Plastering device and plastering robot

Abstract

The present invention discloses a plastering device and a plastering robot. The plastering device includes a scraper, a torque sensor, and a motor module. The plastering robot includes a control platform and a plastering device. The torque sensor is provided to detect the contact force between the scraper and the wall in real time. According to the contact force detected, the rotation of the motor module is calculated and controlled so that the motor module outputs a suitable rotation torque, and the contact force between the scraper and the wall is controlled in real time, thereby realizing active and compliant control of the plastering device. The plastering device is controlled by the control platform to automatically perform the plastering process on the wall, thereby improving the degree of automation and the quality of plastering.

Description

Technical Field

[0001] The invention relates to the field of construction machinery, in particular to a plastering device and a plastering robot. Background Art

[0002] In house decoration, wall plastering technology plays an important role. In the wall plastering technology, it can only be completed manually, with manual operation of scrapers to apply paint to the wall. The operation steps are complicated, mechanical and inefficient. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a plastering device, which can detect the rotation torque of the scraper when it contacts the wall in real time through the plastering device, calculate and control the rotation of the scraper according to the detection result, output a suitable rotation torque, realize active and flexible control of the plastering device, and improve the construction quality.

[0004] The present invention also provides a plastering robot having the above-mentioned plastering device.

[0005] According to a first aspect of the present invention, a plastering device includes: a scraper, a torque sensor, and a motor module. The scraper is used to apply plaster to a wall surface, the torque sensor is used to connect the scraper and detect the rotation torque of the scraper when the scraper contacts the wall surface, and the motor module is connected to the torque sensor and is used to control the rotation of the scraper according to the rotation torque.

[0006] The plastering device according to the embodiment of the present invention has at least the following beneficial effects: a torque sensor is provided to detect the contact force between the scraper and the wall in real time, and based on the contact force obtained by the detection, the rotation of the motor module is calculated and controlled so that the motor module outputs a suitable rotational torque, and the contact force between the scraper and the wall is controlled in real time, thereby realizing active and compliant control of the plastering device and improving the construction quality.

[0007] According to some embodiments of the present invention, the motor module includes a servo motor and an encoder, the encoder is used to detect the rotation state of the servo motor, and the servo motor controls the rotation of the scraper according to the rotation torque.

[0008] According to some embodiments of the present invention, the motor module further includes a reducer, and the reducer is used to increase the output torque of the motor module to control the rotation of the scraper.

[0009] According to some embodiments of the present invention, the rotating shaft of the motor module is connected to the torque sensor for indirectly controlling the rotation of the scraper.

[0010] According to the plastering robot of the second embodiment of the present invention, the plastering robot comprises the plastering device of the first embodiment of the present invention.

[0011] According to some embodiments of the present invention, the plastering robot further includes a control platform, the control platform includes a mobile device and a mechanical arm, the mechanical arm is disposed on the mobile device, and the control platform is used to control the plastering device to move on the wall.

[0012] According to some embodiments of the present invention, a lifting device is provided on the mobile device, and the lifting device connects the mechanical arm with the mobile device, so as to control the plastering device to move on the wall surface through the mechanical arm.

[0013] According to some embodiments of the present invention, the robotic arm includes a macro robotic arm, one end of the macro robotic arm is connected to the moving device, and the other end is connected to the plastering device, and the macro robotic arm is used to control the movement of the plastering device on the wall.

[0014] According to some embodiments of the present invention, the robotic arm further comprises a micro-robotic arm, one end of the micro-robotic arm is connected to the macro-robotic arm, and the other end of the micro-robotic arm is connected to the plastering device, so as to control the movement of the plastering device on the wall.

[0015] According to some embodiments of the present invention, the plastering robot further includes a distance measuring module, and the distance measuring module includes at least three laser distance measuring sensors for detecting the parallelism between the wall and the distance measuring module.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 is a schematic diagram of a plastering device according to an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of a plastering device according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of a plastering robot according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of a micro-mechanical arm according to an embodiment of the present invention;

[0022] Figure 5is a schematic diagram of a micro-mechanical arm with a laser ranging sensor according to an embodiment of the present invention;

[0023] Plastering device 100, scraper 110, torque sensor 120, motor module 130, reducer 131,

[0024] Servo motor 132, encoder 133, fixing plate 210, fixing frame 220, bottom plate 230,

[0025] The first fixing block 240, the first fixing portion 241, the first connecting portion 242, the second fixing block 250,

[0026] The second fixing portion 251, the second connecting portion 252, the first mounting block 261, the second mounting block 262,

