Full-automatic integrated seam beautifying robot

Abstract

The invention discloses a seam beautifying robot, relates to the technical field of household building material machinery, and aims to solve the problems of low efficiency, non-uniform quality and the like in the current manual seam beautifying work. Through the design of integrating multiple functions of seam cleaning, dust collection, waxing, gluing, seam pressing and the like, the robot can achieve automatic seam beautifying, the working efficiency is remarkably improved, and the seam beautifying quality is ensured. And the vehicle-mounted seam beautifying machine module realizes multidirectional simultaneous operation through four mechanical arms with flexible heights. In addition, the product also has a plurality of innovative designs, such as four-side track design, rotary glue changing design, five-degree-of-freedom arm design and screw rod design adopted in the glue extruding process, so that the requirements under different construction conditions are met. The robot adopts a modular design and comprises two modules, namely a tracking driving chassis and a vehicle-mounted seam beautifying machine. According to the tracking driving chassis, an advanced motor driving system and a Mecanum wheel technology are utilized, and free movement and accurate control of the robot in any direction are ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of home building material machinery, and in particular relates to a fully automatic integrated seaming robot. Background Art

[0002] Beautification is the process of filling and beautifying the gaps between tiles, stones and other paving materials with specific materials to enhance the visual effect and hygienic performance of the space. Beautification covers a wide range of areas, including brick joints, stone joints, aluminum joints, wood joints, etc. It not only beautifies the space but also is hygienic and environmentally friendly. It can also prevent moisture and dirt from penetrating into the brick joints, thereby extending the service life of the tiles. The market size of beautification continues to expand and is expected to maintain a sustained growth trend in the next few years.

[0003] Beautifying the seams is divided into several steps: cleaning the seams, vacuuming, waxing, gluing, and pressing the seams. The main tools used in manual construction are: electric or manual glue guns, utility knives, pressing tools, vacuum cleaners, beautifying paper, and seam cleaning tools. The beautifying work procedures are cumbersome, the workload is large, the cost is high, and the quality is difficult to unify. Manual filling of beautifying agents is often not uniform, and the technical levels of different workers are uneven, resulting in large differences in the final beautifying effects. In addition, beautifying work requires workers to maintain a bent, squatting or kneeling posture for a long time, which poses a great challenge to the workers' physical health and is prone to occupational diseases.

[0004] The intelligent grouting robot disclosed in Chinese patent CN109057273 cannot adapt to complex working conditions such as corners due to the position limitation of its glue gun. Wang Yang, Li Chuang, Huang Qunfeng. Design of intelligent tile grouting robot [J]. Digital Technology and Application, 2020, 38(7): 3-4. DOI: 10.19695 / j.cnki.cn12-1369.2020.07.02. The visual system of the intelligent tile grouting robot is easily affected by light changes or construction dust, resulting in reduced recognition ability. In addition, the existing grouting automation equipment has a single function and still requires manual assistance, and the mechanical structure design is also insufficient. Summary of the invention

[0005] In order to overcome the technical shortcomings of the above-mentioned existing automated seaming equipment, such as being difficult to apply to various complex and fine structures, having low working accuracy and low automation level, the purpose of the present invention is to provide a seaming robot to realize automated seaming and improve seaming work efficiency.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: The present invention provides a fully automatic integrated seam beautifying robot, comprising a body, a seam cleaning mechanism, a waxing mechanism, a gluing mechanism, a seam pressing mechanism, a walking device and a driving device, wherein the seam cleaning mechanism, the waxing mechanism, the gluing mechanism and the seam pressing mechanism are respectively connected to the body through four 5DOF mechanical arms; the upper end of the 5DOF mechanical arm is a mechanical arm connecting end, the mechanical arm connecting end is threadedly matched with a mechanical arm lead screw through a threaded through hole, and the mechanical arm lead screw is installed on the outside of the side wall of the body; the walking device comprises two pairs of Mecanum omnidirectional wheels arranged on a bottom chassis of the body, and the Mecanum omnidirectional wheels are driven by a Mecanum omnidirectional wheel motor; the driving device controls the movement and start and stop of the seam cleaning mechanism, the waxing mechanism, the gluing mechanism, the seam pressing mechanism and the walking device.

