Seam beautifying robot

Abstract

The utility model provides a seam beautifying robot which comprises a machine frame with a walking mechanism arranged at the bottom, a camera device installed on the front side of the machine frame, a dust collector and a seam beautifying glue gun sequentially arranged on the rear side of the machine frame, and a positioning frame installed at the bottom of the rear side of the machine frame. A mounting hole for a suction nozzle of a dust collector to penetrate through, an alignment hole for a glue outlet of a seam beautifying glue gun to penetrate through and an insertion hole for a seam pressing assembly to be inserted are sequentially formed in the positioning frame from front to back, and the centers of the mounting hole, the alignment hole and the insertion hole are located on the same straight line; the seam pressing assembly comprises an inserting block which is inserted into the inserting hole and can move up and down along the inserting hole, the bottom of the inserting block is connected with a seam pressing ball through a connecting rod, and adjusting bolts used for fixing the inserting block are arranged on the left side and the right side of the inserting hole in a penetrating mode. According to the utility model, the labor intensity of constructors can be reduced, all working procedures such as cleaning, gluing, flattening and the like in the same brick joint can be ensured to be continuously and timely carried out, and the efficiency and the working quality of joint beautifying construction are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to decoration machine equipment technical field, concretely relates to a joint beautifying robot. BACKGROUND

[0002] In the building decoration process, the work of laying ceramic tiles on the ground is usually involved. When laying ceramic tiles, a certain size gap will be left between adjacent ceramic tiles to avoid the phenomenon of ceramic tile cracking and arching due to thermal expansion and contraction caused by temperature difference. These gaps usually need to be filled with special joint beautifying agent after the ceramic tile laying is completed. After the joint beautifying construction process of cleaning the gap, filling the joint beautifying agent, and pressing the joint, the waterproof and anti-permeability performance of the floor can be enhanced to avoid problems such as dirt, mildew, and bacterial growth at the ceramic tile gap in the later use stage due to the accumulation of too much dirt. At the same time, the ceramic tile laying effect is more beautiful.

[0003] Currently, a manual joint beautifying gun or an electric joint beautifying gun is usually used to inject joint beautifying agent into the brick joint during joint beautifying construction. However, the above-mentioned methods of using joint beautifying guns to inject and spray joint beautifying agent require the construction personnel to work in a squatting or bending position. The whole process requires manual operation, and long-term work can cause lumbar muscle strain. In order to ensure the quality of joint beautifying, the brick joint is usually cleaned before injecting glue to remove dust and other debris. After injecting glue, the joint beautifying agent in the gap needs to be manually flattened with a tool to make the joint beautifying agent adhere better to the gap and fill uniformly and smoothly. These processes also rely on manual operation. If the above work is carried out in a larger decoration site such as an outdoor site, the workload will be huge, the labor intensity of the construction personnel will be high, and the construction efficiency will be low. In addition, the above processes rely on eye alignment and manual control, which requires high operating skills from the construction personnel. If the construction is not proper, problems such as joint beautifying deviation or unevenness, joint beautifying agent waste, and unstable joint beautifying effect may occur, affecting the quality of joint beautifying. Moreover, due to the horizontal and vertical staggered arrangement of the brick joints, the above processes cannot be continuously performed on the same brick joint, for example, the glued brick joint is not flattened in time, which not only affects the construction efficiency but also reduces the quality of joint beautifying. SUMMARY

[0004] The utility model aims to provide a joint beautifying robot that can reduce the labor intensity of construction personnel, improve the efficiency and quality of joint beautifying construction.

[0005] The joint beautifying robot comprises a rack provided with a walking mechanism at the bottom, a camera is installed on the front side of the rack, a dust collector and a joint beautifying glue gun are sequentially arranged on the rear side of the rack, a positioning frame is further installed on the bottom of the rear side of the rack, the positioning frame is sequentially provided with a mounting hole for the suction nozzle of the dust collector, an alignment hole for the glue outlet of the joint beautifying glue gun and a plug-in hole for the plug-in of a joint pressing assembly from front to back, and the centers of the mounting hole, the alignment hole and the plug-in hole are located on the same straight line; the joint pressing assembly comprises a plug-in block which is plugged into the plug-in hole and can move up and down along the plug-in hole, a joint pressing ball is connected to the bottom of the plug-in block through a connecting rod, and adjusting bolts for fixing the plug-in block are arranged on the left and right sides of the plug-in hole.

