A wall plastering robot with gravity compensation device

Abstract

The application provides a wall plastering robot with a gravity compensation device and belongs to the technical field of robots.The gravity lifting plastering robot comprises a mobile chassis, a fixing seat arranged on the mobile chassis, and a mortar mixing trailer for suspension; a gravity compensation lifting mechanism is vertically installed on one side of the fixing seat; a double-arm cooperative spraying and troweling mechanism is fixedly installed at the bottom of the gravity compensation lifting mechanism and is used for spraying and plastering a wall surface; and an automatic centering mechanism is arranged between the mobile chassis and the mortar mixing trailer, one end of the automatic centering mechanism is provided with a locking mechanism, one side of the locking mechanism is connected with the mixing trailer, and the locking mechanism is used for connecting the mobile chassis and the mortar mixing trailer with each other.The application has the advantages that the gravity compensation lifting mechanism can compensate the gravity generated by the double-arm cooperative spraying and troweling mechanism, so that the wall surface can be sprayed with high precision, the troweling effect is good, and the flatness is high.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a wall plastering robot equipped with a gravity compensation device. Background Technology

[0002] A robot is a machine that performs tasks automatically. It can be directed by humans, run pre-programmed procedures, or act according to principles established using artificial intelligence technology.

[0003] Its task is to assist or replace human workers in jobs such as manufacturing, construction, or dangerous work. In the field of building technology, plastering is a process of applying paint to a wall surface, allowing the paint to adhere firmly and form a smooth and flat surface. Using robots to plaster walls is an important method of applying paint.

[0004] Conventional wall plastering robots typically employ single-degree-of-freedom (DOF) plastering lifting mechanisms, using a lead screw and slide to drive the end effector for plastering. These robots generally suffer from limited freedom of movement, poor versatility, significant susceptibility to mortar weight, and high control difficulty. To adapt to a wider range of construction site wall plastering surfaces, multi-axis robotic arm plastering devices have gradually emerged on the market. For example, a fully automatic intelligent plastering robot (approval number CN201811260664.6) is based on a multi-axis robotic arm and features a multi-DOF plastering lifting mechanism. To reduce the impact of gravity on the robotic arm, gravity-compensated lifting robots have also appeared on the market. An endoscopic surgical robot with a gravity compensation device (approval number CN202211416900.5) is based on this device. This structure offers better performance compared to single-DOF plastering lifting mechanisms, solving the problem of reduced robotic arm movement accuracy due to gravity in different postures.

[0005] However, existing gravity-compensated lifting robots only have vertical lifting freedom, which makes them less adaptable to different wall surfaces. As a result, the plastering robot arm is easily affected by gravity from multiple directions, leading to problems such as low spraying accuracy, poor smoothing effect, and low flatness. Moreover, most multi-degree-of-freedom wall plastering robots on the market are single-arm plastering devices that can only perform the single function of plastering or spraying, without applying dual-arm collaborative technology, resulting in low work efficiency. Summary of the Invention

[0006] To solve the above-mentioned technical problems, the present invention proposes a wall plastering robot with a gravity compensation device.

[0007] The technical solution of this invention is implemented as follows:

[0008] A wall plastering robot with a gravity compensation device includes:

[0009] A mobile chassis, on which a fixed seat is provided and a mortar mixing trailer for suspension is mounted;

[0010] A gravity-compensated lifting mechanism, wherein the gravity-compensated lifting mechanism is vertically mounted on one side of a fixed base;

[0011] The dual-arm collaborative spraying and leveling mechanism is fixedly mounted on a gravity-compensated lifting mechanism at its bottom and is used to spray and apply plaster to walls.

[0012] An automatic centering mechanism is installed between the mobile chassis and the mortar mixing trailer. One end of the automatic centering mechanism is equipped with a locking mechanism, and one side of the locking mechanism is connected to the mixing trailer. The locking mechanism is used to connect the mobile chassis and the mortar mixing trailer.

