Plastering device and plastering method thereof

Abstract

The present invention discloses a plastering device and a plastering method thereof. The plastering method is applied to at least one row of plastering operations in which a plastering head operates on a building surface, and includes: controlling the slurry outlet of the plastering head to execute a first mode, the slurry outlet of the first mode flows out slurry to the space between the scraping part and the building surface, and controlling the scraping part of the plastering head to move upward to execute a plastering action of a first preset height; controlling the slurry outlet of the plastering head to execute a second mode, the slurry outlet of the second mode sprays slurry onto the wall surface, and controlling the scraping part of the plastering head to continue to move upward to complete a plastering action of a second preset height, wherein the sum of the first preset height and the second preset height is the preset plastering height of the building surface. The plastering method of the present invention avoids the problem of material shortage on the top part of the wall surface by performing plastering by spraying on the wall surface in the second stage.

Description

Technical Field

[0001] The invention relates to the technical field of building plastering, in particular to a plastering device and a plastering method thereof. Background Art

[0002] In order to improve the efficiency of wall plastering, plastering robots are often used in the construction field to plaster the walls.

[0003] When the plastering robot is plastering the wall, the discharging pipe is used to transport the slurry. The slurry flows through the movable baffle and the scraping part in turn according to its own gravity and fluidity. The scraping part is inclined relative to the wall to form an angle between the two. The angle is used as a hopper to hold the slurry, and the driving mechanism drives the scraping part to move from the bottom of the wall to the top of the wall to perform the plastering operation. However, when plastering the top of the wall, the scraping part will move upward and drive the baffle plate to form a groove to start scooping the material, so that the mortar at the top cannot be squeezed onto the wall, resulting in a lack of material at the top, which ultimately causes quality problems in plastering the wall. Summary of the invention

[0004] In order to solve at least one problem existing in the above-mentioned prior art, according to one aspect of the present invention, a plastering method is provided, which is applied to at least one row of plastering operations in which a plastering head operates on a building surface, comprising: controlling the slurry outlet of the plastering head to execute a first mode, the slurry outlet in the first mode flows out slurry to the space between the scraping part and the building surface, and controlling the scraping part of the plastering head to move upward to perform a plastering action of a first preset height; controlling the slurry outlet of the plastering head to execute a second mode, the slurry outlet in the second mode sprays slurry onto the wall surface, and controlling the scraping part of the plastering head to continue to move upward to complete the plastering action of a second preset height, wherein the sum of the first preset height and the second preset height is the preset plastering height of the building surface.

[0005] In this way, the plastering method of the present invention sets the plastering operation of the height of the entire building surface to include two stages. First, the slurry outlet is used to discharge the material. After the slurry flows to the wall in a natural state, the scraper part is used to plaster it. Then, the slurry is sprayed on the wall by a spraying method, and the scraper part is used to plaster it at the same time, so that the scraper part completes the plastering action of the wall in sequence, thereby avoiding the problem of separation of sand and mixed liquid when a large area is sprayed first, and can ensure that the top of the wall can also have mortar, ensure the thickness of the mortar at each position, thereby ensuring the plastering effect, and avoiding the problem of material shortage at the top of the wall.

[0006] In some embodiments, before the step of controlling the slurry outlet of the plastering head to execute the first mode, the plastering method further includes: obtaining a preset plastering height and a height distance that the scraping part can move relative to the main frame of the plastering head; and setting the first preset height according to the preset plastering height and the height distance that the scraping part can move relative to the main frame of the plastering head.

[0007] In some embodiments, after the step of controlling the slurry outlet to flow out slurry to the space between the scraping part and the building surface, and before the step of controlling the scraping part of the plastering head to move upward to perform a slurry action of a first preset height, the plastering method further includes: obtaining the slurry accumulation height in the space between the scraping part and the building surface; judging whether the slurry accumulation height is greater than or equal to a preset threshold; if so, controlling the scraping part of the plastering head to move upward to perform a slurry action of a first preset height.

[0008] In some embodiments, the specific steps of controlling the scraping part of the plastering head to move upward to perform a smearing action of a first preset height also include: obtaining the accumulation height of the slurry in real time; and adjusting the movement speed of the plastering head according to the accumulation height of the slurry obtained in real time.

[0009] In some embodiments, the specific steps of adjusting the movement speed of the plastering head according to the accumulation height of the slurry obtained in real time include: when the accumulation height of the slurry is greater than a preset threshold, controlling the movement speed of the plastering head to be greater than the preset speed; when the accumulation height of the slurry is less than the preset threshold, controlling the movement speed of the plastering head to be less than the preset speed; when the accumulation height of the slurry is equal to the preset threshold, controlling the movement speed of the plastering head to be equal to the preset speed.

[0010] In some embodiments, the specific step of controlling the scraping portion of the plastering head to move upward to perform a screeding action at a first preset height includes: keeping the scraping portion at the bottom of the main frame of the plastering head unchanged.