[0007] Specifically, the gluing mechanism includes a seam glue nozzle, which has a nozzle and a seam glue inlet, which is installed on a seam glue nozzle holder, the seam glue nozzle holder is connected to the motor at the end of the third 5DOF robot arm, and the seam glue inlet is connected to the glue changing mechanism through a pipeline.

[0008] To be more specific, the glue changing mechanism includes a glue bin module; a loading platform support parallel to the chassis is provided in the middle of the fuselage, the glue changing module includes a caulking glue bin bracket base fixed on the loading platform support, a caulking glue bin bracket is installed above the caulking glue bin bracket base, the caulking glue bin bracket has a triangular fork at the upper end, each fork is connected to a caulking glue bin, a set of caulking agent is placed in each caulking glue bin, a converter is installed at the bottom of the caulking agent, the caulking glue bin bracket is connected to a stepper motor, the stepper motor drives the caulking glue bin to rotate, and the caulking agent glue outlet is connected to the caulking glue inlet through a pipe.

[0009] To be more specific, the glue changing mechanism includes a glue extrusion module, the glue extrusion module includes a glue changing cover arranged on the upper surface of the fuselage, the glue changing cover has a cavity connected to the interior of the fuselage, a semicircular partition is arranged in the cavity, and a glue extrusion screw motor is arranged on the partition, the glue extrusion screw motor is connected to the lower end of the glue extrusion screw, and drives the glue extrusion screw to rotate; the upper end of the glue extrusion screw is connected to a T-shaped glue extrusion rod bracket, and the lower ends of the cross bar of the T-shaped glue extrusion rod bracket are connected to the glue extrusion plug through the glue extrusion rod, and when the glue extrusion screw rotates, the T-shaped glue extrusion rod bracket moves up and down, driving the glue extrusion rod and the glue extrusion plug to move up and down.

[0010] To be more specific, the rubber changing mechanism includes a rotating rubber changing module, and the rubber changing module is arranged on a stage support in the middle part of the fuselage and parallel to the chassis, a small cam motor is fixed on the stage support, the small cam motor is connected to the small cam, the semi-spherical end of the small cam slider is embedded in the groove on the small cam, the cube end of the small cam slider is embedded in the small cam slider track, the cube end of the small cam slider is connected to the lower end of the interface bracket, the upper end of the interface bracket is connected to the interface, the interface is provided with a wedge-shaped spring assembly, and when the small cam slider is at the highest point, the spring assembly is clamped in the hollow slot on the side wall of the converter.

[0011] To be more specific, a large cam is laterally arranged on the stage support, and both ends of the large cam are inserted on two large cam fixing bases, and the large cam is connected to a large cam motor; two symmetrical large cam sliders are arranged on the same side in the groove on the large cam, and the hemispherical ends of the large cam sliders are embedded in the large cam grooves, and the cubic ends of the large cam sliders are slidably matched with the large cam slider track; the large cam slider track is aligned with the hollow slot of the converter.

[0012] Specifically, the seam cleaning mechanism includes a seam cleaning grinding wheel frame, which has three arms symmetrically distributed in the center of the plane, wherein the end of one arm is connected to the motor at the end of the first 5DOF mechanical arm, and the ends of the other two arms are connected to the seam cleaning grinding wheels. A seam cleaning grinding wheel motor is fixed at the center of the seam cleaning grinding wheel frame, and the seam cleaning grinding wheel motor drives the seam cleaning grinding wheel to rotate; A vacuum cleaner is arranged in the inner cavity of the fuselage, and the vacuum cleaner is fixed on the loading platform on the upper surface of the chassis. The vacuum cleaner is communicated with a vacuum cleaner port arranged on the side wall of the fuselage through a dust suction pipe.

[0013] Specifically, the waxing mechanism includes a sponge holder, the sponge holder has a connecting rod, the upper end of the connecting rod is connected to the motor at the end of the second 5DOF mechanical arm, and the lower end of the connecting rod is fixed with a waxing sponge.

