A building wall positioning and slotting robot

Abstract

The application relates to a building wall positioning and slotting robot, which belongs to the technical field of building construction robot detection, and comprises a robot body, a rough punching positioning unit connected to one end of the robot body and a fine cutting and slotting unit connected to the other end of the robot body. The rough punching positioning unit comprises a slot position positioning module and a slot contour rough punching module. The application discloses a building wall positioning and slotting robot. The robot can accurately position the slot position of wall slotting, and can open the slot contour through a preliminary rough punching process and can completely slot through a subsequent fine cutting process, so that the practicability and working quality of the robot can be effectively improved.

Description

Technical Field

[0001] This invention belongs to the field of building construction robot inspection technology, specifically relating to a building wall positioning and grooving robot. Background Technology

[0002] With the continuous maturation of information technology and intelligent robot technology, and the rising cost of labor, the entry of robots into the construction and other infrastructure construction fields has become an inevitable trend. Traditional secondary structure grooving is done manually, which generates a lot of dust during grooving, easily accelerating the incidence of occupational diseases among workers; after grooving, it is necessary to clean up the waste, and manual grooving is slow, has poor accuracy, and often has problems such as large deviations in grooving depth and width, resulting in rework and hindering project cost control.

[0003] To address this, some grooving robots have emerged in the prior art. For example, patent document CN202310281585.8 discloses a secondary structure automatic grooving robot, belonging to the field of robot technology, which includes a base, shell, data acquisition system, control system, grooving system, and smartphone terminal. However, this grooving robot lacks the function of locating grooves in the wall surface, and grooving the wall surface with simple grooving tools still suffers from slow construction efficiency and low grooving quality. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention discloses a wall positioning and grooving robot. This robot can accurately locate the groove opening position on the wall, open the groove outline through a preliminary rough punching process, and then chisel out the complete groove through a subsequent precision cutting process, which can effectively improve the robot's practicality and work quality.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: A building wall positioning and grooving robot includes a robot body, one end of which is connected to a rough punching positioning unit and the other end is connected to a fine cutting and grooving unit. The rough punching positioning unit includes a groove position positioning module and a groove contour rough punching module.

[0006] Preferably, the robot body includes a cubic shell, a counterweight layer at the bottom inside the shell, and braked wheels on both sides of the bottom outside the shell. The wheels are driven by a first servo motor. The shell contains a battery and a controller that are electrically connected to each other. The controller is configured to control the first servo motor of each wheel.

[0007] Preferably, the front end of the outer casing is provided with a first lifting mechanism, which includes two first L-shaped support plates arranged side by side. The horizontal section of the first L-shaped support plate extends rearward, and a first mounting plate is fixedly connected to the lower part of the inner wall of the vertical section. A first lead screw is rotatably connected between the horizontal section and the first mounting plate in the vertical direction. The first lead screw includes a first lead screw A as a driving lead screw and a first lead screw B as a driven lead screw. A first driving sprocket A is installed at the bottom of the first lead screw A, and a first driven sprocket A is installed at the bottom of the first lead screw B. The first driving sprocket A and the first driven sprocket A are connected by a communication channel. A first movable seat is screwed onto both the first lead screw A and the first lead screw B via a chain drive. A first electric cylinder is fixedly connected through the first movable seat in the front-to-back direction. The telescopic end of the first electric cylinder extends forward through the gap between two first L-shaped support plates and is detachably fixedly connected to a rough punching positioning unit. A first pressure sensor is connected between the telescopic end of the first electric cylinder and the rough punching positioning unit. The bottom end of the first lead screw A is fixedly connected to the output shaft of the second servo motor A, which is pre-installed in the housing. The second servo motor A, the first electric cylinder, and the first pressure sensor are electrically connected to the controller via wires.

[0008] Preferably, the rear end of the outer shell is symmetrically provided with a second lifting mechanism. The second lifting mechanism has the same structure as the first lifting mechanism, except that: the rear end of the second movable seat driven by the second lifting mechanism is provided with an integrally connected protrusion. The protrusion is provided with a straight slide groove that runs through the front and rear end faces of the second movable seat. A lead screw is rotatably connected in the straight slide groove at the location of the protrusion in the left and right direction. One end of the lead screw passes through the outer wall of the protrusion and is fixedly connected to the output shaft end of the drive motor preset at the outer wall of the protrusion. A movable block is threadedly connected to the lead screw. The upper and lower ends of the movable block are slidably connected to the upper and lower ends of the inner wall of the straight slide groove, respectively. A guide rod is also provided in the left and right direction on the side of the straight slide groove away from the protrusion. The guide rod passes through the movable block and is slidably connected to the movable block. An impact cylinder is also provided at the rear end of the movable block. The cylinder barrel of the impact cylinder is embedded in the movable block. The piston rod end of the impact cylinder extends backward and is connected to a grooving head through a second pressure sensor. The control circuit of the impact cylinder, the second pressure sensor, and the drive motor are electrically connected to the controller through wires.