[0006] Further, accommodation grooves are arranged on the left and right sides of the plug-in hole, elastic members are connected to the inner sides of the accommodation grooves, the other ends of the elastic members are provided with clamping pieces, and the left and right sides of the plug-in block are provided with sliding grooves in the vertical direction, and the clamping pieces are embedded in the sliding grooves.

[0007] Further, fixing bolts for fixing the glue outlet are arranged on the left and right sides of the alignment hole.

[0008] Further, an inner groove is arranged on the inner side of the mounting hole, a left abutting block and a right abutting block are arranged side by side in the inner groove, arc-shaped recesses are arranged on the opposite sides of the left and right abutting blocks, a rotating block is arranged between the two recesses, arc-shaped protrusions are arranged on the left and right sides of the rotating block and abut against the recesses, and a knob is arranged on the positioning frame and fixedly connected with the rotating block.

[0009] Further, a guide assembly is further installed on the front bottom of the rack, the guide assembly comprises a rotating seat, a plurality of plug-in parts are arranged on the rotating seat and spaced apart around the rotating center axis of the rotating seat, and guide rods for being inserted into the brick joint are detachably plugged into the plug-in parts.

[0010] Further, the guide assembly further comprises a rotating driving part arranged in the rack, the rotating driving part is connected with the rotating seat through a connecting shaft and used for driving the rotating seat to rotate around the rotating center axis.

[0011] Further, the camera is a depth sensing camera, a main controller is arranged in the rack and electrically connected with the depth sensing camera, and the main controller is used for receiving the brick joint feature information collected by the depth sensing camera.

[0012] Further, a laser radar is further installed on the rack, the main controller is electrically connected with the laser radar, and the main controller is used for receiving the distance between the surrounding obstacles collected by the laser radar.

[0013] Further, the walking mechanism comprises four driving wheels which are symmetrically arranged on the left and right sides of the rack, and a driving motor is arranged in the rack and used for driving each driving wheel.

[0014] Further, a display screen mounting rack is mounted on the rack, and an operation panel for displaying and controlling the working state of the joint beautifying robot is fixedly mounted on the display screen mounting rack.

[0015] The joint beautifying robot is characterized in that the movement of the rack is controlled by the walking mechanism, the camera is used for detecting the working environment, and the positioning frame provided on the rear side of the rack, the mounting hole, the alignment hole and the plug-in hole provided on the positioning frame can sequentially position the suction nozzle of the dust collector, the glue outlet of the joint beautifying glue gun and the pressing joint assembly, so that these components can be on the same straight line. BRIEF DESCRIPTION OF DRAWINGS

[0016] The joint beautifying robot will be further described below in combination with the drawings:

[0017] Figure 1 FIG. 1 is a schematic view of the overall structure of the joint beautifying robot of the present application;

[0018] Figure 2 FIG. 2 is a schematic view of the rack part of the joint beautifying robot of the present application after removing the outer cover;

[0019] Figure 3 FIG. 3 is a side view of the joint beautifying robot of the present application;

[0020] Figure 4 FIG. 4 is another perspective view of the joint beautifying robot of the present application;

[0021] Figure 5 FIG. 5 is a schematic view of the positioning frame of the joint beautifying robot of the present application;

[0022] Figure 6 is a structural schematic diagram of the positioning frame in an exploded view;

[0023] Figure 7 is another structural schematic diagram of the positioning frame;

[0024] Figure 8 is Figure 5 is a longitudinal sectional view of the positioning frame along the A-A direction in the middle;

[0025] Figure 9 is Figure 8 is a horizontal sectional view of the pressing seam assembly along the B-B direction in the middle;

[0026] Figure 10 is Figure 5 is a horizontal sectional view of the positioning frame along the C-C direction in the middle;

[0027] Figure 11 is Figure 7 is a longitudinal sectional view of the positioning frame along the D-D direction in the middle;

[0028] Figure 12 is a structural schematic diagram of the guide assembly;

[0029] Figure 13 is an exploded structural schematic diagram of the guide assembly.

