Intelligent seam beautifying robot

Abstract

The invention relates to an intelligent seam beautifying robot which comprises an intelligent seam beautifying robot mechanical device and an intelligent seam beautifying robot control system for intelligently controlling the intelligent seam beautifying robot mechanical device. The intelligent seam beautifying robot mechanical device comprises a robot body, and a seam cleaning device, a gluing device and a glue shoveling device which are mounted on the robot body. Full-process automatic operation is achieved, and through cooperative work of the ground seam recognition subsystem and the robot driving subsystem, the equipment can automatically recognize the position of a ground seam, accurately adjust the operation path and complete seam cleaning, gluing and glue shoveling tasks.

Description

Technical Field

[0001] The invention relates to an intelligent seam-beautifying robot, belonging to the technical field of building decoration automation. Background Art

[0002] As people's living standards continue to improve, the quality requirements for living environment are also increasing, and house decoration will also receive more attention. Among the many decoration links, tile grouting has received widespread attention as a key step to improve the overall aesthetics and extend the service life of tiles. Traditional grouting work mainly relies on manual operation, however, this method has many disadvantages. On the one hand, manual grouting is inefficient. Since workers need to manually clean the gaps between tiles and fill the grouting agent, it often takes a lot of time to complete the grouting work, which is difficult to meet the current fast-paced decoration needs. On the other hand, manual operation is difficult to ensure the stability of the quality of grouting. The technical levels of different workers vary. Even experienced workers are prone to problems such as uneven filling of grouting agents and incomplete cleaning of gaps after working for a long time due to factors such as fatigue, which affects the overall aesthetics of the decoration.

[0003] From the perspective of industry development, the decoration industry is moving towards standardization and intelligence. In the context of the gradual introduction of automated equipment in other decoration links, the seaming work still relies on manual labor, which has become one of the bottlenecks restricting the overall efficiency improvement of the decoration industry. At the same time, with the continuous increase in labor costs, the high cost of manual seaming has also brought great economic pressure to decoration companies and consumers.

[0004] In view of the above problems, the market is in urgent need of an intelligent device that can replace manual labor and complete the seam beautification work efficiently and stably. Therefore, the present invention proposes an intelligent seam beautification robot, which aims to realize the functions of automatic seam cleaning, automatic gluing, automatic gluing, etc., and promote the development of the decoration industry towards intelligence. Summary of the invention

[0005] In order to overcome the problems existing in the prior art, the present invention provides an intelligent seam beautifying robot which integrates the functions of seam cleaning, gluing and glue scraping, and is suitable for seam beautification after paving of ceramic tiles, stones and the like.

[0006] An intelligent seaming robot, comprising an intelligent seaming robot mechanical device and an intelligent seaming robot control system for intelligently controlling the intelligent seaming robot mechanical device;

[0007] The intelligent seam-beautifying robot mechanical device comprises a robot body, a seam-cleaning device, a glue-spreading device and a glue-scraping device installed on the robot body;

[0008] The robot body includes a base, a driving wheel for supporting the robot and moving in the X-axis direction and the Y-axis direction, and a driving motor for providing power to the driving wheel;

[0009] The seam cleaning device comprises a seam cleaning subsystem platform that can be raised and lowered along the Z-axis direction of the base, a grinding wheel for rotating against the tile gap to remove particles in the gap is provided at the front end of the seam cleaning subsystem platform, and a vacuum cleaner for vacuuming and cleaning the tile gap is provided at the rear end;

[0010] The glue coating device comprises a glue coating subsystem platform that can be raised and lowered along the Z-axis direction of the base, and an automatic glue gun for uniformly filling the caulking agent into the gaps between tiles is provided at the upper end of the glue coating subsystem platform;

[0011] The scraping device comprises a scraping subsystem platform which can be raised and lowered along the Z-axis direction of the base, a scraper for scraping off excess caulking agent is arranged in front of the scraping subsystem platform, and a waste collector for sucking waste into the scraping subsystem platform to realize automatic scraping.