[0027] The first connecting shaft 271, the second connecting shaft 272, the rotating shaft 280, the connecting hole 290, the coating material 400,

[0028] Micro-mechanical arm 310, macro-mechanical arm 320, lifting device 330, moving device 340, driving branch chain 311,

[0029] Motion platform 312 , fixed platform 313 , and laser ranging sensor 350 . DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0031] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0032] Reference Figure 1 and Figure 2According to an embodiment of the present invention, the plastering device comprises a scraper 110, a torque sensor 120, and a motor module 130. The scraper 110 is used for plastering a wall surface. One end of the torque sensor 120 is connected to the scraper 110 to detect the rotation torque of the scraper 110 when the scraper 110 contacts the wall surface. The motor module 130 is connected to the torque sensor 120 to control the rotation of the scraper 110 according to the detected rotation torque. In an embodiment of the present invention, the size of the scraper 110 is based on ergonomic design, similar to the scraper tool currently used for manual plastering. A fixing plate 210 is added to the central axis position of the scraper 110, and the fixing plate 210 is fixedly connected to the scraper 110. The fixing plate 210 is connected to the bottom plate 230 by setting at least one fixing block. Preferably, in this embodiment, two fixing blocks are arranged at both ends of the fixing plate 210, namely a first fixing block 240 and a second fixing block 250, and the first fixing block 240 and the second fixing block 250 are respectively fixed at both ends of the fixing plate 210; in one embodiment, the first fixing block 240 is T-shaped, and the first fixing block 240 includes a first fixing portion 241 and a first connecting portion 242 vertically extending from the first fixing portion 241; the first fixing portion 241 is connected to the fixing plate 210 through a fixing piece, and preferably, the first fixing portion 241 is connected to the fixing plate 210 through four fixing pieces; the first connecting portion 242 is provided with a first fixing hole, and the first fixing hole passes through the first connecting portion 242. In some embodiments, the second fixing block 250 is T-shaped, and the second fixing block 250 includes a second fixing portion 251 and a second connecting portion 252 extending vertically from the second fixing portion 251; the second fixing portion 251 is connected to the fixing plate 210 through a fixing member, preferably, the second fixing portion 251 is connected to the fixing plate 210 through four fixing members; a second connecting axis 272 is formed by extending vertically from the second connecting portion 252.

[0033] At least one mounting block is designed on the bottom plate 230 corresponding to at least one fixed block. For example, two mounting blocks are arranged on the bottom plate 230, namely, a first mounting block 261 and a second mounting block 262. The first mounting block 261 and the second mounting block 262 are arranged at both ends of the bottom plate 230 respectively. In one embodiment, the first mounting block 261 is T-shaped. Further, the second mounting block 262 is T-shaped. The first mounting block 261 and the second mounting block 262 are respectively provided with through holes. The first connecting shaft 271 is used to pass through the first fixed hole and the through hole of the first mounting block 261, and the second connecting shaft 272 is used to pass through the through hole of the second mounting block 262. Preferably, a bearing is arranged in the through hole, and the first connecting shaft 271 is connected to the first mounting block 261 by the bearing, and the second connecting shaft 272 is connected to the second mounting block 262 by the bearing, so as to improve the rotation flexibility between the mounting block and the fixed block. The bottom plate 230 is provided with a connection hole 290 , through which the robot arm is connected. Preferably, four connection holes 290 are provided on the bottom plate 230 .

[0034] The fixing part of the fixing frame 220 is connected to the bottom plate 230 through a fixing piece. Preferably, the fixing part of the fixing frame 220 is connected to the bottom plate 230 through four fixing pieces. The fixing part of the fixing frame 220 vertically extends to form a support part. The support part is provided with a through hole for the rotating shaft 280 of the motor module 130 to pass through so that the rotating shaft 280 is connected to the torque sensor 120. A fixing hole is also provided on the support part. Preferably, two fixing holes are provided to connect the motor module 130 to the fixing frame 220 using two fixing pieces.

[0035] During the actual plastering work, the scraper 110 is not strictly parallel to the wall. One side of the scraper 110 contacts the wall, and the paint is evenly applied to the wall by moving. The amount of paint and the flatness of the wall will affect the contact force between the wall and the scraper 110. The torque sensor 120 is provided to detect the rotational torque between the scraper 110 and the wall in real time, and based on the detected rotational torque, the rotation of the motor module 130 is calculated and controlled, so that the motor module 130 outputs a suitable rotational torque, and the contact force between the scraper 110 and the wall is controlled in real time, thereby realizing active and flexible control of the plastering device and improving the construction quality of the plastering process.

