An intelligent arc slotting robot and a slotting method thereof

Abstract

The application discloses a kind of intelligent arc slotting robot and slotting method thereof, comprising: carrier part;Elevator part, it is installed in the side of carrier part, for making slotting part to each wall body from ground to wall high place slotting;Tail cleaning part, it is installed in the other side of carrier part, for timely dust removal treatment to each time after slotting site;Slotting part, it is installed below elevator part, for by coordinating slotting platform and angle control unit and height adjustment and chain force and tension unit, so that the cutter chain unit of slotting cutter chain unit is adapted to arc ground or wall surface, realize with different direction angle to each part wall body from ground to wall high place arc slotting.The application is convenient to install and detach, slotting range is expanded from plane ground and wall body to arc ground and wall body, multiple degrees of freedom can be realized, so as to expand the application scene of intelligent arc slotting robot, and the quality of slotting is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building engineering, and particularly relates to an intelligent arc slotting robot, and also relates to an intelligent arc slotting method, which is suitable for arc ground and wall surface slotting. BACKGROUND

[0002] After the building is built, a large number of slots need to be made on the wall surface or the ground inside the building to bury various lines in the ground and the wall surface, which is safe and beautiful. In addition to the common plane ground and plane wall surface, sometimes, the arc-shaped, uneven ground or wall surface is inevitably encountered.

[0003] The traditional slotting is manually performed, but the traditional manual slotting consumes a large amount of time, and for high places and some complex arc planes, the manual slotting is extremely inconvenient, and even safety hazards may occur. On the other hand, the quality of the manual slotting cannot be guaranteed.

[0004] At present, most of the slotting robots on the market can only perform slotting processing on the flat ground or wall surface, and the slotting technology for complex arc planes needs to be improved. SUMMARY

[0005] In view of the above problems in the prior art, the technical problem to be solved by the present application is to provide an intelligent arc slotting robot and a slotting method thereof, which are convenient to install and dismount, simple to operate, and can expand the slotting range from the plane ground and wall body to the arc ground and wall body, can realize multi-degree-of-freedom orientation, thereby expanding the application scene of the intelligent arc slotting robot, and guaranteeing the slotting quality.

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

[0007] The intelligent arc slotting robot comprises a carrier part for carrying the intelligent arc slotting robot to move and cooperate with a hoist part and a slotting part to perform slotting operation, and cooperate with a tail cleaning part to perform waste residue cleaning work after slotting; the hoist part is installed on one side of the carrier part to make the slotting part slot each wall body from the ground to the high wall; the tail cleaning part is installed on the other side of the carrier part to clean the site after each slotting; the tail cleaning part comprises a mechanical arm unit and a rotary bucket unit installed at the end of the mechanical arm unit, the mechanical arm unit is used to adjust the height of the whole rotary bucket unit and rotate in the horizontal plane, so that the dust cleaning work can be performed along the working path during the working process; the front part of the mechanical arm unit adjusts the platform angle of the rotary bucket unit to realize the collection and dumping of dust residue; the slotting part is installed below the hoist part and comprises a six-axis arm unit, a slotting platform and an angle control unit, a height adjustment and chain force and tension unit, a gear driving unit and a slotting cutter chain unit, the upper part of the slotting platform and the angle control unit is magnetically connected with the magnetic head of the six-axis arm unit, and the lower part is connected with the height adjustment and chain force and tension unit to control the chain and the surface shape of the arc ground or arc wall surface and the tension state; the gear driving unit is installed on the fork member unit of the height adjustment and chain force and tension unit to control the angle and height; the slotting cutter chain unit is engaged with the gear driving unit to perform slotting operation, and the slotting platform and the angle control unit and the height adjustment and chain force and tension unit are coordinated to make the cutter chain unit of the slotting cutter chain unit adapt to the arc ground or wall surface to realize arc slotting of each part of the wall body from the ground to the high wall in different direction angles.

[0008] Preferably, the slotted platform and angle control unit comprises a control platform unit and a sliding groove sliding block 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 are respectively provided with built-in motor a and built-in motor b; the sliding groove sliding block unit comprises sliding groove a and sliding groove b, sliding block a and sliding block b, wheel shaft a and wheel shaft b, sliding wheel set a and sliding wheel set b, sliding groove a is connected to the transmission shaft of built-in motor a by a key, sliding groove b is connected to the transmission shaft of built-in motor b by a key, wheel shaft a and wheel shaft b pass through the middle through hole of sliding block a and sliding block b respectively, the two ends of wheel shaft a and wheel shaft b are respectively fastened and connected with sliding wheel set a and sliding wheel set b by screws, at the same time, sliding wheel set a is clamped into the notch of sliding groove a, and sliding wheel set b is clamped into the notch of sliding groove b, sliding block a and sliding block b can slide in sliding groove a and sliding groove b respectively, built-in motor a and built-in motor b control the rotation angle of sliding groove a and sliding groove b, so as to cooperate with sliding block a and sliding block b and the height adjustment and chain tensioning unit connected to the lower part of the control platform to control the angle, height and chain tension of the slotted knife chain unit.