[0012] The intelligent seaming robot control system includes:

[0013] Human-computer interaction subsystem: including touch screen module, voice module, single-chip microcomputer module and power module. The touch screen module has built-in buttons to realize human-computer interaction. The voice module can receive sound signals and convert them into electrical signals. The single-chip microcomputer module is used to receive and process signals and transmit the results to the touch screen module. The power module is used to provide power for the single-chip microcomputer module.

[0014] Specifically, the touch screen module is used to realize human-computer interaction;

[0015] The single chip microcomputer module is used to receive and process signals and transmit the results to the touch screen module;

[0016] The voice module is used to realize the reception and recognition of voice signals and transmit the results to the single chip microcomputer module;

[0017] The power module is used to provide power to the touch screen module, the single chip computer module and the voice module.

[0018] Ground crack identification subsystem: including a visual sensor and a lighting module arranged on the base, the visual sensor and the lighting module are electrically connected to the single-chip computer module, and the visual sensor and the lighting module are used to detect the ground crack position in front of the robot and illuminate the front of the robot respectively;

[0019] Specifically, the visual sensor is electrically connected to the single-chip microcomputer module, and is used to detect the position of the ground crack in front and transmit data to the single-chip microcomputer module;

[0020] The lighting module is used to provide sufficient light to ensure that the visual sensor can work normally under different light conditions.

[0021] The robot driving subsystem includes a driving motor, a driving wheel and an encoder. The driving motor is connected to the driving wheel to drive the robot to move. The encoder is installed on the driving motor to monitor the rotation speed and position of the driving wheel in real time and feed the data back to the single-chip microcomputer module. The driving motor is electrically connected to the single-chip microcomputer module to control the movement direction and speed of the robot according to the ground crack position information fed back by the ground crack identification subsystem to ensure that the robot can move accurately along the ground crack.

[0022] Specifically, the robot driving subsystem further includes a motor driving board, which is electrically connected to the driving motor and the single-chip microcomputer module and is used to output a driving signal of the driving motor;

[0023] The encoder is installed on the driving motor and is electrically connected to the single-chip microcomputer module, and is used to detect the rotation speed of the driving motor and transmit data to the single-chip microcomputer module.

[0024] The automatic glue gun comprises a screw drive motor, the output shaft of the screw drive motor is fixedly connected to the screw, a screw slider is provided at the upper end of the screw, an extrusion device is provided below the screw slider, the screw slider and the extrusion device are slidably matched with the screw through a guide rail, and the extrusion device applies pressure to the seam beautifying agent to realize automatic gluing and seam beautifying agent flow control;

[0025] A guide rail cover with built-in seam beautifying agent is arranged on the outer side of the extrusion device.

[0026] The seam cleaning device also includes a seam cleaning system mounting frame installed above the base and used to support the seam cleaning device, the seam cleaning system mounting frame includes a seam cleaning subsystem Z-axis profile, the seam cleaning subsystem platform is slidably matched with the seam cleaning subsystem Z-axis profile through the seam cleaning subsystem Z-axis guide rail, the seam cleaning subsystem Z-axis motor is provided at the upper end of the seam cleaning subsystem Z-axis profile, the output shaft of the seam cleaning subsystem Z-axis motor is provided with a seam cleaning subsystem Z-axis driving wheel, the front end of the seam cleaning subsystem Z-axis profile is provided with a seam cleaning subsystem Z-axis rack, the seam cleaning subsystem Z-axis driving wheel is meshed with the seam cleaning subsystem Z-axis rack, and the seam cleaning subsystem Z-axis rack is fixedly connected to the seam cleaning subsystem platform.