[0036] In some specific embodiments of the present invention, the motor module 130 includes a servo motor 132 and an encoder 133. The encoder 133 is used to detect the rotation state of the servo motor 132. The servo motor 132 controls the rotation of the scraper 110 according to the rotation torque. The encoder 133 is installed on the servo motor 132 to measure the magnetic pole position and the rotation angle and rotation speed of the servo motor 132. By detecting the rotation angle and rotation speed information of the servo motor 132, the rotation torque output by the servo motor 132 to the scraper 110 can be accurately controlled. The servo motor has the advantages of strong overload resistance, stable rotation speed, and short dynamic response time, and can accurately control the contact force between the scraper and the wall. In other embodiments, a combination of a stepper motor and a driver can also be used to detect and control the rotation of the scraper.

[0037] In some specific embodiments of the present invention, the motor module 130 further includes a reducer 131, which is used to increase the output torque of the motor module 130. The reducer 131 connects the servo motor 132 with the torque sensor 120, and is used to increase the output torque of the motor module 130, increase the adjustment range of the contact force between the scraper 110 and the wall surface, and better meet actual needs. In other embodiments, the contact force is less required, and the reducer may not be used when the output torque of the motor module is sufficient, so as to reduce manufacturing costs.

[0038] In some specific embodiments of the present invention, the rotating shaft 280 of the motor module 130 is connected to the torque sensor 120 to indirectly control the rotation of the scraper. In other embodiments, the motor module 130 can be set at the other end different from the torque sensor 120 to directly control the rotation of the scraper, that is, the rotating shaft 280 of the motor module 130 is not connected to the torque sensor 120, but connected to the fixed block at the other end. It is also possible to independently detect and control the rotation of the two ends of the scraper by setting two sets of torque sensors and two sets of motor modules to improve the control accuracy.

[0039] Reference Figure 3 The present invention also proposes a plastering robot, which includes the plastering device 100 in the above embodiment.

[0040] In some specific embodiments of the present invention, the plastering robot also includes a control platform, which includes a mobile device 340 and a mechanical arm. The mechanical arm is arranged on the mobile device 340 and is used to control the plastering device 100 to move on the wall. The mobile device 340 is a four-wheel dual-drive device, with two steering wheels and four driven wheels, which can realize in-situ steering, can move flexibly on the horizontal ground, and is used to move on the indoor ground in a large range. A fixing device is also arranged at the bottom, and the fixing device can be supported when the plastering robot reaches the designated workstation to ensure stability during the construction process. The mechanical arm controls the three-dimensional movement of the plastering device 100 on the wall, including controlling the plastering device 100 to actively approach and contact the wall, and controlling the plastering device 100 to move horizontally, vertically or obliquely on the wall. It has a large degree of freedom of movement, and flexibly realizes various motion trajectories during manual plastering, and evenly applies the paint 400 on the wall, thereby improving the quality of the plastering process. In other embodiments, the control platform may be a cantilever beam truss structure, which may realize planar two-degree-of-freedom motion of the plastering device through an up and down lifting mechanism and a horizontal reciprocating movement mechanism, thereby reducing manufacturing costs and meeting the requirements of a rough plastering process with lower quality requirements.

[0041] In some specific embodiments of the present invention, a lifting device 330 is provided on the mobile device 340, and the lifting device 330 connects the mechanical arm to the mobile device 340, and is used to control the plastering device 100 to move on the wall through the mechanical arm. By providing the lifting device 330, the working area of ​​the plastering robot at each station is increased, and the target working wall is fully covered, meeting the plastering requirements of higher height walls.

[0042] In some specific embodiments of the present invention, the robot arm includes a macro robot arm 320, one end of the macro robot arm 320 is connected to the moving device 340, and the other end is connected to the plastering device 100, which is used to control the plastering device 100 to move on the wall. In order to prevent the load-bearing capacity of the building floor from being exceeded, the macro robot arm 320 in the present invention is a lightweight collaborative robot arm with six degrees of freedom, which has the ability to imitate the functions of human arms, has high repetition accuracy, is easy to control, and realizes force control based on the dual encoder method, which can meet the requirements of the plastering process for the wall contact force, and fully meet the requirements of construction space and construction actions.