[0013] Furthermore, the automatic centering mechanism includes a cylinder and a telescopic rod for pulling the mortar mixing trailer. The telescopic rod includes an inner rod and an outer rod. The cylinder is fixedly installed on one side of the mobile chassis. The inner rod and one end of the cylinder are fixedly connected. The outer rod is sleeved on the outside of the inner rod and connected to each other by a locking member. A limit member is sleeved on the outside of the outer rod. A fixing block is fixedly installed on one end of the outer rod. The locking mechanism is connected to the outer rod through the fixing block. A support frame is fixedly installed on the outside of the inner rod. A connecting rod for pulling the receiving member is installed in the middle of the lower part of one side of the support frame.

[0014] Furthermore, the gravity compensation lifting mechanism includes a support plate, which is fixedly mounted on a fixed base. A connecting base is fixedly mounted on the support plate, and a motor is mounted on the connecting base. A swing arm is rotatably connected to the output end of the motor. A support rod is fixedly mounted on one side of the swing arm, and a tension spring is provided on the outer side of the support rod. The bottom of the support rod is rotatably connected to one side of the connecting base via a connecting block. A motor is fixedly mounted on the middle of the connecting base, and a swing arm is rotatably connected to the output end of the motor. A placement platform is fixedly mounted on the top of the swing arms, and a gravity sensor is fixedly mounted on the middle of the lower part of the placement platform. A swing arm is movably connected to the bottom of the swing arm, and a motor is mounted on one side of the bottom of the swing arm. The motor is fixedly mounted on one side of the support plate, and the gravity sensor is signal-connected to motors one, two, and three respectively.

[0015] Furthermore, the dual-arm collaborative spraying and leveling mechanism includes a placement seat, which is fixedly installed on a placement platform. Robotic arm one and robotic arm two are fixedly installed on both sides of the placement seat, respectively. Robotic arm one and robotic arm two are set at a 135-degree angle. A scraper is fixedly installed at the top of robotic arm one, and a spray gun is fixedly installed at the top of robotic arm two.

[0016] Furthermore, the locking mechanism includes a fisheye bearing, which is mounted on the fixed block and rotates at 0 to 20°. It is fastened by a fixing bolt. A locking buckle is fixedly installed on the fisheye bearing at the end opposite to the fixed block for connecting with the mortar mixing trailer.

[0017] Furthermore, the limiting component includes a limiting block with a through hole in the middle. The limiting block is sleeved on the outside of the outer rod through the through hole. Fixed rods are fixedly installed on both sides of the limiting block at the bottom. Support columns are fixedly installed on the outside of the two fixed rods. The ends of the two support columns are fixedly installed on the upper part of the movable chassis. Guide plates are fixedly installed on both sides of the limiting block at the middle. The two guide plates are arranged in a figure-eight shape and have through grooves.

[0018] Furthermore, the receiving component includes a base plate, which is placed on the bottom of the rollers on the mortar mixing trailer. A guide plate is fixedly installed on one side of the base plate at a 25° angle. A placement groove is provided on the base plate, and a turntable is rotatably installed inside the placement groove. The upper surface of the turntable is in contact with the bottom of the rollers on the mortar mixing trailer. Two sets of universal wheels are fixedly installed on the lower sides of both sides of the base plate.

[0019] Furthermore, the locking component includes two locking pins. Guide holes are provided on both the outer and inner rods. The two locking pins are respectively inserted into the inner side of the guide holes to lock the inner and outer rods. A connecting plate is fixedly installed on one side of each locking pin. A return spring is provided on the outer side of each locking pin. The two ends of the return spring are fixedly installed on the connecting plate and the outer rod, respectively. A sliding rod is fixedly installed on one end of each locking pin. The two sliding rods are slidably disposed inside the through groove. A baffle is fixedly installed on the end of each sliding rod opposite to the locking pin. Two ball bearings are rotatably disposed on one side of each baffle, and the surface of the ball bearings is in contact with the outer surface of the guide plate.

[0020] Furthermore, a limiting sleeve is fixedly installed on the outer rod at the end opposite to the fixing block. The outer diameter of the limiting sleeve is larger than the diameter of the through hole provided on the limiting block, which is used to block the limiting block. The diameter of the through hole provided on the limiting block is larger than the diameter of the outer rod, and the outer wall of the outer rod and the inner wall of the through hole are adapted to each other.