[0030] Fig. 1 is a machine frame; Fig. 2 is a walking mechanism; Fig. 21 is a driving wheel; Fig. 3 is a camera device; Fig. 4 is a dust collector; Fig. 41 is a suction nozzle; Fig. 5 is a caulk gun; Fig. 51 is a glue outlet; Fig. 6 is a positioning frame; Fig. 601 is a mounting hole; Fig. 602 is a positioning hole; Fig. 603 is a plug-in hole; Fig. 604 is a containing groove; Fig. 605 is an elastic piece; Fig. 606 is a clamping piece; Fig. 607 is an inner groove; Fig. 608 is a left abutting block; Fig. 609 is a right abutting block; Fig. 610 is a recess; Fig. 611 is a rotating block; Fig. 612 is a convex part; Fig. 61 is an adjusting bolt; Fig. 62 is a fixing bolt; Fig. 63 is a knob; Fig. 7 is a pressing seam assembly; Fig. 701 is a plug-in block; Fig. 702 is a connecting rod; Fig. 703 is a pressing seam ball; Fig. 704 is a sliding groove; Fig. 8 is a laser radar; Fig. 9 is a guide assembly; Fig. 91 is a rotating seat; Fig. 92 is a plug-in part; Fig. 93 is a guide rod; Fig. 94 is a rotating driving part; Fig. 95 is a connecting shaft; Fig. 10 is a display screen mounting frame; Fig. 11 is an operation panel; Fig. 12 is an outer cover; Fig. 13 is a mounting groove; Fig. 14 is a signal lamp. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art based on the present application belong to the scope of protection of the present application.

[0032] It should be noted that if the embodiments of the utility model have directionality indication (such as up, down, left, right, front, back, top, bottom, inside, outside, vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial), the directionality indication is only used to explain the relative position relationship, movement condition and the like between components in a certain specific posture (as shown in the drawings), if the specific posture changes, the directionality indication also changes accordingly, therefore it cannot be understood as a limitation on the utility model. In the description of the embodiments, unless otherwise explicitly specified and limited, the terms such as "mounting" and "connecting" should be understood in a broad sense, and for ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances. In addition, in the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise explicitly specified and limited.

[0033] As Figures 1 to 7 The utility model provides a kind of joint beautifying robot, including the rack 1 of bottom setting walking mechanism 2, the front side of rack 1 is equipped with camera 3, the rear side of rack 1 is sequentially provided with dust collector 4 and joint beautifying glue gun 5, the rear side bottom of rack 1 is also equipped with positioning frame 6, the mounting hole 601 for the suction nozzle 41 of dust collector 4 to pass by is sequentially provided on positioning frame 6 from front to back, the alignment hole 602 for the glue outlet 51 of joint beautifying glue gun 5 to pass by, and the plug-in hole 603 that inserts press joint assembly 7, the center of mounting hole 601, alignment hole 602 and plug-in hole 603 are all located on same straight line;The press joint assembly 7 includes plug-in block 701 that is inserted in plug-in hole 603 and can move up and down along plug-in hole 603, plug-in block 701 bottom is connected with press joint ball 703 by connecting rod 702, the left and right sides of plug-in hole 603 are all equipped with adjusting bolt 61 for fixing plug-in block 701.

[0034] The positioning frame 6 provided at the rear side of the frame 1, the mounting hole 601, the alignment hole 602 and the plug-in hole 603 provided thereon can sequentially position the suction nozzle 41 of the dust collector 4, the glue outlet 51 of the caulking gun 5 and the caulking assembly 7, so that these components can be on the same straight line. During work, the suction nozzle 41, the glue outlet 51 and the caulking ball 703 of the caulking assembly 7 are all aligned with the brick joint, ensuring that during the movement of the caulking robot along the straight line of the brick joint, the debris on the surface of the brick joint can be cleaned first by the dust collector 4, and the dust and other debris absorbed by the dust collector 4 can be stored in the dust storage box provided on the frame 1, so that the brick joint that needs to be glued remains clean, then the caulking gun 5 glues the brick joint, the glue outlet 51 of the caulking gun 5 is aligned with the brick joint, so that the caulking agent can be accurately injected into the brick joint and firmly attached, and then the caulking ball 703 of the caulking assembly 7 is pressed into the brick joint to perform flat pressing and forming treatment on the caulking agent just filled in the same brick joint, which saves the process of manual pressing and saves time and effort. The caulking assembly 7 is inserted into the plug-in hole 603, which can move up and down within a certain range according to the size and depth of different brick joints, so that the caulking ball 703 at the bottom of the caulking assembly 7 can be appropriately pressed on the brick joint, ensuring the flat pressing and forming effect and better adaptability.

