A method for automatically adjusting the thickness of plastering by a plastering robot

Abstract

The invention discloses a method for automatically adjusting a plastering thicknessand a plastering robot. The method comprises the steps of S1, establishing a reference laser surface parallel to a wall surface of a wall; S2, respectively setting a light sensing device and a push-pull linkage device on the left and right ends of a plastering machine head; S3,defining a light spot initial positionof each light sensing device; S4, conducting real-time collection of the light spot real-time position of the light sensing device in the operation process of the plastering machine head; S5, calculating the deviation data between the real-time position of each light spot and the initial position of eachlight spot; S6, converting the deviation data into posture adjustment data of the plastering machine head; S7, according to the posture adjustment data, controlling the push-pull linkage device to adjust the posture of the plastering machine head, so that the plastering machine head and the reference laser surface are kept parallel; the method can achieve the plastering machine head real-time dynamic adjustment, do not need manual intervention, be capable of automatic calculation of the thickness, have short adjustment time and high precision, can greatly improve the efficiency of construction work, and effectively ensure the thickness of the plastering and the flatness of the working wall surface.

Description

technical field [0001] The invention relates to the technical field of building construction, in particular to a method for automatically adjusting the thickness of plastering by a plastering robot. Background technique [0002] The slurry (such as mortar or mortar, etc.) smearing and covering process on the surface of buildings is an important construction project in the construction field, mainly through the surface of buildings such as walls, canopies, roofs, balconies, etc. The slurry is applied to achieve the purpose of improving the indoor environment of the building or improving the architectural performance of the building such as heat insulation, moisture resistance and weather resistance. The traditional slurry smearing and covering process is mainly to smear the slurry on the surface of the blank wall by manually holding a special tool. The workload is large, the work efficiency is low, the labor intensity is high, and the construction quality is difficult to guar...

AI Technical Summary

Problems solved by technology

However, the operation of this method is very difficult, mainly due to: 1. The robot itself is cumbersome and cannot ensure that the two ejector pins touch the ash cake at the same time; It is easy to shift; therefore, it not only requires repeated testing and calibration, which is time-consuming and laborious; but also because the accuracy of parameters such as ash cake height and thickness is easily limited, and the structure of the ejector pin is prone to deformation or tilting, etc., resulting in plaster thickness. big error

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