[0014] Specifically, the seam pressing mechanism includes a seam pressing tool holder, which has a tool holder connecting rod, one end of which is connected to the motor at the end of the fourth 5DOF robotic arm, and a seam pressing shaft motor is installed inside the other end of the tool holder connecting rod, which is connected to the seam pressing knife shaft, and the two ends of the seam pressing knife shaft are respectively connected to the flat seam pressing knife and the inner corner seam pressing blade.

[0015] Specifically, the fuselage has a body shell, the top of the body shell is a machine cover, at least two cameras are symmetrically arranged on the top of the machine cover, and a laser ranging probe is arranged on the fuselage.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a high-automation level of seam beautification equipment, which can effectively avoid the defects of traditional seam beautification technology being limited by the level of manual operation and uneven seam beautification effects, significantly improve work efficiency and ensure seam beautification quality, reasonably deal with different working conditions, and realize intelligent and automatic operation. Through integrated design, the present invention automates all traditional seam beautification processes such as seam cleaning, vacuuming, waxing, gluing and seam pressing, solving the problems of low efficiency and unstable quality caused by manual operation in traditional construction. The present invention adopts a five-degree-of-freedom mechanical arm, which can accurately locate and control the injection amount of the seam beautification agent to ensure the uniformity and consistency of the seam beautification. The robot of the present invention has four mechanical arm motion modules. Through the reasonable layout of various functional components, the fully automatic integrated seam beautification robot can complete multiple processes in one movement, thereby greatly improving work efficiency, saving time, and reducing the energy consumption caused by repeated movement, thereby improving the economy and practicality of the overall operation. At the same time, the five-degree-of-freedom mechanical arm motion module design improves flexibility, so that the terminal functional module can be accurately positioned to the working position; enhances the adaptability of the product, and ensures efficient operation under different construction conditions. The control device controls the movement of the Mecanum wheel, ensuring the free movement and precise control of the robot in any direction. The automated operation of the present invention reduces manual intervention, reduces labor intensity, avoids occupational diseases caused by long-term bending or squatting in traditional seaming work, effectively liberates productivity, and realizes intelligence and automation.

[0017] Furthermore, the present invention is equipped with a rotary glue changing module, which can install three sets of caulking agents at the same time, reducing human intervention; reducing the overall volume of the equipment, allowing it to operate in a more compact space, and can flexibly adapt to gaps of different angles and positions. The intelligent control system can automatically adjust the glue output speed according to the gap width, further improving construction efficiency and reducing human errors, effectively reducing the failure rate caused by jamming.

[0018] Furthermore, the present invention adopts a screw mechanism in the glue extrusion process, which not only provides a more stable glue extrusion force and avoids the problem of poor gear meshing caused by not cleaning for a long time, but also extends the service life of the equipment and reduces the cost of daily maintenance.

[0019] Furthermore, the seam cleaning mechanism, waxing mechanism and seam pressing mechanism adopted by the present invention can replace manual operations, thereby further improving the integration of the entire process of the seam beautification process.

[0020] Furthermore, the present invention is equipped with laser ranging technology, and the intelligent caulking robot based on vision guidance monitors the construction process in real time through an image acquisition module to avoid manual operation errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1It is a structural schematic diagram of a fully automatic integrated seaming robot according to an embodiment of the present application.

[0022] Figure 2 It is a structural schematic diagram of the seam cleaning mechanism of the present application.

[0023] Figure 3 It is a structural schematic diagram of the waxing mechanism of the present application.

[0024] Figure 4 It is a structural schematic diagram of the glue application mechanism of the present application.

[0025] Figure 5 It is a structural schematic diagram of the seam pressing mechanism of the present application.

[0026] Figure 6 It is a top view of the mechanical structure of a fully automatic integrated seaming robot of the present application.

[0027] Figure 7 It is the front view of the glue changing mechanism of this application.

[0028] Figure 8 It is a cross-sectional view of the mechanical structure of a fully automatic integrated seaming robot of the present application.

[0029] Fig. 9 It is a top view of the mechanical structure of the chassis of a fully automatic integrated seaming robot of the present application.

