Automatic wall surface trowelling robot

Abstract

The invention belongs to the technical field of wall surface trowelling, and discloses an automatic wall surface trowelling robot which comprises a robot body, a lifting mechanism and a trowelling mechanism. The lifting mechanism is arranged on the robot body, and the trowelling mechanism is arranged on the lifting mechanism. The trowelling mechanism comprises a trowelling monitoring assembly, the trowelling monitoring assembly comprises a material receiving box, the material receiving box is connected with the lifting mechanism, five material grooves are formed in the material receiving box, a first connecting frame is installed on the material receiving box, a main trowelling cutter is connected to the upper portion of the first connecting frame, side protection plates are connected to the two sides of the material receiving box, and the main trowelling cutter is connected to the lower portion of the first connecting frame. Five sleeve rods capable of corresponding to the main trowelling cutters are movably installed in the first connecting frame. By means of the design, the automatic trowelling robot can accurately repair and fill the corresponding potholes while conducting trowelling operation, follow-up manual repairing cannot be conducted, and therefore the working efficiency of trowelling operation is improved, and the phenomenon that the potholes appear on the troweled wall is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of wall smoothing, in particular to an automatic wall smoothing robot. Background Art

[0002] The automatic wall smoothing robot is an important technology in the field of construction, which aims to improve the efficiency and quality of wall smoothing work. With the continuous improvement of the construction industry's requirements for construction speed and quality, the traditional manual wall smoothing method is time-consuming and laborious, and the smoothing quality is difficult to guarantee. The automatic wall smoothing robot greatly improves the efficiency of wall smoothing and reduces labor costs through automation and intelligence. However, in the actual use of the existing automatic wall smoothing robot, in terms of the flatness of the wall after smoothing, there are often potholes, which affects the construction quality. There are two main reasons for this pothole phenomenon: one is that the pre-spraying of cement ash is uneven, resulting in missing coating in some parts of the wall; the other is that the wall itself is uneven, and the machine cannot completely correct the unevenness of the wall during the smoothing process. Both of these problems will cause the automatic wall smoothing robot to smooth the wall. The flatness is not high, thus affecting the final construction effect.

[0003] Therefore, an automatic wall smoothing robot is proposed to solve the above problems. Summary of the invention

[0004] In order to solve the problems raised in the above background technology, the present invention provides an automatic wall smoothing robot.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic wall smoothing robot, comprising a robot body, a lifting mechanism and a smoothing mechanism;

[0006] The lifting mechanism is arranged on the robot body, and the smoothing mechanism is arranged on the lifting mechanism;

[0007] The smoothing mechanism includes a smoothing monitoring component, and the smoothing monitoring component includes a material receiving box, the material receiving box is connected to the lifting mechanism, five material troughs are arranged inside the material receiving box, a connecting frame 1 is installed on the material receiving box, a main smoothing knife is connected to the top of the connecting frame 1, side guard plates are connected to both sides of the material receiving box, five sleeve rods corresponding to the main smoothing knife are movably installed inside the connecting frame 1, a wall defect monitoring camera capable of taking real-time photos of the wall is installed on the outside of the connecting frame 1, a baffle capable of closing the material trough is fixedly sleeved on the outside of the sleeve rod, an electromagnetic plate is arranged inside the connecting frame 1, and a peripheral portion of the baffle There are four electromagnetic plates corresponding to each other, and the internal movable sleeve of the connecting frame 1 is provided with a magnetic block corresponding to the electromagnetic plate, one side of the magnetic block faces the electromagnetic plate, and the other side of the magnetic block is connected with a clamping rod 1 that can be clamped in the inside of the sleeve rod, and the internal movable sleeves of the five sleeve rods are provided with a rotating shaft, and the internal movable sleeve of the rotating shaft is provided with a moving block, and the outer side of the moving block is connected with a clamping rod 2 that can abut against the clamping rod 1, one end of the rotating shaft extends to the outside of the connecting frame 1 and is fixedly sleeved with a transmission wheel 1, and a mounting frame located outside the transmission wheel 1 is installed on the outer side of the connecting frame 1, the outer side of the material receiving box is flush with the main smoothing knife, and the rotating shaft is movably installed inside the mounting frame.

