Building putty wall scraping robot based on multi-sensor fusion and control method thereof

Abstract

The invention relates to the technical field of building equipment, and particularly discloses a building putty wall scraping robot based on multi-sensor fusion and a control method thereof.The building putty wall scraping robot comprises a machine body, a protective cover, a plurality of sensors, a first mounting frame, a first lifting seat, a first lead screw, a first driving part, a box body, a scraping plate, two first guiding parts, a moving assembly, a lifting assembly and a control assembly; the first mounting frame is fixedly connected with the lifting assembly, the first lead screw penetrates through the first lifting base, the first driving part is used for driving the first lead screw to rotate, the moving assembly is arranged in the box body, the scraper is fixedly connected with the moving assembly, the control assembly is arranged on the upper surface of the machine body, and the sensors are used for sensing the working environment in an all-around mode. The putty wall scraping device is used for replacing manual putty wall scraping, the working efficiency is improved, dependence on manpower is reduced, meanwhile, the thickness and uniformity of putty can be accurately controlled, and it is guaranteed that the wall surface is flat and smooth.

Description

Technical Field

[0001] The present invention relates to the technical field of construction equipment, and in particular to a construction putty wall scraping robot based on multi-sensor fusion and a control method thereof. Background Art

[0002] With the acceleration of urbanization, the construction industry has an increasing demand for efficient and high-quality construction, especially in the fields of new house construction and old house renovation. Wall treatment is an important link. Building putty wall scraping is a key process in wall treatment. The main purpose is to level the wall surface and lay a good foundation for subsequent decoration work. Traditional putty wall scraping work is usually done manually.

[0003] However, in the above-mentioned prior art, the efficiency of workers scraping putty on the wall is low, the labor intensity of the workers is high, and it is difficult to accurately control the thickness and uniformity of the putty, and it is impossible to ensure that the wall surface is flat and smooth. Summary of the invention

[0004] The purpose of the present invention is to provide a building putty wall scraping robot based on multi-sensor fusion and a control method thereof, aiming to solve the technical problems in the prior art that the efficiency of putty wall scraping by workers is low, the labor intensity of workers is high, it is difficult to accurately control the thickness and uniformity of the putty, and it is impossible to ensure a smooth wall surface.

[0005] To achieve the above-mentioned purpose, the present invention adopts a building putty wall scraping robot based on multi-sensor fusion, including a body, a protective cover, multiple sensors, a first mounting frame, a first lifting seat, a first screw rod, a first driving member, a box body, a scraper, two groups of first guide members, a moving component, a lifting component and a control component. The protective cover is arranged on the upper surface of the body, and the lifting component is arranged on the inner side of the protective cover. The first mounting frame is fixedly connected to the lifting component, the first screw rod passes through the first lifting seat and is threaded with the first lifting seat. The two ends of the first screw rod are respectively rotatably connected to the first mounting frame, the first driving member is used to drive the first screw rod to rotate, the box body is fixedly connected to one side of the first lifting seat, the moving component is arranged inside the box body, the scraper is fixedly connected to the moving component, the two groups of the first guide members are symmetrically arranged on one side of the first lifting seat, the control component is arranged on the upper surface of the body, and the multiple sensors are used to perform all-round perception of the working environment.

[0006] Among them, the moving component includes a cylinder, a moving plate and two groups of sliding parts, the two groups of sliding parts are fixedly connected to the scraper respectively, the two ends of the moving plate are fixedly connected to the two groups of sliding parts respectively, the cylinder is arranged inside the box body, and the output end of the cylinder is fixedly connected to the moving plate.

[0007] Wherein, each group of the first guide members includes a first slide rail and a first slide sleeve, the first slide rail is fixedly connected to the first mounting frame, one side of the first slide sleeve is fixedly connected to the first lifting seat, and the other side of the first slide sleeve is slidably connected to the first slide rail.

[0008] Among them, the lifting assembly includes a second mounting frame, a second lifting seat, a second screw rod, a second driving member and two groups of second guide members, the second mounting frame is fixedly connected to the protective cover, the second lifting seat is fixedly connected to the first mounting frame, the second screw rod passes through the second lifting seat and is threadedly matched with the second lifting seat, both ends of the second screw rod are respectively rotatably connected to the second mounting frame, the second driving member is used to drive the second screw rod to rotate, and the two groups of the second guide members are symmetrically arranged on one side of the second lifting seat.

