Self-adhesive waterproofing membrane bottom film automatic removal and laying robot and method

Abstract

The application discloses a kind of self-adhesive waterproof roll material bottom film automatic removal and laying robot and method, comprising: mobile chassis mechanism;Roll laying mechanical arm, be installed on the support aluminum square near front on the top of chassis by mechanical arm mechanism mounting frame;Roll material supply part, be installed on the top of chassis by the support aluminum square;Ground processing mechanism, be installed on the bottom of chassis;Cement supply part, be installed on the top of chassis, the bottom of roll material supply mechanism body;Waterproof roll material is used to provide the raw material of robot construction operation.This self-adhesive waterproof roll material bottom film automatic removal and laying robot of the application can solve the problem of insufficient capacity of prior art in roll bottom film automatic removal and waste film collection, surface film accurate cutting and continuous automatic construction of complex three-dimensional parts, realize the continuous automatic peeling and centralized collection of roll bottom film and waste film and the continuous automatic laying of roll.

Description

Technical Field

[0001] This invention relates to the technical field of building engineering, and in particular to an automatic robot for removing and laying the base film of self-adhesive waterproof membrane, as well as a method for automatically removing and laying the base film of self-adhesive waterproof membrane. Background Technology

[0002] In waterproofing projects, the wet-laying method of rolled materials is widely used because of its good adhesion and stable waterproofing performance. Traditional wet-laying construction usually involves manual processes such as base surface treatment, application of cement slurry, laying and compacting of self-adhesive rolled materials, and removing the surface film of the rolled materials. This process is labor-intensive, significantly affected by the experience of workers, and it is difficult to maintain consistent construction quality, especially in complex areas such as walls and pipe roots, where manual operation has poor stability.

[0003] To improve construction efficiency and quality, invention patent CN202410007578.3 discloses an intelligent device and method for laying waterproof membrane rolls. It is a system in which multiple devices, including a main unit, an auxiliary cleaning machine, and a laying machine, work together: the main unit is responsible for storing and cutting the self-adhesive membrane rolls and supplying them to the outside; the auxiliary cleaning machine is responsible for grinding, vacuuming, and applying cement slurry to the construction substrate; and the laying machine is responsible for receiving the membrane rolls and performing operations such as laying, compacting, and tearing the membrane. This technology has, to a certain extent, mechanized the waterproof membrane roll construction process and reduced the intensity of manual labor.

[0004] However, existing technologies still have the following shortcomings: Self-adhesive rolls usually come with a backing film for storage and transportation, but existing technologies mostly rely on manual removal of the backing film or simply tearing it off at the laying end. There is a lack of a continuous automatic backing film removal and waste film collection mechanism that matches the roll supply process, which easily leads to the scattering of backing film waste on site, which is not conducive to construction environment management and can also affect the stability of the roll conveyor belt. For the removal of the protective film on the surface of the laid self-adhesive roll, existing equipment mostly uses simple clamping or tearing structures, which still require a lot of manual assistance and lacks precise control over the cutting depth of the blade and the tearing path, which can easily result in incomplete cutting or damage to the roll body, affecting the quality of the waterproof layer. For the construction of vertical surfaces, inside and outside corners, and curved areas such as around water pipes, it mostly relies on pre-cut irregularly shaped rolls in conjunction with simple degree-of-freedom mechanisms. It is difficult to complete continuous operations such as cement application, laying, compaction, and film removal on a single moving platform using a unified multi-degree-of-freedom robotic arm, resulting in limited automated construction capabilities for complex three-dimensional surfaces.

[0005] Therefore, there is a need for a more integrated structure that can automatically process the base film and surface film of self-adhesive membrane rolls and is suitable for construction in complex areas such as floors, walls and around water pipes. This is to further improve the level of construction automation and the quality of the finished waterproof layer. Summary of the Invention

[0006] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a robot and method for automatic removal and laying of the bottom film of self-adhesive waterproof membrane, so as to solve the problems of insufficient capabilities of the existing technology in automatic removal of the bottom film of the membrane and collection of waste film, precise cutting of the surface film and continuous automatic construction of complex three-dimensional parts. Through a special membrane removal mechanism and bottom film collection mechanism, the continuous automatic peeling and centralized collection of the bottom film and waste film of the membrane are realized, avoiding the scattering of waste film, improving the construction environment and ensuring the stability of the membrane conveyor belt. At the same time, the membrane cutting mechanism, combined with a camera and a distance sensor, precisely controls the cutting path and cutting depth, and performs an "initial cut" before segmented cutting to avoid damaging the membrane body, thereby improving material utilization and finished product quality.

[0007] To achieve the above objectives, the present invention employs the following technical measures: This invention discloses an automatic robot for removing and laying self-adhesive waterproof roll film, comprising: a mobile chassis mechanism, serving as the base of the entire robot and supporting various construction mechanisms thereon, including a chassis, four infrared rangefinders and a second camera bolted to the bottom of the chassis near the front, and a battery compartment welded to the bottom of the chassis; two of the four infrared rangefinders are used to measure the distance between the robot and the wall in front, and the other two are used to measure the distance between the chassis and the ground; a roll film laying robotic arm, mounted on a supporting aluminum square on the top of the chassis near the front via a robotic arm mechanism mounting frame, including a robotic arm body, a first camera, a robotic arm rotary motor, a robotic arm base, a robotic arm end, a pressure plate, and a roller; and a roll film supply section, mounted on the top of the chassis via the supporting aluminum square, including a roll film supply section suspended on the supporting aluminum square. The system includes: a machine body; a roll material storage mechanism and a roll material cutting mechanism installed in the middle of the supporting aluminum square; a roll material bottom film removal mechanism and a roll material bottom film collection mechanism installed in the front of the supporting aluminum square; and a roll material unloading mechanism installed in the rear of the roll material supply mechanism body. A ground treatment mechanism, installed at the bottom of the chassis, includes a front screw drive mechanism and a rear screw drive mechanism bolted to the battery compartment; a ground grinder connected to the front screw drive mechanism via a flange; a dust collection mechanism connected to the rear screw drive mechanism via a rear screw drive mechanism connector; and a dust collection bin installed on the dust collection mechanism. A cement supply section, installed at the top of the chassis and the bottom of the roll material supply mechanism body, includes a cement supply trough, a cement conveying pipe, and a cement mixing tank connected sequentially via flanges and bolts. A waterproof roll material is used to provide the robot with raw materials for its construction operations.

[0008] Preferably, the robotic arm mounting frame is a frame composed of four connected aluminum squares. It is supported by two horizontal aluminum squares at the bottom, mounted on the supporting aluminum squares, and two vertical aluminum squares are mounted on top of these. Tracks are provided on the two upper vertical aluminum squares, and the bottom of the robotic arm base is mounted on these tracks via an electric trolley. The robotic arm base has a double-layer structure, with the lower and upper layers connected by bearings. The outer ring of the bearing is fixedly connected to the top of the lower layer, and the inner ring of the bearing is fixedly connected to the bottom of the upper layer. A robotic arm rotary motor is fixedly mounted at the bottom of the lower layer, and its output shaft passes through the center of the bearing and is fixedly connected to the bottom of the upper layer. The main body of the robotic arm is mounted on the robotic arm base. The entire structure includes a robotic arm main arm fixed support mounted on the top of the upper layer of the robotic arm base, a robotic arm main arm and a robotic arm main arm movable motor mounted on the robotic arm main arm fixed support, a robotic arm forearm connected to the end of the robotic arm main arm, and a robotic arm end connected to the end of the robotic arm forearm; the robotic arm main arm and the robotic arm forearm are equipped with motors that drive joint movement inside, which realize the joint movement of the robotic arm body through gears connected to the output end; the output shaft of the robotic arm main arm movable motor is connected to the robotic arm main arm and controls its overall movement; the outermost top of the robotic arm mechanism mounting frame is provided with the first camera facing outward.

[0009] Furthermore, the end effector of the robotic arm includes a paving mechanism rotary motor housing connected to the end of the robotic arm forearm, and a gripper arm motion motor housing welded to the top of the paving mechanism rotary motor housing; the output shaft of the paving mechanism rotary motor housing is vertically downward, and is connected from top to bottom to the paving mechanism rotary motor housing, the first bearing, the connecting flange, and the roller pressure plate rotary motor housing; the output shaft of the roller pressure plate rotary motor housing is horizontally configured and connected to the roller pressure plate mounting base; a depth camera facing outward is provided on one side of the roller pressure plate rotary motor housing; the roller pressure plate mounting base has two holes that can respectively adapt to the handles of the roller and the pressure plate; screw holes are provided near the holes; the pressure plate and the roller are connected by inserting into the corresponding holes, and then screws are inserted into the screw holes and tightened, thereby pressing the handles inserted into the holes to achieve a fixed connection; Furthermore, the output shaft of the gripper arm motion motor compartment is vertically downward and connected to one end of the gripper arm. The gripper arm is a U-shaped structure, with its other end connected by a connecting rod. Grippers are provided on both sides of the end near the connecting rod. The gripper includes a gripper motor installed on the inner side of the gripper arm, a gripper head drive mechanism installed on the outer side of the gripper arm and connected to the output shaft of the gripper motor, a gripper head installed at the end of the gripper head drive mechanism, and a film removal blade and a distance sensor installed on one side of the gripper head drive mechanism. The gripper motor is used to drive the gripper head drive mechanism to control the gripper head to perform the gripping action, and the distance sensor is used to monitor the distance between the film removal blade and the surface film.