[0008] Preferably, the outer sleeve of the clamping rod 1 is provided with a tension spring 1, one end of which is connected to the connecting frame 1, and the other end of which is connected to the magnetic block; the outer sleeve of the clamping rod 2 is provided with a tension spring 2, one end of which is connected to the moving block, and the other end of which is connected to the rotating shaft; the elastic force of the tension spring 1 is greater than the elastic force of the tension spring 2.

[0009] Preferably, the mounting frame is connected to a material receiving box, a driving motor is installed on the outside of the material receiving box, the other end of the driving motor output shaft extends to the inside of the mounting frame and is fixedly sleeved with a transmission wheel 2, and the transmission wheel 2 is connected to the transmission wheel 1 through a transmission belt.

[0010] Preferably, the smoothing mechanism also includes a feeding assembly arranged on the smoothing monitoring assembly, the feeding assembly includes a swing arm, the outer part of the swing arm is fixedly sleeved on the output shaft of the driving motor, an air duct is provided inside the material receiving box, a movable tube is movably installed on the outer side of the material receiving box, the movable tube can be connected with the air duct, the other end of the movable tube is fixedly connected with an air cylinder 1, the interior of the air cylinder 1 is sleeved with a piston rod 1, and the other end of the piston rod 1 can be hinged to the swing arm.

[0011] Preferably, five gas cylinders 2 corresponding to the material troughs are installed above the material receiving box, and a piston rod 2 is sleeved inside the gas cylinder 2. One end of the piston rod 2 is connected to a connecting frame 2 located outside the gas cylinder 2, and the other end of the piston rod 2 is connected to a tension spring 3, and the other end of the tension spring 3 is connected to the gas cylinder 2.

[0012] Preferably, an electronic gas valve is installed at the bottom of the tension spring three, and a connecting pipe is connected to the bottom of the electronic gas valve. The other end of the connecting pipe is connected to the material receiving box and can be connected to the airway.

[0013] Preferably, a push block is connected to the other side of the connecting frame 2, the bottom of the push block is connected to a square rod, the outer part of the square rod is movably sleeved with a push plate located inside the material trough, the bottom end of the square rod is connected to a spring, the other end of the spring is connected to the material receiving box, and the outer part of the push plate can contact the inner wall of the material trough.

[0014] Preferably, the smoothing mechanism also includes an auxiliary smoothing component, which is installed on the material receiving box. The auxiliary smoothing component includes an electric telescopic rod, which is connected to the material receiving box, and the output end of the electric telescopic rod is connected to a wheel frame, and a pressure wheel flush with the main smoothing knife is movably installed inside the wheel frame, and the bottom of the wheel frame is connected to a shield plate located between the pull block and the pressure wheel.

[0015] Preferably, both sides of the material receiving box are connected to limit rods, the outer movably sleeve of the limit rods is equipped with an auxiliary trowel that can be flush with the main trowel, the top of the auxiliary trowel is connected to a movable frame, and the inner part of the movable frame is fixedly sleeved with a round shaft that moves inside the pulling block.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention sets a sleeve rod and a rotating shaft. When the smoothing mechanism is smoothed upward, the wall defect monitoring camera can capture the smoothed wall in real time, and transmit the captured picture to the control end for analysis. At the same time, the control end determines whether there are potholes on the wall and analyzes the size and position of the pothole. When it is determined that there are potholes on the wall, the control end will turn on the electromagnetic plate around the sleeve rod corresponding to the position of the pothole. Due to the operation of the electromagnetic plate, a magnetic attraction can be generated on the magnetic block, driving the magnetic block and the clamping rod 1 to move downward, so that the clamping rod 1 is separated from the inside of the sleeve rod, and then the fixing effect between the sleeve rod and the connecting frame 1 is released. At this time, the tension spring 2 is in a stretched state. Due to the resetting effect of the elastic force, the moving block and the second clamping rod can be driven to descend and clamped inside the sleeve rod to be fixed, so that the sleeve rod and the rotating shaft can be fixed. Due to the rotation of the transmission wheel one, the rotating shaft, the sleeve rod and the baffle here can be driven to rotate, and the closure of the material trough corresponding to the sleeve rod can be released, so that the excess cement slurry inside the material trough can fall into the potholes, and the potholes on the wall are filled with cement slurry. This design can realize the automatic leveling robot to accurately repair and fill the corresponding potholes during the leveling operation, and subsequent manual repair is impossible, thereby improving the work efficiency of the leveling operation, and then the leveled wall will have potholes.