[0009] Further, the height adjustment and chain tensioning unit comprises a pneumatic cylinder extension unit, a fork member unit and a connecting rod unit, the pneumatic cylinder extension unit comprises control gas motor a, control gas motor b and control gas motor c, and pneumatic cylinder b, pneumatic cylinder a and pneumatic cylinder c, the ends of control gas motor a, control gas motor b and control gas motor c are respectively fixed on sliding block a, control platform and the bottom end of sliding block b, control gas motor a, control gas motor b and control gas motor c are respectively connected with pneumatic cylinder b, pneumatic cylinder a and pneumatic cylinder c, the amount of gas in the control gas cylinder is controlled to adjust the extension and retraction of each pneumatic cylinder along the direction of the fork member unit; the fork member unit comprises front fork, middle fork and rear fork, the extension rods of pneumatic cylinder b, pneumatic cylinder a and pneumatic cylinder c are respectively connected with the top ends of front fork, middle fork and rear fork; the connecting rod unit comprises motor rack connecting rod, piston connecting rod and extension connecting rod, the upper part of the extension connecting rod is hinged with the through hole of the rear part 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 oil seal connected with the lower part of the extension connecting rod, and the lower part thereof is hinged with the motor rack connecting rod to ensure that the motor rack connecting rod can always remain horizontal, thereby preventing the driving wheel motor b carried on the motor rack connecting rod from rotating with the rear driving gear, and the through hole on one side of the motor rack connecting rod is hinged with the through hole on one side of the lower part of the rear fork; while built-in motor a and built-in motor b control sliding groove a and sliding groove b, the pneumatic cylinder extension unit also moves and adjusts together with sliding block a and sliding block b, thereby achieving the function of jointly controlling the angle, tension and height of the slotted knife chain unit, and always making the slotted knife chain unit closely adhere to the arc ground or arc wall surface for slotting.

[0010] Further, the gear driving unit comprises a driving wheel motor unit and a gear unit, the driving wheel motor unit comprises driving wheel motor a and driving wheel motor b, the driving wheel motor a is fixed in the designated motor groove of the lower part of the middle fork, the driving wheel motor b is fixed in the motor groove of the motor frame connecting rod, and the gear unit is limited; the gear unit comprises a front driven gear, a middle driving gear and a rear driving gear, the front driven gear is connected with the front fork pin, the driving wheel motor a is key connected with the middle driving gear, the driving wheel motor b is key connected with the rear driving gear, and the driving wheel motor a and the driving wheel motor b are synchronous and coordinated in speed to control the rotating speed of the gear unit.

[0011] Preferably, the slotting cutter chain unit comprises a drum unit and a cutter chain unit, the cutter chain unit is a closed cutter chain, which is driven by the gear unit through meshing connection with the front driven gear, the middle driving gear and the rear driving gear, and the drum unit is a cylindrical drum, which is connected with the cylindrical drum through the pins on both sides of the inner chain and the outer chain of the cutter chain unit, so that the chain plane of the cutter chain unit does not directly contact with the ground or wall surface during slotting, thereby reducing the frictional resistance.

[0012] Further, the mechanical arm unit comprises a rotating base unit and a double parallelogram mechanical arm unit, the rotating base unit comprises a rotating base, a ball bearing, a rotating motor, a rod adjusting motor a and a rod adjusting motor b; the rotating motor is installed at the tail of the vehicle body of the carrier part, the shaft thereof passes through the ball bearing and is connected with the rotating base through a shaft sleeve and a key, the ball bearing is clamped 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 comprises a large arm link, a front link, an upper horizontal link, a middle link, a lower horizontal link, a first rocker and a triangular link, a small hole of the first rocker is hinged to an end hole of the middle link through a bolt and a bearing, the bearing is clamped in a coaxial circular hole of the middle link, the other end of the middle link is hinged to a circular hole at the rear of the front link, the large arm link is connected with a rod adjusting motor b in the rotating base unit, and the other end of the large arm link is hinged to a circular hole in the middle of the front link; similarly, one end of the lower horizontal link is connected with the rotating base, and the other end of the lower horizontal link is hinged to one hole of a T-shaped rear end of the triangular link, the other hole of the T-shaped rear end of the triangular link is connected with an end hole of the upper horizontal link, and a front end hole of the triangular link is hinged to a circular hole in the middle of the front link, so that the three rods are connected together to realize linkage, the front link, the large arm link, the middle link and the first rocker form a parallelogram, and the large arm link, the triangular link, the lower horizontal link and the rotating base also form a parallelogram structure, and the two structures together form a double parallelogram structure, so that the rotating base unit and the front link are kept in the same plane; the rod adjusting motor b is embedded in the rotating base and connected with the large arm link through a shaft sleeve and a key, so as to drive the rotation angle of the large arm link, and the rod adjusting motor a is embedded in the other side of the rotating base and connected with the first rocker through a key, so as to control the height and inclination angle of the rotating bucket unit.