[0021] Furthermore, a guide rod is fixedly installed on one side of the bottom of the mortar mixing trailer, and a stop block is fixedly installed on one side of the bottom of the mobile chassis. The guide rod and the stop block are on the same plane, and the vertical surfaces of the guide rod and the stop block are arranged opposite to each other.

[0022] The present invention has the following beneficial effects:

[0023] 1. The gravity lifting plastering robot of the present invention can compensate for the gravity generated by the dual-arm collaborative spraying and leveling mechanism through the gravity compensation lifting mechanism. The torque provided by the rotation of motor one, motor two and motor three during the joint movement of swing arm one, swing arm two and swing arm three compensates for the gravity caused by the change of center of gravity. Thus, the dual-arm collaborative spraying and leveling mechanism is not affected by its own weight, mortar weight and end effector weight during use, and has high spraying accuracy, good leveling effect and high flatness on the wall surface.

[0024] 2. The gravity lifting plastering robot of this invention uses an automatic centering mechanism to pull a mortar mixing trailer. During the pulling process, the mortar mixing trailer continuously centers itself, and then the upper fisheye bearing swings at an angle to straighten the mortar mixing trailer. This ensures that the mortar mixing trailer and the moving chassis are on the same center line, thus avoiding the influence of tensile and torsional forces on the moving chassis during the movement of the mixing trailer. This prevents the overall position of the moving chassis from shifting, which would cause a significant change in the distance between the upper double-arm collaborative spraying and leveling mechanism and the wall, thereby affecting the spraying and plastering effect on the wall.

[0025] 3. The gravity lifting plastering robot of the present invention uses robotic arm one and robotic arm two as tools to drive the movement of the spray gun scraper, which can achieve higher degrees of freedom and better wall adaptability, thereby flexibly adapting to changes in the working environment and wall, and improving overall work efficiency. Attached Figure Description

[0026] Figure 1 This is an overall schematic diagram of the gravity lifting plastering robot of the present invention;

[0027] Figure 2 This is a schematic diagram of the gravity compensation lifting mechanism of the gravity lifting plastering robot of the present invention;

[0028] Figure 3 This is a schematic diagram of the dual-arm collaborative spraying and leveling mechanism of the gravity lifting plastering robot of the present invention;

[0029] Figure 4 This is a schematic diagram of the locking buckle installation structure of the gravity lifting plastering robot of the present invention;

[0030] Figure 5 This is a schematic diagram of the automatic centering mechanism of the gravity lifting plastering robot of the present invention;

[0031] Figure 6 This is a schematic diagram of the receiving component of the gravity lifting plastering robot of the present invention;

[0032] Figure 7 This is a schematic diagram of the guide plate installation structure of the gravity lifting plastering robot of the present invention;

[0033] Figure 8 This is a schematic diagram of the reset spring installation structure of the gravity lifting plastering robot of the present invention;

[0034] Figure 9 This is a schematic diagram of the ball bearing installation of the gravity lifting plastering robot of the present invention. Detailed Implementation

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Please see Figures 1 to 9 As shown, the gravity lifting plastering robot provided by the present invention mainly includes a mobile chassis 1, a dual-arm collaborative spraying and leveling mechanism 3, a gravity compensation lifting mechanism 4, an automatic centering mechanism 5, and a locking mechanism 6.

[0037] The gravity compensation lifting mechanism 4 is fixedly connected to the mobile chassis 1 via the fixed base 2, and the gravity compensation lifting mechanism 4 and the fixed base 2 are arranged vertically. The double-arm collaborative spraying and leveling mechanism 3 is fixedly installed on one side of the gravity compensation lifting mechanism 4 and is arranged horizontally.

[0038] Specifically, the gravity compensation lifting mechanism 4 includes a support plate, which is fixedly installed on the fixed base 2. A connecting base 46 is fixedly installed on the support plate, and a motor 48 is provided on the connecting base 46. The output end of the motor 48 is rotatably connected to a swing arm 410.

[0039] When the center of gravity of the upper coating device shifts, the motor 48 rotates, driving the swing arm 410 on one side to swing, thus controlling the degree of freedom of the swing arm 410 in the forward and backward directions.