[0010] Furthermore, the roll material supply mechanism body is an alloy frame, with a semi-enclosed channel at the front, leaving a gap the same size as the thickness of the waterproof roll material to fix the roll material and prevent it from curling. The rear is an open structure to provide space for the roll material cutting mechanism and the roll material feeding mechanism. The supporting aluminum squares consist of eight vertically upward-facing aluminum squares, six of which are directly mounted on the chassis, and the other two are suspended on both sides of the roll material supply mechanism body near the front, used to mount the roll material removing film mechanism. The roll material feeding mechanism includes an electric roller and a roll material limiting block mounted on the inner side of the roll material supply mechanism body, a roller rotation motor mounted on the outer side of the roll material supply mechanism body and connected to the electric roller via an output shaft, and a roller feeding mechanism mounted on the roll material supply... The mechanism includes a rotating motor for the first roll material limiting block connected to the outer side of the machine body via an output shaft, and a conveyor belt installed at the bottom inner side of the machine body. A second roll material limiting block is installed on the inner side of the machine body, below the first roll material limiting block. The height between the lower surface of the second roll material limiting block and the conveyor belt is equal to the thickness of the waterproof roll material. The first roll material limiting block is a rectangular plate, one end of which is connected to the output shaft of the rotating motor, and the other end is fixed to the inner wall of the machine body via a bearing. An electric roller is spaced from the first roll material limiting block, the spacing of which is preset according to the maximum diameter of the actual waterproof roll material. Both ends of the conveyor belt extend vertically downwards from the first roll material limiting block to the roll material removing bottom film mechanism.

[0011] Furthermore, the roll material cutting mechanism is mounted on a guide rail mounting plate between the four rearmost aluminum squares of the supporting aluminum squares, above the middle of the roll material supply mechanism body, with a certain distance between its top and the top of the supporting aluminum squares; vertical moving guide rails are provided on both sides of the bottom surface of the guide rail mounting plate, and a horizontal moving guide rail is provided below it via an electric trolley. A cutting scissor drive mechanism is mounted on the horizontal moving guide rail via the electric trolley. The cutting scissor drive mechanism includes a vertically oriented miniature electric push rod, the output shaft of which is connected to a drive motor, which is connected to the cutting scissor blade head; one side of the cutting scissor blade head is provided with... The ranging sensor; the roll material storage mechanism is mounted on the top of the guide rail mounting plate via a linear guide rail mechanism, one end of which is equipped with a motor, which drives the lead screw to rotate and transmits power to the guide rail support mounted on the guide rail of the linear guide rail mechanism; the two ends of the support rod are respectively hinged to the guide rail support and the roll material storage platform support, and the end of the roll material storage platform support is fixedly connected to the roll material storage platform by screws. The roll material storage platform is a bucket-shaped structure, and its two sides are rotatably connected to the rotating rod fixing block through the roll material storage platform rotating rod. The rotating rod fixing block is fixed to the top of the two rearmost aluminum squares of the supporting aluminum square.

[0012] Furthermore, the roll material decoction mechanism includes a shaft-driven motor fixed to one of the suspended aluminum squares of the supporting aluminum squares by screws, and a roll material discharge platform installed at the front center of the roll material supply mechanism body; the output shaft of the shaft-driven motor is connected to a first shaft via a coupling, and the other end of the first shaft is connected to the other suspended aluminum square of the supporting aluminum square via a bearing; a first gear is provided on the first shaft, and the first gear meshes with a first rack on the decoction plate; both sides of the decoction plate are installed in movable guide rails, and the movable guide rails are located on the front inner side of the roll material supply mechanism body; a certain gap is left between the roll material discharge platform and the roll material supply mechanism body, the size of which is slightly larger than the cross-sectional area of ​​the decoction plate.

[0013] Furthermore, the roll film bottom film collection mechanism includes a collection mechanism mounting box and a waste collection box fixed to the lower front part of the roll material supply mechanism body by bolts; two film removal mechanism rollers, a first film removal mechanism roller and a second film removal mechanism roller, installed on both sides below the gap between the roll material discharge platform and the roll material supply mechanism body; and a waste film conveyor belt and a pressure roller installed inside the collection mechanism mounting box. The waste film conveyor belt is located on the bottom surface of the collection mechanism mounting box, and the pressure roller is located near the waste collection box. The collection mechanism mounting box is enclosed to prevent debris from entering the roll film bottom film collection mechanism. The collection mechanism mounting box and the waste collection box are arranged one in front of the other and are internally connected. The first film removal mechanism roller and the second film removal mechanism roller are equipped with drive motors, and their outer surfaces are covered with a layer of soft silicone.

[0014] Preferably, wheel support frames are fixed at the four corners of the bottom of the chassis. A rotating mechanism is provided on the base of each wheel support frame. One end of the rotating mechanism is connected to the battery compartment and contains a motor. The motor extends from the other end of the rotating mechanism via a coupling and is connected to the wheel drive shaft. This other end is connected to the base via a shock absorber. The wheel drive shaft is connected to a Mecanum wheel. Both the front and rear lead screw drive mechanisms consist of a lead screw and a motor. The motor drives the lead screw to extend and retract, controlling the lifting and lowering of the floor grinder and the vacuuming mechanism. The grinder has a built-in portable grinding head, which is hung on the side of the chassis; the dust collection mechanism has a built-in portable vacuum cleaner, which is also hung on the side of the chassis; the length, width, and depth of the cement supply tank are all larger than the size of the roller, thus ensuring that the roller can be completely immersed in the cement supply tank; the cement conveying pipe is fixed on the chassis, at the lower front position of the roll material supply mechanism body; the cement mixing tank is fixed on the chassis, at the lower rear position of the roll material supply mechanism body, and is equipped with a cement mixing shaft inside, with a cement conveying port at the rear end.

[0015] Accordingly, the present invention also provides an automatic removal and laying method for the bottom film of self-adhesive waterproof membrane, using the aforementioned automatic removal and laying robot for the bottom film of self-adhesive waterproof membrane, the steps of which are as follows: S1. Pre-construction preparation: The motor driving the linear guide mechanism moves the guide rail support forward of the robot to keep the membrane storage platform level. External equipment, such as a forklift, lifts the waterproof membrane onto the storage platform, ensuring the rolling direction of the membrane matches the rotation and tilting direction of the storage platform. External equipment, such as a cement mixer truck, delivers cement to the cement inlet of the cement mixing drum, and simultaneously starts the cement mixing shaft for automatic mixing. Select rollers and pressure plates of appropriate size according to actual needs, insert them into the holes of the roller and pressure plate mounting base, and install screws through the screw holes and tighten them to complete the installation of the rollers and pressure plates. S2. Ground and Facade Treatment: When applied to the ground, the distance between the chassis and the ground is measured using an infrared rangefinder. The front and rear lead screw drive mechanisms are then driven to lower the ground grinder and vacuuming mechanism to the ground. The ground grinder and vacuuming mechanism then grind and vacuum the ground. Simultaneously, the robot's position is monitored by the first and second cameras, and its travel route is planned in real time. During travel, the front and rear lead screw drive mechanisms are continuously adjusted based on the data from the infrared rangefinder until the entire area to be treated is completed. When applied to facades, the main body of the robotic arm is controlled to move to the edge of the robotic arm mounting frame via an electric trolley. The robotic arm rotary motor then drives the mechanical arm... The rotation of the main body of the robotic arm orients towards the ground processing mechanism controls the internal motors of the main arm, the forearm, and the main arm to bring the end of the robotic arm close to the portable grinding head and portable vacuum cleaner. The gripper motor drives the gripper head to pick up the portable grinding head and portable vacuum cleaner. The position and angle of the main body of the robotic arm are then adjusted. At the same time, a depth camera on one side of the roller pressure plate rotating motor compartment monitors the position of the gripper, thereby bringing the portable grinding head and portable vacuum cleaner to the vicinity of the construction facade. The portable grinding head and portable vacuum cleaner are then activated to perform real-time grinding, cleaning, and dust removal on the facade. The relative position of the gripper and the facade is continuously adjusted through the above mechanisms until the facade is completely processed. S3. Roll Material Handling: During roll material feeding, the motor controlling the linear guide mechanism drives the guide rail support to move towards the rear of the robot, causing the roll material storage platform to tilt clockwise until the waterproof roll material falls between the roll material limiting block one and the electric roller of the roll material feeding mechanism. After the waterproof roll material falls in, the linear guide mechanism is adjusted using the same steps as in S1 to keep the roll material storage platform level and prevent more roll material from rolling in. At the same time, the rotating motor of the roll material limiting block one drives the roll material limiting block one to rotate clockwise, thus securing the waterproof roll material. When the roll material is unfolded... The electric roller is driven to rotate by a roller rotation motor, which in turn drives the waterproof membrane to rotate. At the same time, the roll material limiting block one rotation motor drives the roll material limiting block one to continuously apply pressure to the waterproof membrane until one end of the waterproof membrane is laid out from the gap between the roll material limiting block two and the roll material supply mechanism body. As the roll material is consumed, the roll material limiting block one continues to rotate and apply pressure to the waterproof membrane to ensure a continuous supply of waterproof membrane during large-area laying operations. The unfolded waterproof membrane is continuously transported to the roll material cutting mechanism by the conveyor belt. S4. Roll Material Cutting: To meet the needs of roll materials of different shapes and sizes, the roll material cutting mechanism calculates the optimal cutting scheme based on images transmitted from the first and second cameras, and then cuts the roll material to meet the requirements. During the cutting process, an electric trolley controls the cutting blade head to move to the designated location on the vertical and horizontal moving guide rails. A miniature electric push rod pushes down the cutting blade head, and a drive motor drives the cutting blade head to cut. Simultaneously, a distance sensor on one side is activated to monitor the cutting depth in real time. First, the cutting blade head makes a cut along the width of the waterproof roll material, with a cut depth exceeding four-thirds of the thickness of the waterproof roll material. To ensure complete cutting, this cutting process is called the "first cut" of the waterproof membrane supply. This process is performed first each time a section of waterproof membrane is supplied. After the "first cut" is completed, the waterproof membrane continues to be transported by the conveyor belt to the front gap of the membrane supply mechanism until the "first cut" part moves out of the working range of the membrane cutting mechanism. Then, the membrane cutting mechanism cuts and processes the remaining waterproof membrane. If the required length of the waterproof membrane exceeds the overall length of the conveyor belt, the conveyor belt and the membrane cutting mechanism continue to process the waterproof membrane while the membrane laying robot arm is laying it after the base film is removed, working in tandem. S5. Removing the Base Film from the Waterproof Membrane: After the waterproof membrane is conveyed by the conveyor belt to the area below the film-removing pressure plate, it continues to be transported until the "first cut" portion moves to the vertical direction of the film-removing pressure plate. The shaft rotation motor drives the first gear to rotate on the first rack, thereby causing the film-removing pressure plate to rise and fall in the movable guide rail. Finally, it descends into the gap between the membrane discharge platform and the membrane supply mechanism body, pressing down the "first cut" portion of the waterproof membrane and carrying it to the membrane base film collection mechanism until both ends of the "first cut" portion contact the surfaces of the first and second film-removing rollers of the film-removing mechanism, respectively. Then, the film-removing pressure plate immediately rises back. Because the "first cut" portion was not completely severed in step S4, it is then removed during the film removal process. During the extrusion process of the membrane pressing plate, the "first cut" part will gradually separate from the remaining waterproof membrane, and finally only the membrane removal mechanism roller one and membrane removal mechanism roller two are connected to the bottom membrane of the waterproof membrane. The bottom membrane of the remaining waterproof membrane will be adhesively grabbed by the membrane removal mechanism roller one and membrane removal mechanism roller two of the membrane bottom membrane collection mechanism as the "first cut" part is continuously conveyed by the conveyor belt. After the waste film falls off to the waste film conveyor belt, it moves to a position close to the waste collection box, and then the pressure roller presses the waste film into the waste collection box for storage. Each time the "first cut" operation in step S4 is performed, the membrane bottom membrane removal process in step S5 is performed once. The waterproof membrane with the membrane removed is transported to the membrane discharge platform for temporary storage. S6. Cement Application: Cement is supplied from the cement mixing tank via a cement delivery pipe and a cement mixing shaft. Following the same procedure as in step S2, the robotic arm is moved to the top of the cement supply tank. The roller pressure plate rotating motor drives the roller pressure plate mounting base to rotate, lowering the roller to a lower position. The robotic arm is then moved until the roller is fully immersed in the cement supply tank. The robotic arm then guides the roller to the cement application location. Simultaneously, a depth camera on one side of the roller pressure plate rotating motor assists in real-time cement application. The above describes the cement application process for horizontal surfaces. When applying cement to vertical surfaces, the roller pressure plate rotating motor drives the roller pressure plate mounting base to rotate, positioning the roller horizontally. Simultaneously, the paving mechanism rotating motor continuously changes the roller's orientation, causing its rolling trajectory to circumferentially move around water pipes of different diameters, thus achieving cement application for different pipe diameters on vertical surfaces. S7. Roll Material Laying: Adjust the position of the end of the robotic arm in the same way as in step S1, so that the gripper is close to the waterproof roll material on the roll material discharge platform. Drive the gripper motor to make the gripper head complete the action of gripping the waterproof roll material. Then, the main body of the robotic arm brings the end of the robotic arm and the gripper on it to the target area for laying. Release the gripper head to lay the waterproof roll material on the cement surface. Drive the roller pressure plate rotation motor to rotate so that the pressure plate is adjusted to a suitable orientation. If it is a flat surface, keep it horizontal; if it is a vertical surface, keep it vertical. Then drive the main body of the robotic arm to press the pressure plate to press the waterproof roll material. S8. Removing the Surface Film from the Waterproof Membrane: Adjust the position of the robotic arm's end in the same manner as in step S1. Simultaneously, the gripper arm's motor housing drives the gripper arm to rotate. The first camera, second camera, and depth camera monitor and adjust the gripper's posture in real time, ensuring that the removal blade on the gripper forms a certain angle with the target area. The distance sensor on the gripper's head drive mechanism controls the cutting depth, mimicking the action of manually lifting the surface film of the laid waterproof membrane with a blade during construction. This breaks through the remaining surface film of the waterproof membrane, which is then gripped and detached from the waterproof membrane by the gripper head. The remaining surface film is then removed. Repeat the above process until the surface film of the waterproof membrane is completely removed. After the waterproof membrane is laid and the surface film is removed, step S6 is executed again to complete the secondary cement application. At this point, the automatic removal and laying of the self-adhesive waterproof membrane's base film is complete.