[0014] Further, the rotating bucket unit comprises a bucket rotating motor, a bucket platform and a bucket, a large circular hole in the upper part of the bucket platform is hinged to a circular hole at the most front end of the front link, a small circular hole in the lower part of the bucket platform is hinged to a circular hole at the other end of the upper horizontal link, the bucket rotating motor is fixed on the bucket platform, an output shaft of the bucket rotating motor penetrates a longitudinal hole in the upper end of the bucket platform and is connected with the lower bucket, a bearing is installed between the bucket and the bucket platform and is clamped in a circular hole in the upper end of the bucket, so that the bucket itself can also rotate on the plane with the bucket platform as the reference, so as to complete the functions of collecting dust residues forward and dumping and centralized processing backward under the coordination of the mechanical arm unit.

[0015] Preferably, the elevator part comprises an elevator box, a height adjusting motor, a flat longitudinal rack and a driving gear; the elevator box is fixed at a front position of the vehicle body of the carrier part through bolts and screws, the height adjusting motor is fixed on the side of the elevator box, a shaft of the height adjusting motor extends into the box and is connected with the driving gear through a shaft sleeve and a key; the flat longitudinal rack is embedded in a limiting guide groove at the front of the elevator box, and the driving gear is engaged with the flat longitudinal rack, so that the height adjusting motor drives the driving gear to adjust the movement of the flat longitudinal rack in the vertical direction and drives the up-down movement of the slotted part.

[0016] Correspondingly, the application also provides a slotting method of the intelligent arc-shaped slotting robot, and the steps are as follows:

[0017] S1, in the case of vertical arc wall slotting, first by the carrier part to the need to slotting arc wall, the body to the specified location before the front part;

[0018] S2, if need to start from the wall lower slotting, first need to start the main drive motor a and the main drive motor b, drive the middle drive gear and the rear drive gear to drive the cutter chain unit to rotate, control the gas motor a, the gas motor b and the gas motor c and the control platform unit to adjust the angle and height, so that the cutter chain meshing with the front driven gear first contacts the wall bottom, adjusts the height adjustment motor, and the slotting part slowly moves upward;

[0019] S3, adjust the transmission shaft of the six-axis arm unit to the motor unit, slowly rotate to a certain height, and then adjust the middle drive gear and the rear drive gear to slowly fit the wall, adjust the cutter chain unit to adapt to the wall surface while still in tension through the adjustment of the main drive motor a and the main drive motor b and the built-in motor a, the built-in motor b and the gas motor a, the gas motor b and the gas 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 to temporarily stop the slotter from rising;

[0021] S5, if you need to slot the horizontal arc wall, first adjust the front end of the six-axis arm unit to rotate 90° on the X-Y plane without driving the lower slotting platform and the angle control unit, then drive the slotting platform and the angle control unit to rotate 90° on the Y-Z plane, adjust the height adjustment motor to reach the specified height, and then slowly approach the wall after starting the main drive motor a and the main drive motor b. After the cutter chain unit contacts and presses the wall surface, the carrier part moves horizontally along the wall surface at a slow speed to the specified length position and stops;

[0022] S6, if you need to slot the ground straight line, you don't need to use the six-axis arm unit, first start the main drive motor a and the main drive motor b, then slowly adjust the height adjustment motor to make the cutter chain unit press the ground, and through the self-adjustment of the slotting part motors, the cutter chain unit is tightly fitted to the ground curvature, and the carrier part moves horizontally along the specified path on the ground at a slow speed to the specified length position and stops;

[0023] S7, if you need to open an arc slot on the ground or wall, first adjust the slotting part motors to make the cutter chain unit contact the ground or wall surface only with one section meshing with the front driven gear as the slotting point, and through the cooperation of the six-axis arm unit rotation on the X-Y plane and the track wheel drive, realize the arc slot on the ground or wall surface;

[0024] S8, after grooving, the identification device on the tail part of the dust removal part automatically identifies the waste residue after grooving, the rotating motor adjusts the rotation of the whole mechanical arm unit, the rod adjusting motor a and the rod adjusting motor b adjust the double parallelogram mechanical arm unit, thereby adjusting the height and angle of the end of the bucket platform, the bucket rotating motor adjusts the orientation of the bucket, so that the dust can be normally poured out to the specified position after the dust is removed.

[0025] From the above, the carrier part and the main structure of the body of the present application are used to carry the electric box and the control system, and have the functions of stabilizing the overall body during work and cooperating with other parts to perform grooving operation; the elevator part includes an elevator box unit and a gear and rack lifting unit in the elevator box unit, which is used to realize the functions of lifting and lowering, so that the grooving part can perform grooving on all walls from the (arc-shaped) ground to 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 and concentrate the dust after grooving; the grooving part includes a six-axis arm unit installed on the gear and rack unit, a grooving platform and an angle control unit installed at the magnetic attraction connection port of the six-axis arm unit, a height adjustment and chain tensioning unit installed on the grooving platform and the angle control unit, a gear driving unit installed at the end of the longitudinal height adjustment and chain tensioning unit, and a grooving cutter chain unit matched with the gear, the six-axis arm unit cooperates with the built-in three axes to enable the end of the connection grooving main part to have multiple degrees of freedom of steering in space, enhance the flexibility of the cutter, and the magnetic attraction head at the end can realize the function of replacing multiple cutters to adapt to more complex grooving work; the grooving platform and the angle control unit are used to adjust the overall grooving angle and the chain height matched with the arc surface; the height adjustment and chain tensioning unit is used to assist in accurately controlling the angle of the driving wheel and the height of the cutter chain, and after the grooving part is adjusted to the specified position, pressure is applied to make the grooving cutter chain tightly adhere to the wall and make the cutter chain in a tensioned state; the gear driving unit and the grooving cutter chain unit are used for grooving and cutting on the (arc-shaped) ground or (arc-shaped) wall surface.