[0030] In the figure: 1. Machine cover; 2. Camera; 3. Robot arm lead screw; 4. Robot arm bracket; 5. Portable cover; 6. Glue replacement cover; 7. Seam cleaning wheel frame; 8. Seam cleaning wheel motor; 9. Pulley; 10. Belt; 11. Seam cleaning wheel; 12. Sponge holder; 13. Waxing sponge; 14. Wax box; 15. Slide buckle; 16. Mecanum omnidirectional wheel; 17. Machine shell; 18. Motor shell at the end of the robot arm; 19. Seam glue nozzle holder; 20. Seam glue nozzle; 21. Robot arm telescopic arm; 22. Internal corner seam blade; 23. Seam knife shaft; 24. Flat seam blade; 25. Seam knife frame; 26. Motor shell at the upper end of the robot arm; 27. Robot arm upper arm; 28. Robot arm connecting end; 29. ​​Machine side cover; 30. Vacuum cleaner port; 31. Loading table; 32. The loading platform support; 33, Mecanum omnidirectional wheel motor housing; 34, vacuum cleaner; 35, large cam motor; 36, large cam fixed base; 37, large cam; 38, interface; 39, T-shaped glue extrusion rod bracket; 40, mechanical arm screw motor; 41, large cam slider; 42, large cam slider track; 43, glue extrusion plug; 44, seam glue bin bracket; 45, small cam slider; 46, seam glue bin bracket base; 47, seam agent; 48, seam glue bin; 49, small cam motor; 50, small cam; 51, interface bracket; 52, converter; 53, glue extrusion screw motor; 54, glue extrusion rod; 55, glue extrusion screw; 56, Mecanum omnidirectional wheel large spur gear; 57, Mecanum omnidirectional wheel small spur gear; 58, Mecanum omnidirectional wheel motor; 59, small cam slider track. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0032] It should be noted that in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] The present invention is further described in detail below in conjunction with the accompanying drawings: Example See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Fig. 9 The fully automatic integrated seam beautifying robot of the present invention comprises a seam cleaning mechanism, a dust collecting mechanism, a waxing mechanism, a gluing mechanism, a seam pressing mechanism, a glue changing mechanism arranged inside the machine, and a chassis.

[0034] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The present invention is provided with four mechanisms including a mechanical arm motion module, namely a seam cleaning mechanism, a waxing mechanism, a gluing mechanism, and a seam pressing mechanism.

[0035] like Figure 2As shown, the robot arm motion module includes a robot arm connection end 28, a robot arm upper arm 27, a robot arm upper end motor housing 26, a robot arm telescopic arm 21 and a robot arm end motor housing 18. The inside of the circular hole of the robot arm connection end 28 has a thread that can match the thread on the robot arm lead screw 3; the inside of the robot arm upper arm 27 is provided with a motor slot, and the robot arm upper arm 27 is connected to the robot arm connection end 28 through a motor. The robot arm upper end motor housing 26 is provided with two motor slots, one horizontal and one vertical, and the robot arm telescopic arm 21 is connected to the robot arm upper arm 27 through the robot arm upper end motor housing 26 and two motors inside. The bottom end of the robot arm telescopic arm 21 is provided with a longitudinal motor slot, and the robot arm end motor housing 18 is provided with a key slot, and the robot arm end motor housing 18 is connected to the motor at the lower end of the robot arm telescopic arm 21 through the key slot. The motor slot is provided at the bottom of the robot arm end motor housing 18, and a motor can be provided to connect and drive the functional module at the end of the robot arm motion module. When the robot arm lead screw 3 rotates, the robot arm motion module can move left and right. The robotic arm motion module has five degrees of freedom, which can drive the functional module connected to the end of the robotic arm motion module to complete complex movements such as forward and backward movement, left and right movement, and rotation.

[0036] The seam cleaning mechanism includes a mechanical arm motion module and a seam cleaning module arranged on the mechanical arm motion module; the dust suction mechanism includes a dust collector arranged on the chassis and a dust collector port outside the machine. The seam cleaning mechanism and the dust suction mechanism jointly complete the seam cleaning and subsequent cleaning work.