[0011] In some embodiments, the slurry outlet of the plastering head is controlled to execute a second mode, and the slurry outlet of the second mode sprays slurry onto the wall surface. The specific steps of controlling the slurry scraping part of the plastering head to continue to move upward to complete the slurry scraping action of the second preset height are: keeping the slurry scraping part at the bottom of the main frame of the plastering head unchanged, so that under the movement of the plastering head, the slurry scraping part is driven to complete the slurry scraping action of the third preset height; driving the slurry scraping part to move from the bottom of the main frame of the plastering head to the top of the main frame, so that the slurry scraping part completes the slurry scraping action of the fourth preset height, wherein the sum of the third preset height and the fourth preset height is the second preset height, and the fourth preset height is the height distance that the slurry scraping part can move relative to the main frame of the plastering head.

[0012] In some embodiments, the specific method for the scraping part to complete the smearing action of the third preset height is: the plastering head is driven to move upward by the main lifting mechanism, so as to drive the scraping part to complete the smearing action of the third preset height; the specific method for the scraping part to complete the smearing action of the fourth preset height is: the plastering head is driven to move upward by the main lifting mechanism, and at the same time, the scraping part is driven upward relative to the main frame of the plastering head by the auxiliary lifting mechanism.

[0013] In some embodiments, the specific steps of controlling the scraping part of the plastering head to continue to move upward to complete the smearing action of the second preset height are: driving the plastering head to move upward through the main lifting mechanism, and at the same time driving the scraping part to move upward relative to the main frame of the plastering head through the auxiliary lifting mechanism.

[0014] One aspect of the present invention provides a plastering device for performing multi-row plastering operations on a building surface, comprising: a main lifting mechanism, whose lifting output end is configured to lift and lower along the height direction of the building surface; a plastering head, which comprises: a main frame, connected to the lifting output end of the main lifting mechanism, so that the plastering head performs lifting and lowering movement along the main lifting mechanism; an auxiliary lifting mechanism, installed on the main frame, whose lifting output end is configured to lift and lower along the height direction of the building surface; a slurry scraping part, connected to the lifting output end of the auxiliary lifting mechanism, and performs lifting and lowering movement relative to the main frame; a feeding mechanism, installed on the main frame, comprising a slurry outlet for feeding; a control function module, signals of which connect the main lifting mechanism, the auxiliary lifting mechanism and the feeding mechanism; in at least one row of plastering operations, the control function module is preset with a first A plastering process and a second plastering process, wherein: the first plastering process at least includes: controlling the slurry outlet to execute a first mode, the slurry outlet in the first mode flows out slurry to the space between the scraper part and the building surface, and controlling the main lifting mechanism to drive the scraper part to spread slurry from bottom to top on the building surface to a first preset height area through the main frame; the second plastering process at least includes: controlling the slurry outlet to execute a second mode, the slurry outlet in the second mode sprays slurry to the building surface, controlling the main lifting mechanism and the auxiliary lifting mechanism to drive the scraper part to spread slurry from bottom to top on the building surface in a second preset height area above the first preset height area, and the sum of the first preset height area and the second preset height area is equal to the target area height of a row of plastering operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic structural diagram of a plastering head in a use state according to an embodiment of the present invention;

[0016] Figure 2 for Figure 1 A structural schematic diagram of another use state of the plastering head;

[0017] Figure 3 for Figure 1 Exploded diagram of the plastering head in FIG.

[0018] Figure 4 It is a structural schematic diagram of a plastering device according to an embodiment of the present invention;

[0019] Figure 5 Schematic diagram of the process of the plastering method in an embodiment of the present invention;

[0020] Figure 6 for Figure 1 A reference schematic diagram of a plastering head in a state of use;

[0021] Figure 7 for Figure 1A reference schematic diagram of the plastering head in another use state;

[0022] Figure 8 It is a schematic diagram of a state in which a plastering head and a ceiling have a preset distance in an embodiment of the present invention;

[0023] Fig. 9 A schematic diagram of the state of the plastering head against the ceiling in an embodiment of the present invention.

[0024] The meanings of the reference numerals are as follows:

[0025] 100- plastering head, 10- main frame, 11- left frame, 12- right frame, 13- bridge frame, 14- auxiliary lifting mechanism, 141- driving motor, 142- rotating shaft, 20- fixed baffle plate, 30- first movable baffle plate, 40- second movable baffle plate, 50- scraping part, 60- paddle outlet, 70- distance sensor, 80- feeding mechanism, 200- plastering device, 210- mobile chassis, 220- control function module, 230- main lifting mechanism. DETAILED DESCRIPTION

[0026] For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0027] In the description of the present invention, it should be noted that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0029] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0030] See also Figures 1 to 3 , which is a plastering head 100 used in the plastering method of an embodiment of the present invention, includes a frame 10, a fixed material baffle plate 20, a first movable material baffle plate 30, a second movable material baffle plate 40 and a scraping part 50.

[0031] See also Figure 4, which is a plastering device 200 used in the plastering method of an embodiment of the present invention, includes a mobile chassis 210, a control function module 220 installed on the mobile chassis 210, and a main lifting mechanism 230. The plastering head 100 is connected to the main lifting mechanism 230, so that the plastering head 100 is driven by the lifting output end of the main lifting mechanism 230 to move along the up and down direction from the ground to the ceiling, so that the plastering head 100 can perform a row of plastering operations on the building surface.

