A fully automatic indoor wall plastering robot and a working method thereof

Abstract

The application discloses a full-automatic indoor wall plastering robot and a working method thereof, and belongs to the field of robot technology.The full-automatic indoor wall plastering robot comprises a whole machine moving chassis, a feeding and distributing system, a feedback assembly, a plastering device, a moving workbench, a frame lifting mechanism and an electric control system.The moving chassis is used for providing the moving action of the whole machine in the indoor environment, the supporting action of the whole machine during working and the bearing action of the multiple components of the whole machine.The feeding and distributing system is used for adapting the accurate supply of mortar materials for the wall plastering work and has the automatic control accurate feeding function of the working position.The feedback assembly is used for the indoor environment map construction, the positioning of the whole machine and the detection feedback of the wall plastering work quality based on vision and radar.The plastering device is used for completing the up-and-down scraping work on the large wall surface and the human-simulated accurate coating repair of the defect position after the scraping of the large wall surface.The application can improve the autonomous working level, reduce the waste of mortar materials, improve the indoor wall plastering work efficiency and reduce the demand dependence of the repair work on manpower.

Description

Technical Field

[0001] This invention relates to the field of construction robot technology, and in particular to a fully automatic indoor wall plastering robot and its operation method. Background Technology

[0002] During construction, after concrete pouring and bricklaying, interior walls typically require plastering. Plastering areas are large, manual plastering is arduous, and plaster quality is often inconsistent due to factors such as worker skill levels. Using plastering machines to replace manual labor can effectively solve these problems. However, most plastering robots currently on the market are semi-automated, lacking fully automated construction capabilities and integrated material feeding functions. Manual material feeding results in significant mortar waste during plastering, and the machines lack the ability to precisely repair defects in the plastering process.

[0003] The problems with existing technologies are that current plastering robots have low automation, low integration of material feeding functions and serious material waste, and lack precise coating and repair capabilities. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology. To achieve the above objectives, a fully automatic indoor wall plastering robot and its operation method are adopted to solve the problems mentioned in the background technology.

[0005] A fully automatic indoor wall plastering robot, the robot includes a mobile chassis, a feeding and distributing system, a feedback component, a plastering device, a mobile workbench, a frame lifting mechanism, and an electrical control system; The mobile chassis is used to provide the movement of the whole machine indoors, the support of the whole machine during operation, and the load-bearing function of the whole machine's multiple components; The feeding and distributing system is designed to precisely supply mortar materials for wall plastering operations and features automatic control and precise feeding of the work area. The feedback component is used for indoor environment map construction, whole machine positioning, and detection feedback of wall plastering operation quality based on vision and radar. The plastering device is used to complete the large-scale scraping and plastering of the wall surface, as well as the human-like precise coating repair of defective areas after the large-scale scraping.

[0006] As a further embodiment of the present invention: the mobile chassis includes a frame-type support base, a mortar supply component disposed on the support base, and four sets of wheeled walking mechanisms disposed on the support base.

[0007] As a further aspect of the present invention: the supporting base is in the shape of a cuboid and has symmetrical geometric features; The four sets of wheeled walking mechanisms are arranged symmetrically at the four corners of the support base.

[0008] As a further embodiment of the present invention: the feeding and distributing system includes a mortar cylinder, a discharge filter screen, a mortar feeding pump and main pipeline, a distributor, a feeding hose system, branch pipe end connectors, and pipeline solenoid valves.

[0009] As a further embodiment of the present invention: a proximity switch is provided inside the mortar cylinder, and two large through holes and one small through hole are opened on the left and right sides of the rear of the movable workbench.

[0010] As a further aspect of the present invention: the feedback component includes a high-definition camera, a lidar, and a combined inertial navigation system.

[0011] As a further embodiment of the present invention: the upper and lower parts of the plastering device are both provided with bending structures and are provided with cavity structures for mortar storage. The front part of the cavity structure is evenly distributed with discharge ports, and the rear part is provided with multiple material distribution joints; the rear part of the plastering device is connected to an actuating motor; the middle part of the plastering device is provided with a small-area scraper that can move independently.

