Wall trowel and trowel working method

Abstract

The present application relates to a wall smoothing machine and a working method of the smoothing machine. The wall smoothing machine includes a spatula, a mechanical arm, a controller, a PSD detector, a laser rangefinder and a two-dimensional angle sensor; the input end of the controller is respectively connected to the PSD detector, the laser rangefinder and the two-dimensional sensor to determine the posture information of the mechanical arm; the output end of the controller is connected to the mechanical arm, and the movement of the mechanical arm is controlled according to the posture information of the mechanical arm; the mechanical arm is mechanically connected to the spatula, and is used to drive the spatula to move when the mechanical arm moves, so that the spatula performs smoothing operations. The present application can automatically position according to the posture information, and can realize the spatula operation without manual positioning or adjustment of the spatula position, thereby improving the automation level of the wall smoothing machine and the work efficiency of the wall smoothing operation.

Description

Technical Field

[0001] The present application relates to the technical field of construction equipment, and in particular to a wall smoothing machine and a working method of the smoothing machine. Background Art

[0002] In indoor and outdoor decoration, mortar needs to be applied to the outer layer of the wall. The flatness of the mortar directly affects the flatness of the wall surface. Therefore, after applying the mortar, it is necessary to smooth it. Traditional mortar smoothing is done manually, that is, the mortar is applied to the wall manually using a plastering knife and a wooden board, and then it is smoothed using tools such as square wooden poles and aluminum alloy tubes. Not only is the work efficiency low, but the smoothing work is usually completed by multiple decoration workers, and each worker works according to his own work experience. In the case of multiple people working together, it is difficult to ensure the consistency of the wall surface flatness and coating quality.

[0003] In the related art, a mechanized mortar trowel is used to replace manual work, but the existing mortar trowel can only perform mechanical trowel work. When the mortar trowel is just beginning to plaster a wall or moves to re-determine the coating position after smearing an area, manual positioning and adjustment of the trowel position are required. The mortar trowel cannot achieve automatic positioning. Therefore, the automation level is low and the work efficiency needs to be further improved. Summary of the invention

[0004] In order to at least overcome the problem in the related art to a certain extent, a mechanized mortar smoothing machine is used to replace manual work, but the existing mortar smoothing machine can only perform mechanical smoothing work. When just starting to plaster a wall or moving to re-determine the coating position after plastering an area, manual positioning and adjustment of the trowel position are required, and the mortar smoothing machine cannot achieve automatic positioning, resulting in a low level of automation. The present application provides a wall smoothing machine and a working method of the smoothing machine.

[0005] In a first aspect, the present application provides a wall smoothing machine, comprising:

[0006] spatula, robotic arm, controller, PSD detector, laser rangefinder and 2D angle sensor;

[0007] The input end of the controller is respectively connected to the PSD detector, the laser rangefinder and the two-dimensional sensor to determine the position information of the robotic arm;

[0008] The output end of the controller is connected to the robotic arm, and controls the movement of the robotic arm according to the position and posture of the robotic arm;

[0009] The mechanical arm is mechanically connected to the spatula, and is used to drive the spatula to move when the mechanical arm moves, so that the spatula performs a smoothing operation.

[0010] Furthermore, the wall smoothing machine also includes:

[0011] A laser generator, wherein the laser generator is used to emit a horizontal and / or vertical laser beam, and the PSD detector is used to detect the horizontal and / or vertical laser beam. The PSD detector is arranged on the robotic arm to determine the position information of the robotic arm according to the horizontal and / or vertical laser beam.

[0012] Furthermore, the wall smoothing machine also includes:

[0013] The target is a laser rangefinder that emits a beam or a sequence of detection laser beams to the target and receives a reflected laser beam from the target. The laser rangefinder is arranged on the robotic arm and determines the position information of the robotic arm through the detection laser beam and the reflected laser beam.

[0014] Furthermore, the robotic arm includes a base, and the two-dimensional angle sensor is arranged at a horizontal position of the base to read the posture deflection amount of the robotic arm and send the posture deflection amount to the controller.

[0015] Furthermore, the wall smoothing machine also includes a feeding structure, which is electrically connected to the controller and mechanically connected to the spatula.

[0016] Furthermore, the feeding structure includes: a motor, a piston cylinder, a feeding pipe, a feeding port and a discharging port;

[0017] The motor is connected to the controller;

[0018] The feed inlet and the discharge outlet are respectively arranged at two ends of the feeding pipe;

[0019] The motor is used to control the movement of the piston rod in the piston cylinder so that the material is sucked into the feeding pipe from the feeding port;

[0020] The discharge port is mechanically connected to the spatula.