[0032] The plastering head 100 further includes a feeding mechanism 80 installed on the main frame 10 , and a slurry outlet 60 of the feeding mechanism 80 is located above the fixed baffle plate 20 , so that under the feeding of the feeding mechanism 80 , the slurry gradually flows out from the slurry outlet 60 .

[0033] Among them, the main frame 10 includes a left frame 11 and a right frame 12, and a bridge frame 13 connecting the left frame 11 and the right frame 12, the feeding mechanism 80 is installed on the bridge frame 13, the left and right ends of the fixed baffle plate 20 are respectively fixed to the inner walls of the left frame 11 and the right frame 12, and the fixed baffle plate 20 is fixed in a forward and downward tilted posture, and the fixed baffle plate 20, the first movable baffle plate 30, the second movable baffle plate 40 and the scraping part 50 are all hingedly connected so that they can rotate relative to each other.

[0034] The plastering head 100 further includes an auxiliary lifting mechanism 14, which includes a driving motor 141, two transmission structures installed on the left frame 11 and the right frame 12, and two vertical guide rails. The power is transmitted between the transmission structures on the left and right sides through the rotating shaft 142. The driving motor 141 drives one of the two transmission structures on the left and right sides to move, thereby transmitting the power to the other transmission structure through the rotating shaft 142, wherein the front side of each transmission structure is configured as a vertical lifting output end.

[0035] The scraping part 50 has a sliding part on the left and right sides respectively, a part of the sliding part is connected to the vertical lifting output end of the transmission structure, and the other part of the sliding part is slidably matched with the corresponding vertical guide rail.

[0036] Generally, when plastering the wall, the slurry is supplied by gradually flowing out of the slurry outlet 60. When the slurry flows out of the slurry outlet 60, due to its own gravity and fluidity, it flows through the fixed baffle plate 20, the first movable baffle plate 30, the second movable baffle plate 40, the slurry scraping part 50 and the space between the slurry scraping part 50 and the building surface in sequence. When the slurry reaches a sufficient amount, the plastering head 100 is driven to move upward to drive the slurry scraping part 50 to plaster the wall.

[0037] Specifically, when the slurry scraping part 50 is smearing, it has an inclined angle relative to the wall surface, so that the angle acts as a hopper to hold the slurry, and then the edge of the slurry scraping part 50 smears the mortar on the wall. During the smearing operation, when the plastering head 100 rises to a position close to the ceiling, the slurry scraping part 50 and the ceiling are not yet smeared. In this distance, the plastering head 100 is against the ceiling and does not move, and the slurry scraping part 50 slides along the plastering head 100 to scrape upward, thereby completing the smearing operation of the wall surface at the required smearing height.

[0038] However, since the scraper part 50 moves upward, the position of the fixed baffle plate 20 has been fixed, and the scraper part 50 drives the first movable baffle plate 30 and the second movable baffle plate 40 to move to form a groove to start scooping material, so that the mortar on the top cannot be squeezed onto the wall, resulting in a shortage of material within a distance from one end of the ceiling and affecting the quality of screeding.

[0039] Among them, in order to solve the problem of material shortage on the wall within a certain distance from the ceiling, a plastering robot can be used to spray the slurry on the entire wall and then scrape it flat. However, after multiple tests and verifications by the applicant, it was found that because traditional plastering uses wet-mixed mortar with a large displacement, the wet-mixed mortar contains sand particles of inconsistent particle sizes. Large-area spraying will cause the sand and liquid in the mortar to separate and affect the quality of plastering, and eventually lead to hollowing and cracking; at the same time, spraying a large amount of mortar will cause mortar to splash and pollute the working equipment and working environment.

[0040] Therefore, please refer to Figures 5 to 9 The embodiment of the present invention provides a plastering method 300 to solve the above-mentioned problem of material shortage on the wall within a certain distance from the ceiling.

[0041] Specifically, the plastering method 300 provided in the embodiment of the present invention comprises the following steps:

[0042] Step S31, see Figure 8 , control the slurry outlet 60 of the plastering head 100 to execute the first mode, the slurry outlet 60 of the first mode flows out the slurry to the space between the scraping part 50 and the building surface, and control the scraping part 50 of the plastering head 100 to move upward to perform the slurry action of the first preset height H1. Building surface

[0043] In this step, the slurry gradually flows out through the slurry outlet 60, and the plastering head 10 is controlled to move upward from the ground to the ceiling for plastering, and drives the scraping part 50 to complete the plastering action of the first preset height H1. At this time, the plastering head 100 is stopped from moving upward, which is equivalent to completing the plastering operation of the area of ​​the building surface in a segmented manner.

[0044] Specifically, in completing the paddling action of this stage, the scraping part 50 is kept at the bottom of the main frame 10 of the plastering head 100 without changing, that is, when the scraping part 50 completes the paddling action of the first preset height H1, the plastering head 100 rises to the first preset height H1. When the plastering head 100 moves upward to the first preset height H1, the scraping part 50 performs the first paddling action and completes the first stage of the paddling action.

[0045] Thus, in the process of segmented plastering of the wall, which is equivalent to the first stage of plastering starting from the ground, the position of the scraping part 50 remains unchanged, so that the scraping part 50 completes the first stage of plastering action while ensuring the plastering effect of the scraping part 50 on the wall.