[0026] The intelligent arc grooving robot and the grooving method thereof have at least the following beneficial effects:

[0027] 1. The grooving part of the present application adjusts the cutter chain shape by mutual adjustment of each motor to adapt to the wall surface and or the ground, solves the problem of grooving on the arc-shaped wall surface or the arc-shaped ground, and can realize the function of grooving arc-shaped slots through the cooperation of the six-axis arm unit.

[0028] 2. The six-axis arm unit of the grooving part of the present application has a magnetic attraction head at the front end, which can replace the cutter to adapt to more working conditions.

[0029] 3. The tail cleaning part of the application can clean dust in time through the adjustment of the motor system, and can place the dust in a designated position for centralized treatment after the work is completed, thereby reducing the workload of manual dust cleaning after slotting and making the work scene after slotting more beautiful.

[0030] 4. The device has a small size, reduces the space occupancy of the trolley, and reduces the influence on other parts of the trolley. BRIEF DESCRIPTION OF DRAWINGS

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

[0032] Figure 1 The figure is a structural schematic view of the intelligent arc slotting robot of the application;

[0033] Figure 2 The figure is a structural schematic view of the carrier part of the application;

[0034] Figure 3 The figure is a structural schematic view of the elevator part of the application;

[0035] Figure 4 The figure is a structural schematic view of the tail cleaning part of the application;

[0036] Figure 5 The figure is a structural schematic view of the mechanical arm unit of the application;

[0037] Figure 6 The figure is one of the detail views of the mechanical arm unit of the application;

[0038] Figure 7 The figure is the second detail view of the mechanical arm unit of the application;

[0039] Figure 8 The figure is a structural schematic view of the rotary bucket unit of the application;

[0040] Figure 9 The figure is a structural schematic view of the slotting part of the application;

[0041] Figure 10 The figure is a structural schematic view of the six-axis arm unit of the application;

[0042] Figure 11 The figure is a structural schematic view of the slotting platform and angle control unit of the application;

[0043] Figure 12 The figure is a detail view of the slotting platform and angle control unit of the application;

[0044] Figure 13Structure diagram of height adjustment and chain force applying and tensioning unit of the present application;

[0045] Figure 14 Detail diagram of height adjustment and chain force applying and tensioning unit of the present application;

[0046] Figure 15 Structure diagram of gear driving unit of the present application;

[0047] Figure 16 Detail diagram of gear driving unit of the present application;

[0048] Figure 17 Structure diagram of slotting cutter chain unit of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0049] 1000 - carrier part;

[0050] 1100 - roof cover;

[0051] 1200 - vehicle body;

[0052] 1300 - track wheel;

[0053] 1400 - electric box;

[0054] 2000 - elevator part;

[0055] 2100 - elevator box;

[0056] 2200 - height adjustment motor;

[0057] 2300 - straight longitudinal rack;

[0058] 2400 - driving gear;

[0059] 3000 - tail cleaning part;

[0060] 3100 - mechanical arm unit;

[0061] 3110 - rotating base unit;

[0062] 3111 - rotating base;

[0063] 3112 - ball bearing;

[0064] 3113 - rotating motor;

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

[0066] 3121 - large arm link;

[0067] 3122 - front link;

[0068] 3123 - upper horizontal link;

[0069] 3124 - middle horizontal link;

[0070] 3125 - lower horizontal link;

[0071] 3126 - first rocker;

[0072] 3127 - triangular link;

[0073] 3200 - rotating bucket unit;

[0074] 3210 - bucket rotating motor;

[0075] 3220 - bucket platform;

[0076] 3230 - bucket;

[0077] 4000 - grooving section;

[0078] 4100 - six-axis arm unit;

[0079] 4110 - wrist motor gear box;

[0080] 4120 - transmission shaft motor unit;

[0081] 4130 - shaft unit;

[0082] 4140 - multi-degree-of-freedom rotating platform unit;

[0083] 4150 - magnetic suction head;

[0084] 4200 - grooving 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 - sliding groove and sliding block unit;

[0089] 4221 - sliding groove a, 4222 - sliding groove b;

[0090] 4223 - sliding block a, 4224 - sliding block b;

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

[0092] 4227 - wheel shaft a, 4228 - wheel shaft b;

[0093] 4300 - Height adjustment and chain force and tension unit

[0094] 4310 - Cylinder extension and retraction unit

[0095] 4311 - Cylinder a, 4312 - Cylinder b, 4313 - Cylinder c

[0096] 4314 - Control air motor a, 4315 - Control air motor b, 4316 - Control air motor c

[0097] 4320 - Fork member unit

[0098] 4321 - Middle fork, 4322 - Front fork, 4323 - Rear fork

[0099] 4330 - Linkage unit

[0100] 4331 - Telescopic linkage

[0101] 4332 - Piston linkage

[0102] 4333 - Motor mount linkage

[0103] 4400 - Gear drive unit

[0104] 4410 - Drive wheel motor unit

[0105] 4411 - Drive wheel motor a, 4412 - Drive wheel motor b

[0106] 4420 - Gear unit

[0107] 4421 - Front driven gear

[0108] 4422 - Middle drive gear

[0109] 4423 - Rear drive gear

[0110] 4500 - Slotting knife chain unit

[0111] 4510 - Roller unit

[0112] 4520 - Knife chain unit DETAILED DESCRIPTION

[0113] Hereinafter, the present application will be described in detail with reference to the accompanying drawings. Figures 1 to 17 A kind of intelligent arc slotting robot and its slotting method provided by the present application are introduced in detail.