[0016] Based on the above, the beneficial effects of the self-adhesive waterproof membrane base film automatic removal and laying robot and method of the present invention are as follows: 1. This invention integrates ground and facade treatment, roll material supply, cutting, removing the base film, laying, removing the surface film, and applying cement on a single mobile platform, making the construction process continuously automated and significantly reducing manual intervention and labor intensity.

[0017] 2. This invention achieves continuous automatic peeling and centralized collection of the bottom film and waste film of the roll material through a specialized roll material bottom film removal mechanism and bottom film collection mechanism, avoiding waste film scattering, improving the construction environment and ensuring the stability of the roll material conveyor belt.

[0018] 3. The roll material cutting mechanism of the present invention combines a camera and a distance sensor to precisely control the cutting path and cutting depth. It performs an initial cut before segmented cutting to avoid damaging the roll material body, thereby improving material utilization and finished product quality.

[0019] 4. The robotic arm of this invention integrates a roller, pressure plate, gripper, film removal blade, and depth camera at its end. Through multi-degree-of-freedom movement and posture adjustment, it can complete cement application, roll material laying, and surface film removal on curved surfaces such as the ground, walls, and pipe roots. At the same time, the ground treatment mechanism has automatic lifting grinding and dust collection functions, and can use the robotic arm to grip a portable grinding head and a vacuum cleaner to treat the vertical surface, realizing unified mechanized treatment of the ground and vertical base surfaces, and ensuring the adhesion conditions of the waterproof layer.

[0020] 5. The design of the roll material storage, feeding, limiting and conveying structure of the present invention can automatically adapt to the diameter changes during the roll material consumption process, ensure continuous and flat roll material output, and reduce the risk of leakage caused by roll material wrinkles and uneven stretching. Attached Figure Description

[0021] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0022] Figure 1 This is a schematic diagram of the structure of the robot for automatically removing and laying the self-adhesive waterproof membrane base film according to the present invention; Figure 2 This is a schematic diagram of the structure of the roll material laying robot arm of the present invention; Figure 3 This is a schematic diagram of the structure of the end effector of the robotic arm of the present invention; Figure 4 This is a partially enlarged view of the gripper of the present invention; Figure 5 This is a schematic diagram of the roll material supply section of the present invention; Figure 6 This is a partially enlarged view of the roll feeding mechanism of the present invention; Figure 7 This is a schematic diagram of the roll material storage mechanism of the present invention; Figure 8 This is a partially enlarged view of the roll film removal mechanism of the present invention; Figure 9 This is a partially enlarged view of the roll film collection mechanism of the present invention; Figure 10 This is a schematic diagram of the roll material cutting mechanism of the present invention; Figure 11 This is a schematic diagram of the mobile chassis mechanism of the present invention; Figure 12 This is a schematic diagram of the ground treatment mechanism of the present invention; Figure 13 This is a schematic diagram of the cement supply mechanism of the present invention.

[0023] Explanation of reference numerals in the attached figures: 1000-Roll Material Laying Robotic Arm: 1001-Robotic arm forearm; 1002-Robotic arm upper arm; 1003-Robotic arm upper arm movable motor; 1004-First camera; 1005-Robotic arm mechanism mounting frame; 1006-Robotic arm rotary motor; 1007-Robotic arm base; 1008-Robotic arm upper arm fixed support; 1100 - Robotic arm end effector; 1101 - Gripper arm motion motor compartment; 1102 - Laying mechanism rotary motor compartment; 1103 - First bearing; 1104 - Connecting flange; 1105 - Roller pressure plate rotary motor compartment; 1106 - Roller pressure plate mounting base; 1107 - Pressure plate; 1108 - Roller; 1109 - Gripper; 1109a - Gripper motor; 1109b - Distance sensor; 1109c - Gripper head drive mechanism; 1109d - Film removal blade; 1109e - Gripper head; 1110 - Connecting rod; 1111 - Gripper arm; 2000 - Roll Material Supply Section: 2001 - Body of the coil supply mechanism; 2100 - Coil material unloading mechanism; 2101 - Electric roller; 2102 - Roller rotation motor; 2103 - Coil material limit block one rotation motor; 2104 - Conveyor belt; 2105 - Coil material limit block one; 2106 - Coil material limit block two; 2200 - Roll material storage mechanism; 2201 - Linear guide rail mechanism; 2202 - Guide rail support; 2203 - Support rod; 2204 - Roll material storage platform support; 2205 - Roll material storage platform; 2206 - Roll material storage platform rotating rod; 2207 - Rotating rod fixing block; 2300 - Coil material bottom film removal mechanism; 2301 - Shaft rotation motor; 2302 - First gear; 2303 - Film removal pressure plate; 2304 - Movable guide rail; 2305 - Coil material discharge platform; 2306 - First shaft; 2307 - First rack; 2308 - Supporting aluminum square; 2400 - Roll film bottom film collection mechanism; 2401 - Collection mechanism mounting box; 2402 - Film removal mechanism roller one; 2403 - Film removal mechanism roller two; 2404 - Waste collection box; 2500 - Roll material cutting mechanism; 2501 - Vertical moving guide rail; 2502 - Horizontal moving guide rail; 2503 - Guide rail mounting plate; 2504 - Cutting shear drive mechanism; 2505 - Cutting shear head; 3000-Mobile Chassis Mechanism: 3001-Infrared rangefinder; 3002-Second camera; 3003-Shock absorber; 3004-Mecanum wheel; 3005-Chassis; 3006-Wheel support frame; 3007-Wheel drive axle; 3008-Battery compartment; 4000-Ground Treatment Facility: 4001-Front screw drive mechanism; 4002-Floor grinder; 4003-Mechanism connecting frame; 4004-Dust collection mechanism; 4005-Rear screw drive mechanism connector; 4006-Rear screw drive mechanism; 4007-Dust collection bin; 5000-Cement Supply Organization: 5001 - Cement supply tank; 5002 - Cement conveying pipeline; 5003 - Cement mixing drum; 6000 - Waterproof membrane. Detailed Implementation

[0024] Below, in conjunction with Figures 1 to 13 This invention provides a detailed description of an automatic robot and method for removing and laying the base film of a self-adhesive waterproof membrane.

