A multi-sensor fusion crawler type mechanical arm robot special for a joint beautifying gun

Abstract

The utility model relates to intelligent robot technical field especially relates to a kind of special multi-sensor fusion caterpillar band type mechanical arm robot of joint gun, including base, the base both sides are equipped with caterpillar band type moving system, the top rear side of the base is equipped with six-axis mechanical arm, the end of the six-axis mechanical arm is equipped with electric joint gun, the front side of the base is equipped with sensor perception system, the inside of the base is equipped with robot intelligence control hub and power supply, the robot intelligence control hub is electrically connected with caterpillar band type moving system, sensor perception system and six-axis mechanical arm and electric joint gun.The utility model is through the collaborative design of multi-sensor fusion, caterpillar band type moving chassis and six-axis mechanical arm, realizes the automation, precision of joint construction, with higher practical value and market prospect.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot technology, and in particular to a multi-sensor fusion tracked robotic arm robot specifically for a sewing gun. Background Technology

[0002] Grout sealing is a crucial step after tile installation, and its quality directly affects the overall aesthetics and durability of the tiled finish. However, traditional manual grout sealing has significant drawbacks. Not only is the work inefficient and the quality dependent on worker experience, resulting in inconsistent results, but it also subjects workers to high labor intensity, making it difficult to meet the dual requirements of efficiency and quality in modern renovation projects.

[0003] With the development of robotics technology, automated tile grouting equipment has gradually emerged. Although it has alleviated the drawbacks of manual tile grouting to some extent, existing equipment still has many shortcomings: poor mobility, making it difficult to adapt to complex terrains in the tile construction environment, such as narrow spaces and slightly uneven surfaces; lack of precise perception capabilities through multi-sensor fusion, resulting in large deviations in the application position; insufficient degrees of freedom of the robotic arm, making it unable to flexibly adapt to tile gaps at different angles; and low level of intelligence, requiring excessive human intervention and failing to achieve fully automated operation of the entire tile grouting process. Summary of the Invention

[0004] The purpose of this invention is to solve the problems of low efficiency, unstable construction quality, and high labor intensity of traditional manual grout sealing, and to propose a multi-sensor fusion tracked robotic arm robot for grout sealing guns.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A multi-sensor fusion tracked robotic arm robot for grout guns includes a base with tracked movement systems on both sides. A six-axis robotic arm is mounted on the rear top of the base, and an electric grout gun is mounted at the end of the six-axis robotic arm. A sensor perception system is located on the front of the base. The robot's intelligent control center and power supply are located inside the base. The robot's intelligent control center is electrically connected to the tracked movement system, the sensor perception system, the six-axis robotic arm, and the electric grout gun.

[0006] Preferably, the tracked mobile system includes two sets of triangular track wheels and two sets of tracked wheel sets. The two sets of triangular track wheels are respectively installed on both sides of the head of the base. Each set of triangular track wheels is independently driven by a planetary reducer installed inside the base. The two sets of tracked wheel sets are respectively installed on both sides of the tail of the base. Each set of tracked wheel sets is independently driven by a single drive motor. The planetary reducer and the drive motor located on the same side are linked through a transmission structure.

[0007] Preferably, both the triangular track wheel and the track in the tracked wheel assembly are made of highly wear-resistant rubber material, and the surface is provided with anti-slip texture.

[0008] Preferably, the working end of the electric grout applicator is equipped with a spray nozzle, and the electric grout applicator has a built-in flow control module, which is connected to the robot's intelligent control center.

[0009] Preferably, the sensor perception system includes a camera, radar, and ultrasonic sensor mounted on the front end of the base via a mounting bracket. The camera is used to acquire environmental images and identify the location, width, and length of the tile gaps. The radar is used to scan the surrounding environment and construct a three-dimensional point cloud map. The ultrasonic sensor is used to detect nearby obstacles. The data from all three are synchronously transmitted to the robot's intelligent control center.

[0010] Preferably, an isolation plate is provided below the robot's intelligent control center. The isolation plate is made of insulating material to isolate the robot's intelligent control center from the tracked mobile system and power supply, preventing direct contact.

[0011] Preferably, the power source is a rechargeable lithium battery, which supplies power to all components of the device, has a battery life monitoring function, and is electrically connected to the robot's intelligent control center.