[0114] By 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. At the same time, after the grooving, it will cooperate with the tail cleaning part 3000 to clean up the waste residue. The elevator part 2000 can rise and fall, so that the grooving part 4000 can groove every part of the wall from the ground to the top of the wall. The tail cleaning part 3000 can clean the site in time 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 can adapt to the curved ground or wall, and realize 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 parts of the device:

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

[0116] like Figure 2 As shown, the vehicle body 1200 serves as a carrier for the other components. An electrical box 1400 is located and fixed in the center of the vehicle body 1200, controlling and coordinating the operation of the various components and stabilizing the vehicle body. The crawler track 1300 is connected to the lower portion of the vehicle body 1200, enabling linear motion and rotation in place. The front of the vehicle body 1200 is connected to the elevator 2000, while the rear is connected to the tail cleaning unit 3000.

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

[0118] The elevator box 2100 is fixed at the front of the vehicle body 1200 by bolts and screws, and the height adjustment motor 2200 is fixed at 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 through 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 engaged with the straight longitudinal rack 2300. 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 up and down movement of the slotted part 4000.

[0119] As shown in Figure 4 , 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 in the horizontal plane, so that it can perform dust cleaning work along the working path during work. The front of the mechanical arm unit 3100 can adjust the platform angle of the rotating bucket unit 3200 to realize the collection and dumping of dust residues. The logical relationship between the above elements is described in detail as follows:

[0120] As shown in Figures 5 to 7 , the mechanical arm unit 3100 includes a rotating base unit 3110 and a double parallelogram mechanical arm unit 3120. The rotating base unit 3110 includes 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, and its shaft passes through the ball bearing 3112 and is connected to the rotating base 3111 through a shaft sleeve and a key. The ball bearing 3112 is clamped in the hole of the rotating base 3111 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 hingedly connected to the hole at one end of the intermediate link 3124 by a bolt and a bearing, the bearing is clamped in the coaxial circular hole of the intermediate link 3124, and the other end of the intermediate link 3124 is hingedly connected to the circular hole at the rear of the front link 3122. The large arm link 3121 is connected to the rod adjustment motor b 3115 in the rotating base unit 3110, and the other end thereof is hingedly connected to the circular hole at 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 hingedly connected 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 the hole at one end of the upper horizontal link 3123, and the hole at the front end of the triangular link 3127 is hingedly connected to the circular hole at the middle of the front link 3122, thereby connecting the three links together to operate in linkage. The front link 3122, the large arm link 3121, the intermediate link 3124, and the first rocker 3126 form a parallelogram, and the large arm link 3121, the triangular link 3127, the lower horizontal link 3125, and the rotating base 3111 also form a parallelogram structure, which together form a double parallelogram structure, so that the rotating base unit 3110 and the front link 3122 remain in the same plane. The rod adjustment motor b 3115 is embedded in the rotating base 3111 and connected to the large arm link 3121 through a shaft sleeve and a key, thereby driving the rotation angle of the large arm link 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 achieving the control of the height and inclination angle of the rotating bucket unit 3200.

[0122] As shown in Figure 8 The rotating bucket unit 3200 includes a bucket rotating motor 3210, a bucket platform 3220, and a bucket 3230. The large circular hole at the upper part of the bucket platform 3220 is hingedly connected to the circular hole at the frontmost end of the front link 3122, and the small circular hole at the lower part thereof is hingedly connected to the circular hole at the other end of the upper horizontal link 3123. The bucket rotating motor 3210 is fixed on the bucket platform 3220, and the output shaft thereof penetrates the longitudinal hole at the upper end of the bucket platform 3220 and is connected to the lower bucket 3230. A bearing is installed between the bucket 3230 and the bucket platform 3220 and clamped 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 and concentrating for disposal backward under the coordination of the mechanical arm unit 3100.