[0009] Preferably, the slot position positioning module includes a square base plate, a cubic protective cover is detachably and fixedly connected to the rear end of the base plate, a connecting rod is fixedly connected to the outer surface of the rear end of the protective cover along the axial direction, the connecting rod is connected to the telescopic end of the first electric cylinder through a flange assembly, a first rectangular frame is coaxially provided on the inner side of the protective cover, the front end of the first rectangular frame is fixedly connected to the base plate, a plurality of positioning holes are arranged in a matrix on the base plate enclosed by the first rectangular frame, the first rectangular frame is connected to a coordinate positioning mechanism, and the coordinate positioning mechanism is connected to a slot contour rough punching module.

[0010] Preferably, a positioning frame is coaxially fixedly connected to the front end of the substrate, and the rear end of the positioning frame is fixedly connected to the front edge of the substrate.

[0011] Preferably, the coordinate positioning mechanism includes a movable beam arranged vertically and slidably connected at its upper and lower ends to the upper and lower inner walls of a first rectangular frame, respectively. The movable beam has a convex cross-section. The upper and lower ends of the movable beam are respectively screwed to a horizontally placed third lead screw A and a third lead screw B. The two ends of the third lead screw A and the third lead screw B are respectively rotatably connected to the left and right side walls of the first rectangular frame. The same-side ends of the third lead screw A and the third lead screw B pass through the side walls of the first rectangular frame and are respectively fixedly connected to a second driving sprocket and a second driven sprocket. The second driving sprocket and the second driven sprocket are connected by a chain drive. The end of the third lead screw A is pre-set in the first rectangular frame. The output shaft of the third servo motor on the outer wall of the frame is fixedly connected. The rotation of the third servo motor drives the moving beam to move left and right. The moving beam has square holes along the front-back direction to form a second rectangular frame. A fourth lead screw is arranged vertically inside the square holes. The two ends of the fourth lead screw are rotatably connected to the upper and lower ends of the second rectangular frame, respectively. One end of the fourth lead screw passes through the outer wall of the second rectangular frame and is fixedly connected to the output shaft of the fourth servo motor that is preset on the outer wall of the second rectangular frame. A third moving seat is screwed onto the fourth lead screw. The rotation of the fourth servo motor drives the third moving seat to move up and down. The third servo motor and the fourth servo motor are electrically connected to the controller through wires.

[0012] Preferably, the groove contour rough punching module includes a second electric cylinder arranged in the front-rear direction. The fixed end of the second electric cylinder is fixedly connected to the front end of the third moving seat. The telescopic end is connected to a fifth servo motor through a third pressure sensor. The output shaft of the fifth servo motor extends forward and is fixedly connected to a drill bit. The length of the drill bit is sufficient to construct the groove contour by punching holes in the wall. A protective support housing is coaxially sleeved at the front end of the fifth servo motor body and outside the output shaft. The protective support housing is slidably connected to a positioning hole. The cross-section of the positioning hole and the protective support housing is rectangular. The second electric cylinder, the third pressure sensor, and the fifth servo motor are respectively connected to the controller via wired or wireless means.

[0013] Preferably, the upper, lower, left, and right ends of the substrate are respectively provided with laser range sensors. The laser range sensors are used to measure the distance A between the upper end of the substrate and the top plate of the building structure, the distance B between the lower end of the substrate and the bottom plate of the building structure, the distance C between the left end of the substrate and the first preset mark plate on the left side of the wall, and the distance D between the right end of the substrate and the second preset mark plate on the right side of the wall.

[0014] Preferably, a fixing plate is connected between the top ends of the two first L-shaped support plates, and a path recognition camera is provided at the top of the fixing plate. A high-definition camera for monitoring the slotting process is also provided at the upper rear end of the second L-shaped support plate. The path recognition camera and the high-definition camera are respectively connected to the controller signal via wires.