[0012] As a further embodiment of the present invention: a large-sized lug is provided at the lower rear end of the plastering device, which is hinged to the movable worktable; reinforcing ribs are provided on the left and right sides of the large-sized lug; The upper rear end of the plastering device is equipped with a small lug that is hinged to one end of the actuation motor, and the other end of the actuation motor is hinged to the movable worktable. The small-area scraper can independently perform spatial reciprocating motion in the forward and backward, left and right directions through the action of the crank rocker assembly.

[0013] As a further embodiment of the present invention: a rectangular guide channel is provided on the inner side of the large-sized lug structure at the rear of the plastering device, and a guide rod with rectangular ends and a cylindrical middle is limited in the channel, and the guide rod can slide back and forth along the channel; a vertical pivot structure for hinged connection with the crank rocker assembly is provided on the inner side of the large-sized lug structure. The small-area scraper has a discharge port and an integrated pipeline connector at the rear, which connects to the material distribution branch. The rear end of the small-area scraper is provided with a cylindrical hollow structure, which is fitted onto the cylindrical part of the guide rod; The lower part of the cylindrical hollow structure at the rear end of the small-area scraper is rigidly connected to the vertical pivot structure. The small-area scraper rear end vertical pivot structure, the large-size inner pivot of the plastering device, and the three connecting rods constitute the crank rocker assembly.

[0014] Another technical solution: A method for operating a fully automated indoor wall plastering robot as described in any of the above claims, comprising the following steps: Step S1: Based on the indoor environment map and path planning, drive the entire machine's mobile chassis to the working position and lock it; Step S2: Feed materials through the feeding system and perform reciprocating scraping operations using the plastering device; Step S3: Based on the visual and radar detection results, detect and identify the scraping effect on the work surface in real time. If there are defective locations, locate and repair them. Step S4: If the operation requirements are met, move to the next work surface according to the planned path.

[0015] Compared with the prior art, the present invention has the following technical advantages: The above-mentioned technical solution utilizes a four-wheel drive, four-steering wheeled mobile chassis. The machine integrates LiDAR and cameras, enabling it to map the indoor working environment, perceive its location, autonomously plan its movement path, and control the machine to move to the desired position. The chassis integrates a mortar feeding system, which, together with a three-way distribution system based on solenoid valve control, achieves precise mortar distribution. The machine employs a two-stage lifting device to control the up-and-down movement of the plastering device. The plastering device is generally rectangular in shape, with an adjustable angle between the working surface and the wall. It features two plastering lines and a material distribution system adapted for both up-and-down plastering operations, enabling reciprocating up-and-down plastering of indoor walls. An integrated camera monitors the plastering effect, and a small, localized scraper structure driven by a crank-rocker integrated into the plastering device enables human-like plastering operations, allowing for precise repair of large-area plastering defects. Based on the above advantages, our organization can effectively improve the level of autonomous operation, effectively reduce the waste of mortar materials, effectively improve the efficiency of indoor wall plastering operations, and reduce the dependence on manual labor for repair operations. Attached Figure Description

[0016] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of the indoor wall plastering robot according to an embodiment of this application; Figure 2a This is a side view of the plastering robot according to an embodiment of this application; Figure 2b This is a front view of the plastering robot according to an embodiment of this application; Figure 3 This is a schematic diagram of the mobile chassis structure of the whole machine according to an embodiment of this application; Figure 4 This is a schematic diagram of the feeding and dispensing system according to an embodiment of this application; Figure 5 This is a schematic diagram of an indoor positioning and quality feedback component according to an embodiment of this application; Figure 6This is a front view of an integrated plastering device according to an embodiment of this application; Figure 7 This is a schematic diagram of the overall structure of the integrated plastering device according to an embodiment of this application; Figure 8 This is a partial structural schematic diagram of the integrated plastering device according to an embodiment of this application; Figure 9 This is a schematic diagram of the structure of the mobile workbench according to an embodiment of this application; Figure 10 This is a flowchart illustrating the overall working logic of the plastering operation method according to an embodiment of this application.