[0040] A support rod 49 is fixedly installed on one side of the swing arm 410. A tension spring 47 is provided on the outside of the support rod 49. The bottom of the support rod 49 is rotatably connected to one side of the connecting block and the connecting seat 46. A motor 43 is fixedly installed on the upper middle part of the connecting seat 46. The output end of the motor 43 is rotatably connected to the swing arm 42.

[0041] When motor 1 48 rotates, motor 2 43 will rotate at the same time, driving one side swing arm 2 42 to swing, which controls the degree of freedom of swing arm 2 42 in the left and right directions.

[0042] A placement platform 41 is fixedly installed on the top of the first swing arm 410 and the second swing arm 42. A gravity sensor is fixedly installed in the middle of the lower part of the placement platform 41. A third swing arm 44 is movably connected to the bottom of the second swing arm 42. A third motor 45 is provided on one side of the bottom of the third swing arm 44. The third motor 45 is fixedly installed on one side of the support plate.

[0043] At this time, motor 345 will rotate synchronously, driving the upper swing arm 344 to swing, which is used to control the degree of freedom of the swing arm 344 in the forward and backward directions.

[0044] Furthermore, the gravity sensors are connected to motor 1 (48), motor 2 (43), and motor 3 (45) respectively.

[0045] The lifting angle of the gravity compensation lifting mechanism 4 is controlled by motor 1 48, motor 2 43, and motor 3 45, thereby controlling the spatial position of the placement platform 41 and thus controlling the position of the double-arm collaborative spraying and leveling mechanism 3 in space.

[0046] When a heavy object is placed on the platform 41, the gravity sensor sends a gravity feedback signal. Motors 48, 43, and 45 receive the signal and reverse their direction, providing a reaction force to the linkage's movement. Simultaneously, the tension spring 47 and the connecting block move along the connecting shaft axis, causing the tension spring 47 to deform. The forces in the three XYZ axes can be used to provide reaction forces through the corresponding swing arms 410, 42, and 44 to control gravity compensation. Based on the force feedback signal, the real-time pose change of the mechanism is calculated to obtain the compensation torque required by the gravity compensation lifting device. By changing the rotation angle of motor 48, the extension length of the spring is controlled, thus achieving gravity compensation of the mechanism.

[0047] When the gravity lifting plastering robot of the present invention is used to spray and plaster the wall, the center of gravity of the double-arm collaborative spraying and leveling mechanism 3 will constantly change due to the influence of gravity. The gravity compensation lifting mechanism 4 continuously changes the position of its center of gravity in real time to realize the gravity compensation of the double-arm collaborative spraying and leveling mechanism 3. During the plastering process, it is not affected by its own weight, mortar weight, or end effector weight, and has high spraying accuracy, good leveling effect, and high flatness.

[0048] The automatic centering mechanism 5 and the locking mechanism 6 are set between the mobile chassis 1 and the mortar mixing trailer 7. The locking mechanism 6 is installed at one end of the automatic centering mechanism 5. The locking mechanism 6 is used to suspend the mortar mixing trailer 7 and the mobile chassis 1. The automatic centering mechanism 5 is set to automatically center the mortar mixing trailer 7 and the mobile chassis 1. This avoids the situation where the upper mobile chassis 1 is affected by the tensile and torsional force of the mortar mixing trailer 7 when it moves due to the different center positions of the mortar mixing trailer 7 and the mobile chassis 1. This would cause the overall position of the mobile chassis 1 to shift, resulting in a large change in the distance between the upper double-arm collaborative spraying and leveling mechanism 3 and the wall, thus affecting the spraying and plastering effect on the wall.

[0049] Specifically, the automatic centering mechanism 5 includes a cylinder 51 and a telescopic rod for pulling the mortar mixing trailer 7. The telescopic rod includes an inner rod 54 and an outer rod 57. The cylinder 51 is fixedly installed on one side of the mobile chassis 1. The inner rod 54 and one end of the cylinder 51 are fixedly connected. The outer rod 57 is sleeved on the outside of the inner rod 54 and connected to each other through a locking member 58.

[0050] At this time, the outer rod 57 is sleeved on the outside of the inner rod 54, and the outer rod 57 and the inner rod 54 are connected to each other by the locking member 58. During use, the cylinder 51 works to pull the inner rod 54 to extend and retract, thereby simultaneously driving the position of the outer rod 57 to move.

