A crawler-type slotting and punching operation robot and a construction method thereof

Abstract

The present application relates to the technical field of building construction equipment, and particularly relates to a tracked slotting and punching operation robot and a construction method thereof, comprising a tracked walking chassis, a lifting platform, a mechanical arm, a main control unit and a terminal operation unit. The mechanical arm is provided with a pure mechanical locking type heavy load quick-change interface, and can selectively install a slotting or punching operation assembly. For different working conditions, the slotting assembly is provided with a two-stage dust removal structure and a hinged floating self-adaptive buffer structure; the punching assembly is provided with a semi-closed dust collection bin and an axial floating buffer structure. The present application also provides an operation method comprising laser positioning, trajectory verification and intelligent linkage construction. The present application realizes integrated high-precision construction of wall slotting and punching double processes, effectively solves the problems of quick-change failure under heavy load working conditions, heavy dust pollution and large load impact during double operation, and greatly improves the construction efficiency and service life.

Description

Technical Field

[0001] This invention relates to the field of building construction equipment technology, specifically to a tracked robot that integrates grooving and drilling functions, has a heavy-duty mechanical locking quick-change device and a differentiated dust suppression system, and also relates to a wall construction method using the robot. Background Technology

[0002] In building electromechanical installation engineering, wall grooving and drilling are high-frequency, continuous operations in pipeline pre-laying and equipment installation. Traditional manual construction suffers from high labor intensity, severe dust pollution, difficulty in ensuring operational accuracy, and low efficiency in process switching. With the development of building automation technology, some wall grooving or drilling robots have appeared on the market, but existing construction robots still have the following unresolved technical defects:

[0003] The existing equipment is limited in function and cannot achieve integrated construction of two processes. Most existing equipment can only perform single grooving or single drilling functions, requiring multiple specialized machines to be configured on the construction site. This not only increases the costs of equipment procurement, transportation and management, but also causes problems such as repeated positioning during process switching and low construction efficiency.

[0004] Quick-change devices are not suitable for heavy-duty, impact-prone working conditions. Most existing end-tool quick-change devices adopt pneumatic structures, which generally suffer from insufficient locking rigidity, poor vibration resistance, and easy air leakage failure in the harsh working conditions of construction sites with high dust, strong impact, and high humidity.

[0005] The dust control structure has poor adaptability and cannot take into account the dust characteristics of both working conditions. Existing equipment generally adopts a single dust collection structure, which cannot take into account the dust characteristics of two different working conditions: the continuous diffusion dust generated by grooving continuous cutting and the high-speed jet dust generated by the transient impact of drilling.

[0006] The lack of an adaptable load buffer structure results in a short equipment lifespan. Existing equipment does not have a buffer structure designed for the load characteristics of different operations such as grooving and drilling. The high-frequency impact loads generated during operation are directly transmitted to the quick-change device and the robotic arm body, which can easily cause structural wear, loose connections, and equipment damage.

[0007] The construction methods are not standardized, resulting in poor accuracy and consistency. Existing automated equipment lacks standardized, end-to-end construction methods, with numerous manual interventions during operation. Trajectory planning and accuracy verification are missing, leading to inconsistent work quality among different operators and in different construction scenarios, thus hindering standardized and intelligent construction. Summary of the Invention

[0008] To address the aforementioned technical problems, this invention proposes a tracked grooving and drilling robot and its construction method. This robot is compatible with both grooving and drilling processes, adaptable to heavy-duty impact conditions, has good dust suppression, high operational precision, and a safe and standardized construction method, thus meeting the needs of the field of building electromechanical installation automation.

[0009] The present invention provides a tracked grooving and drilling robot, comprising a tracked chassis, a lifting platform, a robotic arm, a main control unit, and an end effector.

[0010] The lifting platform is fixedly installed on the upper end of the tracked chassis, and the robotic arm is rigidly fixed to the working surface of the lifting platform. The end of the robotic arm is provided with a purely mechanical locking heavy-duty quick-change interface, through which the end-effector can selectively install a grooving component or a drilling component.

[0011] The outer side of the grooving operation component is provided with a two-stage dust removal structure corresponding to the grooving area. The two-stage dust removal structure includes a water spray device and a dust removal fan. The dust removal fan is fixed on the lifting platform and is connected to the dust collection hood of the grooving operation component through a flexible pipeline.

[0012] The outside of the drilling assembly is fitted with a semi-enclosed dust collection chamber corresponding to the drilling position, and the dust collection chamber is rigidly connected to the body of the drilling assembly.

[0013] The purely mechanical locking heavy-duty quick-change interface includes a quick-change female end and a quick-change male end. The quick-change female end is rigidly fixed to the end of the robotic arm. The quick-change male end is divided into a grooving male end for use with the grooving component and a drilling male end for use with the drilling component. The grooving male end is equipped with a hinged floating adaptive buffer structure, and the drilling male end is equipped with an axial floating buffer structure.

[0014] The end of the robotic arm is also fixed with a position detection component, which includes a red light indicator structure and a laser ranging structure. The position detection component and the main control unit form a closed-loop feedback hardware circuit.

[0015] The main control unit integrates a motion control module, a signal acquisition module, and a human-machine interface hardware controller. The main control unit is electrically connected to the tracked chassis, the lifting platform, the robotic arm, and the end-effector, and is used to control the coordinated movement of each component.