[0021] Furthermore, the mechanical connection between the discharge port and the spatula includes: a feed hole is arranged on the spatula, and the discharge port is embedded in the position of the feed hole.

[0022] Furthermore, the feeding structure also includes: two solenoid valves, which are respectively arranged at the feed port and the discharge port; and the solenoid valves are connected to the controller.

[0023] Furthermore, the wall smoothing machine also includes a movable trolley, and the mechanical arm is installed on the movable trolley.

[0024] In a second aspect, the present application provides a working method of a wall smoothing machine, comprising:

[0025] Obtain a three-dimensional map of the space to be leveled;

[0026] Acquiring position information of the robotic arm in the three-dimensional map;

[0027] The movement of the robot arm is controlled according to the posture information to drive the spatula to perform a smoothing operation.

[0028] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0029] In the present application, the input end of the controller is respectively connected to the PSD detector, the laser rangefinder and the two-dimensional sensor to determine the posture of the robotic arm. The controller can automatically position itself according to the posture information, and can realize the spatula operation without manual positioning or adjustment of the spatula position, thereby improving the automation level of the wall smoothing machine and the work efficiency of the wall smoothing operation.

[0030] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0032] Figure 1 This is a module diagram of a wall smoothing machine provided in one embodiment of the present application.

[0033] Figure 2 This is a structural diagram of a wall smoothing machine provided in one embodiment of the present application.

[0034] Figure 3 This is a structural diagram of a wall smoothing machine provided in another embodiment of the present application.

[0035] Figure 4 It is a flow chart of a working method of a wall smoothing machine provided by an embodiment of the present application. DETAILED DESCRIPTION

[0036] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0037] Figure 1 This is a module diagram of a wall smoothing machine provided in one embodiment of the present application.

[0038] like Figure 1 As shown, the wall smoothing machine provided in this embodiment includes:

[0039] Spatula 1, robotic arm 2, controller 3, PSD detector 4, laser rangefinder 5 and two-dimensional angle sensor 6;

[0040] The input end of the controller 3 is respectively connected to the PSD detector 4, the laser rangefinder 5 and the two-dimensional sensor 6 to determine the position information of the robot arm 2;

[0041] The output end of the controller 3 is connected to the robot arm 2, and the movement of the robot arm 2 is controlled according to the posture information of the robot arm 2;

[0042] The mechanical arm 2 is mechanically connected to the spatula 1 and is used to drive the spatula 1 to move when the mechanical arm 2 moves, so that the spatula 1 performs a smoothing operation.

[0043] Traditional mortar leveling is done manually, that is, the mortar is applied to the wall with a spatula and then scraped flat. Manual leveling is not only inefficient, but also difficult to ensure the flatness and quality of the wall. Although mechanized mortar leveling machines use robotic arms to achieve automatic leveling operations, when the wall is just being leveled or when the mortar position is moved to re-determine the leveling position after a section is leveled, the robotic arm cannot work continuously because the specific position and posture of the robotic arm are unclear, resulting in low work efficiency and insufficient automation. Manual repositioning of the robotic arm and adjustment of its posture are required before the leveling operation can begin.

[0044] The PSD detector 4 is a light energy / position conversion device. Since the position quantity is an analog output, the system has a fast response, high resolution and low cost, so it has a wide range of application value. At the same time, the target signal can be modulated, thereby significantly improving the anti-interference ability of the system, and can be used to realize a high-speed, high-precision, and strong anti-interference ability position detection system.

[0045] The laser rangefinder 5 is an instrument that uses a certain parameter of modulated laser to measure the distance to the target. For example, it is a pulse laser rangefinder. When working, the pulse laser rangefinder emits a beam or a series of short pulse laser beams to the target, and the laser beam reflected by the target is received by the photoelectric element. The timer measures the time from the emission to the reception of the laser beam, and calculates the distance from the observer to the target. The pulse laser rangefinder is light in weight, small in size, simple to operate, fast and accurate.

[0046] The position information of the robot arm 2 in the space to be leveled can be determined by the PSD detector 4 and the laser rangefinder 5 .

[0047] The two-dimensional angle sensor 6 is a very accurate detection tool for measuring small angles, and can be used to measure the inclination of the measured plane relative to the horizontal position. Therefore, the two-dimensional angle sensor 6 can be used to measure the posture of the robot arm 2.