[0123] As shown in Figure 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 tensioning unit 4300, a gear drive unit 4400, and a slotting cutter chain unit 4500. The six-axis arm unit 4100 is fixed on the flat vertical rack 2300 and moves up and down with the flat vertical rack 2300, enabling the slotting cutter chain unit 4500 to slot from the ground to the wall surface. The front end of the six-axis arm unit 4100 is a magnetic suction head, which can replace the cutter and adapt to more slotting conditions. The front part of the six-axis arm unit 4100 has three degrees of freedom, namely X-Y plane 360° rotation of the shaft arm itself, 90° rotation of the front X-Z plane, and X-Y plane 360° rotation of the magnetic suction head connection end, making it more flexible to change the slotting direction and perform (arc-shaped) ground slotting and (arc-shaped) wall surface horizontal or vertical slotting. The upper part of the slotting platform and angle control unit 4200 has a magnetic suction interface that is closely connected to the magnetic suction head of the six-axis arm unit 4100, and the lower part is connected to the height adjustment and chain tensioning unit 4300, which together controls the chain and the surface shape of the arc-shaped ground or arc-shaped wall to adapt and tension. The gear drive unit 4400 is installed on the fork member unit 4320 of the height adjustment and chain tensioning unit 4300 and is controlled in angle and height by the height adjustment and chain tensioning unit 4300. The slotting cutter chain unit 4500 engages with the gear drive unit 4400 to perform slotting operations. The logical relationship between the above elements is described in detail as follows:

[0124] As shown in Figure 10 The six-axis arm unit 4100 includes a wrist motor gear box 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 gear box 4110 is fixed on the outer side of the flat vertical rack 2400 with large-diameter screws and moves up and down with the flat vertical rack 2400. Meanwhile, the transmission shaft motor unit 4120 drives the front connected slotting part 4400 to perform X-Y plane 360° rotation, X-Z plane 90° rotation, and Y-Z plane 180° rotation with the contact position as the center through the shaft unit 4130. The magnetic suction head 4150 is installed at the front end of the six-axis arm unit 4100 and generates electromagnetism through the built-in generator to adsorb and replace the used cutter.

[0125] As shown in Figures 11 to 12As shown, the slotting platform and angle control unit 4200 includes a control platform unit 4210 and a sliding slot 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 are respectively provided with built-in motor a4212 and built-in motor b4213. The sliding slot unit 4220 includes sliding slot a4221 and sliding slot b4222, sliding block a4223 and sliding block b4224, wheel shaft a4227 and wheel shaft b4228, sliding wheel set a4225 and sliding wheel set b4226. The sliding slot a4221 is connected to the transmission shaft of the built-in motor a4212 through a key, the sliding slot b4222 is connected to the transmission shaft of the built-in motor b4213 through a key, the wheel shaft a4227 and the wheel shaft b4228 pass through the middle through hole of the sliding block a4223 and the sliding block b4224 respectively, and the two ends of the wheel shaft a4227 and the wheel shaft b4228 are respectively fastened and connected with the sliding wheel set a4225 and the sliding wheel set b4226 by screws, while the sliding wheel set a4225 is clamped into the notch of the sliding slot a4221, and the sliding wheel set b4226 is clamped into the notch of the sliding slot b4222, and the sliding block a4223 and the sliding block b4224 can slide in the sliding slot a4221 and the sliding slot b4222 respectively. The built-in motor a4212 and the built-in motor b4213 control the rotation angle of the sliding slot a4221 and the sliding slot b4222, so as to cooperate with the sliding block a4223 and the sliding block b4224 and the control platform 4211 of the control platform unit 4210 to control the angle and height of the slotting cutter chain unit 4500 and the tension of the chain.

[0126] As shown in Figures 13 to 14 The height adjustment and chain tensioning unit 4300 includes a cylinder extension unit 4310, a fork member unit 4320 and a connecting rod unit 4330. The cylinder extension unit 4310 includes control gas motor a4314, control gas motor b4315 and control gas motor c4316, and cylinder b4312, cylinder a4311 and cylinder c4313. The ends of the control gas motor a4314, the control gas motor b4315 and the control gas motor c4316 are fixed to the bottom ends of the sliding block a4223, the control platform 4211 and the sliding block b4224 respectively, and the control gas motor a4314, the control gas motor b4315 and the control gas motor c4316 are connected with the cylinder b4312, the cylinder a4311 and the cylinder c4313 respectively. The amount of gas in the cylinder is controlled to adjust the extension 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 b 4312, the cylinder a 4311 and the cylinder c 4313 are connected to the top ends of the front fork 4322, the middle fork 4321 and the rear fork 4323 respectively. 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 of the rear part of the control platform unit 4210, which is hollow and has a through hole for gas in and out, the upper part of the piston connecting rod 4332 is oil-sealed connected to the lower part of the telescopic connecting rod 4331, and the lower part thereof is hinged to the motor frame connecting rod 4333, so as to ensure that the motor frame connecting rod 4333 can always keep horizontal, thereby preventing the main drive wheel motor b 4412 carried on the motor frame connecting rod 4333 from rotating with the rear main drive gear 4423. The through hole on one side of the motor frame connecting rod 4333 is hinged to the through hole on one side of the lower part of the rear fork 4323. When the built-in motor a 4212 and the built-in motor b 4213 control the sliding groove a 4221 and the sliding groove b 4222, the cylinder telescopic unit 4310 moves together with the sliding block a 4223 and the sliding block b 4224, so as to achieve the effect of jointly controlling the angle, tension and height of the slotting cutter chain unit 4500, and always make the slotting cutter chain unit 4500 closely adhere to the arc-shaped ground or arc-shaped wall surface for slotting.