[0016] Furthermore, the mating end face of the quick-change female end is provided with a rectangularly symmetrically distributed four-point snap-fit ​​mating surface and double pin holes symmetrically arranged along the four-point snap-fit ​​mating surface. The quick-change male end adopts a double right-angle plate integrated structure, and the mating end face of the double right-angle plate is machined with a four-point matching snap-fit ​​groove that is complementary to the four-point snap-fit ​​mating surface and a symmetrical coaxial pin hole that corresponds to and is coaxially aligned with the two double pin holes.

[0017] Furthermore, the four-point engagement mating surface and the four-point matching engagement groove adopt a mating profile with a self-locking slope. After the engagement is in place, the double locking pins are used for interference fit to achieve full constraint rigid locking. The tail of the double locking pins is equipped with an anti-loosening nut.

[0018] Furthermore, the articulated floating adaptive buffer structure of the slotting male end includes a double-hinged plate forming a hinge pair via pins, a hinged-side mounting plate, a working-side mounting plate, and multiple sets of symmetrically arranged slotting buffer springs. The double-hinged plate is hinged to the hinged-side mounting plate and the working-side mounting plate, respectively. The hinged-side mounting plate is rigidly connected to the quick-change male end, and the working-side mounting plate is rigidly fixed to the slotting assembly. The multiple sets of slotting buffer springs are arranged in parallel between the hinged-side mounting plate and the working-side mounting plate.

[0019] Furthermore, the axial floating buffer structure of the drilling male end includes a bottom fixed mounting plate, an upper floating mounting plate, multiple symmetrically arranged support rods, and a drilling buffer spring sleeved on the outside of each support rod. The bottom fixed mounting plate is rigidly connected to the quick-change male end, the upper floating mounting plate is rigidly fixed to the drilling assembly, and both ends of the support rods are respectively limited to the bottom fixed mounting plate and the upper floating mounting plate. The upper floating mounting plate can slide along the axial direction of the support rods.

[0020] Furthermore, the upper floating mounting plate is equipped with a front clamping structure for the impact drill and a tailstock for the impact drill. The front clamping structure is a clamp-type structure, and the tailstock for the impact drill is fully fitted and limited to the tail of the impact drill. A stopper screw is provided at the end of the support rod to limit the maximum axial sliding stroke of the axial floating buffer structure.

[0021] Furthermore, the detection directions of the red light indicator structure and the laser ranging structure of the position detection component are both set in the same direction as the working direction of the grooving or drilling component. The red light indicator structure is used to mark target points on the working wall surface, and the laser ranging structure is used to collect the vertical distance data between the end-effector and the working wall surface.

[0022] Furthermore, a water tank connected to the water spraying device is fixed on the lifting platform, and a water level gauge is installed inside the water tank. The outlet of the dust collector fan is equipped with a replaceable dust collection bag.

[0023] Furthermore, the water spray device and dust removal fan of the dual-stage dust removal structure are electrically connected to the main control unit, forming a linkage control hardware loop with the grooving operation component, so that the water spray device and dust removal fan start and stop synchronously when the grooving operation component is started. The main control unit has a preset hardware parameter library corresponding to grooving and drilling operations, which can automatically match the corresponding collaborative control hardware parameters according to the selected operation mode, including the movement parameters of the tracked chassis, the lifting parameters of the lifting platform, the motion parameters of the robotic arm, and the operation parameters of the end effector unit.

[0024] A construction method for a tracked grooving and drilling robot, implemented based on the aforementioned tracked grooving and drilling robot, includes the following steps:

[0025] S1. Installation and full constraint locking of the end-effector unit:

[0026] The operator holds the end-effector unit matched to the preset operating mode, aligns the four-point matching and fastening slots of the quick-change male end with the four-point fastening mating surfaces of the quick-change female end, and pushes it until the slots and mating surfaces are locked without gap, completing the pre-positioning. After the pin holes of the quick-change female end and quick-change male end are coaxially aligned, the double locking pin and matching anti-loosening nut are screwed in, and a fully constrained rigid lock is achieved through interference fit, completing the installation of the end-effector unit.

[0027] S2. Selecting the operating mode and positioning the equipment:

[0028] According to the construction process requirements, the operator selects the grooving or drilling operation mode on the human-machine interface of the main control unit. After receiving the instruction, the main control unit automatically calls up the hardware parameter library that matches the selected operation mode. Then, the main control unit drives the tracked chassis to move to the target area of ​​the wall construction, adjusts the equipment posture so that the robotic arm faces the working wall, and completes the equipment positioning.

[0029] S3. Laser positioning and operation path planning:

[0030] The position detection component is activated, and the target work point is marked on the work wall using a red light indicator structure. The laser ranging structure collects the distance data between the end-effector and the work wall in real time and feeds it back to the main control unit. Based on the marked point and the ranging data, the main control unit drives the lifting platform to complete the vertical height adjustment, while coordinating the robotic arm to complete multi-degree-of-freedom attitude adjustment, so that the end-effector moves to the work preparation position and automatically generates the work trajectory.

[0031] S4. No-load simulation operation and trajectory verification:

[0032] The main control unit controls the robotic arm and lifting platform to perform no-load simulation operation according to the generated work trajectory. During the simulation, the position detection component verifies the work path and robotic arm posture in real time. If a path deviation or posture exceeding the limit is detected, the main control unit automatically corrects the parameters and re-simulates until the trajectory accuracy meets the preset requirements.