[0018] 2. The present invention provides piston rod two and a push plate. When it is determined that a pothole appears on the wall, the control end will open the electronic gas valve corresponding to the position of the pothole. Due to the rotation of the output shaft of the driving motor, the swing arm can be driven to push toward the inside of the gas cylinder one, and the gas inside the gas cylinder one is transported to the gas cylinder two that opens the electronic gas valve through the airway and the connecting pipe, so that the air pressure inside the gas cylinder two increases, and the piston rod two, the connecting frame two and the push block are pushed to move in the direction of the main smoothing knife. At the same time, the tension spring three is stretched. Due to the movement of the push block, the push plate can be driven to move together through the square rod. At the same time, the spring in a compressed state, due to the restoring effect of the elastic force, will push the bottom of the push plate to close contact with the bottom of the inner cavity of the material trough. Due to the movement of the push plate, the excess cement slurry inside the material trough at this place can be moved downward along the material trough, thereby applying thrust to the cement slurry, accelerating the falling of the cement slurry, and thus solving the problem of high viscosity and slow falling of the cement slurry.

[0019] Finally, the auxiliary trowel knife abuts against the bottom of the material receiving box, and cuts off the bonding between the excess cement slurry and the cement slurry on the wall, thereby avoiding the appearance of protrusions on the wall and improving the flatness of the wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the smoothing mechanism of the present invention;

[0022] Figure 3 It is a cross-sectional structural schematic diagram of the smoothing mechanism of the present invention;

[0023] Figure 4 It is a schematic cross-sectional structural diagram of the baffle of the present invention;

[0024] Figure 5 for Figure 4 A schematic diagram of the local enlarged structure at point A in the middle;

[0025] Figure 6 It is a schematic cross-sectional structural diagram of the mounting frame of the present invention;

[0026] Figure 7 for Figure 6 A schematic diagram of the local enlarged structure at B in the middle;

[0027] Figure 8 It is a schematic cross-sectional view of the structure of the gas cylinder 1 of the present invention;

[0028] Fig. 9 It is a schematic diagram of the cross-sectional structure of the connecting pipe of the present invention.

[0029] In the figure: 1. Robot body; 2. Lifting mechanism; 3. Smoothing mechanism; 31. Smoothing monitoring component; 311. Material receiving box; 312. Material trough; 313. Connecting frame 1; 314. Main trowel; 315. Wall defect monitoring camera; 316. Baffle; 317. Sleeve rod; 318. Mounting frame; 319. Rotating shaft; 3110. Side guard plate; 3111. Driving motor; 3112. Electromagnetic plate; 3113. Magnetic block; 3114. Clamping rod 1; 3115. Tension spring 1; 3116. Moving block; 3117. Clamping rod 2; 3118. Tension spring 2; 3119. Transmission wheel 1; 3120. Transmission wheel 2; 3121. Transmission belt; 32, feeding assembly; 321, swing arm; 322, movable tube; 323, air cylinder one; 324, piston rod one; 325, airway; 326, connecting pipe; 327, air cylinder two; 328, electronic gas valve; 329, piston rod two; 3210, tension spring three; 3211, connecting frame two; 3212, push block; 3213, square rod; 3214, push plate; 3215, spring; 33, auxiliary smoothing assembly; 331, electric telescopic rod; 332, wheel frame; 333, round shaft; 334, pressure wheel; 335, shield; 336, pull block; 337, limit rod; 338, auxiliary smoothing knife; 339, moving frame. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] like Figures 1 to 9 As shown, the present invention provides an automatic wall smoothing robot, comprising a robot body 1, a lifting mechanism 2 and a smoothing mechanism 3;

[0032] The lifting mechanism 2 is arranged on the robot body 1, and the smoothing mechanism 3 is arranged on the lifting mechanism 2;