[0037] See also Figure 2 The seam cleaning grinding wheel frame 7 is arranged on the motor in the motor housing 18 at the end of the mechanical arm. A seam cleaning grinding wheel motor 8 is fixed in the seam cleaning grinding wheel frame 7 to drive the pulley 9 to rotate, and the seam cleaning grinding wheel 11 is rotated through the belt 10 transmission.

[0038] The waxing mechanism comprises a mechanical arm motion module and a waxing module arranged on the mechanical arm motion module.

[0039] See also Figure 3 The sponge holder 12 is arranged on the motor in the motor housing 18 at the end of the robot arm, and a waxing sponge 13 is arranged on the sponge holder 12 .

[0040] The gluing mechanism comprises a mechanical arm motion module and a seam glue nozzle module arranged on the mechanical arm motion module.

[0041] See also Figure 4 The seaming glue nozzle 20 can be inserted into the seaming glue nozzle holder 19, and the seaming glue nozzle holder 19 is provided with a key slot and is connected to the end motor of the robot arm motion module.

[0042] The glue changing mechanism includes a glue squeezing module, a rotating glue changing module and a glue bin module.

[0043] Glue tank module Figure 6 , Figure 7 The base 46 of the glue tank bracket is provided with four screw holes and fixed to the partition by screws; the stage support 32 is provided with a stepping motor, which is connected to the glue tank bracket 44 to drive the glue tank 44 to rotate. The upper end of the glue tank bracket 44 has a triangular fork, each fork can be connected to a glue tank 48, and a set of glue 47 is placed in each glue tank 48.

[0044] Extrusion module Figure 6 , Figure 7 and Figure 8 A semicircular partition is provided in the rubber replacement cover 6, and a rubber extrusion screw motor 53 is provided in the partition. The rubber extrusion screw motor 53 is connected to the rubber extrusion screw 55 to drive the rubber extrusion screw 55 to rotate. The other end of the rubber extrusion screw 55 is connected to the T-shaped rubber extrusion rod bracket 39, and the T-shaped rubber extrusion rod bracket 39 is provided with two round holes, and the round holes are threaded; a round hole is provided on the rubber extrusion plug 43, and the round hole is threaded; both ends of the rubber extrusion rod 54 are threaded, one end is connected to the T-shaped rubber extrusion rod bracket 39, and the other end is connected to the rubber extrusion plug 43. When the rubber extrusion screw 55 rotates, the T-shaped rubber extrusion rod bracket 39 moves up and down, which can drive the rubber extrusion rod 54 and the rubber extrusion plug 43 to move up and down.

[0045] The process of glue extrusion is as follows: the glue extrusion screw motor 53 rotates, causing the glue extrusion screw 55 to rotate, driving the T-shaped glue extrusion rod 39 bracket to move downward, and the glue extrusion rod 54 and the glue extrusion plug 43 fixed on the T-shaped glue extrusion rod bracket 39 also move downward, squeezing the upper end of the seam beautifying agent 47 to squeeze out the seam beautifying agent. If the glue extrusion screw motor 53 rotates in the reverse direction, the T-shaped glue extrusion rod bracket 39, the glue extrusion rod 54 and the glue extrusion plug 43 can be driven to move upward.

[0046] For glue replacement module, see Figure 6 , Figure 7 , Figure 8 , four threaded holes are arranged on the base of the large cam slider track 42, which is fixed to the stage support 32 by screws, the cube end of the large cam slider 41 is embedded in the large cam slider track 42, and the hemispherical end is embedded in the groove of the large cam 37. A keyway is arranged at one end of the large cam 37, which is connected to the large cam motor 35 through the keyway, and the keyway end of the large cam 37 and the large cam motor 35 are arranged on the large cam fixed base 36; a cylindrical protrusion is arranged at the other end, which is embedded in the large cam fixed base 36. The small cam motor 49 is arranged on the stage support 32 and connected to the small cam 50; the hemispherical end of the small cam slider 45 is embedded in the small cam 50, and the cube end is embedded in the small cam slider track 59. A circular hole is opened at the cube end of the small cam slider 45, and a circular hole is opened in the middle of the interface bracket 51, and the small cam slider 45 is connected to the interface bracket 51 by screws. There are circular holes at both ends of the interface bracket 51, and there are circular holes on both sides of the interface 38, and the interface bracket 51 is connected to the interface 38 by screws. The converter 52 is provided with the same thread as the glue outlet of the caulking agent 47 . When working, the converter 52 is fixed on the caulking agent 47 .