[0048] In this embodiment, the input end of the controller is respectively connected to the PSD detector, the laser rangefinder and the two-dimensional sensor to determine the posture of the robotic arm. The controller can automatically position itself according to the posture information, and can realize the spatula operation without manual positioning or adjusting the spatula position, thereby improving the automation level of the wall smoothing machine and the work efficiency of the wall smoothing operation.

[0049] Figure 2 This is a structural diagram of a wall smoothing machine provided in one embodiment of the present application.

[0050] like Figure 2 As shown, this embodiment provides a wall smoothing machine, comprising:

[0051] As an optional implementation of the present invention, the wall smoothing machine also includes:

[0052] The laser generator 7 is used to emit a horizontal and / or vertical laser beam. The PSD detector 4 is used to detect the horizontal and / or vertical laser beam. The PSD detector 4 is arranged on the robot arm 2 to determine the position information of the robot arm 2 according to the horizontal and / or vertical laser beam.

[0053] The robot arm 2 includes an arm structure and a wrist structure. The arm structure is connected to the wrist structure, and the wrist structure is connected to the spatula 1. The PSD detector 4 is arranged at the wrist structure position of the robot arm 2 to obtain the actual position of the spatula 1.

[0054] The robot arm 2 is a six-degree-of-freedom robot arm, which consists of six degrees of freedom: X movement, Y movement, Z movement, X rotation, Y rotation, and Z rotation. The position of the robot arm 2 in the X-axis direction can be determined by the laser generator 7 and the PSD detector 4.

[0055] As an optional implementation of the present invention, the wall smoothing machine also includes:

[0056] Target 8, the laser rangefinder 5 emits a beam or a sequence of detection laser beams to the target 8, receives the reflected laser beam of the target 8, and the laser rangefinder 5 is set on the robot arm 2 to determine the position information of the robot arm 2 through the detection laser beam and the reflected laser beam.

[0057] The position of the robot arm 2 in the Y-axis direction can be obtained through the target 8 and the laser rangefinder 5. The laser rangefinder 5 is set at the wrist structure position of the robot arm 2 to facilitate the acquisition of the actual position of the spatula 1.

[0058] As an optional implementation of the present invention, the robotic arm 2 includes a base, and the two-dimensional angle sensor 6 is arranged at a horizontal position of the base to read the posture deflection amount of the robotic arm 2 and send the posture deflection amount to the controller 3.

[0059] It should be noted that the two-dimensional angle sensor 6 can be set on the base, coinciding with or parallel to the X and Y axes of the robot arm 2, so as to obtain the posture deflection of the robot arm 2, so that the controller 3 controls the robot arm 2 to move along the Z axis.

[0060] In this embodiment, the controller controls the robotic arm to drive the PSD detector and the laser rangefinder to search for horizontal and vertical laser beams and targets, so as to determine the position information of the robotic arm. The controller determines the posture of the robotic arm through the two-dimensional angle sensor, thereby improving the accuracy of the robotic arm positioning, making it easier for the controller to control the movement of the robotic arm and improving the automation level of the wall smoothing machine.

[0061] Figure 3 This is a structural diagram of a wall smoothing machine provided in another embodiment of the present application.

[0062] like Figure 3 As shown, a wall smoothing machine provided in this embodiment also includes:

[0063] The feeding structure 9 is electrically connected to the controller 3 and mechanically connected to the spatula 1 .

[0064] As an optional implementation of the present invention, the feeding structure 9 includes: a motor, a piston cylinder, a feeding pipe, a feeding port and a discharging port;

[0065] The motor is connected to the controller;

[0066] The feed inlet and the discharge outlet are respectively arranged at the two ends of the feeding pipe;

[0067] The motor is used to control the movement of the piston rod in the piston cylinder so that the material is sucked into the feeding pipe from the feeding port. It can be understood that the material can be mortar or putty powder;

[0068] The discharge port is mechanically connected to the spatula 1.

[0069] As an optional implementation of the present invention, the mechanical connection between the discharge port and the spatula includes: a feed hole is arranged on the spatula, and the discharge port is embedded in the position of the feed hole.

[0070] As an optional implementation of the present invention, the feeding structure 9 further includes: two solenoid valves, which are respectively arranged at the feed port and the discharge port; and the solenoid valves are connected to the controller 3 .