[0015] A method for using a robot for positioning and grooving building walls includes the following steps: Step 1: The robot moves to the construction position and uses four sets of laser rangefinders on the base plate to detect distances A, B, C, and D. The controller adjusts its own position and the height of the base plate according to distances A, B, C, and D, so that the base plate is aligned with the grooved area on the wall. At this time, the preset position of the groove is coaxial with the base plate. Step 2: The first electric cylinder extends, and the controller presses the positioning frame against the wall according to the signal from the first pressure sensor; Step 3: The controller precisely controls the position of the third moving seat by adjusting the third and fourth servo motors, so that the third moving seat passes through each position of the preset groove contour in sequence. At each position, the second electric cylinder extends and, according to the information of the third pressure sensor, the drill bit passes through the positioning hole and presses against the wall. The fifth servo motor is started to drill holes of the required depth in the preset groove contour in sequence. The initial structure of the groove contour is formed by several evenly distributed drill holes. Step 4: After drilling and shaping all the slots on the wall, the robot turns around and moves to each slot in turn. By extending the impact cylinder and adjusting the distance between the robot and the wall based on the data from the second pressure sensor, the robot controls the cutting head to cut the area connecting each drilled hole in turn, and finally removes the contents inside the slot. This completes the grooving process for one slot. The grooving process for the other slots is completed in the same way.

[0016] The beneficial effects of the building wall positioning and grooving robot of the present invention are as follows: This invention discloses a wall positioning and grooving robot. The robot can accurately locate the groove opening position on the wall, open the groove outline through a preliminary rough punching process, and then chisel out the complete groove through a subsequent precision cutting process, which can effectively improve the robot's practicality and work quality. Attached Figure Description

[0017] Figure 1 : A side view of the structure of a building wall positioning and grooving robot according to the present invention; Figure 2 : A rear view structural diagram of the rough punching positioning unit of a building wall positioning and grooving robot according to the present invention; Figure 3 This invention Figure 2 A schematic diagram of the rear structure after the protective cover has been removed; Figure 4 : A bottom view of the movable beam structure of the present invention; Figure 5 : A schematic diagram of the third movable seat of the present invention connected to the second electric cylinder; Figure 6 : A rear view schematic diagram of the substrate of the present invention; Figure 7 : A front view of the rough punching positioning unit of the present invention (the positioning hole shown in the figure is a square hole); Figure 8 : A front view of the overall structure of the present invention; Figure 9 : A front view schematic diagram of the second movable seat of the present invention; Figure 10 : A top view of the second movable seat of the present invention; Figure 11 : A schematic diagram of the groove outline formed by drilling.

[0018] 1: Outer shell; 2: Wheels; 3: First L-shaped support plate; 4: Second L-shaped support plate; 5: First movable seat; 6: Second movable seat; 61: Linear slide; 62: Protrusion; 63: Lead screw; 64: Moving block; 641: Guide rod; 65: Drive motor; 7: First electric cylinder; 8: Flange assembly; 9: Grooving cutter head; 10: Impact cylinder; 11: High-definition camera; 12: Path recognition camera; 13: Protective cover; 14: Base plate; 15: Laser rangefinder sensor; 6: Positioning frame; 17: First drive sprocket A; 18: Second servo motor A; 19: First lead screw; 20: Connecting rod; 21: First rectangular frame; 22: Third lead screw A; 23: Third lead screw B; 24: Third servo motor; 25: Chain; 26: Moving beam; 27: Fourth lead screw; 28: Third moving seat; 29: Positioning hole; 30: Second electric cylinder; 31: Fifth servo motor; 32: Protective support housing; 33: Drill bit; 34: Fixing plate; 35: Drill hole. Detailed Implementation

[0019] The following description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0020] Example 1: A building wall positioning and grooving robot, such as Figure 1-8 As shown, the system includes a robot body. One end of the robot body is connected to a rough punching positioning unit for rough punching positioning of the slot, i.e., positioning the slot outline by rough punching the slot contour. The other end is connected to a fine cutting grooving unit for further fine cutting the slot to form the slot shape. The fine cutting control is achieved by setting a pressure sensor to control the force of the grooving head. The rough punching positioning unit includes a slot position positioning module and a slot contour rough punching module. The slot position positioning module is responsible for determining the position of the slot in the room and accurately positioning the position and trajectory of the grooving head. The slot contour rough punching module is used to punch holes in the slot contour to form the contour.