[0035] Therefore, the caulking robot can independently perform caulking construction through the above structure, which is more convenient to use and can accurately and sequentially clean, glue and press the brick joint without deviation, thereby reducing the labor intensity of the construction personnel and effectively reducing the problems of caulking deviation or unevenness, caulking agent waste, unstable caulking effect and the like caused by manual treatment, ensuring that the cleaning, gluing and pressing processes in the same brick joint can be performed continuously and timely, and improving the efficiency and quality of caulking construction.

[0036] During movement, the caulking robot may be disturbed by uneven construction ground and other external factors, resulting in uneven distribution of the quality level and causing imbalance, which causes a certain centrifugal force during driving, causing vibration. Since the caulking assembly 7 is inserted into the plug-in hole 603 and can move up and down, the caulking ball 703 is pressed on the brick joint, and when the vibration is transmitted to the caulking assembly 7 behind, it is easy to cause vibration response of the caulking assembly 7, which not only produces noise but also affects the stability and service life of the caulking assembly 7. In view of the above situation, the caulking robot can be provided with a damping device 8, which is provided on the caulking assembly 7 and connected with the caulking ball 703, and the damping device 8 is connected with the frame 1 through a connecting rod 801. Figure 8 , Figure 9As shown, the left and right sides of the insertion hole 603 are provided with accommodating grooves 604, the inner side of the accommodating groove 604 is connected with an elastic element 605, the elastic element 605 can be a spring, the other end of the elastic element 605 is provided with a clamping piece 606, the left and right sides of the insertion block 701 are provided with sliding grooves 704 in the vertical direction, the clamping piece 606 is embedded in the sliding groove 704, through the above structure, in the process of inserting the insertion block 701 into the insertion hole 603, the clamping piece 606 is aligned and embedded in the sliding groove 704 under the extrusion of the insertion block 701, the clamping piece 606 can slide along the sliding groove 704 relative to the insertion block 701, so that the insertion block 701 is further limited in the insertion hole 603, facilitating up and down sliding, at the same time, the elastic element 605 on both sides of the insertion block 701 is elastically deformed under extrusion, providing elastic buffer force for both sides of the insertion block 701, balancing the control of the compression joint assembly 7, adjusting the mass distribution of the compression joint assembly 7 in the horizontal direction, so that the centrifugal force reaches balance, thereby reducing the vibration and noise of the compression joint assembly 7, improving the stability of its work, ensuring the compression joint work, and reducing the extrusion of the compression joint assembly 7 to the inner side of the insertion hole 603, prolonging its service life.

[0037] The left and right sides of the alignment hole 602 are provided with fixing bolts 62 for fixing the glue outlet 51, as shown in Figure 6 , by adjusting the tightness of the two fixing bolts 62, the glue outlet 51 can be provided with appropriate clamping action, so that the glue outlet 51 is fixed in the alignment hole 602, and the lower part can keep aligning the brick joint.

[0038] In order to fix the suction nozzle 41 of the dust collector 4 in the mounting hole 601, as shown in Figure 6 , Figure 7 , Figure 10 , Figure 11 , the inner side of the mounting hole 601 is provided with an inner groove 607, the inner groove 607 is provided with a left abutting block 608 and a right abutting block 609 side by side, the opposite sides of the left and right abutting blocks are provided with arc-shaped recesses 610, a rotating block 611 is arranged between the two recesses 610, and the left and right sides of the rotating block 611 are provided with arc-shaped protrusions 612 abutting with the recesses 610, and the positioning frame 6 is provided with a knob 63 fixedly connected with the rotating block 611. When in use, the knob 63 is rotated in one direction, the knob 63 drives the rotating block 611 to rotate around the center shaft, the rotating block 611 drives the left and right abutting blocks to move through the protrusions 612 on both sides, so that the left abutting block 608 or the right abutting block 609 in the inner groove 607 extends out of the inner groove 607 and abuts on the suction nozzle 41 in the mounting hole 601, so that different specifications of the suction nozzle 41 can be fixed in the mounting hole 601, and the twisting degree of the knob 63 can be adjusted according to the need, so that better fixing effect is obtained, and the use is convenient.

