Full-automatic intelligent plastering robot and plastering method thereof

Abstract

The invention discloses a full-automatic intelligent plastering robot and a construction method thereof, and belongs to the technical field of building construction.The full-automatic intelligent plastering robot comprises two supports and a transmission assembly, the two supports are oppositely arranged in a spaced mode, the transmission assembly is arranged between the two supports, and a plastering mechanism is arranged on the transmission assembly; a feeding assembly is arranged on the plastering mechanism, and the feeding assembly is connected with a feeding device. According to the full-automatic intelligent plastering robot and the plastering method thereof, the problems that an existing plastering robot cannot adjust the plastering thickness and angle and the like can be effectively solved, the stability of plastering operation and uniform supply of plastering materials are ensured, and the construction quality is effectively ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of wall construction equipment, and in particular relates to a fully automatic intelligent plastering robot and a plastering method thereof. Background Art

[0002] Wall plastering refers to applying cement mortar, mixed mortar, lime mortar and other materials on the wall to achieve moisture-proof, weather-proof, heat-insulating and other functions, and protect the building walls from erosion by natural factors such as wind, rain and snow. Wall plastering is an important work after the completion of building structure construction. At present, wall plastering is usually done manually, which is inefficient and the construction quality is affected by the experience of the operators and cannot be guaranteed. There are also constructions carried out by plastering robots, such as the patent number CN115075519A discloses a fully automatic intelligent plastering robot and its plastering method. This plastering robot includes two walking parts, which are used to drive the entire device to move on the plane and stairs; a feeding part, which is installed on one walking part, is used to transport the slurry used for plastering to the plastering part; a rotating part, which is installed on the other walking part; a pretreatment part, which is installed in the middle position of the rotating part, is used to control the temperature and humidity of the plastering environment; and a plastering part, which is symmetrically installed on both sides of the pretreatment part to smooth the transported mortar on the wall surface and further polish the wall surface after plastering. Although the above patent realizes the intelligent integration of feeding, transportation, pretreatment, plastering, and smoothing, it is impossible to adjust the plastering thickness and angle, and the material is not evenly supplied, which greatly affects the quality of plastering. Summary of the invention

[0003] In view of the problems existing in the above-mentioned background technology, the present invention provides a fully automatic intelligent plastering robot and a plastering method thereof, which effectively solve the problems that the existing plastering robots cannot adjust the plastering thickness and angle.

[0004] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0005] The present invention discloses a fully automatic intelligent plastering robot, which comprises two brackets arranged oppositely and at intervals and a transmission assembly arranged between the two brackets, wherein a plastering mechanism is arranged on the transmission assembly, a feeding assembly is arranged on the plastering mechanism, and the feeding assembly is connected to a feeding device.

[0006] Furthermore, the transmission assembly includes a double-helical screw, a positioning rod, a slider 1, a slider 2 and a support plate; the double-helical screw is movably arranged between the brackets, one end of which is rotatably connected to one of the brackets, and the other end passes through the other bracket and is connected to a rotating motor 1, and the rotating motor 1 is fixedly connected to the outside of the bracket; the positioning rod is parallel to the double-helical screw, and its two ends are respectively fixedly connected to the two brackets; the slider 1 is threadedly connected to the double-helical screw; the slider 2 is slidably arranged on the outside of the positioning rod; the support plate is fixedly connected to the same side of the slider 1 and the slider 2; the plastering mechanism is fixedly arranged on the support plate.

[0007] Furthermore, there are two positioning rods, which are symmetrically arranged on the upper and lower sides of the double-helix screw.

[0008] Furthermore, the feeding assembly includes a support tube, a slider three, an adjusting rod one and a pressing plate; the support tube is fixedly arranged on the support plate, a discharge port is provided on its side wall surface, and the adjusting rod one is threadedly connected to its top; a lower end of the adjusting rod is connected to the pressing plate, and an upper end of the adjusting rod is connected to a rotating motor two, and the rotating motor two is fixed to the upper end of the support tube; the slider three is slidably arranged on the inner side of the support tube, and is in the shape of a circular tube with a closed upper end and an open lower end, and its bottom end is connected to the feeding device through a feeding tube, and a through hole used in conjunction with the discharge port is provided at a position on its side wall surface corresponding to the discharge port, and a spring one is arranged between its top end and the pressing plate.