[0047] The process of changing glue is as follows: before the user puts the caulking agent 47 into the caulking agent tank 48, the converter 52 needs to be screwed onto the caulking agent 47. When the work starts, the small cam motor 49 rotates, driving the small cam 50 to rotate, so that the interface bracket 51 and the interface 38 rise, and there are two wedge-shaped spring components on both sides of the interface 38. When the wedge-shaped spring components on both sides of the interface 38 rise to the bottom of the converter 52, the two wedge-shaped blocks are squeezed and contracted, rise to the gap in the middle of the converter 52 and pop out, so that the converter 52 and the interface 38 are tightly connected.

[0048] After the first set of caulking agent 47 is used up, the large cam motor 35 rotates, driving the large cam 37 to rotate, causing the large cam slider 41 to move toward the center, squeezing the wedge spring components on both sides of the interface 38 to contract, and then the small cam 50 rotates to lower the interface 38, and the interface 38 is separated from the converter 52. A motor is provided in the base 46 of the caulking agent storage bracket, which can drive the caulking agent storage bracket 44 to rotate, so that a new set of caulking agent 47 rotates to the top of the interface 38, and then repeat the above work.

[0049] The seam pressing mechanism comprises a mechanical arm motion module and a seam pressing knife module arranged on the mechanical arm motion module.

[0050] See also Figure 5 , the seam pressing knife holder 25 is provided with a keyway, which is connected to the motor at the end of the robot arm motion module. A motor slot is provided at one end of the seam pressing knife holder 25 near the center, and the seam pressing knife rotating shaft 23 is connected through the motor to drive the seam pressing knife rotating shaft 23 to rotate. There are grooves at both ends of the seam pressing knife rotating shaft 23, which respectively fix the flat seam pressing blade 24 and the inner corner seam pressing blade 22; the other end of the seam pressing knife holder 25 has a blade inclined at 45°, which plays the role of scraping off the seam glue on the blade.

[0051] See also Figure 8 The bottom of the stage support 32 has protruding parts all around, and the machine housing 17 is connected and fixed to the protruding parts of the stage support 32. The machine housing 17 and the side of the machine cover 1 close to the seam cleaning mechanism are connected to the machine side cover 29, and the machine housing 17 and the machine cover 1 are connected by a sliding buckle 15, and the mechanical arm bracket 4 is connected to the machine housing 17. Figure 6 The mechanical arm bracket 4 is in a "well" shape, with a mechanical arm lead screw motor 40 fixed at each of the four corners, and mechanical arm lead screws 3 are respectively arranged on the four sides. A key slot is opened at one end of the mechanical arm lead screw 3 and connected to the mechanical arm lead screw motor 40. Two cameras 2 are arranged on the top of the machine cover 1, symmetrically placed about the diagonal line of the machine cover 1; the rubber replacement cover 6 is meshed and connected with the machine cover 17, and a portable cover 5 is arranged on the top of the rubber replacement cover 6. There are rectangular openings around the machine cover 1 with a length roughly equal to that of the mechanical arm lead screw 3, and the mechanical arm motion module is connected to the mechanical arm lead screw 3 through the openings around the machine cover 1.

[0052] See also Figure 8 The chassis includes a loading platform 31, a vacuum cleaner 34, a Mecanum omnidirectional wheel 16, and a loading platform support 32. The vacuum cleaner 34 is arranged above the loading platform 31, and the loading platform support 32 is arranged around and above the loading platform 31. The loading platform support 32 is divided into two parts: supporting pillars around and a flat plate on the top. The flat plate on the top is used to fix and support the rubber changing mechanism.