[0051] A limiting member 56 is sleeved on the outer side of the outer rod 57 to limit the distance of the outer rod 57. A fixing block 52 is fixedly installed at one end of the outer rod 57. The locking mechanism 6 is connected to the outer rod 57 through the fixing block 52. A support frame 55 is fixedly installed on the outer side of the inner rod 54. A connecting rod for pulling the receiving member 53 is installed in the middle of the lower side of one side of the support frame 55.

[0052] When the outer rod 57 moves, the limiting member 56 located on the outside is used to limit the movement distance of the outer rod 57. During use, the pulling distance of the outer rod 57 is the swing angle of the mortar mixing trailer 7, which realizes the centering distance between it and the mobile chassis 1. It can quickly realize the centering between the mortar mixing trailer 7 and the mobile chassis 1 during use.

[0053] The locking mechanism 6 includes a fisheye bearing 62, which is mounted on the fixed block 52 and rotates from 0 to 20°. It is fastened by a fixing bolt 61. A locking buckle 63 is fixedly installed on the fisheye bearing 62 at the end opposite to the fixed block 52 for connecting with the mortar mixing trailer 7.

[0054] The mortar mixing trailer 7 is suspended on the mobile chassis 1, which facilitates the transportation of materials by workers. When suspending, after the mortar mixing trailer 7 is moved to the receiving part 53, the automatic centering mechanism 5 and the mortar mixing trailer 7 are fixed by the locking buckle 63. During the fixing process, the fish-eye bearing 62 can swing and rotate 0 to 20° on the fixing block 52 as needed, which facilitates the fixing of the mortar mixing trailer 7 and makes the installation of the mortar mixing trailer 7 simple and the fixing firm.

[0055] The receiving component 53 includes a base plate 531, which is placed on the bottom of the rollers on the mortar mixing trailer 7. A guide plate 533 is fixedly installed on one side of the base plate 531. The guide plate 533 is set at 25° to guide the mortar mixing trailer 7 above. The angle of the guide plate 533 is set at 25° to facilitate the movement of the mortar mixing trailer 7 to the top of the receiving component 53. A placement groove is opened on the base plate 531, and a turntable 532 is rotatably installed inside the placement groove. The upper surface of the turntable 532 is in contact with the bottom of the rollers on the mortar mixing trailer 7. Two sets of universal wheels 534 are fixedly installed on the lower sides of both sides of the base plate 531.

[0056] In use, the mortar mixing trailer 7 moves upward above the turntable 532 via the guide plate 533. When the mortar mixing trailer 7 moves and centers via the support member 53, the cylinder 51 pulls the inner rod 54 and the outer rod 57, thereby pulling the mortar mixing trailer 7 and the lower support member 53 through the support frame 55 and the connecting rod, so that the mortar mixing trailer 7 continuously centers during the movement.

[0057] During movement, the casters 534 located below the base plate 531 continuously adjust their rotation angle, thereby changing the position of the mortar mixing trailer 7 and the supporting component 53 below.

[0058] Furthermore, a guide rod is fixedly installed on one side of the bottom of the mortar mixing trailer 7, and a stop block is fixedly installed on one side of the bottom of the mobile chassis 1. The guide rod and the stop block are on the same plane, and the vertical surfaces of the guide rod and the stop block are set opposite to each other.

[0059] After the cylinder 51 pulls the inner rod 54 and the outer rod 57 a certain distance, the guide rod and the stop block on one side will gradually approach and abut against each other. When the guide rod and the stop block abut against each other, the cylinder 51 pulls the outer rod 57 to move again, so that the guide rod and the stop block abut against each other. When they abut against each other, the fisheye bearing 62 located above swings at an angle, so that the mortar mixing trailer 7 rotates at an angle through the turntable 532 on the receiving part 53, thereby aligning the mortar mixing trailer 7 and preventing the mortar mixing trailer 7 from tilting at an angle after the automatic centering is completed.

[0060] When the mortar mixing trailer 7 is aligned, the inner rod 54 on one side pulls the support frame 55, which, through the traction of the connecting rod, moves the bottom support 53 by the same distance as the mortar mixing trailer 7.