[0009] Furthermore, the plastering mechanism includes a guide plate, a trowel plate, a sleeve, a pressing rod and two adjusting rods; the guide plate is fixedly connected to the outer wall of the support tube on one side close to the discharge port; there are two sleeves, which are symmetrically passed through and fixed to the upper and lower parts of the support plate, the pressing rod is limitedly slidably arranged on one end of the inner side of the sleeve, the second adjusting rod is threadedly connected to the other end of the sleeve, a spring is provided between the pressing rod and the second adjusting rod, and the trowel plate is fixedly connected to the other ends of the two pressing rods.

[0010] Furthermore, a support column is inserted into the lower end of the bracket, and the bracket and the support column are connected by positioning bolts.

[0011] Furthermore, the trowel plate is arc-shaped, and the trowel plate is matched with the guide plate.

[0012] A pressure-sensitive sensor 1 is fixedly connected between the slider 3 and the spring 1, a pressure-sensitive sensor 2 is fixedly connected between the pressing rod and the spring 2, a microprocessor is provided on the outside of the bracket, the pressure-sensitive sensor 1, the pressure-sensitive sensor 2, the rotating motor 1, the rotating motor 2 and the feeding device are respectively connected to the microprocessor through lines, and the microprocessor is connected to an HMI human-computer interaction device through lines.

[0013] The present invention provides a plastering method of the fully automatic intelligent plastering robot in the above technical solution, which is specifically as follows:

[0014] S1. Preparation;

[0015] The fully automatic intelligent plastering robot is placed on the construction site and connected to a power source, so that the rotating motor 1, the rotating motor 2, the pressure-sensitive sensor 1, the pressure-sensitive sensor 2, the feeding device, the HMI human-machine interaction device and the microprocessor can work normally;

[0016] A suitable amount of plastering material is loaded into the storage bin of the feeding device, and plastering parameters are set to the microprocessor through the HMI human-machine interaction device;

[0017] S2, positioning and calibration;

[0018] The height of the plastering mechanism and the distance and angle from the wall are adjusted by using the bracket and the support column;

[0019] Calibrate the plastering mechanism to ensure that the initial state of the plastering mechanism is correct;

[0020] S3, plastering process;

[0021] The microprocessor starts each component so that the plastering mechanism starts to work, the plastering material is fed into the feeding assembly through the feeding device, and the plastering material is evenly fed to the plastering plate through the plastering mechanism;

[0022] Move on the wall according to the preset path and speed to carry out plastering operations. At the same time, two pressure-sensitive sensors are used for real-time monitoring, and timely adjustments are made if there is any deviation.

[0023] For larger walls, segmented plastering can be used to ensure uniform plastering quality across the entire wall;

[0024] S4, completion and cleanup;

[0025] When the plastering work is completed, each component is controlled to stop working through the microprocessor;

[0026] Clean the plastering mechanism and prepare it for the next use.

[0027] Compared with the prior art, the fully automatic intelligent plastering robot and the plastering method thereof described in the present invention have the following beneficial effects:

[0028] (1) The present invention ensures that the plastering thickness is uniform while ensuring the stability of the plastering operation by means of the double-helical screw, the positioning rod, the slider 1, the slider 2 and the support plate being arranged in a linked manner.

[0029] (2) The present invention uses a microprocessor to link a pressure-sensitive sensor 1 and a rotating motor 2 to adjust the elastic deformation of the spring 1, thereby controlling the connection size between the through hole on the slider 3 and the discharge port, thereby ensuring a uniform supply of plastering materials during the automatic material feeding operation.