[0033] S5. Intelligent Linkage Formal Construction Simulation:

[0034] After verification, the main control unit starts the end-effector to perform construction, while the corresponding structure operates synchronously.

[0035] In grooving operation mode, when the grooving components are started, the main control unit simultaneously activates the water spray device and dust removal fan, achieving dual-stage dust control through water spraying for dust suppression and negative pressure dust removal. During operation, the articulated floating adaptive buffer structure adapts to the flatness of the wall surface, ensuring that the grooving tool remains in contact with the wall surface throughout the process. At the same time, the buffer spring absorbs radial cutting vibration and isolates impact loads.

[0036] In the drilling operation mode, the main control unit drives the robotic arm to feed, causing the flexible sealing strip of the dust collection chamber to fit tightly against the working wall to form a closed dust collection space. Then, the drilling operation component is started. During the operation, the axial floating buffer structure converts the high-frequency axial rigid impact into elastic deformation, attenuating the impact load, while realizing on-site closed dust collection.

[0037] S6. Job Reset and Process Switching:

[0038] After a single operation is completed, the main control unit stops the end-effector and simultaneously shuts down the dust removal and suppression structure. Then, it drives the robotic arm and lifting platform to a safe position. Once the operation is confirmed to be satisfactory, depending on the requirements of the next process, the unit can either continue the same type of operation at the same location or disassemble the current end-effector and repeat steps S1-S5 to complete the process switch and subsequent construction.

[0039] The beneficial effects of this invention are:

[0040] This invention enables integrated construction of two processes, significantly improving construction efficiency and scenario adaptability. Through a purely mechanical locking heavy-duty quick-change interface, it achieves rapid and non-destructive switching between grooving and drilling components. The same robotic platform can complete both core construction processes—grooving and drilling—reducing the number of equipment required on-site, lowering equipment procurement, transportation, and management costs. Simultaneously, it avoids repetitive positioning during process switching, shortening single-process switching time, improving construction efficiency, and perfectly adapting to the needs of streamlined construction of building electromechanical installations.

[0041] The heavy-duty quick-change structure is adapted to harsh working conditions, significantly improving locking stability and safety. This invention adopts a purely mechanical quick-change structure with four-point self-locking and double-pin interference locking, achieving fully constrained rigid locking in six spatial degrees of freedom. It eliminates the need for external pneumatic or electric drive components, completely solving the problems of air leakage and loosening of pneumatic quick-change devices under harsh conditions such as high dust and strong impact. Combined with a self-locking profile and anti-loosening nuts, load self-locking can be achieved during operation, improving vibration resistance and significantly enhancing equipment operating safety and structural lifespan.

[0042] The differentiated dust suppression structure is specifically adapted to dual working conditions, resulting in significant environmental protection effects. This invention designs a dedicated dust control structure for the different dust characteristics of grooving and drilling operations: Grooving operations employ a two-stage structure of source water spray dust suppression + end-of-pipe negative pressure dust removal, achieving a high dust suppression rate. Simultaneously, the dust removal fan is positioned on the lifting platform to reduce the end-of-pipe load and improve the stability of the robotic arm's movement. Drilling operations utilize a semi-enclosed, fitted dust collection chamber, achieving on-site sealed dust collection and completely solving the problem of high-speed dust ejection and spillage during drilling, significantly improving the construction site environment and protecting the occupational health of construction workers.

[0043] A differentiated load buffer structure isolates impacts, significantly extending equipment lifespan. This invention addresses the radial continuous cutting vibrations of grooving operations by designing a hinged floating adaptive buffer structure. This structure adapts to complex conditions such as uneven wall surfaces and verticality deviations, ensuring the grooving tool remains in contact with the wall throughout the entire process, guaranteeing uniform grooving depth and straight grooves. Simultaneously, it absorbs radial cutting vibrations through buffer springs. For the high-frequency axial rigid impacts of drilling operations, an axial floating buffer structure is designed, converting rigid impacts into spring elastic deformation. This effectively attenuates the transmission of impact loads to the quick-change interface and robotic arm, preventing structural wear and loose connections, and extending the overall equipment lifespan.

[0044] This invention employs a standardized construction method throughout the entire process to achieve high-precision and intelligent construction. The accompanying construction method utilizes standardized control across the entire process—from installation and locking to mode selection, positioning planning, simulation verification, coordinated construction, and reset switching—along with closed-loop feedback control of the position detection component and the main control unit. This enables automatic planning and precise verification of the work trajectory, resolving accuracy deviations caused by manual intervention and ensuring consistent work quality across different construction scenarios. Furthermore, it features real-time anomaly alarm functionality, significantly reducing the barrier to manual operation and achieving intelligent construction.

[0045] It boasts strong all-terrain adaptability and a wide operational coverage. This invention adopts a layered architecture of tracked chassis + lifting platform + six-axis robotic arm. The tracked chassis can adapt to complex ground surfaces such as cement, gravel, and mud on construction sites, and has excellent obstacle-crossing and anti-slip capabilities. Combined with the wide range of height adjustment of the lifting platform and the multi-degree-of-freedom movement of the six-axis robotic arm, it has extremely strong adaptability to complex construction scenarios. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0047] Figure 2 This is a schematic diagram of the structure of the purely mechanical locking heavy-duty quick-change interface of the present invention.