[0033] The smoothing mechanism 3 includes a smoothing monitoring component 31, which includes a material receiving box 311, which is connected to the lifting mechanism 2, and five material troughs 312 are arranged inside the material receiving box 311, a connecting frame 313 is installed on the material receiving box 311, and a main smoothing knife 314 is connected to the top of the connecting frame 313, and side guard plates 3110 are connected to both sides of the material receiving box 311, and five sleeve rods 317 corresponding to the main smoothing knife 314 are movably installed inside the connecting frame 313, and a wall defect monitoring camera 315 capable of taking real-time photos of the wall is installed on the outer side of the connecting frame 313, and a baffle 316 capable of closing the material trough 312 is fixedly sleeved on the outer side of the sleeve rod 317, and an electromagnetic plate 3112 is arranged inside the connecting frame 313, and four electromagnetic plates 3112 correspond to the periphery of one baffle 316. The internal movable sleeve of the connecting frame 1 313 is provided with a magnetic block 3113 which can correspond to the electromagnetic plate 3112, one side of the magnetic block 3113 faces the electromagnetic plate 3112, and the other side of the magnetic block 3113 is connected with a clamping rod 1 3114 which can be clamped in the inside of the sleeve rod 317, the internal movable sleeves of the five sleeve rods 317 are provided with a rotating shaft 319, the internal movable sleeve of the rotating shaft 319 is provided with a moving block 3116, the outer side of the moving block 3116 is connected with a clamping rod 2 3117 which can abut against the clamping rod 1 3114, one end of the rotating shaft 319 extends to the outside of the connecting frame 1 313 and is fixedly sleeved with a transmission wheel 1 3119, the outer side of the connecting frame 1 313 is installed with a mounting frame 318 located outside the transmission wheel 1 3119, the outer side of the material receiving box 311 is flush with the main smoothing knife 314, and the rotating shaft 319 is movably installed in the inside of the mounting frame 318.

[0034] With the above solution, when the smoothing mechanism 3 is smoothing upward, the wall defect monitoring camera 315 can capture the smoothed wall in real time, and transmit the captured image to the control end for analysis. At the same time, the control end determines whether there are potholes on the wall and analyzes the size and position of the potholes.

[0035] When it is determined that a pothole appears on the wall, the control end will turn on the electromagnetic plate 3112 around the sleeve rod 317 corresponding to the position of the pothole. Due to the operation of the electromagnetic plate 3112, a magnetic attraction force can be generated on the magnetic block 3113, driving the magnetic block 3113 and the clamping rod 1 3114 to move downward, so that the clamping rod 1 3114 is separated from the inside of the sleeve rod 317, and then the fixing effect between the sleeve rod 317 and the connecting frame 1 313 is released. At this time, the tension spring 2 3118 in the stretched state can drive the moving block 3116 and the clamping rod 2 3117 to descend and be clamped and fixed inside the sleeve rod 317 due to the resetting effect of the elastic force, so that the sleeve rod 317 and the rotating shaft 319 can be fixed;

[0036] The rotation of the transmission wheel 3119 can drive the rotating shaft 319 and the sleeve rod 317 and the baffle 316 to rotate, and release the closure of the corresponding material trough 312 of the sleeve rod 317, so that the excess cement slurry inside the material trough 312 can fall into the pits and fill the pits on the wall with cement slurry.

[0037] like Figure 5 As shown, the outer sleeve of the clamping rod 1 3114 is provided with a tension spring 1 3115, one end of the tension spring 1 3115 is connected to the connecting frame 1 313, and the other end of the tension spring 1 3115 is connected to the magnetic block 3113, and the outer sleeve of the clamping rod 2 3117 is provided with a tension spring 2 3118, one end of the tension spring 2 3118 is connected to the moving block 3116, and the other end of the tension spring 2 3118 is connected to the rotating shaft 319, and the elastic force of the tension spring 1 3115 is greater than the elastic force of the tension spring 2 3118.

[0038] The above scheme is adopted: when the control end closes the electromagnetic plate 3112, the magnetic block 3113 loses its magnetic attraction, and under the elastic force of the tension spring 1 3115, the electromagnetic plate 3112 is pushed to reset and clamped inside the sleeve rod 317 and fixed, and at the same time, the clamping rod 2 3117 is pushed out of the sleeve rod 317. At this time, the tension spring 2 3118 is stretched, thereby releasing the fixation of the rotating shaft 319 and the sleeve rod 317.

[0039] like Figures 5 to 7 As shown, the mounting frame 318 is connected to the material receiving box 311, and a driving motor 3111 is installed on the outer side of the material receiving box 311. The other end of the output shaft of the driving motor 3111 extends to the inside of the mounting frame 318 and is fixedly sleeved with a transmission wheel 2 3120. The transmission wheel 2 3120 is connected to the transmission wheel 1 3119 through a transmission belt 3121.