[0043] Reference Figure 3 and Figure 4 In some specific embodiments of the present invention, the mechanical arm further includes a micro-mechanical arm 310, one end of the micro-mechanical arm 310 is connected to the macro-mechanical arm 320, and the other end is connected to the plastering device 100, which is used to control the movement of the plastering device 100 on the wall. The micro-mechanical arm 310 is a 3-RPS parallel platform mechanism, including a motion platform 312, a drive branch chain 311, and a fixed platform 313. The motion platform 312 and the fixed platform 313 are provided with fixing holes. The motion platform 312 is connected to the base of the plastering device 100 through a fixing member, and the fixed platform is connected to the mechanical arm through a fixing member. In this embodiment, the drive branch chain 311 is a miniature digital linear servo, which can change the length of the branch chain by receiving a digital control signal, thereby adjusting the posture of the plastering device 100 during the working process, and can realize the function of obstacle avoidance and posture adjustment. Preferably, the area size of the motion platform 312 and the fixed platform 313 is the same to achieve the best posture adjustment effect. In other embodiments, a 3-UPS / S type or a 6-UPU type structure may be selected according to design requirements to achieve different control accuracies.

[0044] In some specific embodiments of the present invention, see Figure 5The plastering robot also includes a distance measuring module, and the distance measuring module includes at least three laser distance measuring sensors 350, which are used to detect the parallelism between the wall and the distance measuring module. In the present invention, three laser distance measuring sensors 350 are set on the micro-mechanical arm, and the three laser distance measuring sensors 350 are respectively fixed to one side of the three driving branches 311 through the brackets extending from the motion platform 312. When in use, by setting three laser distance measuring sensors 350 that are not on the same straight line, the wall plane reflecting the laser can be determined. According to the distance information obtained by the detection, it can be determined whether the wall is parallel to the motion platform 312. If not parallel, the parallelism between the motion platform 312 and the wall can be adjusted by adjusting the motion posture of the macro-mechanical arm 320, or by adjusting the length of the driving branch 311 of the micro-mechanical arm 310, so as to control the parallelism between the plastering device 100 and the wall and improve the construction quality of the plastering process. In this embodiment, in order to facilitate the control of the driving branch chain 311, they are respectively arranged on one side of the three driving branch chains 311, which is more intuitive and convenient when setting parameter control. In other embodiments, the laser distance sensor 350 can also be arranged on the bottom plate of the plastering device 100 to directly detect whether the bottom plate of the plastering device is parallel to the wall surface, or be arranged on the mobile platform to detect whether the mobile platform is parallel to the wall surface. In other embodiments, infrared distance sensors or ultrasonic distance sensors can also be used to form a distance measurement module, and more than three distance measurement sensors can also be used to improve the detection accuracy.

[0045] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", etc. 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 invention. 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 can be combined in any one or more embodiments or examples in a suitable manner.

[0046] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A plastering device, characterized in that: include: A scraper, the scraper is used for plastering the wall surface; A torque sensor, the torque sensor is used to connect the scraper and detect the rotation torque of the scraper when the scraper contacts the wall; A motor module, the motor module is connected to the torque sensor and is used to control the rotation of the scraper according to the rotational torque. The motor module includes a servo motor, an encoder and a reducer. The encoder is used to detect the rotation state of the servo motor. The servo motor controls the rotation of the scraper according to the rotational torque. The reducer is used to increase the output torque of the motor module to control the rotation of the scraper. The reducer connects the servo motor with the torque sensor.

2. The plastering device according to claim 1, characterized in that: The rotating shaft of the motor module is connected to the torque sensor for indirectly controlling the rotation of the scraper.

3. Plastering robot, characterized by: The plastering robot comprises the plastering device according to any one of claims 1 to 2.

4. The plastering robot according to claim 3, characterized in that: It also includes a control platform, which includes a moving device and a mechanical arm. The mechanical arm is arranged on the moving device, and the control platform is used to control the plastering device to move on the wall.

5. The plastering robot according to claim 4, characterized in that: The moving device is provided with a lifting device, and the lifting device connects the mechanical arm with the moving device, and is used for controlling the plastering device to move on the wall surface through the mechanical arm.

6. The plastering robot according to claim 4, characterized in that: The robotic arm comprises a macro robotic arm, one end of the macro robotic arm is connected to a moving device, and the other end of the macro robotic arm is connected to the plastering device, and the macro robotic arm is used to control the plastering device to move on the wall.

7. The plastering robot according to claim 6, characterized in that: The mechanical arm also includes a micro-mechanical arm, one end of the micro-mechanical arm is connected to the macro-mechanical arm, and the other end is connected to the plastering device. The micro-mechanical arm is used to control the plastering device to move on the wall.

8. The plastering robot according to any one of claims 4 to 7, characterized in that: It also includes a distance measuring module, which includes at least three laser distance measuring sensors for detecting the parallelism between the wall and the distance measuring module.

Images