[0046] Specifically, in this embodiment, before the step of controlling the slurry outlet 60 to flow slurry toward the building surface, the plastering method 200 further includes:

[0047] Obtaining a preset plastering height H of the building surface range and a height distance H3 that the scraping portion 50 can move relative to the main frame 10 of the plastering head 100;

[0048] According to the preset plastering height H of the building surface and the height distance H3 that the scraping part 50 can move relative to the main frame 10 of the plastering head 100, a first preset height H1 for the scraping part 50 to perform the first plastering is set.

[0049] That is, before feeding at the slurry outlet 60, it is necessary to obtain the preset plastering height H of the building surface and the height distance H3 that the scraping part 50 can rise relative to the main frame 10, and determine the first preset height H1 of the scraping part 50 based on the values ​​of the two, that is, the first preset height H1 of the plastering head 100 rising relative to the wall in the first stage.

[0050] In addition, in order to ensure the quality of plastering on the wall, after the step of controlling the slurry outlet 60 to flow out the slurry, and before the step of controlling the plastering head 100 to move upward to drive the scraping part 50 to perform the plastering action of the first preset height H1, the plastering method 200 also includes:

[0051] Step S311, obtaining the accumulation height of the slurry in the space between the scraping part 50 and the building surface;

[0052] Specifically, see Figure 6Before smearing, the fixed baffle plate 20, the first movable baffle plate 30, the second movable baffle plate 40 and the scraping part 50 are in an inclined state. After the slurry flows out along the slurry outlet 60, it flows toward the wall and gradually accumulates in the fixed baffle plate 20, the first movable baffle plate 30, the second movable baffle plate 40, the scraping part 50 and the space between the scraping part 50 and the building surface, so that the slurry can be accumulated in the space between the scraping part 50 and the building surface, and has a height S2.

[0053] Specifically, in this embodiment, a distance measuring sensor 70 is used to detect the height of the slurry. The distance measuring sensor 70 is arranged in parallel on one side of the slurry outlet 60, so as to facilitate the detection of the height of the slurry.

[0054] Step S312, determining whether the slurry accumulation height S2 is greater than or equal to a preset threshold value S1.

[0055] In the previous step, the slurry accumulation height S2 is obtained and compared with the preset threshold S1, for example Figure 3 As shown in , the preset threshold value S1 is the value at which the slurry accumulation height meets the requirement for smearing. When the slurry accumulation height meets this height value, the smearing action can be performed so that the thickness of the paddle layer formed by scraping on the wall meets the quality requirements.

[0056] Step S313: If yes, control the scraping part 50 of the plastering head 100 to move upward to perform a plastering action within the range of the first preset height H1.

[0057] After comparing the values ​​of the two in the previous step, when the accumulation height S2 of the slurry is greater than or equal to the preset threshold value S1, it means that the slurry has met the production requirements at this time, that is, the driving mechanism can be used to control the plastering head 100 to start moving upward to drive the scraping part 50 to perform the paddle action; when the accumulation height S2 of the slurry is less than the preset threshold value S1, the slurry outlet 60 is controlled to continue feeding the material, and the driving mechanism is controlled to control the plastering head 100 to start moving upward only after the accumulation height of the slurry meets the requirements.

[0058] In addition, in order to ensure the plastering effect of the wall surface and to ensure that the quality requirements are met, the specific steps of controlling the plastering head 100 to move upward to drive the scraping part 50 to perform the plastering action at the first preset height H1 also include:

[0059] Obtain the slurry accumulation height S2 in real time;

[0060] The moving speed of the plastering head 100 is adjusted according to the accumulation height S2 of the slurry obtained in real time.

[0061] Therefore, in the process of completing the slurry plastering of the first height H1, it is necessary to obtain the accumulation height of the slurry in real time and adjust the movement speed of the plastering head 100 according to the accumulation height of the slurry, that is, control the movement speed of the scraping part 50, so that the slurry plastering thickness of the scraping part 50 on the wall meets the quality standards and avoids excessive or insufficient thickness.

[0062] Specifically, the specific steps of adjusting the movement speed of the plastering head 100 according to the real-time obtained slurry accumulation height S2 include:

[0063] When the accumulation height S2 of the slurry obtained in real time is greater than the preset threshold S1, the movement speed of the plastering head 100 is controlled to be greater than the preset speed.

[0064] Among them, the preset speed in this embodiment is the speed of driving the plastering head 100 to move upward for plastering, which is set according to the discharge speed of the slurry outlet, so as to ensure that the scraping part 50 forms a paddle body of preset thickness on the wall surface. Therefore, when the accumulation height S2 of the slurry acquired in real time is greater than the preset threshold S1, by controlling the movement speed of the plastering head 100 to be greater than the preset speed, the scraping part 50 has a greater movement speed, and the slurry is applied to the wall surface faster, so as to ensure that the thickness of the slurry when the scraping part 50 applies the slurry on the wall surface is consistent with the preset thickness requirement.