[0025] This invention provides an automatic robot for removing and laying the base film of self-adhesive waterproof rolls, such as... Figures 1-13 As shown, it includes: The mobile chassis mechanism 3000 serves as the base for the entire robot, supporting the various construction mechanisms on it. This includes the chassis 3005, four infrared rangefinders 3001 and a second camera 3002 bolted to the bottom of the chassis 3005 near the front, and a battery compartment 3008 welded to the bottom of the chassis 3005. Two of the four infrared rangefinders 3001 measure the distance between the robot and the wall in front, while the other two measure the distance between the chassis 3005 and the ground. It should be noted that "front," "rear," "left," and "right" here refer to... Figure 1 As a benchmark; The roll material laying robotic arm 1000 is mounted on the top of the chassis 3005 near the front of the supporting aluminum square 2308 via the robotic arm mechanism mounting frame 1005. It includes the robotic arm body, the first camera 1004, the robotic arm rotary motor 1006, the robotic arm base 1007, and the robotic arm end effector 1100. The coil supply section 2000 is mounted on top of the chassis 3005 via the supporting aluminum square 2308. It includes a coil supply mechanism body 2001 suspended on the supporting aluminum square 2308, a coil storage mechanism 2200 and a coil cutting mechanism 2500 mounted in the middle of the supporting aluminum square 2308, a coil bottom film removal mechanism 2300 and a coil bottom film collection mechanism 2400 mounted in front of the supporting aluminum square 2308, and a coil unloading mechanism 2100 mounted in the rear of the coil supply mechanism body 2001. The ground treatment mechanism 4000 is installed at the bottom of the chassis 3005 and includes a front screw drive mechanism 4001 and a rear screw drive mechanism 4006 fixed to the battery compartment 3008 by bolts, a ground grinder 4002 connected to the front screw drive mechanism 4001 by a flange, a dust collection mechanism 4004 connected to the rear screw drive mechanism 4006 by a rear screw drive mechanism connector 4005, and a dust collection bin 4007 installed on the dust collection mechanism 4004. The cement supply section 5000 is installed on the top of the chassis 3005 and the bottom of the roll material supply mechanism body 2001, including a cement supply tank 5001, a cement conveying pipe 5002, and a cement mixing tank 5003 connected in sequence by flanges and bolts. Waterproof membrane 6000 is used to provide raw materials for the robot's construction operations.

[0026] like Figures 2-4As shown, the robotic arm mounting frame 1005 is a frame composed of four connected aluminum squares. It is supported by two horizontal aluminum squares at the bottom, mounted on supporting aluminum squares 2308, and two vertical aluminum squares on top. The aluminum squares are a general-purpose component, made of aluminum alloy. Tracks are provided on the two upper vertical aluminum squares, and the bottom of the robotic arm base 1007 is mounted on these tracks via an electric trolley. The robotic arm base 1007 has a double-layer structure, with the lower and upper layers connected by bearings. The outer ring of the bearing is fixedly connected to the top of the lower layer, and the inner ring is fixedly connected to the bottom of the upper layer. A robotic arm rotary motor 1006 is fixedly mounted at the bottom of the lower layer, and its output shaft passes through the center of the bearing and is fixedly connected to the bottom of the upper layer. By driving the robotic arm rotary motor 1006, the relative rotation between the upper and lower layers is controlled, thereby achieving the rotation of the robotic arm body. By driving the electric trolley to move on the tracks, the lateral position control of the robotic arm body is achieved. The robotic arm body is the entire structure mounted on the robotic arm base 1007, including a robotic arm upper arm fixed support 1008 mounted on the top of the upper layer of the robotic arm base 1007, a robotic arm upper arm 1002 and a robotic arm upper arm movable motor 1003 mounted on the robotic arm upper arm fixed support 1008, a robotic arm lower arm 1001 connected to the end of the robotic arm upper arm 1002, and a robotic arm end 1100 connected to the end of the robotic arm lower arm 1001. The robotic arm upper arm 1002 and the robotic arm lower arm 1001 are equipped with motors that drive the joint movement. The motors drive the joint movement of the robotic arm body by driving the gears connected to the output end. The output shaft of the robotic arm upper arm movable motor 1003 is connected to the robotic arm upper arm 1002 and controls its overall movement. The outermost top of the robotic arm mechanism mounting frame 1005 is equipped with an outward-facing first camera 1004, which is a general-purpose component used to monitor the working conditions in front of the robot.

[0027] The end effector 1100 of the robotic arm includes a tiling mechanism rotary motor housing 1102 connected to the end of the robotic arm forearm 1001, and a gripper arm motion motor housing 1101 welded to the top of the tiling mechanism rotary motor housing 1102. The output shaft of the tiling mechanism rotary motor housing 1102 is vertically downward and is connected from top to bottom to the tiling mechanism rotary motor housing 1102, the first bearing 1103, the connecting flange 1104, and the roller pressure plate rotary motor housing 1105. The output shaft of the roller pressure plate rotary motor housing 1105 is horizontally configured and connected to the roller pressure plate mounting base 1106. Next, a depth camera facing outward is provided on one side of the roller pressure plate rotary motor housing 1105 to monitor and position the relative position and distance between the robotic arm end effector 1100 and the construction area. The roller pressure plate mounting base 1106 has two holes that can respectively accommodate the handles of commonly available rollers 1108 and pressure plates 1107. Screw holes are located near these holes for easy and quick replacement of different types and sizes of rollers 1108 and pressure plates 1107. The pressure plates 1107 and rollers 1108 are connected by inserting them into the corresponding holes, and then secured by screws. A screw is inserted into the threaded hole and tightened, thereby pressing the handle inserted into the hole to achieve a fixed connection; the output shaft of the gripper arm motion motor compartment 1101 is vertically downward and connected to one end of the gripper arm 1111. The gripper arm 1111 has a U-shaped structure, and its other end is connected by a connecting rod 1110 to achieve a stable structure. Grippers 1109 are provided on both sides of the end near the connecting rod 1110; the gripper 1109 includes a gripper motor 1109a installed on the inner side of the gripper arm 1111, and a gripper motor 1109a installed on the outer side of the gripper arm 1111. The output shaft is connected to a gripper head drive mechanism 1109c, a gripper head 1109e installed at the end of the gripper head drive mechanism 1109c, a film removal blade 1109d installed on one side of the gripper head drive mechanism 1109c, and a distance sensor 1109b; the gripper motor 1109a is used to drive the gripper head drive mechanism 1109c to control the gripper head 1109e to perform the gripping action, and the distance sensor 1109b is used to monitor the distance between the film removal blade 1109d and the surface film, so as to better cooperate with the film removal blade 1109d to perform the film removal operation.

[0028] like Figures 5-10As shown, the roll material supply mechanism body 2001 is an alloy frame. Its front is a semi-enclosed channel with gaps equal to the thickness of the waterproof roll material 6000, used to secure the roll material and prevent it from curling. The rear is an open structure, providing space for the roll material cutting mechanism 2500 and the roll material feeding mechanism 2100. The supporting aluminum squares 2308 consist of eight vertically upward-facing squares, six of which are directly mounted on the chassis 3005, and the other two are suspended on either side of the roll material supply mechanism body 2001 near the front. It is used to install the roll material removal mechanism 2300; the roll material unloading mechanism 2100 includes an electric roller 2101 and a roll material limiting block 2105 installed on the inner side of the roll material supply mechanism body 2001, a roller rotation motor 2102 installed on the outer side of the roll material supply mechanism body 2001 and connected to the electric roller 2101 through an output shaft, a roll material limiting block rotation motor 2103 installed on the outer side of the roll material supply mechanism body 2001 and connected to the roll material limiting block 2105 through an output shaft, and a roll material unloading mechanism 2105 installed on the outer side of the roll material supply mechanism body 2001. The inner bottom of the conveyor belt 2104 of the roll material supply mechanism body 2001; the inner side of the roll material supply mechanism body 2001, below the roll material limiting block 2105, is equipped with a roll material limiting block 2106. The height between the lower surface of the roll material limiting block 2106 and the conveyor belt 2104 is the thickness of the waterproof roll material 6000, which is used to ensure the smooth unfolding of the waterproof roll material 6000; the roll material limiting block 2105 is a rectangular plate, one end of which is connected to the output shaft of the roll material limiting block 1 rotary motor 2103, and the other end is fixed to the roll material supply mechanism body 2001 by a bearing. On the inner wall, when the rotating motor 2103 drives the roll material limiting block 2105 to rotate, it will lock the waterproof roll material 6000 that has fallen into the roll material feeding mechanism 2100. There is a certain horizontal distance between the electric roller 2101 and the roll material limiting block 2105, which is preset according to the maximum diameter of the actual waterproof roll material 6000. The two ends of the conveyor belt 2104 extend to the vertical direction of the roll material limiting block 2105 and the roll material bottom film removal mechanism 2300, respectively, and are used to transport the flat-laid waterproof roll material 6000. The roll material cutting mechanism 2500 is mounted on the guide rail mounting plate 2503 between the four rear aluminum squares of the supporting aluminum square 2308, above the middle of the roll material supply mechanism body 2001. The top of the mechanism is a certain distance from the top of the supporting aluminum square 2308. This is to ensure that when the waterproof roll material 6000 is stored in the roll material storage mechanism 2200 above it, the four aluminum squares act as lateral limiters to prevent the roll material from rolling off the sides. Vertical moving guide rails 2501 are provided on both sides of the bottom surface of the guide rail mounting plate 2503, which are connected by an electric motor. The vehicle is equipped with a transverse moving guide rail 2502. A cutting scissor drive mechanism 2504 is mounted on the transverse moving guide rail 2502 via an electric trolley. The mechanism includes a vertically oriented miniature electric push rod, the output shaft of which is connected to a drive motor. The drive motor is connected to the cutting scissor head 2505. By driving the miniature electric push rod, the cutting scissor head 2505 is brought close to the waterproof membrane 6000. Then, the drive motor drives the cutting scissor head 2505 to perform cutting. A distance sensor 1109b is provided on one side of the cutting scissor head 2505. The roll material storage mechanism 2200 is mounted on the top of the guide rail mounting plate 2503 via a linear guide rail mechanism 2201. One end of the mechanism has a motor that drives a lead screw to rotate, transmitting power to the guide rail support 2202 mounted on the guide rail of the linear guide rail mechanism 2201, thus achieving linear movement of the guide rail support 2202. The two ends of the support rod 2203 are hinged to the guide rail support 2202 and the roll material storage platform support 2204, respectively. The end of the roll material storage platform support 2204 is fixedly connected to the roll material storage platform 2205 by screws. The roll material storage platform 2205 is a bucket-shaped structure, with its sides connected to the roll material storage platform rotating rod 2206. The rotating rod fixing block 2207 is rotatably connected and fixed to the top of the two rearmost aluminum squares of the supporting aluminum square 2308. The purpose of this structure is that the roll material storage platform 2205 is used to temporarily store the waterproof roll material 6000. When the waterproof roll material 6000 needs to be unloaded, the motor in the linear guide rail mechanism 2201 drives the guide rail support 2202 to move to the rear of the robot, thereby causing the roll material storage platform support 2204 to rotate clockwise, thereby causing the waterproof roll material 6000 on the roll material storage platform 2205 to rotate. When it rotates to a certain extent, the waterproof roll material 6000 falls into the roll material unloading mechanism 2100. The roll material decoction mechanism 2300 includes a shaft rotation motor 2301 fixed to one of the suspended aluminum squares of the supporting aluminum square 2308 by screws, and a roll material discharge platform 2305 installed at the middle of the front part of the roll material supply mechanism body 2001. The output shaft of the shaft rotation motor 2301 is connected to a first shaft 2306 via a coupling, and the other end of the first shaft 2306 is connected to the other suspended aluminum square of the supporting aluminum square 2308 via a bearing. A first gear 2302 is provided on the first shaft 2306, and the first gear 2302 meshes with a first rack 2307 on the decoction pressure plate 2303. The two sides of the decoction pressure plate 2303 are mounted on movable guide rails 2. Inside 304, the movable guide rail 2304 is located on the inner front side of the roll material supply mechanism body 2001; a certain gap is left between the roll material discharge platform 2305 and the roll material supply mechanism body 2001, the size of which is slightly larger than the cross-sectional area of ​​the film removal plate 2303; the purpose of this structure is to drive the first gear 2302 to rotate on the first rack 2307 through the shaft rotation motor 2301, thereby driving the film removal plate 2303 to rise and fall in the movable guide rail 2304, and finally fall into the gap between the roll material discharge platform 2305 and the roll material supply mechanism body 2001, pressing down the roll material below and bringing it to the roll material bottom film collection mechanism 2400; The roll film bottom film collection mechanism 2400 includes a collection mechanism mounting box 2401 and a waste collection box 2404, which are bolted to the lower front part of the roll material supply mechanism body 2001; two film removal mechanism rollers 2402 and 2403, installed on both sides below the gap between the roll material discharge platform 2305 and the roll material supply mechanism body 2001; and a waste film conveyor belt and pressure rollers installed inside the collection mechanism mounting box 2401. The waste film conveyor belt is located on the bottom surface inside the collection mechanism mounting box 2401, and the pressure rollers are located near the waste collection box 2404. The collection mechanism mounting box 2401 should be enclosed to prevent debris from entering the roll film bottom film collection mechanism 2400. In diagram 400, the front side panel is hidden for ease of understanding. The collection mechanism mounting box 2401 and the waste collection box 2404 are arranged one in front of the other and are internally connected. The first film removal mechanism roller 2402 and the second film removal mechanism roller 2403 are equipped with drive motors, and their outer surfaces are covered with a layer of soft silicone. The drive motors drive the first film removal mechanism roller 2402 and the second film removal mechanism roller 2403 to rotate, thereby causing the soft silicone on their surfaces to adhesively grip the bottom film of the waterproof membrane 6000 that enters the gap, thereby realizing the automatic adhesion and removal of the bottom film. After the waste film falls off to the waste film conveyor belt, it moves to a position close to the waste collection box 2404, and then the pressure roller presses the waste film into the waste collection box 2404 for storage.