[0027] The gluing device also includes a gluing system mounting frame installed above the base and used to support the gluing device, the gluing system mounting frame includes a gluing subsystem Z-axis profile, the gluing subsystem platform slides with the gluing subsystem Z-axis profile through the gluing subsystem Z-axis guide rail, a gluing subsystem Z-axis motor is provided at the upper end of the gluing subsystem Z-axis profile, a gluing subsystem Z-axis driving wheel is provided at the output shaft of the gluing subsystem Z-axis motor, a gluing subsystem Z-axis rack is provided at the left end of the gluing subsystem Z-axis profile, the gluing subsystem Z-axis driving wheel is meshed with the gluing subsystem Z-axis rack, and the gluing subsystem Z-axis rack is fixedly connected to the gluing subsystem platform.

[0028] The scraping device also includes a scraping system mounting frame installed above the base and used to support the scraping device, the scraping system mounting frame includes a scraping subsystem Z-axis profile, the scraping subsystem platform is slidably matched with the scraping subsystem Z-axis profile through the scraping subsystem Z-axis guide rail, the scraping subsystem Z-axis motor is provided at the upper end of the scraping subsystem Z-axis profile, the output shaft of the scraping subsystem Z-axis motor is provided with a scraping subsystem Z-axis driving wheel, the front end of the scraping subsystem Z-axis profile is provided with a scraping subsystem Z-axis rack, the scraping subsystem Z-axis driving wheel is meshed with the scraping subsystem Z-axis rack, and the scraping subsystem Z-axis rack is fixedly connected to the scraping subsystem platform.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. Full process automation: The present invention realizes full process automation. Through the coordinated work of the ground seam identification subsystem and the robot drive subsystem, the equipment can automatically identify the ground seam location, accurately adjust the operation path, and complete the seam cleaning, gluing and scraping tasks. This fully automated design significantly improves the operation efficiency, ensures the stability and consistency of the seam quality, and avoids errors and fatigue problems in manual operation.

[0031] 2. Multifunctional integration: Existing equipment on the market often only completes a single step in the seam beautification operation, while the present invention perfectly integrates the three functions of seam cleaning, gluing and scraping glue into one, realizing the integration of seam beautification operation. This design not only significantly improves the operation efficiency, but also ensures the stability of seam beautification quality. Users can complete the entire seam beautification operation process without changing equipment or tools, which greatly saves time and labor costs.

[0032] 3. Good human-computer interaction: The present invention adopts an advanced human-computer interaction subsystem, which integrates a touch screen module and a voice module. Users can easily operate the equipment through the touch screen or voice commands. At the same time, the system displays the operation status and parameters in real time, and users can intuitively grasp the operation of the equipment. This intelligent design improves the ease of use of the equipment, builds a good human-computer interaction relationship, and enables users to complete the seaming operation efficiently and conveniently.

[0033] 4. Modular design: The present invention adopts modular design, and each functional module (such as seam cleaning subsystem, glue coating subsystem, and glue scraping subsystem) can be independently disassembled and replaced. Modular design provides users with more functional expansion possibilities, allowing the equipment to be flexibly configured and upgraded according to actual needs. In addition, modular design makes equipment maintenance easier, and users can quickly replace worn parts, reduce downtime, and improve the service life and operating efficiency of the equipment.

[0034] 5. Reliable structural design: Each functional module of the present invention adopts a high reliability design, and key components such as grinding wheels, scrapers, glue guns, etc. are made of durable materials to ensure that the equipment can still maintain efficient operation during long-term use. The reliable structural design improves the stability of the equipment and ensures the efficient progress of the seam beautification operation.

[0035] Compared with the traditional manual seaming method, the intelligent seaming robot involved in the present invention has significant advantages such as full process automation, multi-functional integration, good human-machine interaction, modular design, and reliable structural design. The device can not only greatly improve the efficiency and quality of seaming operations, but also reduce the difficulty of operation and maintenance costs, meet the needs of the modern decoration industry for efficient, intelligent, and environmentally friendly equipment, and promote the development of the building decoration industry towards intelligence and automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 The present invention is a structural schematic diagram of an intelligent seam-beautifying robot.