[0021] Example 2: like Figure 1 , 8 As shown, the robot body includes a cubic shell 1. The bottom of the shell 1 is provided with a counterweight layer (not shown in the figure, the purpose of which is to improve the stability of the robot body and overcome the impact of vibration during operation). The bottom sides of the shell 1 are provided with walking wheels 2 with brakes. The walking wheels 2 are driven by a first servo motor (not shown in the figure). The shell 1 is provided with a battery and a controller (not shown in the figure) that are electrically connected to each other. The controller is configured to control the first servo motor of each walking wheel 2.

[0022] In this embodiment, the robot body can be any robot in the prior art capable of performing the relevant functions. This embodiment provides the simplest solution, where the controller can control the robot body to perform various walking actions by controlling four first servo motors. Infrared sensors (not marked in the figure) are also installed around the robot body for obstacle avoidance. The robot body can also be configured for remote control via a mobile phone.

[0023] Example 3: like Figure 1 , 8 As shown, the front end of the outer casing 1 is provided with a first lifting mechanism. The first lifting mechanism includes two first L-shaped support plates 3 arranged side by side. The horizontal section of the first L-shaped support plate 3 extends rearward, and the lower part of the inner wall of the vertical section is fixedly connected to a first mounting plate (not marked in the figure). A first lead screw 19 is rotatably connected vertically between the horizontal section and the first mounting plate. The first lead screw 19 includes a first lead screw A as a driving lead screw and a first lead screw B as a driven lead screw (e.g., ...). Figure 8 As shown in the figure, a first driving sprocket A17 is installed at the bottom of the first lead screw A, and a first driven sprocket A (not marked in the figure) is installed at the bottom of the first lead screw B. The first driving sprocket A17 and the first driven sprocket A are connected by a chain drive. A first moving seat 5 is screwed onto the first lead screw A and the first lead screw B. A first electric cylinder 7 is fixedly connected through the first moving seat 5 in the front-back direction. The telescopic end of the first electric cylinder 7 extends forward through the gap between the two first L-shaped support plates 3 and is detachably fixedly connected to a coarse punching positioning unit. A first pressure sensor (not shown in the figure, used to detect the pressure applied to the wall by the coarse punching positioning unit, so that the coarse punching positioning unit remains stable during positioning operation) is connected between the telescopic end of the first electric cylinder 7 and the coarse punching positioning unit. The bottom end of the first lead screw A is fixedly connected to the output shaft of the second servo motor A18 preset in the outer casing 1. The second servo motor A18, the first electric cylinder, and the first pressure sensor are electrically connected to the controller through wires.

[0024] In this embodiment, the second servo motor A18 actuates, driving the first lead screw A to rotate. The rotation of the first lead screw A drives the first driving sprocket A to rotate. The first driving sprocket A synchronously drives the first driven sprocket A to rotate via a chain, which in turn drives the first lead screw B to rotate, thereby driving the first moving seat to rise or fall. The first electric cylinder 7 drives the roughing positioning unit to move back and forth by telescopic movement, thereby changing the engagement distance with the wall. A first pressure sensor provides a pressure signal for the controller to determine whether the roughing positioning unit is in contact with or pressed against the wall. This embodiment provides a skeleton structure to achieve the relevant effects. To further improve the stability during operation, the structure can be further improved. For example, the rear end of the roughing positioning unit can be connected to a pre-set guide hole on the first moving seat via multiple guide rods parallel to the telescopic end of the first electric cylinder. Further improvements are not detailed here.

[0025] Example 4: like Figure 1 , 8As shown in Figure -10, a second lifting mechanism is symmetrically provided at the rear end of the outer shell 1. The second lifting mechanism has the same structure as the first lifting mechanism, except that: the rear end of the second movable seat 6 driven by the second lifting mechanism has an integrally connected protrusion 62. The protrusion 62 has a straight slide groove 61 that passes through the front and rear end faces of the second movable seat. A lead screw 63 is rotatably connected in the straight slide groove 61 at the location of the protrusion 62 in the left and right direction. One end of the lead screw 63 passes through the outer wall of the protrusion 62 and is fixedly connected to the output shaft end of the drive motor 65 preset at the outer wall of the protrusion 62. A movable block 6 is threadedly connected to the lead screw 63. 4. The upper and lower ends of the movable block 64 are slidably connected to the upper and lower ends of the inner wall of the linear slide groove 61, respectively. A guide rod 641 is also provided in the left and right direction on the side of the linear slide groove 61 away from the protrusion 62. The guide rod 641 passes through the movable block 64 and is slidably connected to the movable block 64. An impact cylinder 10 is also provided at the rear end of the movable block 64. The cylinder of the impact cylinder 10 is embedded in the movable block 64. The piston rod end of the impact cylinder 10 extends backward and is connected to the grooving head 9 through the second pressure sensor. The control circuit of the impact cylinder 10, the second pressure sensor, and the drive motor 65 are electrically connected to the controller through wires.