[0048] Figure 3 This is a schematic diagram of the quick-change male terminal of the present invention. In the figure (a), it is a quick-change male terminal adapted to the slotting operation male terminal; in the figure (b), it is a quick-change male terminal adapted to the drilling operation male terminal.

[0049] Figure 4 This is a schematic diagram of the end-effector unit of the present invention. In the figure, (a) is the grooving assembly; and (b) is the drilling assembly.

[0050] Figure 5 This is a schematic diagram of the grooving operation male end of the present invention.

[0051] Figure 6 This is a schematic diagram of the structure of the male end of the punching operation of the present invention.

[0052] In the attached image:

[0053] 1- Tracked chassis, 2- Lifting platform, 3- Water tank, 4- Main control unit, 5- Dust removal fan, 6- Robotic arm, 7- End-of-line unit, 8- Quick-change female end, 9- Four-point fastening mating surface, 10- Grooving male end, 11- Water spray device, 12- Drilling male end, 13- Dust collection bin, 14- Hinge plate A, 15- Hinge plate B, 16- Working side mounting plate, 17- Grooving buffer spring, 18- Grooving right-angle plate A, 1 9-Hinged side mounting plate, 20-Slotted right-angle plate B, 21-Plug screw, 22-Bottom fixed mounting plate, 23-Support rod, 24-Drilled right-angle plate A, 25-Drilled right-angle plate B, 26-Impact drill tailstock, 27-Drilled buffer spring, 28-Upper floating mounting plate, 29-Impact drill front clamping structure, 30-Symmetrical coaxial pin hole, 31-Four-point matching fastening slot, 32-Structural connection mounting hole, 33-Position detection component. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0055] See Figures 1-6This invention proposes a tracked grooving and drilling robot, comprising a tracked chassis 1, a lifting platform 2, a robotic arm 6, a main control unit 4, and an end effector 7. The tracked chassis 1 uses a rubber track structure to enable all-terrain movement of the equipment on construction sites, adapting to different construction sites such as cement, gravel, and muddy surfaces. It possesses excellent obstacle-crossing, anti-slip, and climbing capabilities, and can adapt to complex indoor and outdoor construction environments. The lifting platform 2 uses an electric scissor lift structure, fixedly installed on the upper end of the tracked chassis 1, to adjust the vertical working height of the robotic arm, expanding the equipment's working coverage in conjunction with the robotic arm's own working range. The robotic arm 6 is a six-axis industrial robotic arm, rigidly fixed to the working surface of the lifting platform 2 with high-strength bolts. It can drive the end effector 7 to achieve multi-degree-of-freedom and multi-posture motion adjustments, adapting to grooving and drilling operations at different angles and positions. In this embodiment, the tracked chassis 1, the lifting platform 2, and the robotic arm 6 form a multi-layered, rigidly connected working structure from bottom to top.

[0056] The end effector of robotic arm 6 is equipped with a purely mechanical locking heavy-duty quick-change interface. This quick-change interface is the core connection structure between the end effector unit 7 and the robotic arm, and its structure is as follows: Figure 2 As shown, it includes two parts: a quick-change female end 8 and a quick-change male end. The quick-change female end 8 is rigidly connected to the end flange of the robotic arm 6 by high-strength hexagonal socket bolts, serving as the positioning and locking reference for the quick-change interface. Its mating end face is provided with four symmetrically distributed rectangular engagement surfaces 9, and two high-precision symmetrical double pin holes symmetrically arranged along the four engagement surfaces 9. Among them, the four engagement surfaces 9 are standardized machining mating points with uniform machining tolerances and fitting contours, serving as the core reference for the quick-change male end's engagement; the symmetrical double pin holes can form an interference fit with the locking pin.

[0057] The quick-change male connector serves as a universal docking base for grooving and drilling components, employing a double right-angle plate integrated structure, as shown in the diagram. Figure 3 As shown, two double right-angle plates are arranged symmetrically and parallel. The mating end faces of the double right-angle plates are machined with four-point matching fastening grooves 31 that are completely complementary to the four-point fastening mating surfaces 9 of the quick-change female end 8, allowing for a gapless surface contact fit with the female end points. The double right-angle plates are also machined with symmetrical coaxial pin holes 30 that are completely coaxial with the symmetrical double pin holes of the quick-change female end 8, with the hole diameter tolerances consistent with those of the quick-change female end 8. The vertical end faces of the double right-angle plates are machined with multiple sets of standardized structural connection mounting holes 32 for rigid connection with the adaptor structure of the working component. This allows the double right-angle plates to simultaneously perform the dual functions of quick-change docking and working component support, reducing intermediate transition structures and improving load transfer efficiency and structural compactness.

[0058] The four-point engagement surface 9 and the four-point matching engagement slot 31 adopt a mating profile with a slight self-locking slope. After the quick-change male end is engaged, the slope creates a self-locking effect. The lateral counter-torque generated during operation will further push the slot and the point to fit tightly, strengthening the locking effect. When the double right-angle plates are engaged, the pin holes of the quick-change female end and the quick-change male end are completely coaxially aligned. Two locking pins are screwed in, forming an interference fit with the pin holes, achieving full-constraint rigid locking of spatial freedom. The pin tail is equipped with an anti-loosening nut to prevent the pin from loosening and falling off under vibration conditions, improving operational safety.

[0059] The end-effector 7 is installed at the end of the robotic arm via the aforementioned purely mechanical locking heavy-duty quick-change interface, as shown in the following structure. Figure 4 As shown, the end-of-line operation unit 7 includes a slotting operation component and a drilling operation component that can be installed selectively. The two types of components adopt a unified end-of-line installation structure and can be accurately interchanged with the quick-change interface to complete the rapid switching of processes.