[0029] like Figure 11As shown, wheel support frames 3006 are fixed at the four corners of the bottom of the chassis 3005. A rotating mechanism is provided on the base of the wheel support frame 3006. One end of the rotating mechanism is connected to the battery compartment 3008, which contains a motor. The motor extends from the other end of the rotating mechanism through a coupling and is connected to the wheel drive shaft 3007. This end is connected to the base through a shock absorber 3003. The wheel drive shaft 3007 is connected to the Mecanum wheel 3004. The Mecanum wheel 3004 and the shock absorber 3003 are both general-purpose parts. Their function is to keep the chassis 3005 level and stable while ensuring that the robot can turn and move at any angle.

[0030] like Figure 12 As shown, both the front lead screw drive mechanism 4001 and the rear lead screw drive mechanism 4006 are internally composed of lead screws and motors. The motor drives the lead screws to extend and retract, which is used to control the lifting and lowering of the floor grinder 4002 and the dust collection mechanism 4004. The mechanism connecting frame 4003 is used to ensure the synchronous operation of the robot's floor grinding and dust collection functions. The dust collection bin 4007 is used to collect the collected dust. The floor grinder 4002 also has a built-in portable grinding head, which is hung on the side of the chassis 3005. When it is necessary to grind and clean the vertical surface, the gripper is controlled by the roll material laying robot arm 1000. 1109 arrives at the location, picks up the portable grinding head, and takes it to the designated vertical surface for spot grinding; the vacuuming mechanism 4004 also has a built-in portable vacuum cleaner, which is also hung on the side of the chassis 3005. Similarly, the gripper 1109 is controlled by the roll material laying robot arm 1000 to arrive at the location, pick up the portable vacuum cleaner, and take it to the designated vertical surface for spot vacuuming; the floor grinder 4002 is a general-purpose component used to grind and clean the horizontal floor that needs to be laid; the vacuuming mechanism 4004 is a general-purpose component that uses suction to collect debris and dust from the floor.

[0031] like Figure 13 As shown, the length, width, and depth of the cement supply tank 5001 are all larger than the size of the roller 1108, thus ensuring that the roller 1108 can be completely immersed in the cement supply tank 5001; the cement conveying pipe 5002 is fixed on the chassis 3005, at the lower front position of the roll material supply mechanism body 2001, and the cement mixing tank 5003 is fixed on the chassis 3005, at the lower rear position of the roll material supply mechanism body 2001. It is equipped with a cement mixing shaft inside and a cement conveying port at the rear end for easy addition of cement before construction.