[0012] Compared with the prior art, the advantages of this utility model are: 1. Strong terrain adaptability: The design of tracked wheel set plus triangular tracked wheels enables the robot to move flexibly in the complex terrain of the tile construction environment (narrow space, slightly uneven ground).

[0013] 2. High application precision: The combination of the multi-degree-of-freedom motion of the six-axis robotic arm and the precise sensing of sensors enables precise application of adhesive to the tile grout, improving the quality of the grout sealing.

[0014] 3. High degree of automation: The entire process, from environmental perception and path planning to adhesive application, is automated, reducing manual intervention, lowering labor intensity, and improving construction efficiency.

[0015] 4. Comprehensive environmental perception: The integrated application of cameras, radar, and ultrasonic sensors enables autonomous navigation, obstacle avoidance, and precise positioning, ensuring construction safety and reliability.

[0016] In summary, this utility model achieves automation and precision in tile grouting through the collaborative design of multi-sensor fusion, tracked mobile chassis, and six-axis robotic arm, and has high practical value and market prospects. Attached Figure Description

[0017] Figure 1 A schematic diagram of the overall structure of a multi-sensor fusion tracked robotic arm robot specifically for a grout gun, provided by this utility model. Figure 1 ; Figure 2 A side view of a multi-sensor fusion tracked robotic arm robot specifically for a grout gun, provided by this utility model; Figure 3 A schematic diagram of the overall structure of a multi-sensor fusion tracked robotic arm robot specifically for a grout gun, provided by this utility model. Figure 2 ; Figure 4 This utility model provides a schematic diagram of the internal structure of a multi-sensor fusion tracked robotic arm base for a grout gun.

[0018] In the diagram: 1. Base, 2. Triangular track wheel, 3. Tracked wheel assembly, 4. Camera, 5. Radar, 6. Ultrasonic sensor, 7. Six-axis robotic arm, 8. Electric grout application gun, 9. Spray nozzle, 10. Robot intelligent control center, 11. Isolation plate, 12. Planetary reducer, 13. Drive motor, 14. Power supply. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0020] Reference Figures 1 to 4 A multi-sensor fusion tracked robotic arm robot for use with a grout gun includes a base 1. Tracked movement systems are located on both sides of the base 1. Each tracked movement system includes triangular track wheels 2 and tracked wheel sets 3. Two sets of triangular track wheels 2 are installed on either side of the head of the base 1, each set being independently driven by a planetary reducer 12 installed inside the base 1. Two sets of tracked wheel sets 3 are installed on either side of the tail of the base 1, each set being independently driven by a drive motor 13. The planetary reducer 12 and the drive motor 13 located on the same side are linked through a transmission structure. This transmission structure is existing technology, and its specific design will not be detailed here. The tracks in both the triangular track wheels 2 and the tracked wheel sets 3 are made of highly wear-resistant rubber material with anti-slip textures, providing excellent terrain adaptability and stable movement on tiled floors, in confined spaces, and on slightly uneven surfaces.

[0021] A six-axis robotic arm 7 is installed at the top rear of the base 1. The six-axis robotic arm 7 adopts a modular design, and the axes are connected by high-precision joints, with a positioning accuracy of at least ±0.1mm. An electric grout applicator gun 8 is installed at the end of the six-axis robotic arm 7. A spray nozzle 9 is installed at the working end of the electric grout applicator gun 8. The electric grout applicator gun 8 has a built-in flow control module, which is connected to the robot intelligent control center 10. It can automatically adjust the application flow according to the gap width. The electric grout applicator gun 8 is used to achieve precise application of grout.

[0022] A sensor perception system is installed on the top front side of the base 1. The sensor perception system includes a camera 4, a radar 5, and an ultrasonic sensor 6 mounted on the front of the base 1 via a mounting bracket. The camera 4 is a high-definition industrial camera with image recognition function, which can identify the position, width, and length of tile gaps. The radar 5 is a lidar used to scan the surrounding environment, build a three-dimensional point cloud map, and realize autonomous navigation and obstacle avoidance. There are multiple ultrasonic sensors 6, distributed on the front and sides of the base 1, for short-range obstacle detection. Multi-sensor fusion ensures the comprehensiveness and accuracy of environmental perception. The data from the three sensors are synchronously transmitted to the robot intelligent control center 10.