[0040] The above scheme is adopted: when it is determined that a pothole appears on the wall, the driving motor 3111 is started, which can drive the transmission wheel 2 3120 to rotate, and drive the transmission wheel 1 3119 to rotate through the transmission belt 3121. Due to the rotation of the transmission wheel 1 3119, the rotating shaft 319 can be driven to rotate.

[0041] like Figure 8 As shown, the smoothing mechanism 3 also includes a feeding component 32 arranged on the smoothing monitoring component 31, and the feeding component 32 includes a swing arm 321. The outside of the swing arm 321 is fixedly sleeved on the output shaft of the driving motor 3111, and an air duct 325 is provided inside the material receiving box 311. A movable pipe 322 is movably installed on the outside of the material receiving box 311, and the movable pipe 322 can be connected with the air duct 325. The other end of the movable pipe 322 is fixedly connected with an air cylinder 323. The interior of the air cylinder 323 is sleeved with a piston rod 324, and the other end of the piston rod 324 can be hinged to the swing arm 321.

[0042] By adopting the above scheme, due to the rotation of the output shaft of the driving motor 3111, the swing arm 321 can be driven to push toward the interior of the air cylinder 323, and the gas inside the air cylinder 323 is pushed into the airway 325, so that the air pressure inside the airway 325 increases.

[0043] like Figure 3 and Fig. 9 As shown, five air cylinders 327 corresponding to the material troughs 312 are installed above the material receiving box 311, and a piston rod 329 is sleeved inside the air cylinder 327. One end of the piston rod 329 is connected to a connecting frame 3211 located outside the air cylinder 327, and the other end of the piston rod 329 is connected to a tension spring 3210, and the other end of the tension spring 3210 is connected to the air cylinder 327.

[0044] With the above solution, when the air pressure inside the second air cylinder 327 increases, the second piston rod 329 can be pushed to move toward the main trowel 314, and at the same time, the tension spring 3210 is stretched. Due to the movement of the second piston rod 329, the second connecting frame 3211 can be driven to move at the same time.

[0045] like Figure 3 and Fig. 9 As shown, an electronic gas valve 328 is installed at the bottom of the tension spring 3210 , and a connecting pipe 326 is connected to the bottom of the electronic gas valve 328 . The other end of the connecting pipe 326 is connected to the material receiving box 311 and can be connected to the air channel 325 .

[0046] Adopting the above scheme: when it is determined that a pothole appears on the wall, the control end will open the electronic gas valve 328 corresponding to the position of the pothole. At this time, the gas inside the airway 325 will be transported to the gas cylinder 2 327 that opens the electronic gas valve 328, thereby increasing the air pressure inside the gas cylinder 2 327.

[0047] like Figure 3 and Fig. 9 As shown, the other side of the connecting frame 3211 is connected to a push block 3212, the bottom of the push block 3212 is connected to a square rod 3213, the outer movably sleeve of the square rod 3213 is connected to a push plate 3214 located inside the material trough 312, the bottom end of the square rod 3213 is connected to a spring 3215, the other end of the spring 3215 is connected to the material receiving box 311, and the outer part of the push plate 3214 can contact the inner wall of the material trough 312.

[0048] By adopting the above scheme: due to the movement of the connecting frame 3211, the push plate 3214 can be driven to move together through the push block 3212 and the square rod 3213. At the same time, the spring 3215 in the compressed state will push the bottom of the push plate 3214 to be in close contact with the bottom of the inner cavity of the material trough 312 due to the recovery effect of the elastic force. Due to the movement of the push plate 3214, the excess cement slurry inside the material trough 312 can be moved downward along the material trough 312, thereby applying thrust to the cement slurry and accelerating the falling of the cement slurry.

[0049] like Figure 3 As shown, the smoothing mechanism 3 also includes an auxiliary smoothing component 33, which is installed on the material receiving box 311. The auxiliary smoothing component 33 includes an electric telescopic rod 331, which is connected to the material receiving box 311, and the output end of the electric telescopic rod 331 is connected to a wheel frame 332. The wheel frame 332 has a pressure wheel 334 that is flush with the main smoothing knife 314 installed inside. The bottom of the wheel frame 332 is connected to 366, and the bottom of the wheel frame 332 is connected to a shield plate 335 located between the pull block 336 and the pressure wheel 334.