[0017] In the diagram: 1. Mobile chassis; 2. Feeding and distributing system; 3. Feedback component; 4. Plastering device; 5. Mobile workbench; 6. Frame lifting mechanism; 7. Electrical control system; 11. Bearing base; 12. Wheeled walking mechanism; 21. Mortar hopper; 22. Hopper discharge main pipe; 23. Mortar supply pump; 24. Supply pump discharge main pipe; 25. Distribution branch pipe; 26. Solenoid valve; 27. Distributor; 28. Branch piping system; 31. Positioning camera and lidar; 32. Combined inertial navigation system; 33. Quality feedback camera and lidar; 41. Large area scraper; 42. Small area scraper; 43. Angle adjustment actuation motor; 411. Bending structure; 41 2. Mortar discharge outlet; 413. Mortar feeding and distributing joint; 414. Actuator motor lug; 415. Hinged structure with moving worktable; 416. Reinforcing rib; 4151. Moving channel; 4152. Limiting slider; 4153. Crank rocker assembly; 421. Sleeve structure; 422. Vertical pivot structure; 423. Humanoid smearing operation outlet; 424. Feeding branch pipe joint; 41531. Crank connecting rod; 41532. Middle connecting rod; 41533. Rocker arm; 41534. Drive component; 51. Up and down moving slide structure; 52. Slide; 53. Lower lifting lug structure; 54. Front lifting lug structure; 55. Front discharge interface. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please refer to Figure 1 , Figure 2a ,as well as Figure 2bAs shown in the embodiment of the present invention, a fully automatic indoor wall plastering robot includes a mobile chassis 1, a feeding and distributing system 2, a feedback component 3, a plastering device 4, a mobile workbench 5, a frame lifting mechanism 6, and an electrical control system 7. The four-wheel drive, four-steering wheel mobile chassis is used to provide the movement of the whole machine indoors, support the whole machine during operation, and bear the load of multiple components of the whole machine. In this embodiment, the mobile chassis includes a frame-type support base, a mortar supply component disposed on the support base, and four sets of wheeled walking mechanisms disposed on the support base. The support base is in the shape of a cuboid and has symmetrical geometric features. The four sets of wheeled walking mechanisms are symmetrically arranged at the four corners of the support base.

[0020] In this embodiment, as Figure 2a and Figure 2b As shown, the vertical frame lifting mechanism 6 mainly consists of a steel frame, a screw-based transmission system, and vertical slide rails located on the left and right sides of the machine. The vertical frame ensures the vertical rigidity of the lifting mechanism and reduces the deflection deformation of the mechanism caused by the force exerted on the machine by the wall during plastering operations. When performing large-area plastering operations on the wall, the lifting mechanism moves up and down reciprocally, driving the plastering device to scrape the mortar up and down. When the machine uses a human-like application method to repair local defects, the lifting mechanism drives the plastering device to move vertically to a suitable height and lock it.

[0021] like Figure 3 As shown, the bearing base 11, which is welded from steel profiles, provides stable support for all components of the machine; four sets of wheeled walking mechanisms 12 with independent drive and steering capabilities can realize the flexible movement of the machine indoors and the stable locking function of the machine on the ground during plastering operations. The mortar precision feeding and dispensing system is designed to precisely supply mortar materials for wall plastering operations and features automatic control and precise feeding functions for the work area. Indoor positioning and wall plastering quality feedback components are used for indoor environment map construction, whole machine positioning, and visual and radar-based detection and feedback of wall plastering operation quality. An integrated plastering device that combines large-area scraping and human-like painting functions is used to complete large-area scraping operations on walls, as well as human-like precise painting repair of defective areas after large-area scraping.

[0022] like Figure 4As shown, the precision feeding and distribution system consists of a mortar cylinder 21 integrated on the chassis, a mortar cylinder discharge main pipe 22, a mortar supply pump 23, a supply pump discharge main pipe 24, distribution branch pipes 25, a solenoid valve 26, a flow channel inside the movable workbench 5, a distributor 27, and a branch pipe system 28. Before plastering, the mortar cylinder is filled with mortar, and the mortar supply pump operates. The solenoid valves are opened and closed according to the up-and-down movement of the plastering device, enabling the distribution branch pipes of the plastering area to be open during large-area plastering operations, while the other two are closed. During localized human-like smearing and repair operations, the two main pipes are closed, and the small scraper discharge branch pipe is open, achieving precise feeding. The mortar cylinder 21 is equipped with a filter screen and a low-mortar alarm sensor. When the mortar level is insufficient, the mortar supply pump is stopped, and an audible and visual alarm is issued.