[0071] The feeding structure 9 adopts a piston-type suction and extrusion feeding method. The solenoid valve is used to control the closure of the pipeline. The motor is a stepper motor or a servo motor, and the motor drives the piston rod and the piston head to move back and forth in the piston cylinder. When suction is required, the controller 2 controls the discharge port solenoid valve to close, the feed port solenoid valve to open, and the piston head to move to one end in the piston cylinder. Negative pressure will be generated in the piston cylinder and the material will be sucked into the piston cylinder. During feeding, the controller 2 controls the feed port solenoid valve to close, the discharge port solenoid valve to open, and the piston head to move to the other end in the piston cylinder to generate an extrusion force to squeeze the material in the piston cylinder out, and connect to the hole in the middle of the spatula through the discharge port. While discharging, the controller 2 controls the robotic arm 2 to drive the spatula to perform smearing operations on the marked parts that need to be smeared.

[0072] The traditional mortar smoothing machine does not have an automatic feeding function. Each time the material on the trowel is smoothed, manual feeding operation is required, which not only wastes time but also causes the smoothing operation to be inconsistent. By adding a feeding structure 9, an automatic feeding function can be achieved without the need for manual intervention, which facilitates the continuous smoothing operation and further improves the automation level and work efficiency of the wall smoothing machine.

[0073] As an optional implementation of the present invention, the wall smoothing machine further comprises a movable trolley, and the mechanical arm 2 is mounted on the movable trolley. The base of the mechanical arm 2 is mounted on the movable trolley.

[0074] The wall smoothing machine also includes a driving mechanism, which is connected to the controller 3 and the movable trolley respectively, so that the controller 3 controls the movement of the movable trolley and thus automatically controls the movement of the mechanical arm 2.

[0075] In this embodiment, the automatic feeding function can be realized by setting up the feeding structure, without the need for manual intervention, which facilitates the continuous smoothing operation and further improves the automation level and work efficiency of the wall smoothing machine.

[0076] Figure 4 It is a flow chart of a working method of a wall smoothing machine provided in another embodiment of the present application.

[0077] like Figure 4 As shown, this embodiment provides a working method of a wall smoothing machine, comprising:

[0078] S41: Obtain a three-dimensional map of the space to be leveled;

[0079] S42: Obtaining the position information of the robot arm in the three-dimensional map;

[0080] S43: Control the movement of the robot arm according to the position information to drive the spatula to perform a smoothing operation.

[0081] The controller coordinates the mobile car, the robot arm, the PSD detector, the two-dimensional angle sensor, and the feeding structure to enable the spatula to complete the plastering operation on the specified working surface. First, the building that needs to be plastered and leveled is drawn into a three-dimensional map and the various surfaces that need to be plastered and leveled are marked (such as walls, door and window side openings, roof surfaces, round or square columns, etc.); a two-dimensional laser transmitter and target are set up in the space to be leveled, and the position information of the two-dimensional laser transmitter and target in the three-dimensional map is entered into the controller; the controller controls the robot arm to drive the PSD detector and the laser rangefinder to find the horizontal and vertical laser beams and targets, so as to determine the position information. The controller reads the two-dimensional inclination sensor data to determine the posture of the X and Y axes of the robot arm in the three-dimensional map. The controller controls the rotation of the robotic arm to drive the movement of the PSD detector, and controls the moving range of the PSD detector to ensure that the moving position of the PSD detector can always receive the vertical laser beam data (that is, find the horizontal data of the X or Y axis of the robotic arm in the three-dimensional map). The rotation angle of the robotic arm Z axis starts from 0 degrees until the distance from the origin of the leveling robotic arm to the vertical laser beam is the shortest, which is the deflection of the robotic arm Z axis relative to the three-dimensional map posture.

[0082] The two-dimensional laser transmitter emits two vertical and horizontal laser planes respectively, and sets the horizontal laser plane at a preset height of the Z axis in the three-dimensional map to obtain the height information of the robot arm; the vertical laser plane is set at a preset first displacement position on the X axis or Y axis in the three-dimensional map to obtain the first displacement position of the robot arm, and a fixed target is placed at a preset second displacement position on the X axis or Y axis to obtain the second displacement position of the robot arm. The position of the robot arm in the three-dimensional map can be derived from the height information, the first displacement position and the second displacement position. The controller reads the readings of the two-dimensional inclination sensor installed on the base of the robot arm and coincides with the origin, X and Y axes of the robot arm, and the attitude deflection of the X and Y axes of the robot arm relative to the three-dimensional map can be derived from the readings.