[0060] When the end-effector unit 7 is a grooving component, a two-stage dust removal structure corresponding to the grooving area is installed on its outer side. The two-stage dust removal structure includes a water spray device 11 and a dust removal fan 5. The water inlet of the water spray device 11 is connected to a water tank 3 fixed on the lifting platform 2 via a pipeline. A mechanical water level gauge is installed inside the water tank 3, allowing operators to visually observe the water level through the gauge's scale. The water spray nozzles are positioned near the grooving cutting area, continuously spraying water into the cutting area during grooving operations to suppress dust diffusion at the source. The dust removal fan 5 is fixed on the lifting platform 2, with its air inlet connected to the dust collection hood of the grooving component via a flexible pipeline. The air outlet is equipped with a replaceable dust collection bag, which can collect incompletely settled dust into the dust collection bag through negative pressure. Simultaneously, arranging the dust removal fan 5 on the lifting platform 2 can significantly reduce the load on the end-effector unit and improve the stability of the robotic arm's movement. The water spray device 11 and the dust removal fan 5 are both electrically connected to the main control unit 4, forming a linkage control hardware loop with the grooving operation component, so that when the grooving operation component is started, the water spray device 11 and the dust removal fan 5 start and stop synchronously, and shut down synchronously when the operation stops.

[0061] When the end-of-line working unit 7 is a drilling component, a semi-enclosed dust collection chamber 13 corresponding to the drilling position is fitted on its outer side. The dust collection chamber 13 is rigidly connected to the body of the drilling component, and a flexible sealing strip is provided at its open end. During the drilling operation, the flexible sealing strip is tightly attached to the working wall to form a closed dust collection space, which restricts all the transient jet dust generated by drilling to the chamber, so as to collect the dust on the spot and avoid external diffusion.

[0062] In this embodiment, the quick-change male end is equipped with a differentiated load isolation and buffer structure for different working conditions of grooving and drilling operations. It is divided into a grooving male end 10 adapted to the grooving operation component and a drilling male end 12 adapted to the drilling operation component. The double right-angle plate docking structure of the two types of male ends is completely universal and can be accurately docked and interchanged with the same quick-change female end 8.

[0063] The structure of the slotting operation male end 10 is as follows Figure 5 As shown, the quick-change male end serves as the core load-bearing base, complemented by a hinged floating adaptive buffer structure. This structure includes hinge plates A14 and B15, which form a hinge pair via high-precision pins, as well as a hinged-side mounting plate 19, a working-side mounting plate 16, and multiple sets of symmetrically arranged slotting buffer springs 17. The hinged-side mounting plate 19 is rigidly connected to the quick-change male end via high-strength bolts, while the working-side mounting plate 16 is rigidly fixed to the grooving machine main unit. Hinges A14 and B15 are hinged to the hinged-side mounting plate 19 and the working-side mounting plate 16, respectively, forming a hinge pair that can adapt to the wall flatness and swing. This allows for a small swing of the working-side mounting plate 16 relative to the quick-change male end, perfectly adapting to construction conditions with uneven walls and vertical deviations, ensuring that the grooving blade is in close contact with the wall throughout the entire process, guaranteeing uniform grooving depth and straight grooves. Multiple sets of slotting buffer springs 17 are parallel compression springs, symmetrically arranged between the hinge side mounting plate 19 and the working side mounting plate 16. On the one hand, they provide continuous preload for the hinge structure to ensure stable contact pressure between the blade and the wall during slotting operations; on the other hand, they can effectively absorb the continuous radial cutting vibration generated by slotting operations, attenuate the transmission of vibration to the quick-change interface and the robotic arm, and avoid long-term vibration leading to loosening of the locking pin and wear of the fastening points.

[0064] The structure of the male terminal 12 for drilling is as follows: Figure 6As shown, a quick-change male end serves as the bottom supporting base, and an axial floating buffer structure is provided. This structure includes a bottom fixed mounting plate 22, an upper floating mounting plate 28, four symmetrically arranged support rods 23, and a perforated buffer spring 27 sleeved on the outside of each support rod 23. The bottom fixed mounting plate 22 is rigidly connected to the quick-change male end, providing a fixed reference for the support rods 23. The upper floating mounting plate 28 is equipped with an impact drill front clamping structure 29 and an impact drill tailstock 26. The front clamping structure 29 is a clamp-type structure that can tightly grip the impact drill spindle end and lock it with bolts. The impact drill tailstock 26 is fully fitted and limited to the impact drill tail. Through the front and rear double-support fully constrained fixing structure, it is ensured that the impact drill does not loosen or deflect during high-frequency impact operations. The support rods 23 are symmetrically arranged between the two mounting plates, providing precise sliding guidance for the upper floating mounting plate 28. The ends of the support rods 23 are equipped with plug screws 21 to limit the maximum axial sliding stroke of the floating structure, preventing overtravel that could lead to spring failure or structural collision damage. The drilling buffer spring 27 is a symmetrically arranged cylindrical compression spring. Its two ends are respectively limited and fitted to the bottom fixed mounting plate 22 and the upper floating mounting plate 28. During the drilling operation, it can convert the high-frequency axial rigid impact generated by the impact drill into the elastic deformation of the spring, which greatly reduces the direct effect of the impact load on the quick-change interface and the robotic arm. At the same time, it provides stable back pressure for the feed of the impact drill, ensuring that the drilling feed process is smooth and controllable.