[0039] In order to ensure that the robot keeps moving along the brick joint during the process of using the caulking robot, the suction nozzle 41, the glue outlet 51 of the caulking gun 5 and the caulking ball 703 can always be kept on the brick joint, as shown in Figure 12 、 Figure 13 The front bottom of the frame 1 is also provided with a guide assembly 9, which includes a rotating seat 91, and a plurality of plug-in parts 92 are arranged on the rotating seat 91 at intervals around the center axis of rotation. A guide rod 93 for inserting into the brick joint is detachably plugged into each plug-in part 92. During use, the appropriate guide rod 93 can be selected according to actual needs, plugged into one of the plug-in parts 92, and the rotating seat 91 is rotated so that the plug-in part 92 faces downward, and the guide rod 93 is inserted into the brick joint, so that the caulking robot can move accurately along the brick joint. The parts fixed on the positioning frame 6, i.e. the suction nozzle 41, the glue outlet 51 and the caulking ball 703, also correspond to the position of the brick joint, to ensure the normal progress of each process.

[0040] The rotating seat 91 can be manually rotated to switch to different guide rods 93. When laying tiles, due to differences in tile materials and construction environments, the brick joint may have different gap widths and depths. To cope with different types of brick joints and ensure accurate guidance during caulking, a variety of guide rods 93 of different shapes and lengths can be provided and installed in different plug-in parts 92. During construction, the rotating seat 91 is rotated by manual means according to the depth and width of the brick joint, and the appropriate guide rod 93 is selected to be inserted into the brick joint. Referring to Figure 12 and Figure 13 , three plug-in parts 92 are arranged on the rotating seat 91 at equal angles, and different types of guide rods 93 are plugged into each plug-in part 92. During caulking construction, the guide rod 93 does not need to be directly disassembled and replaced, but only needs to be rotated to select the appropriate guide rod 93.

[0041] The shape of the end of the guide rod 93 can be conical, hemispherical or conical, as shown in Figure 13 . For thin and deep tile gaps, a guide rod 93 with a conical end can be selected for positioning; for thick and shallow gaps, a guide rod 93 with a hemispherical end can be selected for positioning; for gaps with relatively regular shapes and moderate depths, a guide rod 93 with a conical end can be selected for positioning. In addition, the guide rod 93 can also be provided in different lengths to adapt to different working environments and ensure effective guidance of brick joints of different depths.

[0042] The guide assembly 9 also includes a rotary drive unit 94 disposed within the frame 1. The rotary drive unit 94 is connected to the rotating base 91 via a connecting shaft 95 and is used to drive the rotating base 91 to rotate about its central axis. This eliminates the need to manually rotate and switch between different guide rods 93, allowing the robot to perform the switching operation, making it more convenient to use. The rotary drive unit 94 can control the rotation of the connecting shaft 95 through a bevel gear transmission structure, thereby controlling the rotation of the rotating base 91. Of course, the rotary drive unit 94 can also use other transmission mechanisms to provide the required transmission, which is not specifically limited here.

[0043] The camera device 3 is a depth sensing camera. A main controller electrically connected to the depth sensing camera is provided within the frame 1. The main controller is configured to receive brick joint feature information collected by the depth sensing camera. A laser radar 8 is also mounted on the frame 1. The main controller is electrically connected to the laser radar 8 and is configured to receive the distance to surrounding obstacles collected by the laser radar 8. The depth sensing camera and the laser radar 8 can be existing products. The depth sensing camera includes an infrared camera, a laser projection module, and a depth calculation processor. The depth calculation processor can execute a depth calculation algorithm to match and calculate the structured light images captured by the infrared camera to obtain the disparity value of each pixel between the images. The depth value is then calculated from the disparity value based on the principle of triangulation. Based on the depth value, brick joint feature information including the position, width, and depth of the brick joint is obtained and sent to the main controller for processing. The laser radar 8 can perform 360° laser scanning and ranging by emitting a laser beam and receiving its reflection, detecting surrounding obstacles and sending the information to the main controller. The main controller is loaded with programs related to existing conventional robot cruising technology, such as path planning programs and automatic navigation programs, so that the main controller can obtain the overall construction environment and plan the caulking path based on the above signals, so that the caulking robot can move along the path and avoid obstacles, realizing the functions of automatic patrol and automatic route planning.

