S3, adjusting the transmission shaft motor unit (4120) of the six-axis arm unit (4100) to rotate slowly, and after reaching a positioning height, the middle driving gear (4422) and the rear driving gear (4423) are adjusted to slowly fit the wall, and the knife chain unit (4520) is adapted to the wall surface while still being in a tensioned state through the adjustment of the driving wheel motor a (4411) and the driving wheel motor b (4412) and the built-in motor a (4212), the built-in motor b (4213) and the air control motor a (4314), the air control motor b (4315) and the air control motor c (4316); S4, continue to adjust the height adjustment motor (2200) until the lower end of the straight longitudinal rack (2300) reaches the highest point, and then adjust the height adjustment motor (2200) so that the slotter temporarily stops rising; S5. If it is necessary to groove a horizontal curved wall, first adjust the front end of the six-axis arm unit (4100) to rotate 90° on the XY plane without driving the grooved platform and the angle control unit (4200) below, then drive the grooved platform and the angle control unit (4200) to rotate 90° on the YZ plane, adjust the height adjustment motor (2200) to make the grooved knife chain unit (4500) reach the specified height, turn on the driving wheel motor a (4411) and the driving wheel motor b (4412), and then slowly approach the wall. After the knife chain unit (4520) contacts the wall and presses against the wall, the carrier part (1000) slowly moves horizontally along the wall and stops at the specified length position; S6. If it is necessary to groove the ground in a straight line, there is no need to use the six-axis arm unit (4100). First, turn on the driving wheel motor a (4411) and the driving wheel motor b (4412). Then slowly adjust the height adjustment motor (2200) to make the knife chain unit (4520) press against the ground. Through the autonomous adjustment of each motor of the grooved part (4000), the knife chain unit (4520) is tightened and adapted to the arc shape of the ground. The carrier part (1000) moves slowly horizontally along the specified path on the ground and stops at the specified length position. S7. If it is necessary to make an arc groove on the ground or wall, firstly, the motors of the groove opening part (4000) are adjusted autonomously so that the contact surface between the knife chain unit (4520) and the ground or wall is only one section meshing with the front driven gear (4421), which is used as the groove opening point, and the arc groove is made on the ground or wall through the cooperation of the rotation of the six-axis arm unit (4100) in the XY plane and the driving of the track wheel (1300); S8. After the slotting is completed, the identification device on the tail cleaning part (3000) will automatically identify the waste residue after the slotting is completed, the rotating motor (3113) adjusts the rotation of the entire mechanical arm unit (3100), the rod adjustment motor a (3114) and the rod adjustment motor b (3115) adjust the double parallelogram mechanical arm unit (3120), so as to adjust the height and angle of the bucket platform (3220) at the end, and the bucket rotating motor (3210) adjusts the direction of the bucket (3230), so that after cleaning, the dust and waste can be poured out to the designated position normally.

Images