[0038] Figure 2 The figure is a schematic diagram of the top view of the structure of an intelligent seaming robot according to the present invention.

[0039] Figure 3 The figure is a schematic diagram of the side structure of an intelligent seaming robot according to the present invention.

[0040] Figure 4 The figure is a front structural schematic diagram of an intelligent seaming robot according to the present invention.

[0041] Figure 5 The figure is a schematic structural diagram of a gluing subsystem of an intelligent seam-beautifying robot according to the present invention.

[0042] Figure 6 The present invention is a block diagram of the structural principles of a human-machine interaction subsystem in an intelligent seaming robot.

[0043] Figure 7 The present invention provides a block diagram of the structural principles of a ground crack identification subsystem in an intelligent seam-beautifying robot.

[0044] Figure 8 The present invention is a block diagram of the structural principles of a robot driving subsystem in an intelligent seaming robot.

[0045] In the figure: 1-base; 2-drive motor; 3-drive wheel; 4-gluing subsystem Z-axis profile; 5-gluing subsystem Z-axis guide rail; 6-gluing subsystem Z-axis rack; 7-gluing subsystem Z-axis motor; 8-gluing subsystem Z-axis driving wheel; 9-grinding wheel; 10-scraper; 11-scraping subsystem platform; 12-screw drive motor; 13-screw; 14-gluing subsystem platform; 15-seam cleaning subsystem platform; 16- Screw slider; 17-extrusion device; 18-guide rail cover; 19-Z-axis motor of the gap cleaning subsystem; 20-Z-axis rack of the gap cleaning subsystem; 21-Z-axis profile of the gap cleaning subsystem; 22-Z-axis guide rail of the gap cleaning subsystem; 23-Z-axis rack of the glue scraping subsystem; 24-Z-axis motor of the glue scraping subsystem; 25-Z-axis profile of the glue scraping subsystem; 26-Z-axis guide rail of the glue scraping subsystem; 27-vacuum cleaner; 28-guide rail; 29-waste collector. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Reference Figure 1-4 , an intelligent seaming robot, comprising an intelligent seaming robot mechanical device and an intelligent seaming robot control system for intelligently controlling the intelligent seaming robot mechanical device;

[0048] The intelligent seam-beautifying robot mechanical device comprises a robot body, a seam-cleaning device, a glue-spreading device and a glue-scraping device installed on the robot body;

[0049] The robot body includes a base, driving wheels for supporting the robot and moving in the X-axis direction and the Y-axis direction, and driving motors for providing power to the driving wheels; driving motors are provided at the four corners of the base, and the driving motors are connected to the driving wheels;

[0050] The seam cleaning device includes a seam cleaning subsystem Z-axis guide rail 22 disposed above the base 1, a seam cleaning subsystem platform 15 is disposed on the seam cleaning subsystem Z-axis guide rail 22, a rotatable grinding wheel 9 is disposed at the front end of the seam cleaning subsystem platform 15, and a vacuum cleaner 27 is disposed at the rear end of the seam cleaning subsystem platform 15. Therefore, the grinding wheel 9 can be rotated close to the gap to remove particles in the seam, and the vacuum cleaner 27 can be used to vacuum and clean the brick seam;

[0051] The gluing device comprises a gluing subsystem Z-axis guide rail 5 arranged above the base 1, a gluing subsystem platform 14 is arranged on the gluing subsystem Z-axis guide rail 5, a screw drive motor 12 is arranged at the upper end of the gluing subsystem platform 14, a screw 13 is arranged inside the gluing subsystem platform 14, the screw 13 is connected to a screw slider 16, and an extrusion device 17 is arranged below the screw slider 16. Therefore, the screw drive motor 12 can drive the screw 13 and the screw slider 16 to drive the extrusion device 17 to move up and down along the guide rail 28. The extrusion device 17 applies pressure to the seam beautifying agent installed below the guide rail cover 18 to realize automatic gluing and seam beautifying agent flow control;

[0052] The scraping device includes a scraping subsystem Z-axis track 26 disposed above the base 1, a scraping subsystem platform 11 is disposed on the scraping subsystem Z-axis track 26, a scraping blade 10 is disposed in front of the scraping subsystem platform 11, and a waste collector 29 is disposed inside the scraping subsystem platform 11. The scraping blade 10 is driven by the movement of the entire machine to scrape off excess caulking agent, and the waste collector 29 sucks the waste into it, thereby realizing automatic scraping.