[0030] (3) The present invention adjusts the elastic deformation of the second spring by adjusting the outer periphery of the second adjusting rod and the thread of the sleeve, thereby adjusting the pressure of the pressing rod on the trowel plate, thereby adjusting the thickness and angle of the plaster. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is an overall schematic diagram of a fully automatic intelligent plastering robot according to the present invention;

[0032] Figure 2 for Figure 1 Cross-sectional view of Figure 1 ;

[0033] Figure 3 for Figure 1 Cross-sectional view of Figure 2 ;

[0034] Figure 4 It is a schematic diagram of the transmission assembly, the plastering mechanism and the feeding assembly of the present invention from another perspective;

[0035] Figure 5 for Figure 3 A magnified view of part A;

[0036] Figure 6 for Figure 4 A magnified view of part B;

[0037] Figure 7 for Figure 4 Enlarged view of part C;

[0038] Figure 8 for Figure 4 An enlarged schematic diagram of the connection between the middle transmission assembly, the plastering mechanism and the feeding assembly;

[0039] Fig. 9 It is a control schematic diagram of the present invention;

[0040] In the figure: 1. bracket; 2. transmission component; 3. plastering mechanism; 4. feeding component; 5. double-helix screw; 6. positioning rod; 7. slider 1; 8. slider 2; 9. support plate; 10. rotating motor 1; 11. support tube; 12. slider 3; 13. adjustment rod 1; 14. pressing plate; 15. discharge port; 16. through hole; 17. rotating motor 2; 18. spring 1; 19. guide plate; 20. plastering plate; 21. sleeve; 22. pressing rod; 23. adjustment rod 2; 24. spring 2; 25. feeding tube; 26. pressure sensor 1; 27. pressure sensor 2; 28. support column; 29. ​​microprocessor; 30. HMI human-machine interface device; 31. feeding device. DETAILED DESCRIPTION

[0041] 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 in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be the usual meanings understood by people with general skills in the field to which the present disclosure belongs. "Up", "down", "left", "right", "front", "back" and the like used in the patent application specification and claims of the present disclosure are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship also changes accordingly. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The parts not described in detail in the present invention are all known technologies of technicians in the field of this technology.

[0042] Embodiment 1:

[0043] Please refer to Figure 1-8 The present invention discloses a fully automatic intelligent plastering robot, which comprises two brackets 1 arranged at an interval and a transmission assembly 2 arranged between the two brackets 1, a plastering mechanism 3 is arranged on the transmission assembly 2, a feeding assembly 4 is arranged on the plastering mechanism 3, and the feeding assembly 4 is connected to a feeding device 31. In this embodiment, the transmission assembly 2 is used to ensure the quality of plastering, the plastering mechanism 3 is used to adjust the thickness and angle of plastering, the feeding assembly 4 is used to ensure uniform supply of materials, and the feeding device 31 is used to provide plastering materials to the feeding assembly 4.

[0044] To facilitate the adjustment of the height of the transmission assembly 1 and the plastering mechanism 3 and the feeding assembly 4 thereon, as a preferred embodiment, a support column 28 is inserted at the lower end of the bracket 1, and the bracket 1 and the support column 28 are connected by positioning bolts. The lower end of the support column can also be threadedly connected to an adjusting bolt with a gasket. The above structure can be used to adjust the height of the plastering operation to adapt to different construction sites.

[0045] In this embodiment, the transmission assembly 2 includes a double helical screw 5, a positioning rod 6, a slider 1 7, a slider 2 8 and a support plate 9; the double helical screw 5 is movably arranged between the brackets 1, one end of which is rotatably connected to one of the brackets 1, and the other end passes through the other bracket 1 and is connected to a rotating motor 10, which is fixedly connected to the outside of the bracket 1; preferably, there are two positioning rods 6, which are symmetrically arranged on the upper and lower sides of the double helical screw 5, parallel to the double helical screw 5, and the two ends of which are respectively fixedly connected to the two brackets 1; the slider 1 7 is threadedly sleeved and connected to the double helical screw 5; the slider 2 8 is slidably arranged on the outside of the positioning rod 6; the support plate 9 is fixedly connected to the same side of the slider 1 7 and the slider 2 8; and the plastering mechanism 3 is fixedly arranged on the support plate 9. In this embodiment, the double helical screw 5 is driven to rotate forward or reversely by the rotating motor 10, so as to drive the slider 1 7 to move left or right, and then drive the support plate 9 and the slider 2 8 to move left or right, so as to realize the plastering operation on the wall, and ensure the stability of the plastering operation and the uniform thickness of the plastering.