[0032] Based on the aforementioned robot for the automatic removal and laying of self-adhesive waterproof membrane base film, this invention proposes a method for the automatic removal and laying of self-adhesive waterproof membrane base film, comprising the following steps: S1. Pre-construction preparation: The motor driving the linear guide mechanism 2201 moves the guide support 2202 towards the front of the robot, keeping the roll material storage platform 2205 level. The waterproof roll material 6000 is lifted and placed onto the roll material storage platform 2205 by external equipment such as a forklift. At the same time, it is important to ensure that the rolling direction of the waterproof roll material 6000 is consistent with the rotation and tilting direction of the roll material storage platform 2205. Cement is transported to the cement inlet of the cement mixing drum 5003 by external equipment such as a cement mixer truck. At the same time, the cement mixing shaft is started for automatic mixing. According to actual needs, select the appropriate size roller 1108 and pressure plate 1107 and insert them into the holes of the roller and pressure plate mounting base 1106. Screws are installed through the screw holes and tightened to complete the installation of the roller 1108 and pressure plate 1107. S2. Ground and Facade Treatment: When applied to the ground, the distance between the chassis 3005 and the ground is measured by the infrared rangefinder 3001. The front and rear lead screw transmission mechanisms 4001 and 4006 are then driven to lower the ground grinder 4002 and vacuuming mechanism 4004 to the ground. The ground grinder 4002 and vacuuming mechanism 4004 are then activated to grind and vacuum the ground. Simultaneously, the robot's position is monitored by the first camera 1004 and the second camera 3002, and the travel route is planned in real time. During travel, the front and rear lead screw transmission mechanisms 4001 and 4006 continuously adjust the height of the ground grinder 4002 and vacuuming mechanism 4004 based on the data from the infrared rangefinder 3001 until the entire area to be treated is completed. When applied to the facade, the main body of the robotic arm is controlled to move to the edge of the robotic arm mechanism mounting frame 1005 via an electric trolley. The arm rotation motor 1006 drives the rotation of the main body of the robotic arm, making it face the ground processing mechanism 4000. The internal motors of the robotic arm's upper arm moving motor 1003, lower arm 1001, and upper arm 1002 control the robotic arm's end 1100 to approach the portable grinding head and portable vacuum cleaner. The gripper motor 1109a drives the gripper head 1109e to grasp the portable grinding head and portable vacuum cleaner. The position and angle of the main body of the robotic arm are then adjusted. At the same time, the depth camera on one side of the roller pressure plate rotating motor compartment 1105 monitors the position of the gripper 1109, thereby bringing the portable grinding head and portable vacuum cleaner to the vicinity of the construction facade. The portable grinding head and portable vacuum cleaner are then activated to perform real-time grinding, cleaning, and dust removal on the facade. Meanwhile, the relative position of the gripper 1109 and the facade is continuously adjusted through the above mechanisms until the facade is completely processed. S3. Roll Material Processing: During roll material unloading, the motor driving the linear guide mechanism 2201 moves the guide rail support 2202 towards the rear of the robot, causing the roll material storage platform 2205 to tilt clockwise until the waterproof roll material 6000 falls between the roll material limiting block 2105 and the electric roller 2101 of the roll material feeding mechanism 2100. After the waterproof roll material 6000 falls in, the linear guide mechanism 2201 is adjusted using the same steps as in S1 to keep the roll material storage platform 2205 horizontal, preventing more roll material from rolling in. At the same time, the rotating motor 2103 drives the roll material limiting block 2105 to rotate clockwise, thus securing the waterproof roll material 6000. When the roll material is unrolled, it is rolled... The rotary motor 2102 drives the electric roller 2101 to rotate, which in turn drives the waterproof membrane 6000 to rotate. At the same time, the rotary motor 2103 drives the first roll limiting block 2105 to continuously apply pressure to the waterproof membrane 6000 until one end of the waterproof membrane 6000 is laid out from the gap between the second roll limiting block 2106 and the body of the roll supply mechanism 2001. As the roll is consumed, the first roll limiting block 2105 continues to rotate and apply pressure to the waterproof membrane 6000 to ensure the continuous supply of the waterproof membrane 6000 during the large-area laying operation. The unfolded waterproof membrane 6000 is continuously transported to the roll cutting mechanism 2500 by the conveyor belt 2104. S4. Roll Material Cutting: To meet the needs of roll materials of different shapes and sizes, the roll material cutting mechanism 2500 calculates the optimal cutting scheme based on the images transmitted from the first camera 1004 and the second camera 3002, and then cuts the roll material to meet the requirements. During the cutting process, the cutting blade head 2505 is controlled by an electric trolley to move along the vertical moving guide rail 2501 and the horizontal moving guide rail 2502 to a designated location. A miniature electric push rod pushes down the cutting blade head 2505, and a drive motor drives the cutting blade head 2505 to perform the cutting. Simultaneously, the distance sensor 1109b on one side is activated to monitor the cutting depth in real time. First, the cutting blade head 2505 makes a cut along the width of the waterproof roll material 6000, with a cut depth exceeding four-thirds of the thickness of the waterproof roll material 6000 while ensuring that... Complete cutting, this cutting work is called the "first cut" of the waterproof membrane 6000 supply. This process is performed first each time a section of waterproof membrane 6000 is supplied. After the "first cut" is completed, the waterproof membrane 6000 continues to be transported by the conveyor belt 2104 to the front end gap of the membrane supply mechanism body 2001 until the "first cut" part moves out of the working range of the membrane cutting mechanism 2500. Then the membrane cutting mechanism 2500 cuts and processes the remaining waterproof membrane 6000. If the required length of the waterproof membrane 6000 exceeds the overall length of the conveyor belt 2104, the conveyor belt 2104 and the membrane cutting mechanism 2500 continue to process the waterproof membrane 6000 while the membrane laying robot arm 1000 is laying the membrane after the waterproof membrane 6000 removes the base film, working together. S5. Removing the base film from the roll material: After the waterproof roll material 6000 is conveyed by the conveyor belt 2104 to the area below the film removal platen 2303, the waterproof roll material 6000 continues to be conveyed until the "first cut" portion moves to the vertical direction of the film removal platen 2303. The shaft rotation motor 2301 drives the first gear 2302 to rotate on the first rack 2307, thereby driving the film removal platen 2303 to rise and fall in the movable guide rail 2304, and finally descend to the gap between the roll material discharge platform 2305 and the roll material supply mechanism body 2001, pressing down the "first cut" portion of the waterproof roll material 6000 and bringing it to the roll material base film collection mechanism 2400, until both ends of the "first cut" portion contact the surfaces of the first film removal mechanism roller 2402 and the second film removal mechanism roller 2403, respectively. Then the film removal platen 2303 immediately rises back. Since the "first cut" portion was not completely removed in step S4, During the cutting process, the "first cut" portion gradually separates from the remaining waterproof membrane 6000 under the pressure of the membrane removal plate 2303. Eventually, only the membrane removal mechanism rollers 1 2402 and 2403 remain connected to the bottom membrane of the waterproof membrane 6000. As the remaining bottom membrane of the waterproof membrane 6000 is continuously conveyed by the conveyor belt 2104, it is adhesively gripped by the membrane removal mechanism rollers 1 2402 and 2403 of the membrane bottom membrane collection mechanism 2400 along with the "first cut" portion. The waste membrane falls off onto the waste membrane conveyor belt and moves to a position close to the waste collection box 2404. Then, the pressure rollers press the waste membrane into the waste collection box 2404 for storage. Each time the "first cut" operation in step S4 is performed, the membrane bottom membrane removal process in step S5 is performed once. The waterproof membrane 6000 with the membrane removed is transported to the membrane discharge platform 2305 for temporary storage. S6. Cement Application: The cement supply tank 5001 in the cement mixing drum 5003 is filled with cement via the cement conveying pipe 5002 and the cement mixing shaft. Following the same procedure as in step S2, the end effector 1100 of the robotic arm is moved above the cement supply tank 5001. The roller pressure plate rotating motor chamber 1105 drives the roller pressure plate mounting base 1106 to rotate, lowering the roller 1108 to its lowest position. The end effector 1100 of the robotic arm moves until the roller 1108 is completely immersed in the cement supply tank 5001. Then, the end effector 1100 of the robotic arm moves the roller 1108 along with the cement. Upon reaching the cement application location, a depth camera on one side of the roller pressure plate rotary motor chamber 1105 simultaneously assists the roller 1108 in applying cement in real time. The above describes the cement application process for horizontal surfaces. When cement application is required on vertical surfaces, the roller pressure plate rotary motor chamber 1105 is controlled to drive the roller pressure plate mounting base 1106 to rotate, so that the roller 1108 is in a horizontal position. At the same time, the paving mechanism rotary motor chamber 1102 is controlled to continuously change the orientation of the roller 1108, so that its rolling trajectory is a circular motion around water pipes of different diameters, thereby achieving cement application for different pipe diameters on vertical surfaces. S7. Roll Material Laying: Adjust the position of the end of the robotic arm 1100 in the same way as in step S1, so that the gripper 1109 is close to the waterproof roll 6000 on the roll material discharge platform 2305. Drive the gripper motor 1109a so that the gripper head 1109e can complete the action of gripping the waterproof roll 6000. Then, the main body of the robotic arm brings the end of the robotic arm 1100 and the gripper 1109 to the target area for laying. Release the gripper head 1109e to lay the waterproof roll 6000 on the cement surface. Drive the roller pressure plate rotation motor chamber 1105 to rotate so that the pressure plate 1107 is adjusted to a suitable orientation. If it is a flat surface, keep it horizontal; if it is a vertical surface, keep it vertical. Then drive the main body of the robotic arm to press the pressure plate 1107 to press the waterproof roll 6000. S8. Removing the surface film from the roll material: Adjust the position of the robotic arm end effector 1100 in the same manner as in step S1. Simultaneously, the gripper arm 1111 is driven to rotate by the gripper arm motion motor housing 1101. The first camera 1004, the second camera 3002, and the depth camera monitor and adjust the posture of the gripper 1109 in real time, so that the film removal blade 1109d on the gripper 1109 forms a certain angle with the target area. The cutting depth is controlled by the distance sensor 1109b on the gripper head drive mechanism 1109c. The process mimics the action of using a blade to lift the surface film of the waterproof membrane 6000 after it has been laid, mimicking the manual construction process. This process breaks through the remaining surface film of the waterproof membrane 6000, and the gripper head 1109e holds it in place to remove the remaining surface film. This process is repeated until the surface film of the waterproof membrane 6000 is completely removed. After the waterproof membrane 6000 is laid and the surface film is removed, step S6 is executed again to complete the secondary cement application. At this point, the automatic removal and laying of the self-adhesive waterproof membrane base film is completed.

[0033] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A robot for automatically removing and laying the base film of a self-adhesive waterproof membrane roll, characterized in that, include: The mobile chassis mechanism (3000) serves as the base of the entire robot and supports the various construction mechanisms on it. It includes a chassis (3005), four infrared rangefinders (3001) and a second camera (3002) that are bolted to the bottom of the chassis (3005) near the front, and a battery compartment (3008) that is welded to the bottom of the chassis (3005). Two of the four infrared rangefinders (3001) are used to measure the distance between the robot and the wall in front, and the other two are used to measure the distance between the chassis (3005) and the ground. A roll material laying robotic arm (1000) is mounted on the top of the chassis (3005) near the front of the supporting aluminum square (2308) via a robotic arm mechanism mounting frame (1005). The robotic arm includes a main body, a first camera (1004), a robotic arm rotary motor (1006), a robotic arm base (1007), a robotic arm end effector (1100), a pressure plate (1107), and a roller (1108). The robotic arm mechanism mounting frame (1005) is a frame composed of four connected aluminum squares, with the two bottom squares mounted on the supporting aluminum square (2308). The horizontal aluminum square on the 308) serves as a support, and two vertical aluminum squares are installed on it. Tracks are opened on the two vertical aluminum squares at the top. The bottom of the robotic arm base (1007) is installed on the track by an electric trolley. The robotic arm base (1007) is a double-layer structure. Its lower layer and upper layer are connected to each other by bearings. The outer ring of the bearing is fixedly connected to the top of the lower layer, and the inner ring of the bearing is fixedly connected to the bottom of the upper layer. The bottom of the lower layer is fixedly equipped with a robotic arm rotary motor (1006), and its output shaft passes through the center of the bearing and is fixedly connected to the bottom of the upper layer. The roll material supply section (2000) is mounted on the top of the chassis (3005) via the supporting aluminum square (2308), and includes a roll material supply mechanism body (2001) suspended on the supporting aluminum square (2308), a roll material storage mechanism (2200) and a roll material cutting mechanism (2500) mounted in the middle of the supporting aluminum square (2308), a roll material bottom film removal mechanism (2300) and a roll material bottom film collection mechanism (2400) mounted in the front of the supporting aluminum square (2308), and a roll material unloading mechanism (2100) mounted in the rear of the roll material supply mechanism body (2001). The ground treatment mechanism (4000) is installed at the bottom of the chassis (3005) and includes a front screw drive mechanism (4001) and a rear screw drive mechanism (4006) fixed to the battery compartment (3008) by bolts, a ground grinder (4002) connected to the front screw drive mechanism (4001) by a flange, a dust collection mechanism (4004) connected to the rear screw drive mechanism (4006) by a rear screw drive mechanism connector (4005), and a dust collection bin (4007) installed on the dust collection mechanism (4004). The cement supply section (5000) is installed on the top of the chassis (3005) and the bottom of the roll material supply mechanism body (2001), and includes a cement supply tank (5001), a cement conveying pipe (5002), and a cement mixing tank (5003) connected in sequence by flanges and bolts. Waterproof membrane, used to provide raw materials for robot construction operations; The roll cutting mechanism (2500) is mounted on a guide rail mounting plate (2503) between the four rear aluminum squares of the supporting aluminum square (2308) and above the middle of the roll supply mechanism body (2001), with its top a certain distance from the top of the supporting aluminum square (2308). The bottom surface of the guide rail mounting plate (2503) is provided with vertical moving guide rails (2501) on both sides, and a horizontal moving guide rail (2502) is provided below it via an electric trolley. The horizontal moving guide rail (2502) is provided with a cutting scissor drive mechanism (2504) via an electric trolley. The cutting scissor drive mechanism (2504) includes a vertically oriented miniature electric push rod, the output shaft of which is connected to a drive motor, which is connected to the cutting scissor blade head (2505). A distance measuring sensor is provided on one side of the cutting scissor blade head (2505). The roll material storage mechanism (2200) is mounted on the top of the guide rail mounting plate (2503) via a linear guide rail mechanism (2201). One end of the mechanism is equipped with a motor, which drives the lead screw to rotate and transmits power to the guide rail support (2202) mounted on the guide rail of the linear guide rail mechanism (2201). The two ends of the support rod (2203) are respectively hinged to the guide rail support (2202) and the roll material storage platform support (2204). The end of the roll material storage platform support (2204) is fixedly connected to the roll material storage platform (2205) by screws. The roll material storage platform (2205) is a bucket-shaped structure. Its two sides are rotatably connected to the rotating rod fixing block (2207) via the roll material storage platform rotating rod (2206). The rotating rod fixing block (2207) is fixed to the top of the two rearmost aluminum squares of the supporting aluminum square (2308). The roll material removal mechanism (2300) includes a shaft rotation motor (2301) fixed to one of the suspended aluminum squares of the supporting aluminum square (2308) by screws, and a roll material discharge platform (2305) installed at the front center of the roll material supply mechanism body (2001); the output shaft of the shaft rotation motor (2301) is connected to a first shaft (2306) via a coupling, and the other end of the first shaft (2306) is connected to another suspended aluminum square of the supporting aluminum square (2308) via a bearing; the first shaft (2301) 6) A first gear (2302) is provided on the platen, which meshes with a first rack (2307) on the decoction plate (2303). The two sides of the decoction plate (2303) are installed in the movable guide rail (2304), which is located on the inner front part of the body (2001) of the roll material supply mechanism. A certain gap is left between the roll material discharge platform (2305) and the body (2001) of the roll material supply mechanism, which is slightly larger than the cross-sectional area of ​​the decoction plate (2303). The roll film collection mechanism (2400) includes a collection mechanism mounting box (2401) and a waste collection box (2404) fixed to the lower front part of the roll material supply mechanism body (2001) by bolts; a film removal mechanism roller one (2402) and a film removal mechanism roller two (2403) installed on both sides below the gap between the roll material discharge platform (2305) and the roll material supply mechanism body (2001); and a waste film conveyor belt and pressure roller installed inside the collection mechanism mounting box (2401). The waste film conveyor belt is equipped with... On the inner bottom surface of the collection mechanism mounting box (2401), the pressure roller is positioned close to the waste collection box (2404); the collection mechanism mounting box (2401) is enclosed to prevent debris from entering the roll film collection mechanism (2400); the collection mechanism mounting box (2401) and the waste collection box (2404) are arranged one in front of the other and are internally connected; the first film removal mechanism roller (2402) and the second film removal mechanism roller (2403) are equipped with drive motors, and their outer surfaces are covered with a layer of soft silicone.