[0053] The intelligent seaming robot control system includes:

[0054] Human-computer interaction subsystem: including touch screen module, voice module, single-chip microcomputer module and power module. The touch screen module has built-in buttons to realize human-computer interaction. The voice module can receive sound signals and convert them into electrical signals. The single-chip microcomputer module is used to receive and process signals and transmit the results to the touch screen module. The power module is used to provide power for the single-chip microcomputer module.

[0055] Specifically, the touch screen module is used to realize human-computer interaction;

[0056] The single chip microcomputer module is used to receive and process signals and transmit the results to the touch screen module;

[0057] The voice module is used to realize the reception and recognition of voice signals and transmit the results to the single chip microcomputer module;

[0058] The power module is used to provide power to the touch screen module, the single chip computer module and the voice module.

[0059] Ground crack identification subsystem: including a visual sensor and a lighting module arranged on the base, the visual sensor and the lighting module are electrically connected to the single-chip computer module, and the visual sensor and the lighting module are used to detect the ground crack position in front of the robot and illuminate the front of the robot respectively;

[0060] Specifically, the visual sensor is electrically connected to the single-chip microcomputer module, and is used to detect the position of the ground crack in front and transmit data to the single-chip microcomputer module;

[0061] The lighting module is used to provide sufficient light to ensure that the visual sensor can work normally under different light conditions.

[0062] The robot driving subsystem includes a driving motor, a driving wheel and an encoder. The driving motor is connected to the driving wheel to drive the robot to move. The encoder is installed on the driving motor to monitor the rotation speed and position of the driving wheel in real time and feed the data back to the single-chip microcomputer module. The driving motor is electrically connected to the single-chip microcomputer module to control the movement direction and speed of the robot according to the ground crack position information fed back by the ground crack identification subsystem to ensure that the robot can move accurately along the ground crack.

[0063] Specifically, the robot driving subsystem further includes a motor driving board, which is electrically connected to the driving motor and the single-chip microcomputer module and is used to output a driving signal of the driving motor;

[0064] The encoder is installed on the driving motor and is electrically connected to the single-chip microcomputer module, and is used to detect the rotation speed of the driving motor and transmit data to the single-chip microcomputer module.

[0065] The output shaft of the screw drive motor 12 is fixedly connected to the screw 13, a screw slider 16 is provided at the upper end of the screw 13, and an extrusion device 17 is provided below the screw slider 16. The screw slider 16 and the extrusion device 17 are slidably matched with the screw 13 through a guide rail, and the extrusion device 17 applies pressure to the seam beautifying agent to realize automatic gluing and seam beautifying agent flow control;

[0066] A guide rail cover 18 with a built-in seam beautifying agent is disposed outside the extrusion device 17 .

[0067] In this embodiment, in order to realize the lifting and lowering action of the seam cleaning subsystem platform 15 along the Z-axis direction, a seam cleaning subsystem Z-axis profile 21 is provided above the base 1, and a seam cleaning subsystem Z-axis motor 19 is provided on the seam cleaning subsystem Z-axis profile 21, and the seam cleaning subsystem Z-axis motor 19 is engaged with the seam cleaning subsystem rack 20, and the seam cleaning subsystem rack 20 is connected to the seam cleaning subsystem platform 15. The seam cleaning subsystem platform 15 can move along the Z-axis of the base 1 driven by the seam cleaning subsystem Z-axis motor 19 and the seam cleaning subsystem rack 20, thereby realizing the lifting and lowering action of the seam cleaning subsystem platform 14 when working.