[0026] In this embodiment, the grooving head 9 can be selected from various existing grooving head tools according to the grooving requirements, such as flat, conical, or other irregularly shaped heads; for example... Figure 11 As shown, after the rough punching positioning unit shapes the groove outline through drilling, the groove structure is gradually formed by the impact of the grooving cutter head 9. The second lead screw in the second lifting mechanism is connected to the second servo motor B (e.g., Figure 1 , 8 As shown in the figure (not marked), the second moving seat is rotated under the drive of the motor 65, and then the second moving seat is raised and lowered through the transmission. The moving block 64 moves left and right under the drive of the drive motor 65, thereby realizing the coordinate position control of the moving block in the up, down and left and right directions. After the groove contour is drilled and formed, the groove structure is further formed by the impact of the grooving head.

[0027] Example 5: like Figure 1-7 As shown, the slot position positioning module includes a square base plate 14. A cubic protective cover 13 is detachably and fixedly connected to the rear end of the base plate 14. A connecting rod 20 is fixedly connected axially to the outer surface of the rear end of the protective cover 13. The connecting rod 20 is connected to the telescopic end of the first electric cylinder 7 through a flange assembly 8. A first rectangular frame 21 is coaxially provided on the inner side of the protective cover 13. The front end of the first rectangular frame 21 is fixedly connected to the base plate 14. A plurality of positioning holes 29 are arranged in a matrix on the base plate 14 enclosed by the first rectangular frame 21. The first rectangular frame 21 is connected to a coordinate positioning mechanism. The coordinate positioning mechanism is connected to a slot contour rough punching module.

[0028] Furthermore, such as Figure 1 , 7 As shown, a positioning frame 16 is coaxially fixedly connected to the front end of the substrate 14, and the rear end of the positioning frame 16 is fixedly connected to the front edge of the substrate 14.

[0029] Furthermore, such as Figure 3 As shown, the coordinate positioning mechanism includes a movable beam 26 arranged vertically and slidably connected at its upper and lower ends to the upper and lower inner walls of the first rectangular frame 21, respectively. The movable beam 26 has a convex cross-section. The upper and lower ends of the movable beam 26 are screwed to a horizontally placed third lead screw A22 and a third lead screw B23, respectively. The two ends of the third lead screw A22 and the third lead screw B23 are rotatably connected to the left and right side walls of the first rectangular frame 21, respectively. The same-side ends of the third lead screw A22 and the third lead screw B23 pass through the side wall of the first rectangular frame 21 and are respectively fixedly connected to a second driving sprocket and a second driven sprocket. The driving sprocket and the second driven sprocket are connected by a chain 25. The end of the third lead screw A22 is fixedly connected to the output shaft of the third servo motor 24, which is preset on the outer wall of the first rectangular frame 21. The rotation of the third servo motor 24 drives the moving beam 26 to move left and right. The moving beam has square holes along the front-back direction to form a second rectangular frame. A fourth lead screw 27 is vertically arranged in the square holes. The two ends of the fourth lead screw 27 are rotatably connected to the upper and lower ends of the second rectangular frame, respectively. One end of the fourth lead screw 27 passes through the outer wall of the second rectangular frame and is connected to the fourth servo motor (e.g., a servo motor) preset on the outer wall of the second rectangular frame. Figure 3 As shown in the figure (not marked), the output shaft is fixedly connected, and the third moving seat 28 is screwed onto the fourth lead screw 27. The third moving seat 28 is driven to move up and down by the rotation of the fourth servo motor. The third servo motor and the fourth servo motor are electrically connected to the controller through wires.

[0030] In this embodiment, the third servo motor 24 rotates to drive the moving beam 26 to move left and right, and then the fourth servo motor rotates to drive the third moving seat 28 to move up and down, thereby realizing the coordinate positioning of the third moving seat in the up, down, left and right directions.