[0046] In this embodiment, the feeding assembly 4 includes a support tube 11, a slider three 12, an adjusting rod 13 and a pressing plate 14; the support tube 11 is fixedly arranged on the support plate 9, a discharge port 15 is opened on its side wall, and an adjusting rod 13 is threadedly connected to its top; the lower end of the adjusting rod 13 is connected to the pressing plate 14, and the upper end of the adjusting rod 13 is connected to the rotating motor 2 17, and the rotating motor 2 17 is fixed to the upper end of the support tube 11; the slider three 12 is slidably arranged on the inner side of the support tube 11, and is in the shape of a circular tube with a closed upper end and an open lower end, and its bottom end is connected to the feeding device 31 through the feeding tube 25, and a through hole 16 used in conjunction with the discharge port 15 is opened at a position on its side wall corresponding to the discharge port 15, and a spring 18 is arranged between its top and the pressing plate 14. In this embodiment, the rotating motor 2 17 can drive the adjusting rod 13 to move forward or backward, thereby driving the pressing plate 14 forward or backward, and then realizing the forward or backward movement of the slider 3 12, so as to adjust the outlet size of the plastering material at the connection point between the through hole 16 on the slider 3 12 and the discharge port 15 of the support tube 11, thereby realizing the automatic material feeding operation and ensuring uniform material supply.

[0047] In this embodiment, the plastering mechanism 3 includes a guide plate 19, a trowel plate 20, a sleeve 21, a pressing rod 22 and an adjusting rod 23; the guide plate 19 is fixed to the outer wall of the support tube 11 on one side close to the discharge port 15; there are two sleeves 21, which are symmetrically penetrated and fixed to the upper and lower parts of the support plate 9, the pressing rod 22 is limitedly slidably arranged at one end of the inner side of the sleeve 21, the adjusting rod 23 is threadedly connected to the other end of the sleeve 21, a spring 24 is provided between the pressing rod 22 and the adjusting rod 23, and the trowel plate 20 is fixed to the other end of the two pressing rods 22. Furthermore, the trowel plate 20 is arc-shaped, and the trowel plate 20 is adapted to the guide plate 19. In this embodiment, the plastering material is smoothed by the trowel plate 20, and the compression amount of the spring 24 can be adjusted by the adjusting rod 23, thereby adjusting the force of the pressing rod 22 during the smoothing operation, so as to facilitate the control of the plastering thickness and the plastering quality.

[0048] In order to facilitate automatic control, as a preferred embodiment, a pressure-sensitive sensor 1 26 is fixedly connected between the slider 3 12 and the spring 1 18, a pressure-sensitive sensor 2 27 is fixedly connected between the pressing rod 22 and the spring 2 24, a microprocessor 29 is provided on the outside of the bracket 1, and the pressure-sensitive sensor 1 26, the pressure-sensitive sensor 2 27, the rotating motor 10, the rotating motor 2 17 and the feeding device 31 are respectively connected to the microprocessor 29 through lines, and the microprocessor 29 is connected to the HMI human-machine interaction device 30 through lines. In this embodiment, the pressure values ​​at the feeding mechanism 4 and the plastering component 3 are respectively collected by the pressure-sensitive sensor 1 26 and the pressure-sensitive sensor 2 27 and transmitted to the microprocessor 29, and the plastering parameters are input to the microprocessor 29 through the HMI human-machine interaction device 30, so as to facilitate the control of the rotating motor 10, the rotating motor 2 17 and the feeding device 31 by the microprocessor 29, control the size of the plastering material outlet at the feeding mechanism 4, the pressure value at the spring 2, etc., and perform the plastering operation.