[0128] As shown in Figures 15 to 16 The gear drive unit 4400 includes a main drive wheel motor unit 4410 and a gear unit 4420, the main drive wheel motor unit 4410 includes a main drive wheel motor a 4411 and a main drive wheel motor b 4412, the main drive wheel motor a 4411 is fixed in the designated motor groove of the lower part of the middle fork 4321, the main drive wheel motor b 4412 is fixed in the motor groove of the motor frame connecting rod 4333, and the gear unit 4420 is limited in position. The gear unit 4420 includes a front driven gear 4421, a middle main drive gear 4422 and a rear main drive gear 4423, the front driven gear 4421 is pinned to the front fork 4322, the main drive wheel motor a 4411 is keyed to the middle main drive gear 4422, the main drive wheel motor b 4412 is keyed to the rear main drive gear 4423, and the rotation speed of the main drive wheel motor a 4411 is synchronized and coordinated with that of the main drive wheel motor b 4412, so as to control the rotation speed of the gear unit 4420.

[0129] As shown in Figure 17As shown, the slotting cutter chain unit 4500 includes a drum unit 4510 and a cutter chain unit 4520. The cutter chain unit 4520, i.e. the closed cutter chain, is driven by the gear unit 4420 through meshing connection with the front driven gear 4421, the middle driving gear 4422 and the rear driving gear 4423. The drum unit 4510, i.e. the cylindrical drum, is connected to the inner chain and the outer chain of the cutter chain unit 4520 through a pin, so that the chain plane of the cutter chain unit 4520 is not in direct contact with the (arc-shaped) ground or (arc-shaped) wall surface during slotting, thereby reducing the frictional resistance.

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

[0131] S1. In the case of slotting a vertical arc-shaped wall, first move the carrier part 1000 to the arc-shaped wall where slotting is needed, so that the front part of the vehicle body reaches the specified position front part;

[0132] S2. If it is needed to start slotting from a lower part of the wall, first start the driving wheel motor a 4411 and the driving wheel motor b 4412 to drive the middle driving gear 4422 and the rear driving gear 4423 to rotate the cutter chain unit 4520. Adjust the angle and height of the gas control motor a 4314, the gas control motor b 4315 and the gas control motor c 4316 and the control platform unit 4210, so that the cutter chain meshing with the front driven gear 4421 first contacts the wall bottom, and adjust the height adjustment motor 2200 to slowly move the slotting part 4400 upward;

[0133] S3. Adjust the transmission shaft to the motor unit 4120 (X-Z plane rotation motor) of the six-axis arm unit 4100 to slowly rotate. When reaching a certain height, the middle driving gear 4422 and the rear driving gear 4423 are adjusted to slowly fit the (arc-shaped) wall, and the cutter chain unit 4520 is adjusted to adapt to the surface of the (arc-shaped) wall while still being in a tension state through 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 gas control motor a 4314, the gas control motor b 4315 and the gas control motor c 4316;

[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 to temporarily stop the upward movement of the slotter;

[0135] S5, if need to slot the transverse arc wall, first adjust the front end of the six-axis arm unit 4100 to rotate 90° in the X-Y plane without driving the lower slotting platform and angle control unit 4200, then drive the slotting platform and angle control unit 4200 to rotate 90° in the Y-Z plane, control the height adjustment motor 2200 to make the slotting cutter chain unit 4500 reach the specified height, slowly approach the (arc) wall after starting the driving wheel motor a4411 and the driving wheel motor b4412, the cutter chain unit 4520 contacts and presses the wall surface, and then the carrier part 1000 moves slowly along the wall surface to the specified length position.

[0136] S6, if need to slot the (arc) ground straight line, the six-axis arm unit 4100 is not needed. First, start the driving wheel motor a4411 and the driving wheel motor b4412, and then slowly control the height adjustment motor 2200 to make the cutter chain unit 4520 press the ground, through the self-adjustment of each motor of the slotting part 4000, the cutter chain unit 4520 is tightly pressed while adapting to the arc shape of the ground, the carrier part 1000 moves slowly along the ground to the specified length position.

[0137] S7, if need to open an arc slot on the ground or wall, first, through the self-adjustment of each motor of the slotting part 4000, the contact surface of the cutter chain unit 4520 with the ground or wall is only one section meshed with the front driven gear 4421, which is used as a slotting point, through the cooperation of the rotation of the six-axis arm unit 4100 in the X-Y plane and the driving of the track wheel 1300, an arc slot on the ground or wall surface is realized.

[0138] S8, after slotting, the identification device on the tail dust removal part 3000 automatically identifies the waste residue after slotting. The rotating motor 3113 adjusts the rotation of the whole 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 orientation of the bucket 3230, so that after dust removal, the dust and waste can be normally poured to the specified position.

[0139] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can understand the transformation or replacement within the technical range disclosed by the present application, which should be covered in the inclusive scope of the present application.

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 slotting, it cooperates with the tail cleaning part (3000) to clean up 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 top 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) includes 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 the cleaning work can be carried out along the working path during the working process. The front part of the mechanical arm unit (3100) adjusts the platform angle of the rotating bucket unit (3200) to achieve 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 interface on the upper part, 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 adaptation and tensioning state of the chain to the surface shape of the curved ground or curved wall; the gear drive 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 engaged with the gear drive unit (4400) to perform the slotting operation, and by coordinating the slotting platform and angle control unit (4200) and the height adjustment and chain force and tensioning unit (4300), the knife chain unit (4520) of the slotting knife chain unit (4500) is adapted to the curved ground or wall, so that the curved slotting of each part of the wall from the ground to the top of the wall can be achieved in different directions and angles.