[0031] Example 6: like Figure 5 , 7As shown, the groove contour rough punching module includes a second electric cylinder 30 arranged in the front-rear direction. The fixed end of the second electric cylinder 30 is fixedly connected to the front end of the third moving seat 28. The telescopic end is connected to a fifth servo motor 31 through a third pressure sensor (not shown in the figure, the purpose of which is to detect the pressure between the drill bit and the wall). The output shaft of the fifth servo motor 31 extends forward and is fixedly connected to a drill bit 33. The length of the drill bit is sufficient to construct the groove contour by punching holes in the wall. A protective support housing 32 is coaxially sleeved at the front end of the body of the fifth servo motor 31 and outside the output shaft. The protective support housing 32 is slidably connected to the positioning hole 29. The cross-section of the positioning hole 29 and the protective support housing is rectangular. The second electric cylinder, the third pressure sensor, and the fifth servo motor are respectively connected to the controller via wired or wireless means.

[0032] In this embodiment, as Figure 7 As shown in the figure, the positioning hole 29 is square. During wall punching, the protective support housing 32 is always slidably connected to the inner wall of the positioning hole. Since both have square cross-sections, the torque transmission to the second electric cylinder 30 is restricted. The second electric cylinder achieves the feed and retraction of the drill bit through extension and retraction. The fifth servo motor controls the drill bit to drill through rotation. The third pressure sensor provides real-time pressure signal feedback, and the controller controls the extension range of the second electric cylinder. In this invention, the positioning holes are arranged in a matrix, and their spacing and size should meet the needs of processing wall groove structures of various sizes. That is, the outline of the groove structure can be formed by a number of drilled holes, and the drilled holes and positioning holes have a positional correspondence.

[0033] Example 7: like Figure 1-3 As shown in Figures 6 and 7, laser rangefinders 15 are respectively provided at the top, bottom, left, and right ends of the substrate 14. These laser rangefinders 15 are used to measure the following distances: A between the top end of the substrate and the top plate of the building structure; B between the bottom end of the substrate and the bottom plate of the building structure; C between the left end of the substrate and a pre-set marker plate (not shown in the figure, which can be a manually set marker plate or a side wall perpendicular to the left end of the wall); and D between the right end of the substrate and a pre-set marker plate (not shown in the figure, which can be a manually set marker plate or a side wall perpendicular to the right end of the wall). The position of the substrate within the wall space is determined by measuring these four distances. After determining the substrate position, the position of the groove structure can be determined based on the relative position of the positioning holes arranged in a matrix with respect to the substrate. For example, if a certain position is a pre-set groove structure position, and the substrate is coaxial with it and the above four distances meet the drawing requirements, the position of the groove structure outline can be determined based on the substrate position and the groove structure's dimensions. These parameters should be pre-stored in the controller.

[0034] Example 8: like Figure 1 , 8 As shown, a fixing plate 34 is connected between the top ends of the two first L-shaped support plates. A path recognition camera 12 is provided at the top of the fixing plate 34. A high-definition camera 11 for monitoring the slotting process is also provided at the upper rear end of the second L-shaped support plate. The path recognition camera 12 and the high-definition camera 11 are respectively connected to the controller signal via wires.

[0035] Example 9: Based on the above embodiments, this embodiment discloses a method for using a building wall positioning and grooving robot, such as... Figure 1-11 As shown, it includes the following steps: Step 1: The robot moves to the construction position and uses four sets of laser rangefinders on the base plate to detect distances A, B, C, and D. The controller adjusts its own position and the height of the base plate according to distances A, B, C, and D, so that the base plate is aligned with the grooved area on the wall. At this time, the preset position of the groove is coaxial with the base plate. Step 2: The first electric cylinder extends, and the controller presses the positioning frame against the wall according to the signal from the first pressure sensor; Step 3: The controller precisely controls the position of the third moving seat by adjusting the third and fourth servo motors, so that the third moving seat passes through each position of the preset groove contour in sequence. At each position, the second electric cylinder extends and, according to the information of the third pressure sensor, the drill bit passes through the positioning hole and presses against the wall. The fifth servo motor is started to drill holes of the required depth in the preset groove contour in sequence. The initial structure of the groove contour is formed by several evenly distributed drill holes 35. Step 4: After drilling and shaping all the slots on the wall, the robot turns around and moves to each slot in turn. By extending the impact cylinder and adjusting the distance between the robot and the wall based on the data from the second pressure sensor, the robot controls the cutting head to cut the area connecting each drilled hole in turn, and finally removes the contents inside the slot. This completes the grooving process for one slot. The grooving process for the other slots is completed in the same way.