[0049] Embodiment 2:

[0050] A plastering method of a fully automatic intelligent plastering robot in Example 1 is as follows:

[0051] S1. Preparation;

[0052] The fully automatic intelligent plastering robot is placed on the construction site and connected to a power source, so that the rotary motor 10, the rotary motor 2 17, the pressure-sensitive sensor 1 26, the pressure-sensitive sensor 2 27, the feeding device 31, the HMI human-machine interaction device 30 and the microprocessor 29 can work normally;

[0053] A suitable amount of plastering material is loaded into the storage bin of the feeding device 31, and plastering parameters such as plastering thickness, speed, etc. are set to the microprocessor 29 through the HMI human-machine interaction device 30;

[0054] S2, positioning and calibration;

[0055] The height of the plastering mechanism 3 and the distance and angle from the wall are adjusted by using the bracket 1 and the support column 28;

[0056] Calibrate the plastering mechanism 3 to ensure that the initial state of the plastering mechanism 3 is correct;

[0057] S3, plastering process;

[0058] The microprocessor 29 starts each component so that the plastering mechanism 3 starts to work, and the plastering material is fed into the feeding assembly 4 through the feeding device 31 and evenly transported to the trowel plate 20 through the plastering mechanism 3;

[0059] Move on the wall according to the preset path and speed to carry out plastering operations. At the same time, two pressure-sensitive sensors are used for real-time monitoring, and timely adjustments are made if there is any deviation.

[0060] For larger walls, the plastering can be done in sections to ensure uniform plastering quality across the entire wall;

[0061] S4, completion and cleanup;

[0062] When the plastering work is completed, the microprocessor 29 controls each component to stop working;

[0063] Clean the plastering mechanism 3 and prepare it for the next use.

Claims

1. A fully automatic intelligent plastering robot, characterized in that: The invention comprises two brackets (1) arranged in opposition and at a distance, and a transmission assembly (2) arranged between the two brackets (1); a plastering mechanism (3) is arranged on the transmission assembly (2); a feeding assembly (4) is arranged on the plastering mechanism (3); and the feeding assembly (4) is connected to a feeding device (31).

2. A fully automatic intelligent plastering robot according to claim 1, characterized in that: The transmission assembly (2) comprises a double-helical screw (5), a positioning rod (6), a slider 1 (7), a slider 2 (8) and a support plate (9); the double-helical screw (5) is movably arranged between the brackets (1), one end of which is rotatably connected to one of the brackets (1), and the other end passes through the other bracket (1) and is connected to a rotating motor 1 (10), and the rotating motor 1 (10) is fixedly connected to the outside of the bracket (1); the positioning rod (6) is parallel to the double-helical screw (5), and its two ends are respectively fixedly connected to the two brackets (1); the slider 1 (7) is threadedly sleeved and connected to the double-helical screw (5); the slider 2 (8) is slidably arranged on the outside of the positioning rod (6); the support plate (9) is fixedly connected to the slider 1 (7) and the slider 2 (8) on the same side; the plastering mechanism (3) is fixedly arranged on the support plate (9).

3. A fully automatic intelligent plastering robot according to claim 1, characterized in that: There are two positioning rods (6), which are symmetrically arranged on the upper and lower sides of the double-helical screw (5).