[0065] In this embodiment, the end effector of the robotic arm 6 is also fixed with a position detection component 33, which includes a red light indicator structure and a laser ranging structure. The detection direction of the red light indicator structure is perpendicular to the working wall surface, forming a visible red light spot on the wall surface to assist in marking the target working points for grooving and drilling; the detection direction of the laser ranging structure is also perpendicular to the working wall surface. By emitting a laser beam to the wall surface and receiving the reflected signal, it accurately collects the vertical distance data between the end tool and the working wall surface. This data is fed back to the main control unit 4 in real time, providing a basis for work positioning and feeding.

[0066] In this embodiment, the main control unit 4 adopts a distributed control architecture, integrating a motion control module, a signal acquisition module, and a human-machine interface. It is fixedly installed on the side of the lifting platform 2 and electrically connected to the tracked chassis 1, the lifting platform 2, the robotic arm 6, the end effector unit 7, and the position detection component 33. The main control unit 4 has a pre-set hardware parameter library corresponding to grooving and drilling operations. It can automatically match the corresponding collaborative control hardware parameters and linkage logic according to the operation mode selected by the operator, realizing the collaborative motion control of the tracked chassis 1, the lifting platform 2, and the robotic arm 6. It also supports operation mode switching, dust removal structure linkage control, real-time monitoring of equipment operation status, and fault alarm functions.

[0067] This embodiment also provides a construction method for the above-mentioned tracked grooving and drilling robot, and the detailed steps are as follows:

[0068] S1. Installation and full constraint locking of the end-effector unit

[0069] Based on the construction site's procedural requirements, the operator pre-determines the appropriate operating mode. Holding the end-effector unit 7 matched to the operating mode, and with the equipment de-energized, aligns the four-point matching locking slot 31 on the quick-change male end's double right-angle plate with the four-point locking mating surface 9 on the quick-change female end 8. The unit is then smoothly pushed until the double right-angle plate and the female end's reference surface are fully aligned, and the slots and points are locked without gaps, completing the pre-positioning. After the pin holes of the quick-change female end and quick-change male end are coaxially aligned, two locking pins are screwed in, achieving full-constraint rigid locking through interference fit. Anti-loosening nuts are then screwed into the tails of the pins, completing the installation of the end-effector unit 7. This step, completed with the equipment de-energized, completely avoids the risk of electric shock during the subsequent installation of the end-effector unit, ensuring operator safety.

[0070] S2. Operation mode selection and equipment placement

[0071] The operator selects the grooving or drilling operation mode that matches the installed end-effector 7 on the human-machine interface of the main control unit 4. After receiving the instruction, the main control unit 4 automatically calls the hardware parameter library that matches the selected operation mode. Then, the main control unit 4 drives the tracked chassis 1 to move to the target area of ​​the wall construction, adjusts the posture of the equipment so that the robotic arm faces the working wall, and ensures that the distance between the equipment and the wall is within the working range, thus completing the equipment positioning.

[0072] S3. Laser positioning and operation path planning

[0073] When the power supply of the whole machine is turned on, the position detection component 33 is activated. The target work point is marked on the work wall by the red light indicator structure. The laser range measuring structure collects the precise distance data between the end tool and the work wall in real time and feeds it back to the main control unit 4. According to the marked point and the range measuring data, the main control unit 4 drives the lifting platform 2 to adjust the height in the vertical direction. At the same time, it coordinates the robotic arm 6 to perform multi-degree-of-freedom linkage motion, driving the end work unit 7 to move precisely to the preset work preparation position, and automatically generates the work trajectory according to the marked point.

[0074] S4. No-load simulation operation and trajectory verification

[0075] The main control unit 4 controls the robotic arm 6 and the lifting platform 2 to perform no-load simulation operation according to the generated work trajectory. During the simulation, the position detection component 33 verifies the work path and the posture of the robotic arm in real time. If the path deviation exceeds the preset threshold or the posture of the robotic arm exceeds the limit, the main control unit 4 automatically corrects the motion parameters and re-simulates until the trajectory accuracy meets the work requirements, thus avoiding problems such as path deviation and equipment collision during construction.

[0076] S5. Intelligent Linkage Formal Construction

[0077] After the simulation verification is successful, the main control unit 4 executes the corresponding construction control process according to the selected operation mode:

[0078] In the grooving operation mode, the main control unit 4 sends a start command to the grooving operation component. At the same time as the grooving machine starts, the water spray device 11 and the dust removal fan 5 are activated in conjunction. The water spray device 11 continuously sprays water onto the grooving cutting area to suppress dust diffusion from the source. The dust removal fan 5 collects the dust that has not been completely settled into the dust collection bag through negative pressure. During the operation, the articulated floating adaptive structure of the grooving operation male end 10 continuously adapts to the flatness of the wall surface to ensure that the grooving blade is in contact with the wall surface throughout the process. At the same time, the grooving buffer spring 17 absorbs continuous radial cutting vibration and isolates the impact of the operation load on the quick-change interface and the robotic arm.