[0009] Each group of the second guide members includes a second slide rail and a second slide sleeve, the second slide rail is fixedly connected to the second mounting frame, one side of the second slide sleeve is fixedly connected to the second lifting seat, and the other side of the second slide sleeve is slidably connected to the second slide rail.

[0010] Wherein, the control component includes a control panel and an operation screen, the control panel is arranged on the upper surface of the body, and the operation screen is arranged on the upper surface of the control panel.

[0011] Wherein, the control component also includes a start button, a pause button and an emergency stop button, and the start button, the pause button and the emergency stop button are all arranged on the upper surface of the control panel.

[0012] Among them, the building putty wall scraping robot based on multi-sensor fusion also includes a plurality of handles, and the plurality of handles are fixedly connected to the body and are respectively located on the upper surface of the body.

[0013] The present invention also provides a control method for a building putty wall scraping robot based on multi-sensor fusion, which is applied to the building putty wall scraping robot based on multi-sensor fusion as described above, and comprises the following steps:

[0014] Firstly, a plurality of sensors are used to perceive the working environment in all directions;

[0015] Then, the scraper is driven to move horizontally by the moving assembly so that the scraper approaches the wall surface;

[0016] Then, the prepared putty is placed on the scraper;

[0017] Then, the scraper is driven to move upward by the first lifting seat, so as to scrape the putty onto the wall surface;

[0018] When the first lifting seat reaches the highest point, the lifting assembly drives the first mounting frame to move upward, so that the scraper continues to move upward until it reaches the highest point of the wall.

[0019] The present invention discloses a building putty wall scraping robot based on multi-sensor fusion. When it is used, a plurality of sensors are used to perceive the working environment in all directions. Then, the moving assembly drives the scraper to move so that the scraper moves toward the wall. Then, putty is placed on the scraper. Then, the first driving member drives the first screw rod to rotate so that the first lifting seat moves upward. The first lifting seat drives the box body to move upward, thereby driving the scraper to move upward, so that the putty is scraped on the wall. When the first lifting seat rises to the highest point, the lifting assembly drives the first mounting frame to move upward. The first mounting frame drives the first lifting seat to move upward. The first lifting seat drives the scraper to continue to move upward, so as to continue to scrape putty on the wall until it reaches the highest point of the wall. This method can effectively solve the problems in the prior art that workers have low efficiency in scraping putty on the wall, the workers have high labor intensity, it is difficult to accurately control the thickness and uniformity of the putty, and it is impossible to ensure that the wall is flat and smooth. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a structural schematic diagram of the present invention.

[0022] Figure 2 It is a perspective view of the present invention.

[0023] Figure 3 It is a front view of the present invention.

[0024] Figure 4 It is a partial structural schematic diagram of the present invention.

[0025] Figure 5 It is a partial structural schematic diagram of the present invention.

[0026] Figure 6 It is a schematic diagram of the structure of the mobile assembly of the present invention.

[0027] Figure 7 It is a flow chart of the steps of the control method of the building putty wall scraping robot based on multi-sensor fusion of the present invention.

[0028] 101-machine body, 102-protective cover, 103-sensor, 104-first mounting frame, 105-first lifting seat, 106-first screw rod, 107-first driving member, 108-box body, 109-scraper, 110-cylinder, 111-moving plate, 112-sliding member, 113-first slide rail, 114-first slide sleeve, 115-second mounting frame, 116-second lifting seat, 117-second screw rod, 118-second driving member, 119-second slide rail, 120-second slide sleeve, 121-control panel, 122-operation screen, 123-start button, 124-pause button, 125-emergency stop button, 126-handle. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0030] See also Figure 1 to Figure 6 ,in Figure 1 It is a structural schematic diagram of the present invention, Figure 2 is a stereogram of the present invention, Figure 3 is a front view of the present invention, Figure 4 It is a partial structural schematic diagram of the present invention, Figure 5 It is a partial structural schematic diagram of the present invention, Figure 6 It is a schematic diagram of the structure of the mobile assembly of the present invention.