[0068] In this embodiment, in order to realize the lifting action of the gluing subsystem platform 14 along the Z-axis direction, a gluing subsystem Z-axis profile 4 is provided above the base 1, and a gluing subsystem Z-axis motor 7 is provided on the gluing subsystem Z-axis profile 4, and the gluing subsystem Z-axis motor 7 is engaged with the gluing subsystem rack 6, and the gluing subsystem rack 6 is connected to the gluing subsystem platform 14. The gluing subsystem platform 14 can move along the Z-axis of the base 1 driven by the gluing subsystem Z-axis motor 7 and the gluing subsystem rack 6, thereby realizing the lifting action of the gluing subsystem platform 14 when working.

[0069] In this embodiment, in order to realize the lifting and lowering action of the scraping subsystem platform 11 along the Z-axis direction, a scraping subsystem Z-axis profile 25 is provided above the base 1, and a scraping subsystem Z-axis motor 24 is provided on the scraping subsystem Z-axis profile 25. The scraping subsystem Z-axis motor 24 is meshed with the scraping subsystem rack 23, and the scraping subsystem rack 23 is connected to the scraping subsystem platform 11. The scraping subsystem platform 11 can move along the Z-axis of the base 1 driven by the scraping subsystem Z-axis motor 24 and the scraping subsystem rack 23, thereby realizing the lifting and lowering action of the scraping subsystem platform 11 when working.

[0070] The specific method of use of the present invention is as follows:

[0071] Step 1: Prepare the robot base and mounting bracket

[0072] First, prepare the robot base 1 and the upper mounting frame. The base 1 is the main part of the entire intelligent seam robot, including the base 1, the drive motor 2 and the drive wheel 3. The upper mounting frame is used to install the seam cleaning subsystem, the gluing subsystem and the gluing scraping subsystem.

[0073] Step 2: Install the seam cleaning subsystem

[0074] The Z-axis guide rail 22 of the seam cleaning subsystem is installed above the base 1, and the seam cleaning subsystem platform 15 is installed on the guide rail 22. A rotatable grinding wheel 9 is installed at the front end of the seam cleaning subsystem platform 15, and a vacuum cleaner 27 is installed at the rear end. Through the cooperation of the Z-axis motor 19 of the seam cleaning subsystem and the Z-axis rack 20 of the seam cleaning subsystem, the seam cleaning subsystem platform 15 can be lifted and moved along the Z axis, and at the same time, the grinding wheel 9 can be rotated to take out particles in the seam, and the vacuum cleaner 27 can work normally, so as to realize the gap cleaning function.

[0075] Step 3: Install the glue subsystem

[0076] The glue coating subsystem platform 14 is installed above the base 1, the screw rod 13 and the screw rod slider 16 are installed inside the platform, and the extrusion device 17 is connected below the slider 16. The extrusion device 17 applies pressure to the caulking agent in the guide rail cover 18 through the control of the screw rod drive motor 12, so as to achieve uniform glue coating and precise control of the flow rate of the caulking agent, and ensure that the caulking agent is filled fully and evenly.

[0077] Step 4: Install the scraper subsystem

[0078] The Z-axis guide rail 26 of the scraping subsystem is installed above the base 1, and the scraping subsystem platform 11 is installed on the guide rail 26. A scraper 10 is installed at the front end of the scraping subsystem platform 11, and a waste collector 29 is installed inside. Through the cooperation of the Z-axis motor 24 and the rack 23 of the scraping subsystem, the scraping subsystem platform 11 can move up and down along the Z axis to realize the automatic scraping function.