[0023] like Figure 5 As shown, a high-definition camera, a positioning camera, and a lidar 31 are integrated on one side of the frame lifting mechanism 6, and a combined inertial navigation system 32 is integrated on the chassis 1. The high-definition camera, positioning camera, and lidar 31 are arranged vertically, all located at the front of the mechanism. The camera faces directly in front of the entire machine, and the combined inertial navigation system is installed in the center of the chassis. By mapping the indoor environment and combining it with the overall movement status of the machine, high-precision indoor positioning is achieved. A high-definition camera, a quality feedback camera, and a lidar 33 integrated on the other side of the frame lifting mechanism 6 are plastering quality feedback components. After the wall plastering work is completed, the chassis 1 carries the entire machine to the center position in front of the wall. The quality feedback camera and lidar 33 are used to identify large-sized abnormal protrusions on the wall, and the high-definition camera is used to match and identify common defects in mortar plastering and complete defect location.

[0024] like Figure 6 and Figure 7As shown, the plastering device 4 includes a large-area scraper 41, a small-area scraper 42 integrated in its middle, and an angle-adjusting actuation motor 43. The small-area scraper 42 can form a unified whole with the large-area scraper 41, or it can perform independent reciprocating motion. The large-area scraper 41 has a bent structure 411 at the top and bottom, with a mortar discharge port 412 at the front and a mortar feeding port 413 at the rear near the crease. When the corresponding bent part is being scraped, the angle-adjusting actuation motor 43 adjusts the angle between the large-area scraper and the wall to a suitable value, and mortar flows out from the nearby mortar discharge port to provide plastering material for the scraper to perform the scraping operation. The angle between the large-area scraper and the wall changes when scraping upwards and downwards, always scraping at the most suitable angle. The back of the large-area scraper 41 has its structure and reinforcing components, including an actuation motor lug 414, a hinge structure 415 for connecting with the moving worktable, and reinforcing ribs 416. The movable workbench has a movable channel 4151 on the inner side of the hinge structure, a cylindrical center with square limiting sliders 4152 at both ends, a small-area scraper 42 connected to a sleeve structure 421 at the rear, a vertical pivot structure 422 fixed at the lower part of the sleeve structure, a dedicated humanoid coating operation outlet 423 at the front of the small-area scraper, and an integrated feeding branch pipe connector 424 at the rear. The sleeve structure 421 can move axially along the limiting slider 4152, and the limiting slider 4152 can move within the movable channel 4151 in a restricted manner.

[0025] like Figure 8 As shown, crank-rocker assemblies 4153 are fixedly connected to both sides of the hinge structure 415 of the movable worktable. The assembly includes a crank connecting rod 41531, a middle connecting rod 41532, and a rocker arm 41533. One end of the crank connecting rod is hinged to the fixed seat, and a drive component 41534 is installed at the lower part. One end of the middle connecting rod is hinged to the crank connecting rod, and the other end is hinged to the rocker arm. The other end of the rocker arm is hinged to the vertical pivot structure 422. Under the action of the drive component 41534, the crank connecting rod 41531 rotates, and under the action of the middle connecting rod, the rocker arm 41533 swings back and forth, driving the small-area scraper 42 to make regular reciprocating movements under the limitation of the movable channel 4151 and the sleeve structure 421, thereby realizing a human-like smearing action.

[0026] like Figure 9 As shown, the movable worktable 5 has vertical sliding groove structures 51 on both sides, which slide in conjunction with the lifting rails. Two sliding tracks 52 are provided at the rear, allowing sliding along the vertical frame structure and providing rigid support. The movable worktable 5 moves up and down under the drive of the lifting device. The lower lifting lug structure 53 is hinged to the plastering device, and the front lifting lug structure 54 is hinged to the angle adjustment motor 43 of the plastering device. The rear end of the movable worktable 5 integrates three mortar feeding branch pipes, with three feeding channels inside. The front discharge interface 55 is connected to two distributors and a flexible feeding hose connected to the small scraper feeding port in the middle of the plastering device.

[0027] Another technical solution: such as Figure 10 As shown, a method for operating a fully automated indoor wall plastering robot as described in any of the above claims includes the following steps: Step S1: Based on the indoor environment map and path planning, drive the entire machine's mobile chassis to the working position and lock it; Step S2: Feed materials through the feeding system and perform reciprocating scraping operations using the plastering device; Step S3: Based on the visual and radar detection results, detect and identify the scraping effect on the work surface in real time. If there are defective locations, locate and repair them. Step S4: If the operation requirements are met, move to the next work surface according to the planned path.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention. The scope of the invention is defined by the appended claims and their equivalents, all of which should be included within the scope of protection of the invention.