[0031] The present invention provides a building putty wall scraping robot based on multi-sensor fusion, including a body 101, a protective cover 102, a plurality of sensors 103, a first mounting frame 104, a first lifting seat 105, a first screw rod 106, a first driving member 107, a box body 108, a scraper 109, two groups of first guide members, a moving component, a lifting component and a control component, wherein the moving component includes a cylinder 110, a moving plate 111 and two groups of sliding members 112, each group of the first guide members includes a first slide rail 113 and a first slide sleeve 114, the lifting component includes a second mounting frame 115, a second lifting seat 1 ... the moving component includes a cylinder 110, a moving plate 111 and two groups of sliding members 112, each group of the first guide members includes a first slide rail 113 and a first slide sleeve 114, the lifting component includes a second mounting frame 115, a second lifting seat 116, a first driving member 107, a box body 108, a scraper 109, two groups of first guide members, a moving component, a lifting component and a control component, the moving component includes a cylinder 110, a moving plate 111 and two groups of sliding members 112 Two screw rods 117, a second driving member 118 and two groups of second guide members, each group of the second guide members includes a second slide rail 119 and a second slide sleeve 120, the control component includes a control console 121 and an operation screen 122, the control component also includes a start button 123, a pause button 124 and an emergency stop button 125, the building putty wall scraping robot based on multi-sensor fusion also includes multiple handles 126, the above-mentioned solution solves the problem in the prior art that the efficiency of workers scraping putty on the wall is low, the labor intensity of workers is high, it is difficult to accurately control the thickness and uniformity of the putty, and it is impossible to ensure that the wall surface is flat and smooth.

[0032] According to the present specific embodiment, the protective cover 102 is arranged on the upper surface of the machine body 101, the lifting assembly is arranged on the inner side of the protective cover 102, the first mounting frame 104 is fixedly connected to the lifting assembly, the first screw rod 106 passes through the first lifting seat 105 and is threadedly matched with the first lifting seat 105, the two ends of the first screw rod 106 are respectively rotatably connected to the first mounting frame 104, the first driving member 107 is used to drive the first screw rod 106 to rotate, the box body 108 is fixedly connected to one side of the first lifting seat 105, the moving assembly is arranged inside the box body 108, the scraper 109 is fixedly connected to the moving assembly, two groups of the first guide members are symmetrically arranged on one side of the first lifting seat 105, the control assembly is arranged on the upper surface of the machine body 101, and the plurality of sensors 103 are used to perform all-round sensing of the working environment. It is known that when it is used specifically, the multiple sensors 103 are used to sense the working environment in all directions, and then the scraper 109 is driven to move by the moving component, so that the scraper 109 moves toward the wall, and then the putty is placed on the scraper 109, and then the first driving member 107 drives the first screw rod 106 to rotate, so that the first lifting seat 105 moves upward, and the first lifting seat 105 drives the box body 108 to move upward, thereby driving the scraper 109 to move upward, so that the putty is scraped on the wall. When the first lifting seat 105 rises to the highest point, the first mounting frame 104 is driven to move upward by the lifting assembly, and the first mounting frame 104 drives the first lifting seat 105 to move upward, and the first lifting seat 105 drives the scraper 109 to continue to move upward, so as to continue to scrape the putty on the wall until it reaches the highest point of the wall.

[0033] Among them, the two groups of sliding members 112 are respectively fixedly connected to the scraper 109, and the two ends of the movable plate 111 are respectively fixedly connected to the two groups of sliding members 112. The cylinder 110 is arranged inside the box body 108, and the output end of the cylinder 110 is fixedly connected to the movable plate 111. When it is used specifically, the cylinder 110 is started, and the output end of the cylinder 110 drives the movable plate 111 to move, and the movable plate 111 drives the two groups of sliding members 112 to slide, and the two groups of sliding members 112 drive the scraper 109 to move laterally.

[0034] Secondly, the first slide rail 113 is fixedly connected to the first mounting frame 104, one side of the first slide sleeve 114 is fixedly connected to the first lifting seat 105, and the other side of the first slide sleeve 114 is slidably connected to the first slide rail 113. When in use, the first lifting seat 105 moves to drive the first slide sleeve 114 to slide on the first slide rail 113, thereby guiding the first lifting seat 105.