[0050] The above scheme is adopted: due to the rise of the smoothing mechanism 3, the pressure wheel 334 can be slightly in contact with the smoothed wall surface and roll. As the cement slurry inside the trough 312 falls, the pressure wheel 334 can roll to press the cement slurry into the inside of the potholes on the wall, so that the cement slurry can be fully filled in the potholes. At the same time, the auxiliary smoothing knife 338 will continue to smooth the excess cement slurry after the potholes are filled with the smoothing mechanism 3 as it rises, thereby ensuring the flatness of the wall after grouting.

[0051] like Figure 3 and Fig. 9 As shown, both sides of the material receiving box 311 are connected to a limiting rod 337, and the outer movably sleeve of the limiting rod 337 is equipped with an auxiliary trowel 338 that can be flush with the main trowel 314, and the top of the auxiliary trowel 338 is connected to a movable frame 339, and the inner part of the movable frame 339 is fixedly sleeved with a circular shaft 333 that moves inside the pull block 336.

[0052] The above scheme is adopted: when the size of the pothole determined by the control end is filled, the control end starts the electric telescopic rod 331, driving the wheel frame 332 and the pressure wheel 334 to retract upward, and at the same time the pulling block 336 will pull the movable frame 339 and the auxiliary trowel 338 to move along the limit rod 337 through the circular shaft 333, and scrape the excess cement slurry on the wall onto the auxiliary trowel 338, and finally the auxiliary trowel 338 will abut against the bottom of the receiving box 311, so that the excess cement slurry can be clamped off the bonding between the cement slurry on the wall.

[0053] The working principle and use process of the present invention:

[0054] The robot body 1 controls the lifting mechanism 2, and drives the smoothing mechanism 3 to rise through the lifting mechanism 2. As the smoothing mechanism 3 rises, the cement slurry sprayed on the wall can be smoothed through the main smoothing knife 314, and then as the main smoothing knife 314 smoothes, the excess cement slurry will be scraped into the inside of the swing arm 321, and the wall smoothing operation can be achieved at this time.

[0055] When the smoothing mechanism 3 is smoothing upward, the wall defect monitoring camera 315 can capture the smoothed wall in real time and transmit the captured image to the control end for analysis. At the same time, the control end determines whether there are potholes on the wall and analyzes the size and position of the potholes. When it is determined that there are potholes on the wall, the control end will turn on the electromagnetic plate 3112 around the sleeve rod 317 corresponding to the position of the pothole. Due to the operation of the electromagnetic plate 3112, a magnetic attraction force can be generated on the magnetic block 3113, driving the magnetic block 3113 and the clamping rod 1 3114 to move downward, so that the clamping rod 1 3114 is detached from the inside of the sleeve rod 317, and then the fixing effect between the sleeve rod 317 and the connecting frame 1 313 is released. At the same time, the tension spring 1 3115 is stretched, and the tension spring 1 3115 in the stretched state at this time The second tension spring 3118, due to the resetting effect of the elastic force, can drive the moving block 3116 and the second clamping rod 3117 to descend and clamp them inside the sleeve rod 317 to fix them, so that the sleeve rod 317 and the rotating shaft 319 can be fixed. The control end starts the driving motor 3111, which can drive the second transmission wheel 3120 to rotate, and drive the transmission wheel 1 3119 to rotate through the transmission belt 3121. Due to the rotation of the transmission wheel 1 3119, the rotating shaft 319 and the sleeve rod 317 and the baffle 316 here can be driven to rotate, and the closure of the sleeve rod 317 corresponding to the material trough 312 can be released, so that the excess cement slurry inside the material trough 312 can fall into the potholes, and as the leveling mechanism 3 rises, the missing cement slurry in the potholes is filled.