[0061] Furthermore, the locking component 58 includes two locking pins 581. Guide holes 8 are provided on both the outer rod 57 and the inner rod 54. The two locking pins 581 are respectively inserted into the inner side of the guide holes 8 to fix the inner rod 54 and the outer rod 57. When the inner rod 54 and the outer rod 57 are used to tow the mortar mixing trailer 7, the inner rod 54 and the outer rod 57 are prevented from falling off.

[0062] A connecting plate 584 is fixedly installed on one side of each of the two locking pins 581. A return spring 582 is provided on the outer side of each of the two locking pins 581 to reset the locking pins 581. The two ends of the return spring 582 are fixedly installed on the connecting plate 584 and the outer rod 57 respectively. The return spring 582 can be used to reset the locking pins 581. A slide rod 586 is fixedly installed on one end of each of the two locking pins 581.

[0063] Guide plates 562 are fixedly installed on the middle of both sides of the limiting block 561. The two guide plates 562 are arranged in a figure-eight shape. Both guide plates 562 have through grooves. Both slide rods 586 are slidably arranged inside the through grooves. A baffle 583 is fixedly installed on the two slide rods 586 opposite to the locking pin 581.

[0064] When the outer rod 57 is pulled backward, it will drive the locking part 58 to move, while the position of the limiting part 56 on the outside of the displacement outer rod 57 remains unchanged. Therefore, when the outer rod 57 moves, the sliding rod 586 located inside the through groove will gradually move. Since the two guide plates 562 are set in a figure-eight shape, by adjusting the angle, the sliding rod 586 can drive the locking pin 581 on one side to gradually move outward, so that the locking pin 581 gradually disengages from the guide hole 8 on the outer rod 57 and the inner rod 54 during the outward movement.

[0065] After the mortar mixing trailer 7 is aligned and centered, the locking column 581 disengages from the guide hole 8, causing the inner rod 54 and the outer rod 57 to separate. The inner rod 54 will continue to pull backward, causing the inner rod 54 and the outer rod 57 to separate from each other. Then, the inner rod 54 will drive the support frame 55 and the connecting rod to move backward, pulling the receiving part 53 out from the bottom of the mortar mixing trailer 7, causing the mortar mixing trailer 7 and the receiving part 53 to separate.

[0066] Two balls 585 are rotatably mounted on one side of the two baffles 583. The surface of the balls 585 is in contact with the outer surface of the guide plate 562. When the baffles 583 slides outward on the guide plate 562, the balls 585 on both sides rotate simultaneously to reduce the friction generated during the movement of the baffles 583 on the guide plate 562.

[0067] Furthermore, the limiting component 56 includes a limiting block 561, with a through hole 5611 in the middle. The limiting block 561 is sleeved on the outside of the outer rod 57 through the through hole 5611. The limiting block 561 can guide the outer rod 57 and limit the distance. The diameter of the through hole 5611 on the limiting block 561 is larger than the diameter of the outer rod 57. The outer wall of the outer rod 57 and the inner wall of the through hole 5611 are compatible. Fixing rods 563 are fixedly installed on both sides of the lower part of the limiting block 561. Support columns 564 are fixedly installed on the outer side of the two fixing rods 563. The ends of the two support columns 564 are fixedly installed on the upper part of the movable chassis 1.

[0068] Furthermore, during use, a limiting sleeve is fixedly installed on the outer side of the outer rod 57 opposite to the fixed block 52. The outer diameter of the limiting sleeve is larger than the diameter of the through hole 5611 provided on the limiting block 561, which is used to block the limiting block 561.

[0069] The distance that the cylinder 51 pulls the outer rod 57 is the same as the distance that the mortar mixing trailer 7 moves and straightens. Therefore, after the mortar mixing trailer 7 is aligned, the limiting block 561 will press against one side of the fixing block 52, thereby helping the inner rod 54 and the outer rod 57 to disengage from each other.

[0070] After the mortar used on the inside of the mortar mixing trailer 7 is used up or the wall surface is smoothed, the locking buckle 63 is opened to detach the mortar mixing trailer 7 from the mobile chassis 1. When using it again, the receiving part 53 needs to be reset.