[0079] In the drilling operation mode, the main control unit 4 drives the robotic arm to feed, so that the flexible sealing strip of the dust collection chamber 13 is tightly attached to the wall to form a closed dust collection space. Then, the impact drill assembly is started to carry out the drilling operation. During the operation, the axial floating buffer structure of the drilling male end 12 converts the high-frequency axial rigid impact into the elastic deformation of the spring, attenuates the impact load, and ensures smooth feeding. At the same time, the dust generated by drilling is completely confined in the closed dust collection space, realizing on-site collection.

[0080] S6. Job Reset and Process Switching

[0081] After a single grooving or drilling operation is completed, the main control unit 4 controls the end-effector 7 to stop operating and simultaneously shuts down the corresponding dust removal and suppression structure. Then, it controls the robotic arm 6 to retract and the lifting platform 2 to descend, so that each actuator is reset to a safe position. The operation quality is verified by the position detection component 33. After confirming that the operation meets the standards, the same type of continuous operation can be carried out at the same work point according to the needs of the next process at the construction site. Alternatively, the power supply of the whole machine can be disconnected and the current end-effector 7 can be disassembled. Steps S1-S5 can be repeated to replace another type of operation component. After the process switch is completed, construction can continue.

[0082] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A tracked grooving and drilling robot, characterized in that, The system includes a tracked chassis (1), a lifting platform (2), a robotic arm (6), a main control unit (4), and an end-effector (7), characterized in that: The lifting platform (2) is fixedly installed on the upper end of the tracked chassis (1), and the robotic arm (6) is rigidly fixed to the working surface of the lifting platform (2); the end of the robotic arm (6) is provided with a pure mechanical locking heavy-duty quick-change interface, and the end working unit (7) can be installed with either a slotting component or a drilling component through the pure mechanical locking heavy-duty quick-change interface. The outside of the grooving operation component is provided with a dual-stage dust removal structure corresponding to the grooving area. The dual-stage dust removal structure includes a water spray device (11) and a dust removal fan (5). The dust removal fan (5) is fixed on the lifting platform (2) and is connected to the dust collection hood of the grooving operation component through a flexible pipeline. The outside of the drilling assembly is fitted with a semi-enclosed dust collection chamber (13) corresponding to the drilling position, and the dust collection chamber (13) is rigidly connected to the body of the drilling assembly. The purely mechanical locking heavy-duty quick-change interface includes a quick-change female end (8) and a quick-change male end. The quick-change female end (8) is rigidly fixed to the end of the robotic arm (6). The quick-change male end is divided into a grooving male end (10) that is matched with the grooving operation component and a drilling male end (12) that is matched with the drilling operation component. The grooving male end (10) is provided with a hinged floating adaptive buffer structure, and the drilling male end (12) is provided with an axial floating buffer structure. The end of the robotic arm (6) is also fixed with a position detection component (33), which includes a red light indicator structure and a laser ranging structure. The position detection component (33) and the main control unit (4) form a closed-loop feedback hardware circuit. The main control unit (4) integrates a motion control module, a signal acquisition module and a human-machine interface hardware controller. The main control unit (4) is electrically connected to the tracked chassis (1), the lifting platform (2), the robotic arm (6) and the end-effector (7) respectively, and is used to control the coordinated movement of each component.

2. The tracked grooving and drilling robot according to claim 1, characterized in that, The mating end face of the quick-change female end (8) is provided with a rectangular symmetrically distributed four-point fastening mating surface (9) and double pin holes symmetrically arranged along the four-point fastening mating surface (9). The quick-change male end adopts a double right-angle plate integrated structure. The mating end face of the double right-angle plate is machined with a four-point matching fastening groove (31) that is complementary to the four-point fastening mating surface (9) and a symmetrical coaxial pin hole (30) that corresponds to and is coaxially aligned with the two double pin holes.

3. The tracked grooving and drilling robot according to claim 2, characterized in that, The four-point engagement surface (9) and the four-point matching engagement groove (31) adopt a engagement profile with a self-locking slope. After engagement, the double locking pins are interference fit to achieve full constraint rigid locking. The tail of the double locking pins is equipped with an anti-loosening nut.

4. The tracked grooving and drilling robot according to claim 2, characterized in that, The articulated floating adaptive buffer structure of the slotting operation male end (10) includes a double articulated plate forming a hinge pair through a pin, a hinge side mounting plate (19), an operation side mounting plate (16), and multiple sets of symmetrically arranged slotting buffer springs (17); the double articulated plate is hinged to the hinge side mounting plate (19) and the operation side mounting plate (16) respectively; the hinge side mounting plate (19) is rigidly connected to the quick-change male end, the operation side mounting plate (16) is rigidly fixed to the slotting operation component, and multiple sets of slotting buffer springs (17) are arranged in parallel between the hinge side mounting plate (19) and the operation side mounting plate (16).

5. The tracked grooving and drilling robot according to claim 2, characterized in that, The axial floating buffer structure of the drilling male end (12) includes a bottom fixed mounting plate (22), an upper floating mounting plate (28), multiple symmetrically arranged support rods (23), and a drilling buffer spring (27) sleeved on the outside of each support rod (23); the bottom fixed mounting plate (22) is rigidly connected to the quick-change male end, the upper floating mounting plate (28) is rigidly fixed to the drilling assembly, the two ends of the support rod (23) are respectively limited to the bottom fixed mounting plate (22) and the upper floating mounting plate (28), and the upper floating mounting plate (28) can slide along the axial direction of the support rod (23).