[0065] When the pile height S2 of the slurry obtained in real time is less than the preset threshold S1, the movement speed of the plastering head 100 is controlled to be less than the preset speed;

[0066] When the accumulation height S2 of the slurry obtained in real time is less than the preset threshold S1, it means that the thickness of the paddle layer formed on the wall surface by the scraping part 50 when the plastering head 100 is driven upward at the preset speed does not meet the requirement. Therefore, by controlling the movement speed of the plastering head 100 to be less than the preset speed, the scraping part 50 has a smaller movement speed and applies the slurry on the wall more slowly, so as to ensure that the thickness of the slurry when the scraping part 50 applies the slurry on the wall is consistent with the preset thickness requirement.

[0067] When the pile height S2 of the mortar obtained in real time is equal to the preset threshold S1, the movement speed of the plastering head 100 is controlled to be equal to the preset speed.

[0068] When the accumulation height of the mortar obtained in real time is equal to the preset threshold value S1, it means that the thickness of the paddle layer formed on the wall surface by the scraping part 50 when the plastering head 100 is driven upward at the preset speed just meets the requirement. Therefore, when the accumulation height S2 of the mortar just meets the requirement, the scraping part 50 is controlled to spread the paddle on the wall at a preset speed to ensure that the thickness of the slurry when the scraping part 50 spreads the slurry on the wall is consistent with the preset thickness requirement.

[0069] In summary, during the plastering process within the first preset height H1, that is, during the first stage of plastering on the wall, the plastering head 100 transports the slurry to the slurry outlet 60 through the discharging mechanism, and the slurry continuously flows out of the slurry outlet 60 naturally, that is, relying on the gravity and fluidity of the mortar itself, it flows through the fixed baffle plate 20, the first movable baffle plate 30, the second movable baffle plate 40 and the scraping part 50 in sequence, and finally flows into the space between the scraping part 50 and the wall, and as the slurry is continuously provided, the slurry accumulates at the fixed baffle plate 20, the first movable baffle plate 30, the second movable baffle plate 40, the scraping part 50 and the height between the scraping part 50 and the wall. It continues to rise. When the height of the slurry accumulated on the fixed baffle plate 20, the first movable baffle plate 30, the second movable baffle plate 40, the scraper part 50 and between the scraper part 50 and the wall meets the preset threshold value S1, it means that the thickness of the slurry applied by the scraper part 50 on the wall can meet the construction requirements. At this time, the driving mechanism can be turned on to drive the plastering head 100 to move from bottom to top, so that the scraper part 50 can perform the smearing action within the first preset height H1. At the same time, during the smearing process of the scraper part 50 within the first preset height H1 of the wall, the position of the scraper part 50 is kept at the bottom of the plastering head 100 without changing, so as to ensure the smearing effect.

[0070] Thus, after completing the plastering operation at the first preset height H1 of the wall, that is, completing the first stage of the plastering operation on the wall, the plastering operation within the remaining height range of the wall can be started, that is, the second stage of the plastering operation on the wall.

[0071] Specifically, the second stage of wall plastering operation is:

[0072] Step S32, control the slurry outlet 60 of the plastering head 100 to execute the second mode, the slurry outlet 60 in the second mode sprays slurry onto the wall, and control the scraping part 50 of the plastering head 100 to continue to move upward to complete the slurrying action of the second preset height H4, wherein the sum of the first preset height H1 and the second preset height H4 is the preset plastering height H of the building surface.

[0073] In this step, as the plastering head 100 moves upward from the height H1, the slurry outlet 60 is opened for spraying, and as the slurry outlet 60 is arranged at the top of the plastering head 100, as the plastering head 100 moves upward from the height H1, the places where the plastering head 100 passes can be sprayed through the slurry outlet 60.

[0074] Specifically, see Figure 7 and Fig. 9In this embodiment, the height of the plastering head 100 itself is H2. When the plastering head 100 moves to the height H1, the distance between the scraping part 50 and the top position of the height H of the building surface range is H2+H3, that is, when the screed board 50 completes the screeding at the height H1 in the first stage, the distance between the top of the plastering head 100 and the top position of the height H of the building surface is H3. Since the scraping part 50 stays at the bottom of the main frame 10 of the plastering head 100 during the screeding process of the first stage does not change, no screeding is performed within the height range of H2 at this time.

[0075] That is, when the wiping action is completed within the remaining height range of the wall, please refer to Figure 8 and Fig. 9 , the height of the remaining part is the height of H4, H4=H2+H3, the height of H4 is firstly sprayed on the wall by means of a spray gun, that is, the wall is firstly coated with slurry, and firstly synchronously drives the plastering head 100 to continue to move toward the ceiling, and the scraping part 50 can perform the smearing action within the range of the second preset height H4, that is, the smearing action of the remaining part of the wall.

[0076] In one embodiment, the slurry outlet 60 is controlled to spray slurry onto the wall surface, the slurry outlet 60 of the plastering head 100 is controlled to execute the second mode, the slurry outlet 60 of the second mode sprays slurry onto the wall surface, and the slurry scraping part 50 of the plastering head 100 is controlled to continue to move upward to complete the slurrying action at the second preset height H4. The specific steps are:

[0077] The scraping part 50 is kept at the bottom of the main frame 10 of the plastering head 100 without changing, so that the scraping part 50 is driven to complete the plastering action of the third preset height H2 under the movement of the plastering head.