Claims

1. A robot for positioning and grooving building walls, characterized by: The system includes a robot body, one end of which is connected to a rough punching positioning unit, and the other end is connected to a fine cutting and grooving unit. The rough punching positioning unit includes a groove position positioning module and a groove contour rough punching module. The robot body includes a cubic shell with a counterweight layer at the bottom inside the shell and braked wheels on both sides of the bottom outside the shell. The wheels are driven by a first servo motor. The shell contains a battery and a controller that are electrically connected to each other. The controller is configured to control the first servo motor of each wheel.

2. The building wall positioning and grooving robot as described in claim 1, characterized in that: The front end of the outer casing is provided with a first lifting mechanism, which includes two first L-shaped support plates arranged side by side. The horizontal section of the first L-shaped support plate extends rearward, and a first mounting plate is fixedly connected to the lower part of the inner wall of the vertical section. A first lead screw is rotatably connected between the horizontal section and the first mounting plate in the vertical direction. The first lead screw includes a first lead screw A as a driving lead screw and a first lead screw B as a driven lead screw. A first driving sprocket A is installed at the bottom of the first lead screw A, and a first driven sprocket A is installed at the bottom of the first lead screw B. The first driving sprocket A and the first driven sprocket A are connected by a chain. The transmission is connected by a first movable seat screwed onto the first lead screw A and the first lead screw B. A first electric cylinder is fixedly connected through the first movable seat along the front-back direction. The telescopic end of the first electric cylinder extends forward through the gap between the two first L-shaped support plates and is detachably fixedly connected to a rough punching positioning unit. A first pressure sensor is connected between the telescopic end of the first electric cylinder and the rough punching positioning unit. The bottom end of the first lead screw A is fixedly connected to the output shaft of the second servo motor A, which is preset in the housing. The second servo motor A, the first electric cylinder, and the first pressure sensor are electrically connected to the controller through wires. The rear end of the outer shell is symmetrically provided with a second lifting mechanism. The second lifting mechanism has the same structure as the first lifting mechanism, except that: the rear end of the second movable seat driven by the second lifting mechanism is provided with an integrally connected protrusion. The protrusion has a straight groove that runs through the front and rear end faces of the second movable seat. A lead screw is rotatably connected in the straight groove at the location of the protrusion in the left and right direction. One end of the lead screw passes through the outer wall of the protrusion and is fixedly connected to the output shaft end of the drive motor preset on the outer wall of the protrusion. A movable block is threadedly connected to the lead screw. The upper and lower ends of the movable block are slidably connected to the upper and lower ends of the inner wall of the straight groove, respectively. A guide rod is also provided in the left and right direction on the side of the straight groove away from the protrusion. The guide rod passes through the movable block and is slidably connected to the movable block. An impact cylinder is also provided at the rear end of the movable block. The cylinder barrel of the impact cylinder is embedded in the movable block. The piston rod end of the impact cylinder extends backward and is connected to a grooving head through a second pressure sensor. The control circuit of the impact cylinder, the second pressure sensor, and the drive motor are electrically connected to the controller through wires.

3. The building wall positioning and grooving robot as described in claim 2, characterized in that: The slot position positioning module includes a square base plate, a cubic protective cover detachably and fixedly connected to the rear end of the base plate, a connecting rod fixedly connected axially to the outer surface of the rear end of the protective cover, the connecting rod being connected to the telescopic end of the first electric cylinder via a flange assembly, a first rectangular frame being coaxially provided inside the protective cover, the front end of the first rectangular frame being fixedly connected to the base plate, a plurality of positioning holes being arranged in a matrix on the base plate enclosed by the first rectangular frame, a coordinate positioning mechanism being connected to the first rectangular frame, and a slot contour rough punching module being connected to the coordinate positioning mechanism.

4. The building wall positioning and grooving robot as described in claim 3, characterized in that: A positioning frame is coaxially fixedly connected to the front end of the substrate, and the rear end of the positioning frame is fixedly connected to the front edge of the substrate.