2. The intelligent arc-shaped 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 portion of the control platform unit (4210) is connected to the front end of the six-axis arm unit (4100) through magnetic attraction, and a built-in motor a (4212) and a built-in motor b (4213) are respectively installed at both ends of the control platform unit (4210). The slide block unit (4220) comprises a slide a (4221) and a slide 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 slide a (4221) is connected to the transmission shaft of the built-in motor a (4212) via a key, the slide b (4222) is connected to the transmission shaft of the built-in motor b (4213) via 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 coordinating the height adjustment of the slider a (4223) and the slider b (4224) and 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-shaped slotting robot according to claim 2, characterized in that: The height adjustment and chain force and tensioning unit (4300) includes a cylinder telescopic unit (4310), a fork component unit (4320) and a connecting rod unit (4330), wherein the cylinder telescopic unit (4310) includes 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), an air control motor a (4314), an air control motor b (4315) and an air control motor c (4316). The ends of the air control motor a (4315) and the air control motor c (4316) 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 the 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 part of the telescopic connecting rod (4331) with an oil seal, 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). 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 a (4221) and the slide b (4222), the cylinder telescopic unit (4310) together with the slider a (4223) and the slider b (4224) also move and adjust, 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-shaped slotting robot according to claim 3, characterized in that: 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 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 portion 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) 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 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 synchronized and coordinated to control the speed of the gear unit (4420).

5. The intelligent arc-shaped 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) does not directly contact the ground or the wall during slotting.

6. The intelligent arc-grooving robot according to claim 1, characterized in that: The robotic arm unit (3100) comprises a rotating base unit (3110) and a double parallelogram robotic arm unit (3120); 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 mounted on the tail of the vehicle body (1200) of the carrier part (1000); its shaft passes through the ball bearing (3112) and is connected to the rotating base (3111) via a shaft sleeve and a key; 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-shaped slotting robot according to claim 6, characterized in that: The double parallelogram mechanical arm unit (3120) includes 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 rocker (3126) and a triangular connecting rod (3127). The small hole of the first rocker (3126) and one end hole of the intermediate connecting rod (3124) are hinged by bolts and bearings. The bearing is stuck in the coaxial circular hole of the intermediate connecting rod (3124). The other end hole of the intermediate connecting rod (3124) is hinged. One end is hinged to the circular hole at the rear of the front connecting rod (3122), the big 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 circular 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 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. The double parallelogram structure enables the rotating base unit (3110) and the front connecting rod (3122) to maintain 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-shaped slotting robot according to claim 7, characterized in that: 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 portion 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 portion 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), which 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-shaped slotting robot according to claim 1, characterized in that: The elevator part (2000) comprises an elevator housing (2100), a height adjustment motor (2200), a straight longitudinal rack (2300) and a driving gear (2400); the elevator housing (2100) is fixed to the front 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 housing (2100), the shaft of the height adjustment motor (2200) extends into the housing 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 engaged 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.

10. A grooving method using the intelligent arc grooving 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 of the vehicle body reaches the front 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. 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 meshed with the outer meshing of the front driven gear (4421) first contacts the bottom of the wall. The height adjustment motor (2200) is regulated to slowly move the grooving part (4400) upward. S3, adjusting the transmission shaft of the six-axis arm unit (4100) toward the motor unit (4120) to rotate slowly. After reaching a positioning height, the middle driving gear (4422) and the rear driving gear (4423) are adjusted to slowly fit the wall. By adjusting the driving wheel motor a (4411), the driving wheel motor b (4412), the built-in motor a (4212), the built-in motor b (4213), the air control motor a (4314), the air control motor b (4315), and the air control motor c (4316), the knife chain unit (4520) is adapted to the wall surface while still being in a tensioned state; S4, continue adjusting 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 stops rising temporarily; 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 groove platform and angle control unit (4200) below, then drive the groove platform and angle control unit (4200) to rotate 90° on the YZ plane, control the height adjustment motor (2200) to make the grooved knife chain unit (4500) reach a 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 a straight groove is required on the ground, the six-axis arm unit (4100) is not required. First, the driving wheel motor a (4411) and the driving wheel motor b (4412) are turned on. Then, the height adjustment motor (2200) is slowly adjusted to press the knife chain unit (4520) 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. S7. If it is necessary to open an arc groove on the ground or wall, first, by autonomously adjusting the motors of the slotting 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 slotting point. The arc groove is opened on the ground or wall by the cooperation of the rotation of the six-axis arm unit (4100) in the XY plane and the drive of the crawler wheel (1300); S8. After the slotting is completed, the identification device on the tail cleaning part (3000) automatically identifies 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), thereby adjusting the height and angle of the bucket platform (3220) at the end, and the bucket rotation motor (3210) adjusts the direction of the bucket (3230), so that after cleaning, the dust and waste can be normally poured out to the designated location.

Images