[0078] That is, in this step, after the scraping part 50 completes the plastering at the height of H1, the scraping part 50 has been at the bottom position of the main frame 10 of the plastering head 100, and the slurry outlet 60 is located at the top position of the main frame 10. Therefore, after the scraping part 50 completes the plastering at the height of H1, the range of the height H2 of the plastering head 100 itself has not been plastered. In this step, the scraping part 50 continues to be kept motionless at the bottom of the main frame 10 of the plastering head 100 to complete the plastering within the range of H2.

[0079] After completing the smearing action at the height H2, drive the scraper part 50 to move from the bottom of the main frame 10 of the plastering head 100 to the top of the main frame 10 to complete the smearing action at the fourth preset height H3, wherein the sum of the third preset height H2 and the fourth preset height H3 is the second preset height H4, and the fourth preset height H3 is the height to which the scraper part can move relative to the main frame 10.

[0080] In the previous step, the scraper part 50 completes the smearing of the H2 range at the bottom of the main frame 10. At the same time, when the scraper part 50 is performing the smearing process within the H2 range, the plastering head 100 is moving upward. When the plastering head 100 continues to move upward to the H3 range, the wall surface within the H3 range has been sprayed by the slurry outlet 60. Therefore, in this step, you only need to control the scraper part 50 to move upward to smooth the H3 range.

[0081] In addition, in order to ensure the smearing effect, the smearing part 50 is kept at the bottom of the main frame 10 of the plastering head 100 without changing, so that the smearing part 50 is driven by the plastering head 100 to complete the smearing action of the third preset height H2, and before the smearing part 50 is driven to move from the bottom of the main frame 10 of the plastering head 100 to the top of the main frame 10 to complete the step of smearing action of the fourth preset height H3, the plastering method 200 also includes:

[0082] The slurry outlet 60 is controlled to stop spraying slurry onto the building surface.

[0083] That is, since the plastering head 100 has moved upward to spray the wall within the range of H3, the area passed by the plastering head 100 has been sprayed with slurry through the slurry outlet 60. In the subsequent plastering process, the scraping part 50 is driven to move to scrape the slurry flat, and there is no need to spray again, so as to avoid excessive accumulation of slurry on the wall when the slurry outlet 60 continues to spray, thereby affecting the plastering thickness.

[0084] In a specific embodiment of the present invention, when the plastering head 100 continues to rise a distance of H2 and touches the ceiling, it stops moving. Specifically, when it rises to the top, it triggers the travel switch located at the top of the plastering head 100, and the plastering head 100 stops rising, and the slurry outlet 60 stops discharging. At this time, the slurry scraping part 50 located at the bottom of the plastering head 100 is just at a distance of H3 from the ceiling. The slurry scraping part 50 moves upward by a distance of H3, and the plastering operation of the wall height H is completed.

[0085] Specifically, the specific manner in which the scraping portion 50 of this embodiment completes the wiping action of the third preset height H2 is:

[0086] The plastering head 100 is driven to move upward by the main lifting mechanism 230 to drive the scraping part 20 to complete the plastering action at the third preset height H2.

[0087] The specific method for the scraper part 50 to complete the smearing action of the fourth preset height H3 is: drive the plastering head 100 to move upward through the main lifting mechanism 230, and at the same time drive the scraper part 50 to move upward relative to the main frame 10 of the plastering head 100 through the auxiliary lifting mechanism 14.

[0088] That is, in this step, to complete the wiping of the paddle at the height of H4, the main lifting mechanism 230 is operated first, and then the main lifting mechanism 230 and the auxiliary lifting mechanism 14 are operated simultaneously.

[0089] In another embodiment of the present invention, the squeegee portion 50 may further perform the squeegee action within the range H4, including:

[0090] The plastering head 100 is driven to move upward by the main lifting mechanism 230 , and the scraping part 50 is driven to move upward relative to the main frame 10 of the plastering head 100 by the auxiliary lifting mechanism 14 .

[0091] Therefore, during the plastering process within the range of H4, that is, during the plastering process within the range of H2+H3, the slurry outlet 60 sprays material toward the wall, driving the plastering head 100 to move upward, and the slurry scraping part 50 also moves upward relative to the main frame 10 at the same time, thereby saving the plastering time within the range of H4. Therefore, the slurry scraping part 50 is always in motion, that is, during the plastering process within the range of H2, the slurry scraping part 50 also moves upward relative to the main frame 10 at the same time, thereby having higher efficiency in plastering within the range of H4 and saving plastering time.

[0092] That is, in the process of plastering within the remaining wall surface H2+H3, plastering includes two processes:

[0093] That is, in the embodiment of the present invention, the distance that the plastering head 100 moves upward in the first plastering stage is H1, and the distance that the plastering head 100 moves upward in the second plastering stage is H2. When the plastering head 100 moves upward in the second plastering stage by a distance of H2, and when the plastering head 100 is against the ceiling, the distance between the slurry scraping part 50 and the ceiling is H3, that is, H=H1+H2+H3, and H2=H3, H4=H2+H3, the plastering head 100 rises by H1 in the first stage, and by H3 in the second stage. Specifically, for the movement process of the plastering head 100 and the change process of the slurry scraping part 50, please refer to Figure 6 and Fig. 9 .

[0094] In a specific embodiment of the present invention, H3=400 mm, that is, the height distance that the scraping portion 50 can move relative to the plastering head 100 is 400 mm.