Claims

1. A fully automatic indoor wall plastering robot, characterized in that, The robot includes a mobile chassis, a feeding and distributing system, a feedback component, a plastering device, a mobile workbench, a frame lifting mechanism, and an electrical control system. The mobile chassis is used to provide the movement of the whole machine indoors, the support of the whole machine during operation, and the load-bearing function of the whole machine's multiple components; The feeding and distributing system is designed to precisely supply mortar materials for wall plastering operations and features automatic control and precise feeding of the work area. The feedback component is used for indoor environment map construction, whole machine positioning, and detection feedback of wall plastering operation quality based on vision and radar. The plastering device is used to complete the large-scale top and bottom plastering of the wall surface, as well as the human-like precise coating repair of defective areas after the large-scale plastering. The upper and lower parts of the plastering device are both provided with bending structures and hollow structures for mortar storage. The front of the hollow structure is evenly distributed with discharge ports, and the rear is provided with multiple material distribution joints. The rear of the plastering device is connected to an actuating motor. The middle part of the plastering device is provided with a small-area scraper that can move independently. The lower rear end of the plastering device is provided with a large-sized lug, which is hinged to the movable worktable; the large-sized lug is provided with reinforcing ribs on both the left and right sides. The upper rear end of the plastering device is equipped with a small lug that is hinged to one end of the angle adjustment motor, and the other end of the angle adjustment motor is hinged to the movable worktable. The small-area scraper can independently perform spatial reciprocating motion in the forward and backward and left and right directions through the action of the crank rocker assembly; The large-sized lug structure at the rear of the plastering device has a rectangular guide channel on its inner side. A guide rod with rectangular ends and a cylindrical middle is limited in the channel. The guide rod can slide back and forth along the channel. A vertical pivot structure for hinge connection with the crank rocker assembly is provided on the inner side of the large-sized lug structure. The small-area scraper has a discharge port and an integrated pipeline connector at the rear, which connects to the material distribution branch. The rear end of the small-area scraper is provided with a cylindrical hollow structure, which is fitted onto the cylindrical part of the guide rod; The lower part of the cylindrical hollow structure at the rear end of the small-area scraper is rigidly connected to the vertical pivot structure. The small-area scraper rear end vertical pivot structure, the large-size inner pivot of the plastering device, and the three connecting rods constitute the crank rocker assembly.

2. The fully automatic indoor wall plastering robot according to claim 1, characterized in that, The mobile chassis includes a frame-type support base, a mortar supply component set on the support base, and four sets of wheeled walking mechanisms set on the support base.

3. The fully automatic indoor wall plastering robot according to claim 2, characterized in that, The support base is rectangular in shape and has symmetrical geometric features. The four sets of wheeled walking mechanisms are arranged symmetrically at the four corners of the support base.

4. The fully automatic indoor wall plastering robot according to claim 1, characterized in that, The feeding and distributing system includes a mortar cylinder, a discharge filter, a mortar feeding pump and main pipeline, a distributor, a feeding hose system, branch pipe end connectors, and pipeline solenoid valves.

5. The fully automatic indoor wall plastering robot according to claim 4, characterized in that, The mortar cylinder is equipped with a proximity switch, and the rear left and right sides of the movable workbench have two large through holes and one small through hole.

6. The fully automatic indoor wall plastering robot according to claim 1, characterized in that, The feedback components include a high-definition camera, a lidar, and a combined inertial navigation system.

7. A method for operating a fully automated indoor wall plastering robot as described in any one of claims 1 to 6, characterized in that, Includes the following steps: Step S1: Based on the indoor environment map and path planning, drive the entire machine's mobile chassis to the working position and lock it; Step S2: Feed materials through the feeding system and perform reciprocating scraping operations using the plastering device; Step S3: Based on the visual and radar detection results, detect and identify the scraping effect on the work surface in real time. If there are defective locations, locate and repair them. Step S4: If the operation requirements are met, move to the next work surface according to the planned path.

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