[0056] When it is determined that a pothole appears on the wall, the control end will open the electronic gas valve 328 corresponding to the position of the pothole. Due to the rotation of the output shaft of the driving motor 3111, the swing arm 321 can be driven to push the inside of the gas cylinder 1 323, and the gas inside the gas cylinder 1 323 is transported to the gas cylinder 2 327 that opens the electronic gas valve 328 through the air channel 325 and the connecting pipe 326, so that the air pressure inside the gas cylinder 2 327 increases, and the piston rod 2 329, the connecting frame 2 3211 and the push block 3212 are pushed toward the main trowel 31 4, and at the same time, the tension spring 3210 is stretched. Due to the movement of the push block 3212, the push plate 3214 can be driven to move together through the square rod 3213. At the same time, the spring 3215 in the compressed state will push the bottom of the push plate 3214 to be in close contact with the bottom of the inner cavity of the trough 312 due to the recovery effect of the elastic force. Due to the movement of the push plate 3214, the excess cement slurry inside the trough 312 at this place can be moved downward along the trough 312, so that thrust can be applied to the cement slurry to accelerate the falling of the cement slurry.

[0057] Due to the rise of the smoothing mechanism 3, the pressure wheel 334 can slightly contact the smoothed wall surface and roll. As the cement slurry inside the material trough 312 falls, the cement slurry can be pressed into the inside of the potholes on the wall through the rolling of the pressure wheel 334, so that the cement slurry can be fully filled into the potholes. At the same time, the auxiliary smoothing knife 338 will continue to smooth the excess cement slurry after the potholes are filled as the smoothing mechanism 3 rises, thereby ensuring the flatness of the wall after grouting. When the size of the pothole determined by the control end is filled, the control end drives the output shaft of the driving motor 3111 to rotate, reset the baffle 316 to close, and reset the push plate 3214 to move, and then close the electromagnetic plate 311 2. The magnetic block 3113 loses its magnetic attraction. Under the elastic force of the tension spring 1 3115, the electromagnetic plate 3112 is pushed to reset and be connected to the inside of the sleeve rod 317 and fixed. At the same time, the clamping rod 2 3117 is pushed out of the sleeve rod 317. The control end starts the electric telescopic rod 331, driving the wheel frame 332 and the pressure wheel 334 to retract upward. At the same time, the pulling block 336 will pull the moving frame 339 and the auxiliary smoothing knife 338 to move along the limit rod 337 through the circular shaft 333, and scrape the excess cement slurry on the wall onto the auxiliary smoothing knife 338. Finally, the auxiliary smoothing knife 338 abuts against the bottom of the receiving box 311, and cuts off the bonding between the excess cement slurry and the cement slurry on the wall to avoid bulges on the wall.

[0058] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0059] Although 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 appended claims and their equivalents.

Claims

1. A wall automatic smoothing robot, characterized in that , comprising a robot body (1), a lifting mechanism (2) and a smoothing mechanism (3); The lifting mechanism (2) is arranged on the robot body (1), and the smoothing mechanism (3) is arranged on the lifting mechanism (2); The smoothing mechanism (3) comprises a smoothing monitoring component (31), the smoothing monitoring component (31) comprises a material receiving box (311), the material receiving box (311) is connected to the lifting mechanism (2), five material troughs (312) are arranged inside the material receiving box (311), a connecting frame (313) is installed on the material receiving box (311), a main smoothing knife (314) is connected to the top of the connecting frame (313), and side guard plates (3110) are connected to both sides of the material receiving box (311). The first connecting frame (313) is internally movably equipped with five sleeve rods (317) that can correspond to the main trowel (314); the outer side of the first connecting frame (313) is equipped with a wall defect monitoring camera (315) that can take real-time photos of the wall; the outer side of the sleeve rod (317) is fixedly sleeved with a baffle (316) that can close the material trough (312); the first connecting frame (313) is internally provided with an electromagnetic plate (3112); and the periphery of each of the baffle plates (316) corresponds to four electromagnetic plates (3112). 112), the internal movable sleeve of the connecting frame (313) is provided with a magnetic block (3113) that can correspond to the electromagnetic plate (3112), one side of the magnetic block (3113) faces the electromagnetic plate (3112), and the other side of the magnetic block (3113) is connected to a clamping rod (3114) that can be clamped in the inside of the sleeve rod (317), the internal movable sleeves of the five sleeve rods (317) are provided with a rotating shaft (319), and the internal movable sleeves of the rotating shaft (319) are provided with a moving block (3116), and the moving block (3116) is provided with a moving block (3117). The outer side of the movable block (3116) is connected to a second clamping rod (3117) capable of abutting against the first clamping rod (3114); one end of the rotating shaft (319) extends to the outside of the first connecting frame (313) and is fixedly sleeved with a transmission wheel (3119); the outer side of the first connecting frame (313) is installed with a mounting frame (318) located outside the transmission wheel (3119); the outer side of the material receiving box (311) is flush with the main trowel (314); and the rotating shaft (319) is movably installed inside the mounting frame (318).