[0095] It can be understood that in order to avoid the problem of hollowing and cracking due to the large area of ​​spraying, the first preset height H1 in this embodiment is greater than the second preset height H4, that is, the range of the paddle stage by spraying is smaller to avoid the separation problem of sand and liquid.

[0096] Specifically, in this embodiment, the specific method of controlling the slurry outlet 60 to spray the slurry toward the building surface includes:

[0097] The air path is opened to allow the slurry to be ejected from the slurry outlet 60 , so that the slurry can be ejected from the slurry outlet 60 at a greater speed and quickly sprayed onto the wall surface.

[0098] To sum up the above, after the plastering head 100 completes the plastering operation at the first preset height H1, the plastering process within the remaining height range H4 includes two parts: a paddle body is formed on the wall surface by spraying, and the first part H2 range is to drive the plastering head 100 to drive the scraping part 50 to move upward for plastering, and at the same time use the slurry reserved on the scraping part 50 and the movable baffle for plastering. After the plastering head 100 touches the ceiling, it only drives and controls the scraping part 50 to move upward to complete the remaining plastering operation, thereby completing the plastering operation within the height range of the wall to be plastered; or in the remaining part of the plastering process within the height range H4, the plastering head 100 moves upward, and can also synchronously drive the scraping part 50 to move upward, so that the plastering within the H4 range can be completed in a shorter time.

[0099] Therefore, the plastering method in the embodiment of the present invention sets the plastering operation of the height H of the entire building surface to include two stages. First, the slurry outlet 60 is used to discharge the material. After the slurry flows to the wall in a natural state, the scraper part 50 is used for plastering. Then, the slurry is sprayed on the wall by spraying, and the scraper part 50 is used for plastering at the same time, so that the scraper part 50 can complete the plastering action of the wall within the range of H1 and H4 in turn, thereby avoiding the problem of separation of sand and mixed liquid when a large area is sprayed first, and ensuring that the top of the wall can also have mortar, ensuring the thickness of the mortar at each position, thereby ensuring the plastering effect and avoiding the problem of material shortage at the top of the wall.

[0100] See also Figure 4, a plastering device 200 used in the plastering method of an embodiment of the present invention, which is used for performing multi-row plastering operations on a building surface, including: a main lifting mechanism 230, whose lifting output end is configured to lift along the height direction of the building surface; a plastering head 100, which includes: a main frame 10, connected to the lifting output end of the main lifting mechanism 230, so that the plastering head 100 performs lifting movement along the main lifting mechanism 230; an auxiliary lifting mechanism 14, installed on the main frame 10, whose lifting output end is configured to lift along the height direction of the building surface; a slurry scraping part 50 connected to the lifting output end of the auxiliary lifting mechanism 14, and performs lifting movement relative to the main frame 10; a feeding mechanism 80 is installed on the main frame 10, which includes a slurry outlet 60 for feeding; a control function module 220 signal connects the main lifting mechanism 230, the auxiliary lifting mechanism 14 and the feeding mechanism 80; in at least one row of plastering During the operation, the control function module 220 is preset with a first plastering process and a second plastering process, wherein: the first plastering process at least includes: controlling the slurry outlet 60 to execute the first mode, the slurry outlet 60 in the first mode flows out slurry to the space between the scraper part 50 and the building surface, and controlling the main lifting mechanism 230 to drive the scraper part 50 to apply slurry from bottom to top on the building surface to the first preset height H1 area through the main frame 10; the second plastering process at least includes: controlling the slurry outlet 60 to execute the second mode, the slurry outlet 60 in the second mode sprays slurry onto the building surface, controlling the main lifting mechanism 230 and the auxiliary lifting mechanism 14 to drive the scraper part 50 to apply slurry from bottom to top on the second preset height H2 area of ​​the building surface located above the first preset height H1 area, and the sum of the first preset height H1 area and the second preset height H2 area is equal to the target area height H of a row of plastering operations.

[0101] The technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical schemes composed of any combination of the above-mentioned technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims

1. A plastering method, applied to at least one row of plastering operations performed by a plastering head on a building surface, characterized in that: include: Controlling the slurry outlet of the plastering head to execute a first mode, wherein the slurry outlet of the first mode flows slurry to the space between the scraping part and the building surface, and controlling the scraping part of the plastering head to move upward to execute a plastering action of a first preset height; Control the slurry outlet of the plastering head to execute the second mode, the slurry outlet of the second mode sprays slurry toward the wall surface, and control the slurry scraping part of the plastering head to continue to move upward to complete the slurrying action of the second preset height, wherein the sum of the first preset height and the second preset height is the preset plastering height of the building surface; The specific steps of controlling the scraping part of the plastering head to move upward to perform a plastering action at a first preset height include: Keep the scraping part at the bottom of the main frame of the plastering head without changing; The specific steps of controlling the slurry outlet of the plastering head to execute the second mode, the slurry outlet of the second mode sprays slurry toward the wall surface, and controlling the slurry scraping part of the plastering head to continue to move upward to complete the slurrying action at the second preset height are: The scraping part is kept at the bottom of the main frame of the plastering head without changing, so that the scraping part is driven to complete the plastering action of the third preset height under the movement of the plastering head; Drive the scraping part to move from the bottom of the main frame of the plastering head to the top of the main frame, so that the scraping part completes a plastering action of a fourth preset height, wherein the sum of the third preset height and the fourth preset height is the second preset height, and the fourth preset height is the height distance that the scraping part can move relative to the main frame of the plastering head.