6. The tracked grooving and drilling robot according to claim 5, characterized in that, The upper floating mounting plate (28) is provided with a front clamping structure (29) for the impact drill and a tailstock (26) for the impact drill. The front clamping structure (29) is a clamping structure, and the tailstock (26) for the impact drill is fully fitted and limited to the tail of the impact drill. The end of the support rod (23) is provided with a stop screw (21) to limit the maximum axial sliding stroke of the axial floating buffer structure.

7. The tracked grooving and drilling robot according to claim 1, characterized in that, The detection directions of the red light indicator structure and the laser ranging structure of the position detection component (33) are both set in the same direction as the operation direction of the grooving operation component or the drilling operation component; the red light indicator structure is used to mark the target point on the working wall, and the laser ranging structure is used to collect the vertical distance data between the end working unit (7) and the working wall.

8. The tracked grooving and drilling robot according to claim 1, characterized in that, The lifting platform (2) is also fixed with a water tank (3) connected to the water spraying device (11), and a water level gauge is installed in the water tank (3); the outlet of the dust removal fan (5) is equipped with a replaceable dust removal bag.

9. The tracked grooving and drilling robot according to claim 8, characterized in that, The water spray device (11) and dust removal fan (5) of the dual-stage dust removal structure are electrically connected to the main control unit (4) and form a linkage control hardware loop with the grooving operation component to realize the synchronous start and stop of the water spray device (11) and dust removal fan (5) when the grooving operation component is started. The main control unit (4) has a pre-set hardware parameter library corresponding to grooving and drilling operations. It can automatically match the corresponding collaborative control hardware parameters according to the selected operation mode, including the movement parameters of the tracked chassis (1), the lifting parameters of the lifting platform (2), the motion parameters of the robotic arm (6), and the operation parameters of the end-effector (7).

10. A construction method for a tracked grooving and drilling robot, characterized in that, The implementation of the tracked grooving and drilling robot according to any one of claims 1-9 includes the following steps: S1. Installation and full constraint locking of the end-effector unit: The operator holds the end-of-line working unit (7) that matches the preset working mode, aligns the four-point matching fastening slot (31) of the quick-change male end with the four-point fastening mating surface (9) of the quick-change female end (8), and pushes it until the slot and mating surface are fastened without gap, thus completing the pre-positioning; after the quick-change female end (8) and the pin hole of the quick-change male end are coaxially aligned, the double locking pin is screwed in and the anti-loosening nut is matched, and the full constraint rigid locking is achieved through interference fit, thus completing the installation of the end-of-line working unit (7); S2. Selecting the operating mode and positioning the equipment: According to the construction process requirements, the operator selects the grooving or drilling operation mode on the human-machine interface of the main control unit (4). After receiving the instruction, the main control unit (4) automatically calls the hardware parameter library that matches the selected operation mode. Then the main control unit (4) drives the tracked chassis (1) to move to the target area of ​​the wall construction, adjusts the posture of the equipment so that the robotic arm (6) faces the working wall, and completes the equipment positioning. S3. Laser positioning and operation path planning: The position detection component (33) is activated, and the target work point is marked on the work wall by the red light indicator structure. The laser ranging structure collects the distance data between the end work unit (7) and the work wall in real time and feeds it back to the main control unit (4). The main control unit (4) drives the lifting platform (2) to complete the vertical height adjustment according to the marked point and the ranging data. At the same time, it coordinates the robotic arm (6) to complete the multi-degree-of-freedom attitude adjustment, so that the end work unit (7) moves to the work preparation position and automatically generates the work trajectory. S4. No-load simulation operation and trajectory verification: The main control unit (4) controls the robotic arm (6) and the lifting platform (2) to perform no-load simulation operation according to the generated work trajectory. During the simulation, the position detection component (33) verifies the work path and the posture of the robotic arm (6) in real time. If a path deviation or posture over-limit is detected, the main control unit (4) automatically corrects the parameters and re-simulates until the trajectory accuracy meets the preset requirements. S5. Intelligent Linkage Formal Construction Simulation: After verification, the main control unit (4) starts the end-operation unit (7) to perform construction, and at the same time, the corresponding structure operates synchronously: In the grooving operation mode, when the grooving operation component is started, the main control unit (4) activates the water spray device (11) and the dust removal fan (5) in conjunction, and achieves dual-level dust control through water spraying to suppress dust and negative pressure dust removal; during the operation, the hinged floating adaptive buffer structure adapts to the flatness of the wall surface, ensuring that the grooving tool is in contact with the wall surface throughout the process, and at the same time absorbs radial cutting vibration through the buffer spring to isolate impact load. In the drilling operation mode, the main control unit (4) drives the robotic arm (6) to feed, so that the flexible sealing strip of the dust collection bin (13) is tightly attached to the working wall to form a closed dust collection space, and then the drilling operation component is started to carry out construction; during the operation, the axial floating buffer structure converts the high-frequency axial rigid impact into elastic deformation, attenuates the impact load, and realizes the on-site closed collection of dust. S6. Job Reset and Process Switching: After a single operation is completed, the main control unit (4) controls the end operation unit (7) to stop running, and simultaneously closes the dust removal and dust suppression structure. Then, it drives the robotic arm (6) and the lifting platform (2) to reset to a safe position. After confirming that the operation meets the standards, according to the requirements of the next process, it selects to continue the same type of operation at the same location, or disassembles the current end operation unit (7) and repeats steps S1-S5 to complete the process switching and subsequent construction.

Images