2. The automatic removal and laying robot for the self-adhesive waterproof membrane base film according to claim 1, characterized in that, The main body of the robotic arm is the entire structure mounted on the robotic arm base (1007), including a robotic arm upper arm fixing support (1008) mounted on the top of the robotic arm base (1007), a robotic arm upper arm (1002) and a robotic arm upper arm moving motor (1003) mounted on the robotic arm upper arm fixing support (1008), a robotic arm lower arm (1001) connected to the end of the robotic arm upper arm (1002), and a robotic arm lower arm (1001) connected to the end of the robotic arm lower arm (1001). The end of the robotic arm (1100); the robotic arm upper arm (1002) and the robotic arm lower arm (1001) are equipped with motors that drive joint movement, which realize the joint movement of the robotic arm body through the gear connected to the drive output end; the output shaft of the robotic arm upper arm moving motor (1003) is connected to the robotic arm upper arm (1002) and controls its overall movement; the outermost top of the robotic arm mechanism mounting frame (1005) is equipped with the first camera (1004) facing outward.

3. The automatic removal and laying robot for the self-adhesive waterproof membrane base film according to claim 2, characterized in that, The end of the robotic arm (1100) includes a paving mechanism rotary motor compartment (1102) connected to the end of the robotic arm forearm (1001) and a gripper arm motion motor compartment (1101) welded to the top of the paving mechanism rotary motor compartment (1102). The output shaft of the rotary motor housing (1102) of the paving mechanism is vertically downward and is connected from top to bottom to the rotary motor housing (1102) of the paving mechanism, the first bearing (1103), the connecting flange (1104), and the rotary motor housing (1105) of the roller pressure plate. The output shaft of the rotary motor housing (1105) of the roller pressure plate is horizontally configured and connected to the roller pressure plate mounting base (1106). A depth camera facing outward is provided on one side of the rotary motor housing (1105). The roller pressure plate mounting base (1106) is provided with two holes that can respectively adapt to the handles of the roller (1108) and the pressure plate (1107). Screw holes are provided near the holes. The pressure plate (1107) and the roller (1108) are connected by inserting into the corresponding holes. Then, screws are inserted through the screw holes and tightened to press the handles inserted into the holes to achieve a fixed connection.

4. The automatic removal and laying robot for the self-adhesive waterproof membrane base film according to claim 3, characterized in that, The output shaft of the gripper arm motion motor compartment (1101) is vertically downward and connected to one end of the gripper arm (1111). The gripper arm (1111) is a U-shaped structure, and its other end is connected by a connecting rod (1110). Grippers (1109) are provided on both sides of the end near the connecting rod (1110). The gripper (1109) includes a gripper motor (1109a) mounted on the inner side of the gripper arm (1111), a gripper head drive mechanism (1109c) mounted on the outer side of the gripper arm (1111) and connected to the output shaft of the gripper motor (1109a), a gripper head (1109e) mounted at the end of the gripper head drive mechanism (1109c), a film removal blade (1109d) mounted on one side of the gripper head drive mechanism (1109c), and a distance sensor (1109b). The gripper motor (1109a) is used to drive the gripper head drive mechanism (1109c) to control the gripper head (1109e) to perform a gripping action, and the distance sensor (1109b) is used to monitor the distance between the film removal blade (1109d) and the surface film.

5. The automatic removal and laying robot for the self-adhesive waterproof membrane base film according to claim 4, characterized in that, The body (2001) of the roll material supply mechanism is an alloy frame. Its front part is a semi-enclosed channel with a gap inside. The size of the gap is consistent with the thickness of the waterproof roll material, which is used to fix the roll material to prevent it from curling. The rear part is an open structure, which is used to provide space for the roll material cutting mechanism (2500) and the roll material feeding mechanism (2100). The supporting aluminum square (2308) has eight vertically upward-facing aluminum squares, six of which are directly installed on the chassis (3005), and the other two are suspended on both sides of the front of the body of the roll material supply mechanism (2001), which are used to install the roll material bottom film removal mechanism (2300). The roll material unloading mechanism (2100) includes an electric roller (2101) and a roll material limiting block (2105) installed on the inner side of the roll material supply mechanism body (2001), a roller rotary motor (2102) installed on the outer side of the roll material supply mechanism body (2001) and connected to the electric roller (2101) via an output shaft, a roll material limiting block rotary motor (2103) installed on the outer side of the roll material supply mechanism body (2001) and connected to the roll material limiting block (2105) via an output shaft, and a conveyor belt (2104) installed at the bottom inner side of the roll material supply mechanism body (2001); the inner side of the roll material supply mechanism body (2001) and below the roll material limiting block (2105) A second roll material limiting block (2106) is installed, and the height between the lower surface of the second roll material limiting block (2106) and the conveyor belt (2104) is the thickness of the waterproof roll material; the first roll material limiting block (2105) is a rectangular plate, one end of which is connected to the output shaft of the first roll material limiting block rotary motor (2103), and the other end is fixed to the inner wall of the roll material supply mechanism body (2001) by a bearing; there is a gap between the electric roller (2101) and the first roll material limiting block (2105), which is preset according to the maximum diameter of the actual waterproof roll material; the two ends of the conveyor belt (2104) extend to the vertical direction of the first roll material limiting block (2105) and the roll material bottom film removal mechanism (2300).

6. The automatic removal and laying robot for the self-adhesive waterproof membrane base film according to claim 5, characterized in that, The chassis (3005) has wheel support frames (3006) fixed at the four corners of its bottom. The base of the wheel support frame (3006) is provided with a rotating mechanism. One end of the rotating mechanism is connected to the battery compartment (3008), which contains a motor. The motor extends from the other end of the rotating mechanism through a coupling and is connected to the wheel drive shaft (3007). This end is connected to the base through a shock absorber (3003). The wheel drive shaft (3007) is connected to the Mecanum wheel (3004). Both the front lead screw drive mechanism (4001) and the rear lead screw drive mechanism (4006) are internally composed of lead screws and motors. The motor drives the lead screws to extend and retract, which is used to control the lifting and lowering of the floor grinder (4002) and the vacuuming mechanism (4004). The floor grinder (4002) has a built-in portable grinding head, which is hung on the side of the chassis (3005). The vacuuming mechanism (4004) has a built-in portable vacuum cleaner, which is also hung on the side of the chassis (3005). The length, width and depth of the cement supply tank (5001) are all greater than the size of the roller (1108), thereby ensuring that the roller (1108) can be completely immersed in the cement supply tank (5001); the cement conveying pipe (5002) is fixed on the chassis (3005) at a position slightly forward below the body of the roll material supply mechanism (2001), and the cement mixing tank (5003) is fixed on the chassis (3005) at a position slightly rear below the body of the roll material supply mechanism (2001), and is equipped with a cement mixing shaft inside and a cement conveying port at the rear end.