5. The building wall positioning and grooving robot as described in claim 4, characterized in that: The coordinate positioning mechanism includes a movable beam arranged vertically and slidably connected at its upper and lower ends to the upper and lower inner walls of a first rectangular frame, respectively. The movable beam has a convex cross-section. The upper and lower ends of the movable beam are screwed to a horizontally placed third lead screw A and a third lead screw B, respectively. The two ends of the third lead screw A and the third lead screw B are rotatably connected to the left and right side walls of the first rectangular frame, respectively. The same-side ends of the third lead screw A and the third lead screw B pass through the side walls of the first rectangular frame and are respectively fixedly connected to a second driving sprocket and a second driven sprocket. The second driving sprocket and the second driven sprocket are connected by a chain drive. The end of the third lead screw A is pre-installed outside the first rectangular frame. The output shaft of the third servo motor is fixedly connected to the wall. The rotation of the third servo motor drives the moving beam to move left and right. The moving beam has square holes along the front-back direction to form a second rectangular frame. A fourth lead screw is vertically arranged inside the square holes. The two ends of the fourth lead screw are rotatably connected to the upper and lower ends of the second rectangular frame, respectively. One end of the fourth lead screw passes through the outer wall of the second rectangular frame and is fixedly connected to the output shaft of the fourth servo motor that is preset on the outer wall of the second rectangular frame. A third moving seat is screwed onto the fourth lead screw. The rotation of the fourth servo motor drives the third moving seat to move up and down. The third servo motor and the fourth servo motor are electrically connected to the controller through wires.

6. The building wall positioning and grooving robot as described in claim 5, characterized in that: The groove contour rough punching module includes a second electric cylinder arranged in the front-rear direction. The fixed end of the second electric cylinder is fixedly connected to the front end of the third moving seat. The telescopic end is connected to a fifth servo motor through a third pressure sensor. The output shaft of the fifth servo motor extends forward and is fixedly connected to a drill bit. The length of the drill bit is sufficient to construct the groove contour by punching holes in the wall. A protective support shell is coaxially sleeved at the front end of the fifth servo motor body and outside the output shaft. The protective support shell is slidably connected to a positioning hole. The cross-section of the positioning hole and the protective support shell are both rectangular. The second electric cylinder, the third pressure sensor, and the fifth servo motor are respectively connected to the controller via wired or wireless signal connection.

7. The building wall positioning and grooving robot as described in claim 6, characterized in that: The substrate is equipped with laser rangefinders at its top, bottom, left, and right ends. These laser rangefinders are used to measure the distance A between the top end of the substrate and the top plate of the building structure, the distance B between the bottom end of the substrate and the bottom plate of the building structure, the distance C between the left end of the substrate and a pre-set marker plate 1 on the left side of the wall, and the distance D between the right end of the substrate and a pre-set marker plate 2 on the right side of the wall.

8. A building wall positioning and grooving robot as described in claim 7, characterized in that: a fixed plate is connected between the top ends of the two first L-shaped support plates, a path recognition camera is provided at the top of the fixed plate, and a high-definition camera for monitoring the grooving process is also provided at the upper rear end of the second L-shaped support plate, and the path recognition camera and the high-definition camera are respectively connected to the controller signal via wires.

9. The method of using a building wall positioning and grooving robot as described in claim 8, characterized in that, Includes the following steps: Step 1: The robot moves to the construction position and uses four sets of laser rangefinders on the base plate to detect distances A, B, C, and D. The controller adjusts its own position and the height of the base plate according to distances A, B, C, and D, so that the base plate is aligned with the grooved area on the wall. At this time, the preset position of the groove is coaxial with the base plate. Step Two: The first electric cylinder extends, and the controller, based on the signal from the first pressure sensor, presses the positioning frame firmly against the wall. Step 3: The controller precisely controls the position of the third moving seat by adjusting the third and fourth servo motors, so that the third moving seat passes through each position of the preset groove contour in sequence. At each position, the second electric cylinder extends and, according to the information of the third pressure sensor, the drill bit passes through the positioning hole and presses against the wall. The fifth servo motor is started to drill holes of the required depth in the preset groove contour in sequence. The initial structure of the groove contour is formed by several evenly distributed drill holes. Step 4: After drilling and shaping all the slots on the wall, the robot turns around and moves to each slot in turn. By extending the impact cylinder and adjusting the distance between the robot and the wall based on the data from the second pressure sensor, the robot controls the cutting head to cut the area connecting each drilled hole in turn, and finally removes the contents inside the slot. This completes the grooving process for one slot. The grooving process for the other slots is completed in the same way.

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