2. The automatic wall smoothing robot according to claim 1, characterized in that: The outer sleeve of the clamping rod 1 (3114) is provided with a tension spring 1 (3115), one end of which is connected to the connecting frame 1 (313), and the other end of which is connected to the magnetic block (3113); the outer sleeve of the clamping rod 2 (3117) is provided with a tension spring 2 (3118), one end of which is connected to the moving block (3116), and the other end of which is connected to the rotating shaft (319); the elastic force of the tension spring 1 (3115) is greater than the elastic force of the tension spring 2 (3118).

3. The automatic wall smoothing robot according to claim 1, characterized in that: The mounting frame (318) is connected to the material receiving box (311), a driving motor (3111) is installed on the outer side of the material receiving box (311), the other end of the output shaft of the driving motor (3111) extends to the inside of the mounting frame (318) and is fixedly sleeved with a second transmission wheel (3120), and the second transmission wheel (3120) is connected to the first transmission wheel (3119) through a transmission belt (3121).

4. The automatic wall-smoothing robot according to claim 3, characterized in that: The smoothing mechanism (3) further comprises a feeding assembly (32) arranged on the smoothing monitoring assembly (31), the feeding assembly (32) comprising a swing arm (321), the outer portion of the swing arm (321) being fixedly sleeved on the output shaft of the driving motor (3111), an air passage (325) being arranged inside the material receiving box (311), a movable tube (322) being movably mounted on the outer side of the material receiving box (311), the movable tube (322) being able to communicate with the air passage (325), the other end of the movable tube (322) being fixedly connected with an air cylinder (323), the interior of the air cylinder (323) being sleeved with a piston rod (324), the other end of the piston rod (324) being able to be hinged with the swing arm (321).

5. The automatic wall smoothing robot according to claim 4, characterized in that: Five gas cylinders (327) corresponding to the material troughs (312) are installed above the material receiving box (311), and a piston rod (329) is sleeved inside the gas cylinder (327). One end of the piston rod (329) is connected to a connecting frame (3211) located outside the gas cylinder (327), and the other end of the piston rod (329) is connected to a tension spring (3210), and the other end of the tension spring (3210) is connected to the gas cylinder (327).

6. The automatic wall-smoothing robot according to claim 5, characterized in that: An electronic gas valve (328) is installed at the bottom of the tension spring three (3210), and a connecting pipe (326) is connected below the electronic gas valve (328). The other end of the connecting pipe (326) is connected to the material receiving box (311) and can be connected to the airway (325).

7. The automatic wall-smoothing robot according to claim 5, characterized in that: The other side of the second connecting frame (3211) is connected to a push block (3212), the bottom of the push block (3212) is connected to a square rod (3213), the outside of the square rod (3213) is movably sleeved with a push plate (3214) located inside the material trough (312), the bottom end of the square rod (3213) is connected to a spring (3215), the other end of the spring (3215) is connected to the material receiving box (311), and the outside of the push plate (3214) can contact the inner wall of the material trough (312).

8. The automatic wall smoothing robot according to claim 1, characterized in that: The smoothing mechanism (3) further comprises an auxiliary smoothing component (33), the auxiliary smoothing component (33) being mounted on the material receiving box (311), the auxiliary smoothing component (33) comprising an electric telescopic rod (331), the electric telescopic rod (331) being connected to the material receiving box (311), the output end of the electric telescopic rod (331) being connected to a wheel frame (332), a pressure wheel (334) being movably mounted inside the wheel frame (332) and being flush with the main smoothing knife (314), the bottom of the wheel frame (332) being connected to (366), and the bottom of the wheel frame (332) being connected to a shielding plate (335) located between the pulling block (336) and the pressure wheel (334).

9. The automatic wall-smoothing robot according to claim 8, characterized in that: Both sides of the material receiving box (311) are connected to limiting rods (337), the outer part of the limiting rods (337) is movably sleeved with an auxiliary trowel (338) that can be flush with the main trowel (314), the top of the auxiliary trowel (338) is connected to a movable frame (339), and the inner part of the movable frame (339) is fixedly sleeved with a circular shaft (333) that moves inside the pulling block (336).

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