[0083] In this embodiment, by obtaining a three-dimensional map of the space to be smoothed, the position information of the robotic arm is obtained in the three-dimensional map, and the movement of the robotic arm is controlled according to the position information to drive the spatula to perform smoothing operations. This can realize spatula operations, improve the automation level of the wall smoothing machine, and improve the work efficiency of wall smoothing operations.

[0084] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0085] It should be noted that, in the description of this application, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0086] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0087] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0088] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0089] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0090] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0091] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0092] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

[0093] It should be noted that the present invention is not limited to the above-mentioned optimal implementation mode. Those skilled in the art can derive other various forms of products under the guidance of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that are the same or similar to those of the present application fall within the protection scope of the present invention.

Claims

1. A wall smoothing machine, characterized in that: include: spatula, robotic arm, controller, PSD detector, laser rangefinder and 2D angle sensor; The input end of the controller is respectively connected to the PSD detector, the laser rangefinder and the two-dimensional angle sensor to determine the position information of the robotic arm; The output end of the controller is connected to the robotic arm, and controls the movement of the robotic arm according to the posture information of the robotic arm; The mechanical arm is mechanically connected to the spatula, and is used to drive the spatula to move when the mechanical arm moves, so that the spatula performs a smoothing operation; A laser generator, wherein the laser generator is used to emit a horizontal and / or vertical laser beam, and the PSD detector is used to detect the horizontal and / or vertical laser beam. The PSD detector is disposed on the robotic arm and determines the position information of the robotic arm according to the horizontal and / or vertical laser beam; target, the laser rangefinder emits one or a sequence of detection laser beams to the target and receives the reflected laser beam from the target, the laser rangefinder is arranged on the mechanical arm, and determines the position information of the mechanical arm through the detection laser beam and the reflected laser beam; The mechanical arm comprises a base, the two-dimensional angle sensor is arranged at a horizontal position of the base, reads the posture deflection amount of the mechanical arm, and sends the posture deflection amount to the controller; The two-dimensional laser transmitter emits two vertical and horizontal laser planes respectively, and sets the horizontal laser plane at a preset height of the Z axis in the three-dimensional map, thereby obtaining the height information of the robot arm; The vertical laser plane is set at a preset first displacement position on the X-axis or Y-axis in the three-dimensional map, thereby obtaining the first displacement position of the robot arm, and a fixed target is placed at a preset second displacement position on the X-axis or Y-axis to obtain the second displacement position of the robot arm. The position of the robot arm in the three-dimensional map can be derived through the height information, the first displacement position and the second displacement position; the controller reads the readings of the two-dimensional angle sensor installed on the base of the robot arm and coincident with the origin, X and Y axes of the robot arm, and the attitude deflection of the X and Y axes of the robot arm relative to the three-dimensional map can be derived through the readings.

2. The wall smoothing machine according to claim 1, characterized in that: It also includes a feeding structure, which is electrically connected to the controller and mechanically connected to the spatula.

3. The wall smoothing machine according to claim 2, characterized in that: The feeding structure comprises: a motor, a piston cylinder, a feeding pipe, a feeding port and a discharging port; The motor is connected to the controller; The feed inlet and the discharge outlet are respectively arranged at two ends of the feeding pipe; The motor is used to control the movement of the piston rod in the piston cylinder so that the material is sucked into the feeding pipe from the feeding port; The discharge port is mechanically connected to the spatula.

4. The wall smoothing machine according to claim 3, characterized in that: The mechanical connection between the discharge port and the spatula includes: a feed hole is arranged on the spatula, and the discharge port is embedded in the position of the feed hole.

5. The wall smoothing machine according to claim 3, characterized in that: The feeding structure further includes: two solenoid valves, which are respectively arranged at the feeding port and the discharging port; and the solenoid valves are connected to the controller.

6. The wall smoothing machine according to claim 1, characterized in that: It also includes a movable trolley, on which the mechanical arm is installed.

7. A working method of a wall smoothing machine, characterized in that: The method is based on the wall smoothing machine according to any one of claims 1 to 6, and the method comprises: Obtain a three-dimensional map of the space to be leveled; Acquiring position information of the robotic arm in the three-dimensional map; The movement of the robot arm is controlled according to the posture information to drive the spatula to perform a smoothing operation.

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