[0035] At the same time, the second mounting frame 115 is fixedly connected to the protective cover 102, the second lifting seat 116 is fixedly connected to the first mounting frame 104, the second screw rod 117 passes through the second lifting seat 116 and is threadedly matched with the second lifting seat 116, the two ends of the second screw rod 117 are respectively rotatably connected to the second mounting frame 115, the second driving member 118 is used to drive the second screw rod 117 to rotate, and the two groups of the second guide members are symmetrically arranged on one side of the second lifting seat 116. When in use, the second driving member 118 drives the second screw rod 117 to rotate, so that the second lifting seat 116 moves upward, and the second lifting seat 116 drives the first mounting frame 104 to move upward.

[0036] In addition, the second slide rail 119 is fixedly connected to the second mounting frame 115, one side of the second slide sleeve 120 is fixedly connected to the second lifting seat 116, and the other side of the second slide sleeve 120 is slidably connected to the second slide rail 119. When in use, the second lifting seat 116 moves to drive the second slide sleeve 120 to slide on the second slide rail 119, thereby guiding the second lifting seat 116.

[0037] The control panel 121 is disposed on the upper surface of the machine body 101 , and the operation screen 122 is disposed on the upper surface of the control panel 121 . When in use, the lifting height and moving speed of the scraper 109 can be set through the operation screen 122 .

[0038] Secondly, the start button 123, the pause button 124 and the emergency stop button 125 are all arranged on the upper surface of the control panel 121. When in use, the robot is started by the start button 123, the robot operation can be paused midway by the pause button 124, and the robot can be stopped and powered off by the emergency stop button 125.

[0039] At the same time, the plurality of handles 126 are fixedly connected to the body 101 and are respectively located on the upper surface of the body 101. When in actual use, the plurality of handles 126 are provided to facilitate loading and unloading of the body 101.

[0040] When using a building putty wall scraping robot based on multi-sensor fusion according to the present embodiment, the multiple sensors 103 are used to sense the working environment in all directions, and then the cylinder 110 is started, and the output end of the cylinder 110 drives the moving plate 111 to move, and the moving plate 111 drives the two groups of sliding members 112 to slide, and the two groups of sliding members 112 drive the scraper 109 to move horizontally, so that the scraper 109 approaches the wall, and then putty is placed on the scraper 109, and then the first driving member 107 drives the first screw rod 106 to rotate, so that the first lifting seat 105 moves upward, and the first lifting seat 105 drives the box body 108 to move upward, thereby driving the The scraper 109 moves upward to apply putty on the wall. When the first lifting seat 105 rises to the highest point, the second driving member 118 drives the second screw rod 117 to rotate, so that the second lifting seat 116 moves upward, and the second lifting seat 116 drives the first mounting frame 104 to move upward. The first mounting frame 104 drives the first lifting seat 105 to move upward, and the first lifting seat 105 drives the scraper 109 to continue to move upward, thereby continuing to apply putty on the wall until it reaches the highest point of the wall. This method can effectively solve the problems in the prior art that workers have low efficiency in scraping putty on the wall, the workers have high labor intensity, it is difficult to accurately control the thickness and uniformity of the putty, and it is impossible to ensure that the wall is flat and smooth.

[0041] See also Figure 7 , Figure 7 It is a flow chart of the steps of the control method of the building putty wall scraping robot based on multi-sensor fusion of the present invention.

[0042] The present invention also provides a control method for a building putty wall scraping robot based on multi-sensor fusion, which is applied to the building putty wall scraping robot based on multi-sensor fusion as described above, and comprises the following steps:

[0043] S1: First, a plurality of sensors 103 are used to perform all-round perception of the working environment;

[0044] S2: Then the scraper 109 is driven to move horizontally by the moving assembly so that the scraper 109 approaches the wall surface;

[0045] S3: Then, the prepared putty is placed on the scraper 109;

[0046] S4: Then, the scraper 109 is driven by the first lifting seat 105 to move upward, so as to scrape the putty on the wall surface;

[0047] S5: When the first lifting seat 105 reaches the highest point, the lifting assembly drives the first mounting frame 104 to move upward, so that the scraper 109 continues to move upward until it reaches the highest point of the wall.