4. A fully automatic intelligent plastering robot according to any one of claims 1 to 3, characterized in that: The feeding assembly (4) comprises a support tube (11), a slider (3) (12), an adjustment rod (13) and a pressing plate (14); the support tube (11) is fixedly arranged on the support plate (9), a discharge port (15) is provided on the side wall surface thereof, and the adjustment rod (13) is threadedly connected to the top of the support tube; the lower end of the adjustment rod (13) is connected to the pressing plate (14), and the upper end of the adjustment rod (13) is connected to the rotating motor (17); the rotating motor (17) ) is fixed to the upper end of the support tube (11); the slider three (12) is slidably arranged on the inner side of the support tube (11), and is in the shape of a round tube with a closed upper end and an open lower end. Its bottom end is connected to the feeding device (31) through a feeding pipe (25), and a through hole (16) for use with the discharge port (15) is provided at a position on its side wall corresponding to the discharge port (15), and a spring one (18) is arranged between its top end and the pressing plate (14).

5. The fully automatic intelligent plastering robot according to claim 4, characterized in that: The plastering mechanism (3) comprises a guide plate (19), a trowel plate (20), a sleeve (21), a pressing rod (22) and a second adjusting rod (23); the guide plate (19) is fixedly connected to the outer wall of the support tube (11) on one side close to the discharge port (15); there are two sleeves (21) which are symmetrically passed through and fixedly connected to the upper and lower parts of the support plate (9); the pressing rod (22) is limitedly slidably arranged with one end of the inner side of the sleeve (21); the second adjusting rod (23) is threadedly connected to the other end of the sleeve (21); a second spring (24) is provided between the pressing rod (22) and the second adjusting rod (23); and the trowel plate (20) is fixedly connected to the other ends of the two pressing rods (22).

6. The fully automatic intelligent plastering robot according to claim 5, characterized in that: A support column (28) is inserted into the lower end of the bracket (1), and the bracket (1) and the support column (28) are connected in a clamping manner via positioning bolts.

7. The fully automatic intelligent plastering robot according to claim 5, characterized in that: The trowel plate (20) is arc-shaped, and the trowel plate (20) is matched with the guide plate (19).

8. A fully automatic intelligent plastering robot according to any one of claims 5 to 7, characterized in that: A pressure-sensitive sensor 1 (26) is fixedly connected between the slider 3 (12) and the spring 1 (18), a pressure-sensitive sensor 2 (27) is fixedly connected between the pressing rod (22) and the spring 2 (24), a microprocessor (29) is provided on the outside of the bracket (1), the pressure-sensitive sensor 1 (26), the pressure-sensitive sensor 2 (27), the rotating motor 1 (10), the rotating motor 2 (17) and the feeding device (31) are respectively connected to the microprocessor (29) through lines, and the microprocessor (29) is connected to an HMI human-machine interaction device (30) through lines.

9. A plastering method using a fully automatic intelligent plastering robot according to any one of claims 1 to 8, characterized in that: Described plastering method is specifically as follows: S1. Preparation; The fully automatic intelligent plastering robot is placed at a construction site and connected to a power source, so that the rotating motor 1 (10), the rotating motor 2 (17), the pressure-sensitive sensor 1 (26), the pressure-sensitive sensor 2 (27), the feeding device (31), the HMI human-machine interaction device (30) and the microprocessor (29) can work normally; A suitable amount of plastering material is loaded into a storage bin of a feeding device (31), and plastering parameters are set in a microprocessor (29) through the HMI human-machine interaction device (30); S2, positioning and calibration; The height of the plastering mechanism (3) and the distance and angle from the wall are adjusted by using the bracket (1) and the support column (28); Calibrate the plastering mechanism (3) to ensure that the initial state of the plastering mechanism (3) is correct; S3, plastering process; The microprocessor (29) starts each component so that the plastering mechanism (3) starts to work, the plastering material is fed into the feeding assembly (4) through the feeding device (31), and the plastering material is evenly fed to the plastering plate (20) through the plastering mechanism (3); Move on the wall according to the preset path and speed to carry out plastering operations. At the same time, two pressure-sensitive sensors are used for real-time monitoring, and timely adjustments are made if there is any deviation. For larger walls, the plastering can be done in sections to ensure uniform plastering quality across the entire wall; S4, completion and cleanup; When the plastering work is completed, each component is controlled to stop working by the microprocessor (29); Clean the plastering mechanism (3) and prepare it for the next use.

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