[0071] During reset, cylinder 51 pushes inner rod 54 forward. As inner rod 54 moves, it drives outer support frame 55 and connecting rod forward, thus moving one end of receiving part 53 forward. When inner rod 54 and outer rod 57 are connected, outer rod 57 is pushed forward simultaneously. As outer rod 57 moves forward, its rear end gradually approaches limiting part 56. Affected by two guide plates 562, and through angle adjustment, one side locking pin 581 can be gradually moved inward by sliding rod 586. As locking pin 581 moves inward, it gradually inserts into the guide hole 8 on outer rod 57 and inner rod 54. When the limiting sleeve and limiting block 561 on the rear end of outer rod 57 are in contact, locking pin 581 completes the docking action with guide hole 8, locking inner rod 54 and outer rod 57.

[0072] The dual-arm coordinated spraying and smoothing mechanism 3 can quickly spray and smooth the wall surface by combining spraying and smoothing.

[0073] Specifically, the dual-arm collaborative spraying and leveling mechanism 3 includes a placement seat 31, which is fixedly installed on the placement platform 41. Robotic arm 1 32 and robotic arm 2 35 are fixedly installed on both sides of the placement seat 31, respectively. Both robotic arm 1 32 and robotic arm 2 35 are six-axis robotic arms. The robotic arm 1 32 and robotic arm 2 35 are set at 135 degrees to better complete the spraying and plastering steps. A scraper 33 is fixedly installed at the top of robotic arm 1 32, and a spray gun 34 is fixedly installed at the top of robotic arm 2 35.

[0074] In use, the spray gun 34 sprays first by moving the chassis 1. After that, the chassis 1 moves in the same direction again to smooth the sprayed wall surface.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wall plastering robot with a gravity compensation device, characterized in that, include: Mobile chassis (1), on which a fixed seat (2) is provided and a mortar mixing trailer (7) for suspension is provided. Gravity compensation lifting mechanism (4), which is vertically installed on one side of the fixed base (2); The double-arm collaborative spraying and leveling mechanism (3) is fixedly installed at its bottom on the gravity compensation lifting mechanism (4) and is used to spray and coat the wall surface with plaster. An automatic centering mechanism (5) is set between the mobile chassis (1) and the mortar mixing trailer (7). A locking mechanism (6) is installed at one end of the automatic centering mechanism (5). One side of the locking mechanism (6) is connected to the mixing trailer (7). The locking mechanism (6) is used to connect the mobile chassis (1) and the mortar mixing trailer (7). The automatic centering mechanism (5) includes a cylinder (51) and a telescopic rod for pulling the mortar mixing trailer (7). The telescopic rod includes an inner rod (54) and an outer rod (57). The cylinder (51) is fixedly installed on one side of the mobile chassis (1). The inner rod (54) and one end of the cylinder (51) are fixedly connected. The outer rod (57) is sleeved on the outside of the inner rod (54) and connected to each other through a locking member (58). A limiting member (56) is sleeved on the outside of the outer rod (57). A fixing block (52) is fixedly installed on one end of the outer rod (57). The locking mechanism (6) is connected to the outer rod (57) through the fixing block (52). A support frame (55) is fixedly installed on the outside of the inner rod (54). A connecting rod for pulling the receiving member (53) is installed in the middle of the lower side of one side of the support frame (55).

2. The wall plastering robot with a gravity compensation device according to claim 1, characterized in that, The gravity compensation lifting mechanism (4) includes a support plate, which is fixedly installed on a fixed base (2). A connecting base (46) is fixedly installed on the support plate. A motor (48) is installed on the connecting base (46). A swing arm (410) is rotatably connected to the output end of the motor (48). A support rod (49) is fixedly installed on one side of the swing arm (410). A tension spring (47) is provided on the outside of the support rod (49). The bottom of the support rod (49) is rotatably connected to one side of the connecting base (46) through a connecting block. A motor is fixedly installed in the middle of the upper part of the connecting base (46). The output end of the second motor (43) is rotatably connected to the second swing arm (42). The top of the first swing arm (410) and the second swing arm (42) is fixedly installed with a placement platform (41). A gravity sensor is fixedly installed in the middle of the lower part of the placement platform (41). The bottom of the second swing arm (42) is movably connected to the third swing arm (44). A third motor (45) is provided on one side of the bottom of the third swing arm (44). The third motor (45) is fixedly installed on one side of the support plate. The gravity sensor is connected to the first motor (48), the second motor (43), and the third motor (45) respectively through signal connection.