7. A method for automatically removing and laying the base film of a self-adhesive waterproof membrane using the robot described in claim 6, characterized in that, The steps are as follows: S1. Pre-construction preparation: The motor driving the guide rail support (2202) of the linear guide rail mechanism (2201) moves towards the front of the robot, keeping the roll material storage platform (2205) horizontal. The waterproof roll material is lifted and placed onto the roll material storage platform (2205) by external equipment. At the same time, the rolling direction of the waterproof roll material is consistent with the rotation tilt direction of the roll material storage platform (2205). Cement is transported to the cement conveying port of the cement mixing tank (5003) by external equipment. At the same time, the cement mixing shaft is started for automatic mixing. According to actual needs, select the appropriate size roller (1108) and pressure plate (1107) and insert them into the holes of the roller and pressure plate mounting base (1106). Install the roller (1108) and pressure plate (1107) by screwing in the screw holes and tightening them. S2. Ground and Facade Treatment: When applied to the ground, the distance between the chassis (3005) and the ground is measured by an infrared rangefinder (3001). The front screw drive mechanism (4001) and the rear screw drive mechanism (4006) are driven to lower the ground grinder (4002) and the vacuuming mechanism (4004) to the ground. The ground grinder (4002) and the vacuuming mechanism (4004) are started to grind and vacuum the ground. At the same time, the robot position is monitored by the first camera (1004) and the second camera (3002), and the travel route is planned in real time. During the travel, the front screw drive mechanism (4001) and the rear screw drive mechanism (4006) are driven to continuously adjust the height of the ground grinder (4002) and the vacuuming mechanism (4004) according to the data of the infrared rangefinder (3001) until the ground of the entire area to be treated is completed. When applied to the facade, the main body of the robotic arm is controlled to move to the edge of the robotic arm mechanism mounting frame (1005) by an electric trolley. The main body of the robotic arm is rotated by the robotic arm rotary motor (1006) so that it faces the ground treatment mechanism (4000). The internal motors of the robotic arm upper arm moving motor (1003), robotic arm lower arm (1001) and robotic arm upper arm (1002) are controlled so that the end of the robotic arm (1100) is close to the portable grinding head and portable vacuum cleaner. The gripper head (1109e) is driven by the gripper motor (1109a) to grip the portable grinding head and portable vacuum cleaner. The position and angle of the main body of the robotic arm are then adjusted. At the same time, the position of the gripper (1109) is monitored by the depth camera on one side of the roller pressure plate rotary motor chamber (1105). The portable grinding head and portable vacuum cleaner are then brought to the vicinity of the construction facade. The portable grinding head and portable vacuum cleaner are started to perform real-time grinding, cleaning and dust removal on the facade. At the same time, the relative position of the gripper (1109) and the facade is continuously adjusted by the above mechanisms until the facade is completely treated. S3. Roll Material Processing: When the roll material is unloaded, the motor driving the guide rail support (2202) of the linear guide rail mechanism (2201) moves towards the rear of the robot, causing the roll material storage platform (2205) to tilt clockwise until the waterproof roll material falls between the roll material limiting block 1 (2105) and the electric roller (2101) of the roll material unloading mechanism (2100). After the waterproof roll material falls in, the linear guide rail mechanism (2201) is adjusted in the same way as in S1 to keep the roll material storage platform (2205) horizontal and prevent more roll material from rolling in. At the same time, the rotating motor (2103) of the roll material limiting block 1 drives the roll material limiting block 1 (2105) to rotate clockwise, so that it locks the waterproof roll material. When the waterproof membrane is laid out, the electric roller (2101) is driven to rotate by the roller rotation motor (2102), which in turn drives the waterproof membrane to rotate. At the same time, the roll limit block rotation motor (2103) drives the roll limit block (2105) to continuously apply pressure to the waterproof membrane until one end of the waterproof membrane is laid out from the gap between the roll limit block (2106) and the roll supply mechanism body (2001). As the membrane is consumed, the roll limit block (2105) continues to rotate and apply pressure to the waterproof membrane to ensure the continuous supply of waterproof membrane during the large-area laying operation. The laid-out waterproof membrane is continuously transported to the roll cutting mechanism (2500) by the conveyor belt (2104). S4. Roll Cutting: To meet the needs of rolls of different shapes and sizes, the roll cutting mechanism (2500) calculates the optimal cutting scheme based on the images transmitted from the first camera (1004) and the second camera (3002), and then cuts the rolls that meet the requirements. During the cutting process, the cutting blade head (2505) is controlled by an electric trolley to move to the designated location on the vertical moving guide rail (2501) and the horizontal moving guide rail (2502). The cutting blade head (2505) is pushed down by a miniature electric push rod and driven by a drive motor to cut. At the same time, the distance sensor (1109b) on one side is activated to monitor the cutting depth in real time. First, the cutting blade head (2505) makes a cut along the width of the waterproof roll, and the depth of the cut exceeds the thickness of the waterproof roll. While ensuring that the waterproof membrane is not completely cut while cutting three-quarters of the length, this cutting work is called the "first cut" of the waterproof membrane supply. This process is carried out first each time a section of waterproof membrane is supplied. After the "first cut" is completed, the waterproof membrane is transported by the conveyor belt (2104) to the front end gap of the membrane supply mechanism body (2001) until the "first cut" part moves out of the working range of the membrane cutting mechanism (2500). Then the membrane cutting mechanism (2500) cuts and processes the remaining waterproof membrane. If the required length of the waterproof membrane exceeds the overall length of the conveyor belt (2104), the conveyor belt (2104) and the membrane cutting mechanism (2500) continue to process the waterproof membrane while the membrane laying robot arm (1000) lays the membrane after the waterproof membrane is removed from the base film, working together. S5. Removing the base film from the roll material: After the waterproof roll material is conveyed by the conveyor belt (2104) to the area below the film removal platen (2303), the waterproof roll material continues to be conveyed until the "first cut" portion moves to the vertical direction of the film removal platen (2303). The shaft rotation motor (2301) drives the first gear (2302) to rotate on the first rack (2307), thereby driving the film removal platen (2303) to rise and fall in the movable guide rail (2304), and finally descend to the gap between the roll material discharge platform (2305) and the roll material supply mechanism body (2001), pressing down the "first cut" portion of the waterproof roll material below it and bringing it to the roll material base film collection mechanism (2400) until both ends of the "first cut" portion contact the surfaces of the first film removal mechanism roller (2402) and the second film removal mechanism roller (2403) respectively. Then the film removal platen (2303) immediately rises back, because the "first cut" in step S4 Parts are not completely cut off. During the process of being squeezed by the film removal pressure plate (2303), the "first cut" part will gradually separate from the remaining waterproof membrane. In the end, only the film removal mechanism roller 1 (2402) and film removal mechanism roller 2 (2403) are connected to the bottom film of the waterproof membrane. The bottom film of the remaining waterproof membrane will be stickily grabbed by the film removal mechanism roller 1 (2402) and film removal mechanism roller 2 (2403) of the membrane bottom film collection mechanism (2400) along with the "first cut" part during the continuous conveying of the conveyor belt (2104). After the waste film falls off to the waste film conveyor belt, it moves to a position close to the waste collection box (2404). Then, the pressure roller presses the waste film into the waste collection box (2404) for storage. Each time the "first cut" operation in step S4 is performed, the membrane bottom film removal process in step S5 is performed once. The waterproof membrane with the film removed is transported to the membrane discharge platform (2305) for temporary storage. S6. Cement application: The cement supply tank (5001) in the cement mixing drum (5003) is filled with cement by the cement conveying pipe (5002) and the cement mixing shaft. Following the same procedure as in step S2, the end effector (1100) of the robotic arm is moved above the cement supply tank (5001). The roller pressure plate rotating motor chamber (1105) drives the roller pressure plate mounting base (1106) to rotate, causing the roller (1108) to be at its lowest position. The end effector (1100) of the robotic arm moves until the roller (1108) is completely immersed in the cement supply tank (5001). Then, the end effector (1100) of the robotic arm leads the roller (1108)... 108) Move to the cement application location, and at the same time, cooperate with the depth camera on one side of the roller pressure plate rotary motor chamber (1105) to assist the roller (1108) in cement application in real time; the above is the cement application process for horizontal surfaces. When cement application is required on vertical surfaces, control the roller pressure plate rotary motor chamber (1105) to drive the roller pressure plate mounting base (1106) to rotate, so that the roller (1108) is in a horizontal position. At the same time, control the paving mechanism rotary motor chamber (1102) to continuously change the orientation of the roller (1108), so that its rolling trajectory is to make a circular motion around water pipes of different diameters, thereby realizing cement application of different pipe diameters on vertical surfaces; S7. Roll Material Laying: Adjust the position of the end of the robotic arm (1100) in the same way as in step S1, so that the gripper (1109) is close to the waterproof roll material on the roll material discharge platform (2305). Drive the gripper motor (1109a) so that the gripper head (1109e) completes the action of gripping the waterproof roll material. Then, the main body of the robotic arm brings the end of the robotic arm (1100) and the gripper (1109) to the laying target area. Release the gripper head (1109e) to lay the waterproof roll material on the cement surface. Drive the roller pressure plate rotation motor chamber (1105) to rotate so that the pressure plate (1107) is adjusted to a suitable orientation. If it is a flat surface, keep it horizontal; if it is a vertical surface, keep it vertical. Then drive the main body of the robotic arm to press the pressure plate (1107) to press the waterproof roll material. S8. Removing the surface film from the roll material: Adjust the position of the end effector (1100) of the robotic arm in the same manner as in step S1. At the same time, the gripper arm (1111) is rotated by the gripper arm motion motor compartment (1101). The first camera (1004), the second camera (3002), and the depth camera monitor and adjust the posture of the gripper (1109) in real time, so that the film removal blade (1109d) on the gripper (1109) forms a certain angle with the target area. This is done in conjunction with the measuring device on the gripper head drive mechanism (1109c). The distance sensor (1109b) controls the cutting depth, mimicking the action of manually lifting the surface film of the waterproof membrane after it has been laid with a blade during construction. The remaining surface film of the waterproof membrane is broken, and the gripper head (1109e) holds the detached surface film of the waterproof membrane, thus tearing off the remaining surface film. The above process is repeated until the surface film of the waterproof membrane is completely removed. After the waterproof membrane is laid and the surface film is removed, step S6 is executed again to complete the secondary cement application. At this point, the automatic removal and laying of the bottom film of the self-adhesive waterproof membrane is completed.

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