2. The plastering method according to claim 1, characterized in that: Before the step of controlling the slurry outlet of the plastering head to execute the first mode, the plastering method further includes: Obtaining a preset plastering height and a height distance that the scraping part can move relative to the main frame of the plastering head; The first preset height is set according to a preset plastering height and a height distance that the scraping part can move relative to the main frame of the plastering head.

3. The plastering method according to claim 1, characterized in that: After the step of controlling the slurry outlet to flow slurry into the space between the scraping part and the building surface, and before the step of controlling the scraping part of the plastering head to move upward to perform a plastering action at a first preset height, the plastering method further includes: Obtaining the slurry accumulation height in the space between the slurry scraping part and the building surface; Determining whether the slurry accumulation height is greater than or equal to a preset threshold; If so, the scraping portion of the plastering head is controlled to move upward to perform a screeding action at a first preset height.

4. The plastering method according to claim 3, characterized in that: The specific steps of controlling the scraping portion of the plastering head to move upward to perform a plastering action at a first preset height also include: Acquire the stacking height of the slurry in real time; The moving speed of the plastering head is adjusted according to the pile height of the slurry obtained in real time.

5. The plastering method according to claim 4, characterized in that: The specific steps of adjusting the movement speed of the plastering head according to the pile height of the slurry obtained in real time include: When the accumulation height of the slurry is greater than a preset threshold, controlling the movement speed of the plastering head to be greater than a preset speed; When the accumulation height of the slurry is less than a preset threshold, controlling the movement speed of the plastering head to be less than a preset speed; When the accumulation height of the slurry is equal to a preset threshold, the movement speed of the plastering head is controlled to be equal to a preset speed.

6. The plastering method according to claim 1, characterized in that: The specific method of the scraping part completing the smearing action at the third preset height is: driving the plastering head upward through the main lifting mechanism to drive the scraping part to complete the smearing action at the third preset height; The specific method for the scraping part to complete the smearing action of the fourth preset height is: the plastering head is driven to move upward by the main lifting mechanism, and the scraping part is driven to move upward relative to the main frame of the plastering head by the auxiliary lifting mechanism.

7. The plastering method according to claim 1, characterized in that: The specific steps of controlling the scraping part of the plastering head to continue to move upward to complete the plastering action at the second preset height are: The plastering head is driven to move upwards by the main lifting mechanism, and the scraping part is driven to move upwards relative to the main frame of the plastering head by the auxiliary lifting mechanism.

8. A plastering device for carrying out multi-row plastering operations on a building surface, characterized in that: include: A main lifting mechanism, whose lifting output end is configured to lift and lower along the height direction of the building surface; Plastering head, comprising: A main frame connected to the lifting output end of the main lifting mechanism so that the plastering head can move up and down along the main lifting mechanism; A secondary lifting mechanism, mounted on the main frame, with a lifting output end thereof configured to lift and lower along the height direction of the building surface; A scraping part connected to the lifting output end of the auxiliary lifting mechanism and performing lifting motion relative to the main frame; A feeding mechanism, mounted on the main frame, comprising a slurry outlet for feeding; A control function module, which signals connect the main lifting mechanism, the auxiliary lifting mechanism and the feeding mechanism; In at least one plastering operation, the control function module is preset with a first plastering process and a second plastering process, wherein: The first plastering process at least includes: controlling the slurry outlet to execute a first mode, wherein the slurry outlet in the first mode flows slurry to the space between the slurry scraping part and the building surface, and controlling the main lifting mechanism to drive the slurry scraping part to slurry the building surface from bottom to top to a first preset height area through the main frame; the specific steps of controlling the slurry scraping part of the plastering head to move upward to execute the slurrying action in the first preset height area include: keeping the slurry scraping part at the bottom of the main frame of the plastering head unchanged; The second plastering process at least includes: controlling the slurry outlet to execute a second mode, wherein the slurry outlet in the second mode sprays slurry toward the building surface, and controlling the main lifting mechanism and the auxiliary lifting mechanism to drive the scraper to apply slurry from bottom to top to a second preset height area of ​​the building surface located above the first preset height area, wherein the sum of the first preset height area and the second preset height area is equal to the target area height of a row of plastering operations; The specific steps of controlling the slurry outlet of the plastering head to execute the second mode, the slurry outlet of the second mode sprays slurry toward the wall surface, and controlling the slurry scraping part of the plastering head to continue to move upward to complete the slurrying action in the second preset height area are: The scraping part is kept at the bottom of the main frame of the plastering head without changing, so that the scraping part is driven to complete the plastering action of the third preset height under the movement of the plastering head; Drive the scraping part to move from the bottom of the main frame of the plastering head to the top of the main frame, so that the scraping part completes a plastering action of a fourth preset height, wherein the sum of the third preset height and the fourth preset height is the second preset height, and the fourth preset height is the height distance that the scraping part can move relative to the main frame of the plastering head.

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