3. A wall plastering robot with a gravity compensation device according to claim 2, characterized in that, The dual-arm collaborative spraying and leveling mechanism (3) includes a placement seat (31), which is fixedly installed on the placement platform (41). A robotic arm one (32) and a robotic arm two (35) are fixedly installed on both sides of the placement seat (31). The robotic arm one (32) and the robotic arm two (35) are set at 135 degrees. A scraper (33) is fixedly installed at the top of the robotic arm one (32), and a spray gun (34) is fixedly installed at the top of the robotic arm two (35).

4. A wall plastering robot with a gravity compensation device according to claim 1, characterized in that, The locking mechanism (6) includes a fisheye bearing (62), which is mounted on a fixed block (52) and rotates at 0 to 20°. It is fastened by a fixing bolt (61). A locking buckle (63) is fixedly installed on the fisheye bearing (62) at the end opposite to the fixed block (52) for connecting with the mortar mixing trailer (7).

5. A wall plastering robot with a gravity compensation device according to claim 1, characterized in that, The limiting component (56) includes a limiting block (561). A through hole (5611) is provided in the middle of the limiting block (561). The limiting block (561) is sleeved on the outside of the outer rod (57) through the through hole (5611). Fixing rods (563) are fixedly installed on both sides of the limiting block (561). Support columns (564) are fixedly installed on the outside of the two fixing rods (563). The ends of the two support columns (564) are fixedly installed above the mobile chassis (1). Guide plates (562) are fixedly installed in the middle of both sides of the limiting block (561). The two guide plates (562) are arranged in a figure-eight shape. Through grooves are provided on the two guide plates (562).

6. A wall plastering robot with a gravity compensation device according to claim 1, characterized in that, The receiving component (53) includes a base plate (531), which is placed on the bottom of the rollers on the mortar mixing trailer (7). A guide plate (533) is fixedly installed on one side of the base plate (531). The guide plate (533) is set at 25°. A placement groove is provided on the base plate (531). A turntable (532) is rotatably installed inside the placement groove. The upper surface of the turntable (532) is in contact with the bottom of the rollers on the mortar mixing trailer (7). Two sets of universal wheels (534) are fixedly installed on the lower sides of both sides of the base plate (531).

7. A wall plastering robot with a gravity compensation device according to claim 5, characterized in that, The locking component (58) includes two locking pins (581). Guide holes (8) are provided on both the outer rod (57) and the inner rod (54). The two locking pins (581) are respectively inserted into the inner side of the guide holes (8) to lock the inner rod (54) and the outer rod (57). A connecting plate (584) is fixedly installed on one side of each of the two locking pins (581). A return spring (582) is provided on the outer side of each of the two locking pins (581). The two ends of the return spring (582) are respectively... Fixedly installed on the connecting plate (584) and the outer rod (57), each of the two locking pins (581) has a slide rod (586) fixedly installed at one end. The two slide rods (586) are slidably arranged inside the through groove. A baffle (583) is fixedly installed on the two slide rods (586) opposite to the locking pin (581). Two balls (585) are rotatably arranged on one side of the two baffles (583). The surface of the balls (585) is in contact with the outer surface of the guide plate (562).

8. A wall plastering robot with a gravity compensation device according to claim 5, characterized in that, A limiting sleeve is fixedly installed on the outer rod (57) at the outer side opposite to the fixing block (52). The outer diameter of the limiting sleeve is larger than the diameter of the through hole (5611) provided on the limiting block (561), which is used to block the limiting block (561). The diameter of the through hole (5611) provided on the limiting block (561) is larger than the diameter of the outer rod (57). The outer wall of the outer rod (57) and the inner wall of the through hole (5611) are compatible.

9. A wall plastering robot with a gravity compensation device according to claim 5, characterized in that, A guide rod is fixedly installed on one side of the bottom of the mortar mixing trailer (7), and a stop block is fixedly installed on one side of the bottom of the mobile chassis (1). The guide rod and the stop block are on the same plane, and the vertical surface of one side of the guide rod and the vertical surface of one side of the stop block are set opposite to each other.

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