[0053] See also Fig. 9 Two pairs of Mecanum wheels 16 are disposed on both sides of the loading platform 31, that is, two Mecanum wheels 16 are disposed on one side of the chassis, and two Mecanum wheels 16 are symmetrically disposed on the other side. The four Mecanum wheels 16 are all driven by a Mecanum motor 58, and the specific driving method is: the Mecanum motor 58 drives the small spur gear 57 of the Mecanum wheel to rotate, and then the small spur gear 57 of the Mecanum wheel and the large spur gear 56 of the Mecanum wheel are driven to rotate the Mecanum wheel 16. The Mecanum motor 58 is disposed in the Mecanum motor housing 33.

[0054] After the fully automatic integrated caulking robot starts running, the robot arm motion module adjusts the position and angle. At the same time, when the machine does not move, the functional module at the end of the robot arm can be accurately positioned to the working position by telescoping the robot arm telescopic arm 21. The Mecanum omnidirectional wheel 16 enables the machine to rotate in situ, and one tile seam completes the four steps of cleaning, vacuuming, waxing, gluing, and pressing. The three-sided robot arms of the fully automatic integrated caulking robot work simultaneously, leaving one tile gap without caulking operation; after completing the caulking work on three sides of a tile, the machine drives from the direction of the unprocessed tile gap to the next tile, and repeats the above process until the caulking work of all tile seams is completed.

[0055] The above are only preferred embodiments of the present invention. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A fully automatic integrated seaming robot, characterized in that: The invention comprises a machine body, a seam cleaning mechanism, a waxing mechanism, a gluing mechanism, a seam pressing mechanism, a walking device and a driving device, wherein the seam cleaning mechanism, the waxing mechanism, the gluing mechanism and the seam pressing mechanism are respectively connected to the machine body through four 5DOF mechanical arms; the upper end of the 5DOF mechanical arm is a mechanical arm connecting end (28), the mechanical arm connecting end (28) is threadedly matched with a mechanical arm lead screw (3) through a threaded through hole, and the mechanical arm lead screw (3) is installed on the outer side of the machine body side wall; the walking device comprises two pairs of Mecanum omnidirectional wheels (16) arranged on the bottom chassis of the machine body, and the Mecanum omnidirectional wheels (16) are driven by a Mecanum omnidirectional wheel motor (58); and the driving device controls the movement and start and stop of the seam cleaning mechanism, the waxing mechanism, the gluing mechanism, the seam pressing mechanism and the walking device.

2. The fully automatic integrated seaming robot according to claim 1 is characterized in that: The glue applying mechanism comprises a glue nozzle (20), the glue nozzle (20) having a nozzle and a glue inlet, the glue inlet being mounted on a glue nozzle holder (19), the glue nozzle holder (19) being connected to a motor at the end of the third 5DOF robot arm, and the glue inlet being connected to the glue changing mechanism via a pipeline.

3. The fully automatic integrated seaming robot according to claim 2 is characterized in that: The glue changing mechanism comprises a glue bin module; a loading platform support (32) parallel to the chassis is provided in the middle of the machine body; the glue changing module comprises a glue bin support base (46) fixed on the loading platform support (32); a glue bin support (44) is installed above the glue bin support base (46); the glue bin support (44) has a triangular fork at the upper end, each fork is connected to a glue bin (48); a set of glue (47) is placed in each glue bin (48); a converter (52) is installed at the bottom of the glue (47); the glue bin support (44) is connected to a stepper motor; the stepper motor drives the glue bin (44) to rotate; the glue outlet of the glue (47) is connected to the glue inlet of the glue via a pipeline.