[0079] Step 5: Install the human-computer interaction subsystem and the ground crack identification subsystem

[0080] Install the touch screen module, voice module, single-chip microcomputer module and power module to establish the human-computer interaction subsystem. The touch screen module is used to realize the interaction between the user and the system, and the single-chip microcomputer module is responsible for receiving and processing signals and transmitting the results to the touch screen module. Install the visual sensor and lighting module, which are electrically connected to the single-chip microcomputer module to detect the position of the ground crack in front of the robot and illuminate the front of the robot.

[0081] Step 6: Install the robot drive subsystem

[0082] The drive motor 2 is connected to the drive wheel 3, and an encoder is installed on the drive motor 2. The encoder is used to monitor the speed and position of the drive wheel 3 in real time and feed the data back to the single-chip microcomputer module. According to the feedback information of the ground crack identification subsystem, the single-chip microcomputer module controls the moving direction and speed of the drive motor 2 to ensure that the robot can move accurately along the ground crack.

[0083] Step 7: System Operation and Monitoring

[0084] Start the system and operate it through the touch screen module or voice commands. You can set the working parameters for cleaning, gluing and scraping, and monitor the robot's operating status in real time. The system will also automatically adjust the moving path based on the feedback from the ground seam identification subsystem to ensure operation accuracy.

[0085] Step 8: Maintenance and Cleaning

[0086] Regular maintenance and cleaning of the system is key to keeping it running smoothly. Clean the waste in the waste collector 29, check the wear of the grinding wheel 9, the scraper 10 and the extrusion device 17, and replace them in time. At the same time, regularly check the working status of the drive motor 2 and the encoder to ensure the accuracy of the robot's movement.

[0087] Step 9: Monitoring and Recording

[0088] The ground crack identification subsystem in the system monitors the ground crack position and operation status in real time, and records the data in the single-chip microcomputer module. At the same time, using the touch screen module or voice module of the human-computer interaction subsystem, users can view historical operation data, analyze and optimize them, and further improve operation efficiency and quality. In addition, the system can generate operation reports for users to archive and refer to later.

[0089] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments are made without departing from the principles and spirit of the present invention, and still fall within the scope of protection of the present invention.

Claims

1. An intelligent seaming robot, characterized in that: It includes an intelligent seaming robot mechanical device and an intelligent seaming robot control system for intelligently controlling the intelligent seaming robot mechanical device; The intelligent seam-beautifying robot mechanical device comprises a robot body, a seam-cleaning device, a glue-spreading device and a glue-scraping device installed on the robot body; The robot body includes a base, a driving wheel for supporting the robot and moving in the X-axis direction and the Y-axis direction, and a driving motor for providing power to the driving wheel; The seam cleaning device comprises a seam cleaning subsystem platform that can be raised and lowered along the Z-axis direction of the base, a grinding wheel for rotating against the tile gap to remove particles in the gap is provided at the front end of the seam cleaning subsystem platform, and a vacuum cleaner for vacuuming and cleaning the tile gap is provided at the rear end; The glue coating device comprises a glue coating subsystem platform that can be raised and lowered along the Z-axis direction of the base, and an automatic glue gun for uniformly filling the caulking agent into the gaps between tiles is provided at the upper end of the glue coating subsystem platform; The scraping device comprises a scraping subsystem platform which can be raised and lowered along the Z-axis direction of the base, a scraper for scraping off excess caulking agent is arranged in front of the scraping subsystem platform, and a waste collector for sucking waste into the scraping subsystem platform to realize automatic scraping.