[0044] During use, the caulking robot is placed at the work site where caulking is required and powered on. The robot then scans the entire construction environment using a depth-sensing camera and a LiDAR 8. The depth-sensing camera captures image information of the tile surface and uses image processing technology to identify and detect the characteristics of the tile joints. The LiDAR 8 then performs laser scanning and ranging in all directions to detect the position of obstacles in the work environment. The depth-sensing camera and LiDAR 8 transmit this information to the main controller, which then creates a visual map of the overall construction environment and the tile joint path. Based on this information, the robot then plans a caulking path. The robot then moves to the starting point of the caulking path and performs caulking along this path.

[0045] The mastic robot can automatically identify the position of the brick joint through the depth sensing camera during construction, so that it can move along the brick joint path for mastic construction, and the glue outlet 51, the joint pressing ball 703, etc. can be aligned with the brick joint. Furthermore, the main controller can be electrically connected with the mastic gun 5, and after the depth sensing camera detects the specific values of the width and depth of the brick joint in real time, the main controller receives these information, controls the operation of the mastic gun 5 according to these information, adjusts the usage amount and the application pressure of the mastic accordingly, so as to control the mastic situation of the brick joint by the mastic robot, and adapt to the glueing requirements of brick joints with different widths and depths. For example, when encountering a larger width and a smaller depth gap, the mastic gun 5 can be controlled to have a larger mastic outflow speed, so that the mastic is injected into the brick joint at a larger speed, and the robot walking speed is set to be smaller. Through the above operation, the mastic robot is equivalent to use a larger usage amount and a smaller application pressure to mastic the brick joint, so that the glueing effect can meet the actual demand.

[0046] The main controller is electrically connected with the walking mechanism 2, when there is an obstacle in the construction work path, the laser radar 8 detects the obstacle information in real time through laser ranging, and after the main controller receives the information, the mastic robot can avoid the obstacle and re-plan the work path to bypass the obstacle and continue the construction. The main controller can also be electrically connected with the rotating drive part 94, and the main controller can control the rotation of the rotating seat 91 according to the received characteristic information of the brick joint width and depth, so as to switch the type of the guide rod 93 inserted into the brick joint.

[0047] Through the above structure, the mastic robot can autonomously perform mastic construction, and can move along the planned mastic path without frequent manual auxiliary adjustment operation during mastic construction, can autonomously avoid obstacles when encountering obstacles, and can identify the brick joint for work. It can automatically adjust and adapt to change the glue injection condition according to the change of the brick joint characteristics, has good adaptability, is more convenient to use, can further reduce the dependence on construction personnel, and can further improve the efficiency and work quality of mastic construction.

[0048] As shown in Figure 2 , the walking mechanism 2 includes four drive wheels 21 symmetrically arranged on the left and right sides of the rack 1, and the rack 1 is provided with a drive motor for driving each drive wheel 21. The drive wheel 21 can be a Mecanum wheel, and when controlling the linear walking of the robot, the Mecanum wheels are controlled by the drive motor to rotate in the same direction to realize the control of linear walking. When the gap is not a regular straight line, the Mecanum wheels are controlled by the drive motor to rotate at different speeds to realize inclined line or circular walking for glueing. When the robot needs to turn or cut the line for glueing, the four Mecanum wheels are controlled by the drive motor to realize different steering and different speeds.

[0049] The rack 1 is provided with a display screen mounting rack 10, and an operation panel 11 for displaying and controlling the working state of the joint beautifying robot is fixedly installed on the display screen mounting rack 10. Figure 1 The driving path, driving speed, glue injection speed, predicted working time based on the built-in map model of the laser radar 8, and the power of the joint beautifying robot can be observed through the operation panel 11, and the working parameters of the joint beautifying robot can be controlled and adjusted, which is simple and convenient. By installing the display screen mounting rack 10, the observation angle of the operation panel 11 by construction personnel in different directions can be met, and multiple degrees of freedom can be set to adjust the position of the operation panel 11 to meet the use needs of different construction scenes and personnel.

[0050] The rack 1 can also include a detachable outer cover 12 arranged above, as shown in Figure 1 , so as to provide more space for installing other components, such as a signal lamp 14 for prompting the working state of the robot, a display screen mounting rack 10, etc., and to make the appearance better. As shown in Figure 4 , the joint beautifying glue gun 5 can be obliquely arranged in the mounting groove 13 behind the outer cover 12, and the joint beautifying glue gun 5 can be taken off the joint beautifying robot alone when needed to perform separate joint beautifying treatment on narrow parts such as corners.