[0048] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A building putty wall scraping robot based on multi-sensor fusion, characterized in that: The machine body comprises a machine body, a protective cover, a plurality of sensors, a first mounting frame, a first lifting seat, a first screw rod, a first driving member, a box body, a scraper, two groups of first guide members, a moving assembly, a lifting assembly and a control assembly. The protective cover is arranged on the upper surface of the machine body, the lifting assembly is arranged on the inner side of the protective cover, the first mounting frame is fixedly connected to the lifting assembly, the first screw rod passes through the first lifting seat and is threadedly matched with the first lifting seat, the two ends of the first screw rod are respectively rotatably connected to the first mounting frame, the first driving member is used to drive the first screw rod to rotate, the box body is fixedly connected to one side of the first lifting seat, the moving assembly is arranged inside the box body, the scraper is fixedly connected to the moving assembly, the two groups of the first guide members are symmetrically arranged on one side of the first lifting seat, the control assembly is arranged on the upper surface of the machine body, and the plurality of sensors are used to perform all-round perception of the working environment.

2. The building putty wall scraping robot based on multi-sensor fusion as claimed in claim 1, characterized in that: The moving assembly includes a cylinder, a moving plate and two groups of sliding members, the two groups of sliding members are fixedly connected to the scraper respectively, the two ends of the moving plate are fixedly connected to the two groups of sliding members respectively, the cylinder is arranged inside the box body, and the output end of the cylinder is fixedly connected to the moving plate.

3. The building putty wall scraping robot based on multi-sensor fusion as claimed in claim 2, characterized in that: Each group of the first guide members includes a first slide rail and a first slide sleeve, the first slide rail is fixedly connected to the first mounting frame, one side of the first slide sleeve is fixedly connected to the first lifting seat, and the other side of the first slide sleeve is slidably connected to the first slide rail.

4. The building putty wall scraping robot based on multi-sensor fusion as claimed in claim 3, characterized in that: The lifting assembly includes a second mounting frame, a second lifting seat, a second screw rod, a second driving member and two groups of second guide members, the second mounting frame is fixedly connected to the protective cover, the second lifting seat is fixedly connected to the first mounting frame, the second screw rod passes through the second lifting seat and is threadedly matched with the second lifting seat, both ends of the second screw rod are respectively rotatably connected to the second mounting frame, the second driving member is used to drive the second screw rod to rotate, and the two groups of the second guide members are symmetrically arranged on one side of the second lifting seat.

5. The building putty wall scraping robot based on multi-sensor fusion as claimed in claim 4, characterized in that: Each group of the second guide members includes a second slide rail and a second slide sleeve, the second slide rail is fixedly connected to the second mounting frame, one side of the second slide sleeve is fixedly connected to the second lifting seat, and the other side of the second slide sleeve is slidably connected to the second slide rail.

6. The building putty wall scraping robot based on multi-sensor fusion as claimed in claim 5, characterized in that: The control component comprises a control panel and an operation screen. The control panel is arranged on the upper surface of the machine body, and the operation screen is arranged on the upper surface of the control panel.

7. The building putty wall scraping robot based on multi-sensor fusion as claimed in claim 6, characterized in that: The control component also includes a start button, a pause button and an emergency stop button, and the start button, the pause button and the emergency stop button are all arranged on the upper surface of the control console.

8. The building putty wall scraping robot based on multi-sensor fusion as claimed in claim 7, characterized in that: The building putty wall scraping robot based on multi-sensor fusion also includes a plurality of handles, which are all fixedly connected to the body and are respectively located on the upper surface of the body.

9. A control method for a building putty wall scraping robot based on multi-sensor fusion, applied to the building putty wall scraping robot based on multi-sensor fusion as claimed in claim 8, characterized in that: The steps include: Firstly, a plurality of sensors are used to perceive the working environment in all directions; Then, the scraper is driven to move horizontally by the moving assembly so that the scraper approaches the wall surface; Then, the prepared putty is placed on the scraper; Then, the scraper is driven to move upward by the first lifting seat, so as to scrape the putty onto the wall surface; When the first lifting seat reaches the highest point, the lifting assembly drives the first mounting frame to move upward, so that the scraper continues to move upward until it reaches the highest point of the wall.

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