4. The fully automatic integrated seaming robot according to claim 3 is characterized in that: The glue extrusion mechanism comprises a glue extrusion module, the glue extrusion module comprises a glue extrusion cover (6) arranged on the upper surface of the fuselage, the glue extrusion cover (6) having a cavity connected to the interior of the fuselage, a semicircular partition plate arranged in the cavity, a glue extrusion screw motor (53) arranged on the partition plate, the glue extrusion screw motor (53) connected to the lower end of the glue extrusion screw (55) to drive the glue extrusion screw (55) to rotate; the upper end of the glue extrusion screw (55) is connected to a T-shaped glue extrusion rod bracket (39), the lower ends of the cross bar of the T-shaped glue extrusion rod bracket (39) are connected to the glue extrusion plug (43) through the glue extrusion rod (46), when the glue extrusion screw (55) rotates, the T-shaped glue extrusion rod bracket (39) moves up and down, driving the glue extrusion rod (54) and the glue extrusion plug (43) to move up and down.

5. The fully automatic integrated seaming robot according to claim 3 is characterized in that: The rubber changing mechanism comprises a rotating rubber changing module, the rubber changing module being arranged on a loading platform support (32) in the middle of the fuselage and parallel to the chassis, a small cam motor (49) being fixed on the loading platform support (32), the small cam motor (49) being connected to the small cam (50), the semi-spherical end of the small cam slider (45) being embedded in a groove on the small cam (50), the cubic end of the small cam slider (45) being embedded in a small cam slider track (59), the cubic end of the small cam slider (45) being connected to a lower end of an interface bracket (51), the upper end of the interface bracket (51) being connected to an interface (38), the interface (38) being provided with a wedge-shaped spring assembly, and when the small cam slider (45) is located at the highest point, the spring assembly is clamped in a hollow card slot on a side wall of the converter (52).

6. The fully automatic integrated seaming robot according to claim 5 is characterized in that: A large cam (37) is laterally arranged on the stage support (32), and the two ends of the large cam (37) are inserted into two large cam fixing bases (36), and the large cam (37) is connected to the large cam motor (35); two symmetrical large cam sliders (41) are arranged on the same side in the groove on the large cam (37), and the hemispherical ends of the large cam sliders (41) are embedded in the groove of the large cam (37), and the cubic ends of the large cam sliders (41) are slidably matched with the large cam slider track (42); the large cam slider track (42) is aligned with the hollow slot of the converter (52).

7. The fully automatic integrated seaming robot according to claim 1 is characterized in that: The seam cleaning mechanism comprises a seam cleaning grinding wheel frame (7), the seam cleaning grinding wheel frame (7) having three arms symmetrically distributed in the center of a plane, the end of one of the arms being connected to a motor at the end of a first 5DOF mechanical arm, and the ends of the other two arms being connected to a seam cleaning grinding wheel (11), a seam cleaning grinding wheel motor (8) being fixed at the center of the seam cleaning grinding wheel frame (7), and the seam cleaning grinding wheel motor (8) driving the seam cleaning grinding wheel (11) to rotate; The inner cavity of the fuselage is provided with a vacuum cleaner (34), the vacuum cleaner (34) is fixed on a loading platform (31) on the upper surface of the chassis, and the vacuum cleaner (34) is connected to a vacuum cleaner port (30) provided on the side wall of the fuselage through a vacuum pipe.

8. The fully automatic integrated seaming robot according to claim 1 is characterized in that: The waxing mechanism comprises a sponge holder (12), the sponge holder (12) having a connecting rod, the upper end of the connecting rod being connected to a motor at the end of the second 5DOF mechanical arm, and the lower end of the connecting rod being fixed with a waxing sponge (13).

9. The fully automatic integrated seaming robot according to claim 1, characterized in that: The seam pressing mechanism comprises a seam pressing knife holder (25), the seam pressing knife holder (25) having a knife holder connecting rod, one end of the knife holder connecting rod being connected to a motor at the end of a fourth 5DOF mechanical arm, a seam pressing shaft motor being installed inside the other end of the knife holder connecting rod, the seam pressing shaft motor being connected to a seam pressing knife shaft (23), and the two ends of the seam pressing knife shaft (23) being respectively connected to a plane seam pressing knife (24) and a concave angle seam pressing blade (22).

10. The fully automatic integrated seaming robot according to claim 1, characterized in that: The machine body comprises a machine shell (17), the top of the machine shell (17) is a machine cover (1), at least two cameras (2) are symmetrically arranged on the top of the machine cover (1), and a laser distance measuring probe is arranged on the machine body.

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