[0023] The robot intelligent control center 10 is installed at the top inside the base 1, and the drive motor 13, planetary reducer 12 and power supply 14 are located at the bottom inside. The robot intelligent control center 10 is electrically connected to the drive motor 13, the six-axis robotic arm 7, the electric grouting gun 8, the camera 4, the radar 5 and the ultrasonic sensor 6. An isolation plate 11 is installed below the robot intelligent control center 10. The isolation plate 11 is made of insulating material to isolate the robot intelligent control center 10 from direct contact with the motor and the power supply 14, which plays a role in preventing interference and providing safety protection. The power supply 14 is a rechargeable lithium battery that supplies power to the various components of the device and has a battery life monitoring function to indicate the battery status and ensure the continuity of construction.

[0024] In use, this invention first performs environmental perception: camera 4 captures images of the tiles and identifies the location of the gaps; radar 5 scans the surrounding environment and constructs a 3D point cloud map; and ultrasonic sensor 6 detects nearby obstacles. All three data points are transmitted in real-time to the robot's intelligent control center 10. Next, path planning is performed. Based on the map constructed by radar 5 and the ultrasonic warning data, the robot's intelligent control center 10 plans the optimal construction path. The drive motor 13 controls the movement of the triangular track wheels 2 and tracked wheel sets 3, enabling the robot to move autonomously (forward, backward, and turn in place) to the starting position of the target gap. Finally, the six-axis robotic arm 7 adjusts the posture of the electric grout gun 8 to align it with the gap; the electric grout gun 8 starts applying grout, while the robot moves slowly to ensure the grout fills the gap evenly. Throughout the process, the power supply 14's battery monitoring function indicates the battery status, ensuring continuous construction.

[0025] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A multi-sensor fusion tracked robotic arm robot specifically for grout guns, comprising a base (1), characterized in that, The base (1) is equipped with a tracked mobile system on both sides. A six-axis robotic arm (7) is installed on the rear top of the base (1). An electric grout applicator (8) is installed at the end of the six-axis robotic arm (7). A sensor sensing system is provided on the front side of the base (1). A robot intelligent control center (10) and a power supply (14) are provided inside the base (1). The robot intelligent control center (10) is electrically connected to the tracked mobile system, the sensor sensing system, the six-axis robotic arm (7), and the electric grout applicator (8).

2. The multi-sensor fusion tracked robotic arm robot for grout guns according to claim 1, characterized in that, The tracked mobile system includes two sets of triangular track wheels (2) and two sets of tracked wheel sets (3). The two sets of triangular track wheels (2) are respectively installed on both sides of the head of the base (1). Each set of triangular track wheels (2) is independently driven by a planetary reducer (12) installed inside the base (1). The two sets of tracked wheel sets (3) are respectively installed on both sides of the tail of the base (1). Each set of tracked wheel sets (3) is independently driven by a single drive motor (13). The planetary reducer (12) and the drive motor (13) located on the same side are linked through a transmission structure.

3. The multi-sensor fusion tracked robotic arm robot for grout guns according to claim 2, characterized in that, The tracks in the triangular track wheel (2) and the tracked wheel set (3) are both made of high wear-resistant rubber material, and the surface is provided with anti-slip texture.

4. The multi-sensor fusion tracked robotic arm robot for grout guns according to claim 1, characterized in that, The working end of the electric grout applicator (8) is equipped with a spray nozzle (9). The electric grout applicator (8) has a built-in flow control module, which is connected to the robot intelligent control center (10).

5. The multi-sensor fusion tracked robotic arm robot for grout guns according to claim 1, characterized in that, The sensor perception system includes a camera (4), a radar (5), and an ultrasonic sensor (6) mounted on the front end of the base (1) via a mounting bracket. The camera (4) is used to collect environmental images and identify the location, width, and length of the tile gaps. The radar (5) is used to scan the surrounding environment and construct a three-dimensional point cloud map. The ultrasonic sensor (6) is used to detect nearby obstacles. The data from the three devices are synchronously transmitted to the robot intelligent control center (10).

6. The multi-sensor fusion tracked robotic arm robot for grout guns according to claim 1, characterized in that, Below the robot intelligent control center (10) is an isolation plate (11). The isolation plate (11) is made of insulating material to isolate the robot intelligent control center (10) from the tracked mobile system and the power supply (14) to prevent direct contact.

7. The multi-sensor fusion tracked robotic arm robot for grout guns according to claim 1, characterized in that, The power source (14) is a rechargeable lithium battery that supplies power to all components of the device and has a battery life monitoring function. It is electrically connected to the robot intelligent control center (10).

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