2. The intelligent seaming robot according to claim 1, characterized in that: The intelligent seaming robot control system includes: Human-computer interaction subsystem: including a touch screen module, a voice module, a single-chip microcomputer module and a power module. The touch screen module is equipped with buttons to realize human-computer interaction. The voice module can receive sound signals and convert them into electrical signals. The single-chip microcomputer module is used to receive and process signals and transmit the results to the touch screen module. The power module is used to provide power for the touch screen module, the single-chip microcomputer module and the voice module. Ground crack identification subsystem: including a visual sensor and a lighting module arranged on the base, the visual sensor and the lighting module are electrically connected to the single-chip computer module, and the visual sensor and the lighting module are used to detect the ground crack position in front of the robot and illuminate the front of the robot respectively; The robot driving subsystem includes a driving motor, a driving wheel and an encoder. The driving motor is connected to the driving wheel to drive the robot to move. The encoder is installed on the driving motor to monitor the rotation speed and position of the driving wheel in real time and feed the data back to the single-chip microcomputer module. The driving motor is electrically connected to the single-chip microcomputer module to control the movement direction and speed of the robot according to the ground crack position information fed back by the ground crack identification subsystem to ensure that the robot can move accurately along the ground crack.

3. An intelligent seam-beautifying robot according to claim 1 or 2, characterized in that: The automatic glue gun comprises a screw drive motor, the output shaft of the screw drive motor is fixedly connected to the screw, a screw slider is provided at the upper end of the screw, an extrusion device is provided below the screw slider, the screw slider and the extrusion device are slidably matched with the screw through a guide rail, and the extrusion device applies pressure to the seam beautifying agent to realize automatic gluing and seam beautifying agent flow control; A guide rail cover with built-in seam beautifying agent is arranged on the outer side of the extrusion device.

4. The intelligent seaming robot according to claim 1, characterized in that: The seam cleaning device also includes a seam cleaning system mounting frame installed above the base and used to support the seam cleaning device, the seam cleaning system mounting frame includes a seam cleaning subsystem Z-axis profile, the seam cleaning subsystem platform is slidably matched with the seam cleaning subsystem Z-axis profile through the seam cleaning subsystem Z-axis guide rail, the seam cleaning subsystem Z-axis motor is provided at the upper end of the seam cleaning subsystem Z-axis profile, the output shaft of the seam cleaning subsystem Z-axis motor is provided with a seam cleaning subsystem Z-axis driving wheel, the front end of the seam cleaning subsystem Z-axis profile is provided with a seam cleaning subsystem Z-axis rack, the seam cleaning subsystem Z-axis driving wheel is meshed with the seam cleaning subsystem Z-axis rack, and the seam cleaning subsystem Z-axis rack is fixedly connected to the seam cleaning subsystem platform.

5. The intelligent seaming robot according to claim 1, characterized in that: The gluing device also includes a gluing system mounting frame installed above the base and used to support the gluing device, the gluing system mounting frame includes a gluing subsystem Z-axis profile, the gluing subsystem platform slides with the gluing subsystem Z-axis profile through the gluing subsystem Z-axis guide rail, a gluing subsystem Z-axis motor is provided at the upper end of the gluing subsystem Z-axis profile, a gluing subsystem Z-axis driving wheel is provided at the output shaft of the gluing subsystem Z-axis motor, a gluing subsystem Z-axis rack is provided at the left end of the gluing subsystem Z-axis profile, the gluing subsystem Z-axis driving wheel is meshed with the gluing subsystem Z-axis rack, and the gluing subsystem Z-axis rack is fixedly connected to the gluing subsystem platform.

6. The intelligent seaming robot according to claim 1, characterized in that: The scraping device also includes a scraping system mounting frame installed above the base and used to support the scraping device, the scraping system mounting frame includes a scraping subsystem Z-axis profile, the scraping subsystem platform is slidably matched with the scraping subsystem Z-axis profile through the scraping subsystem Z-axis guide rail, the scraping subsystem Z-axis motor is provided at the upper end of the scraping subsystem Z-axis profile, the output shaft of the scraping subsystem Z-axis motor is provided with a scraping subsystem Z-axis driving wheel, the front end of the scraping subsystem Z-axis profile is provided with a scraping subsystem Z-axis rack, the scraping subsystem Z-axis driving wheel is meshed with the scraping subsystem Z-axis rack, and the scraping subsystem Z-axis rack is fixedly connected to the scraping subsystem platform.

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