[0051] The rack 1 is also provided with a battery for supplying power to each component of the joint beautifying robot, which can supply power to the main controller, the depth sensing camera, the laser radar, the driving motor, etc., so that the joint beautifying robot does not need to be connected to an external power source through an external power line, and its moving range is larger, which is more convenient for autonomous construction.

[0052] As described above, only part of the embodiments of the present application are described, which does not limit the protection scope of the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the description of the present application. Therefore, the person skilled in the art makes non-essential changes or replacements on the basis of the present application, which still falls within the protection scope of the present application.

Claims

1. A seaming robot, characterized in that: The invention comprises a frame (1) with a walking mechanism (2) arranged at the bottom, a camera device (3) being installed at the front side of the frame (1), a vacuum cleaner (4) and a seam glue gun (5) being arranged in sequence at the rear side of the frame (1), a positioning frame (6) being further installed at the bottom of the rear side of the frame (1), and the positioning frame (6) being provided with a mounting hole (601) for the suction nozzle (41) of the vacuum cleaner (4) to pass through, a positioning hole (602) for the glue outlet (51) of the seam glue gun (5) to pass through, and a pressure seam assembly (6) being inserted. The inserting hole (603) of the component (7) is arranged such that the centers of the mounting hole (601), the alignment hole (602) and the inserting hole (603) are all located on the same straight line; the seam pressing assembly (7) comprises an inserting block (701) inserted into the inserting hole (603) and movable up and down along the inserting hole (603); a seam pressing ball (703) is connected to the bottom of the inserting block (701) via a connecting rod (702); and adjusting bolts (61) for fixing the inserting block (701) are provided on both the left and right sides of the inserting hole (603).

2. The seaming robot according to claim 1, characterized in that: The left and right sides of the plug hole (603) are provided with accommodating grooves (604), the inner side of the accommodating groove (604) is connected to an elastic member (605), and the other end of the elastic member (605) is provided with a snap-on piece (606). The left and right sides of the plug block (701) are provided with sliding grooves (704) in the vertical direction, and the snap-on piece (606) is embedded in the sliding grooves (704).

3. The seaming robot according to claim 1, characterized in that: Fixing bolts (62) for fixing the glue outlet (51) are provided on both the left and right sides of the alignment hole (602).

4. The seaming robot according to claim 1, characterized in that: An inner groove (607) is provided inside the mounting hole (601), and a left abutting block (608) and a right abutting block (609) are arranged side by side in the inner groove (607). The opposite sides of the left and right abutting blocks are provided with arc-shaped recesses (610), a rotating block (611) is provided between the two recesses (610), and the left and right sides of the rotating block (611) are provided with arc-shaped protrusions (612) that abut against the recesses (610), and a knob (63) fixedly connected to the rotating block (611) is provided on the positioning frame (6).

5. The seaming robot according to any one of claims 1 to 4, characterized in that: A guide assembly (9) is also installed at the bottom of the front side of the frame (1). The guide assembly (9) includes a rotating seat (91). A plurality of plug-in parts (92) are arranged at intervals around the central axis of rotation of the rotating seat (91). A guide rod (93) for inserting into a brick joint is detachably plugged into each plug-in part (92).

6. The seaming robot according to claim 5, characterized in that: The guide assembly (9) further comprises a rotation driving portion (94) arranged in the frame (1). The rotation driving portion (94) is connected to the rotating seat (91) via a connecting shaft (95) and is used for driving the rotating seat (91) to rotate around its rotation center axis.

7. The seaming robot according to any one of claims 1 to 4, characterized in that: The camera device (3) is a depth sensing camera. A main controller electrically connected to the depth sensing camera is provided in the frame (1). The main controller is used to receive brick joint feature information collected by the depth sensing camera.

8. The seaming robot according to claim 7, characterized in that: A laser radar (8) is also installed on the frame (1), and a main controller is electrically connected to the laser radar (8) and is used to receive the distance between the laser radar (8) and the surrounding obstacles.

9. The seaming robot according to any one of claims 1 to 4, characterized in that: The walking mechanism (2) comprises four driving wheels (21) symmetrically arranged on the left and right sides of the frame (1), and a driving motor for driving each driving wheel (21) is provided in the frame (1).

10. The seaming robot according to any one of claims 1 to 4, characterized in that: A display screen mounting frame (10) is mounted on the frame (1), and an operating panel (11) for displaying and controlling the working state of the seaming robot is fixedly mounted on the display screen mounting frame (10).

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