Automatic plastering device and plastering method for building construction wall corners

Abstract

The invention relates to the technical field of building construction machinery, in particular to an automatic plastering device and method for building construction wall corners. The smearing mechanism comprises a mechanical arm and a flexible plastering head, a vertical arm and a movable arm of the mechanical arm are telescopic, and the bottom end of the vertical arm is vertically and rotatably arranged on the walking trolley; the conveying mechanism comprises a water storage tank and a material storage tank; the wall corner recognition mechanism comprises a laser scanner and a visual sensor, and the laser scanner and the visual sensor are fixed to the face, facing the flexible plastering head, of the mechanical arm; the controller is used for recognizing the position and the shape of the wall corner through the laser scanner and the visual sensor and generating a three-dimensional model, and the controller is further used for controlling the mechanical arm and the flexible plastering head according to the three-dimensional model so that the flexible plastering head can be matched with the corresponding construction angle of the wall corner and attached to the wall corner, and automatic plastering is achieved through water and material conveying of the conveying mechanism. According to the automatic plastering device and the plastering method, the technical problem that an existing plastering device cannot conduct wall corner plastering is solved.

Description

Technical Field

[0001] The invention relates to the technical field of building construction machinery, and in particular to an automatic plastering device and a plastering method for building construction wall corners. Background Art

[0002] At present, construction machinery refers to mechanical equipment used to complete various construction tasks during the construction process of construction projects. These machines can improve construction efficiency, reduce labor intensity and ensure construction quality. They are widely used in various construction projects, including house construction, roads and bridges, water conservancy and hydropower, etc. Construction wall plastering refers to applying one or more layers of mortar on the surface of the building wall to protect the wall, improve the flatness of the wall surface, enhance the beauty of the wall and meet certain functional requirements. Specifically, the construction workers will first clean and moisten the base wall, and then use tools such as trowels to evenly apply the mortar prepared according to a certain mix ratio on the wall.

[0003] In the related art, there are many automatic plastering devices for large-area flat walls without obstacles, which can assist in wall plastering, improve plastering work efficiency, and save manpower and material resources.

[0004] However, in construction, plastering work in corners has always been a difficult point for automated construction due to space limitations and complex shapes. Existing plastering robots have insufficient construction capabilities at corners and usually require manual operation, which not only reduces construction efficiency but also makes it difficult to ensure the uniformity and consistency of plastering quality. Summary of the Invention

[0005] The present application provides an automatic plastering device and a plastering method for building corners, which solve the technical problem that existing plastering devices cannot perform wall corner plastering.

[0006] In a first aspect, an embodiment of the present application provides an automatic plastering device for a corner of a building construction, comprising: Traveling trolley; The coating mechanism comprises a foldable mechanical arm and a flexible plastering head rotatably mounted on the top of the mechanical arm. The vertical arm and the movable arm of the mechanical arm are both retractable, and the bottom end of the vertical arm is vertically rotatably mounted on the traveling trolley. The conveying mechanism comprises a water storage tank and a material storage tank arranged on the top surface of the traveling trolley, and the water storage tank and the material storage tank are both connected to the flexible plastering head through a pump and a hose; A wall corner recognition mechanism, comprising a laser scanner for recognizing the three-dimensional contour of the wall corner and a visual sensor for recognizing the precise edge position of the wall corner. The laser scanner and the visual sensor are fixed to the side of the robotic arm facing the flexible plastering head. The controller is used to identify the position and shape of the wall corner through the laser scanner and visual sensor and generate a three-dimensional model. It is also used to control the robotic arm and the flexible plastering head according to the three-dimensional model so that the flexible plastering head matches the corresponding construction angle of the wall corner and automatically plasters the wall corner by delivering water and materials through the conveying mechanism.

[0007] In combination with the first aspect, in one embodiment, the smearing mechanism further comprises a rotating frame, and the vertical arm is rotatably arranged on the traveling carriage via the rotating frame; a third servo motor is arranged at the bottom end of the vertical arm. A fifth servo motor is provided at the hinge of the vertical arm and the movable arm, and a telescopic oil cylinder is provided on each of the vertical arm and the movable arm; A second servo motor is provided at the hinge between the flexible plastering head and the end of the movable arm. The second servo motor, the third servo motor and the fifth servo motor are all provided with matching angle sensors; The controller is connected to and controls the second servo motor, the third servo motor, the fifth servo motor and the two telescopic cylinders, and obtains angle signals of all angle sensors in real time.

[0008] In combination with the first aspect, in one embodiment, the flexible plastering head further includes a plastering head body and a fixed plate, one side of the fixed plate is hinged to the top of the movable arm through a protruding structure, and a vibration motor is fixedly arranged near the hinge; the plastering head body is arranged on the other side of the fixed plate.

[0009] In combination with the first aspect, in one embodiment, a micro pressure sensor is provided inside the flexible plastering head, and a signal of the micro pressure sensor is connected to a controller.

[0010] In combination with the first aspect, in one embodiment, the output end of the water outlet hose of the water storage tank is clamped on the top surface of the flexible plaster head, and the flexible plaster head has a discharge hole at a position corresponding to the output end of the discharge hose of the storage box.

[0011] In combination with the first aspect, in one embodiment, the conveying mechanism further includes a water pump and a material pump, the water storage tank is pumped with water by the water pump, and the material storage tank is fed to the flexible plastering head by the material pump, and the controller adjusts the flow rate by adjusting the power of the water pump and the material pump; the discharge hose is provided with a flow sensor, and the controller obtains the discharge flow rate in real time through the flow sensor; the discharge hose is fixedly connected to a pipe pressure sensor.

[0012] In combination with the first aspect, in one embodiment, two fourth servo motors are arranged on the top surface of the storage box, and the power output end of each fourth servo motor is connected to and drives a vertically forked stirring shaft, which passes through the storage box and the bottom end of the stirring shaft can be rotatably arranged on the bottom wall of the storage box.

[0013] In combination with the first aspect, in one embodiment, the top plate of the storage box is slidably connected to a cover plate, and the upper surface of the cover plate is fixedly connected to a pull block.

[0014] In combination with the first aspect, in one embodiment, a water injection pipe is fixedly provided on the top surface of the water tank, and a plug is slidably provided on the top of the water injection pipe. When the water in the water tank is insufficient, the plug is pulled out and water is injected into the water tank through the water injection pipe.

[0015] In a second aspect, an embodiment of the present application provides a plastering method based on the above-mentioned automatic plastering device, comprising the following steps: The automatic plastering device moves to the corner of the wall to be plastered via a traveling trolley. The controller uses a laser scanner and visual sensor to identify the position and shape of the corner and generate a 3D model. The controller controls the robotic arm and the flexible plastering head to rotate the vertical arm, fold and swing the vertical arm and the movable arm, extend and retract the vertical arm and the movable arm, pitch and swing the flexible plastering head relative to the end of the movable arm, and rotate the vertical arm relative to the traveling carriage, so that the flexible plastering head fits the wall at the corner to be plastered. At the same time, the water tank pre-wet the wall surface at the corner to be plastered through the pump and the hose. The material storage box transports the raw materials to the wall surface of the corner to be plastered through the flexible plastering head via a pump and a hose, and the controller controls the flexible plastering head to perform reciprocating plastering along the wall surface.

[0016] The beneficial effects of the technical solutions provided in the embodiments of the present application include at least: 1. The automatic plastering device of the present application uses a laser scanner to roughly locate and identify the three-dimensional contour of the wall corner and a visual sensor to finely model and identify the precise edge position of the wall corner. The controller uses the laser scanner and the visual sensor to match the position and shape of the wall corner and generate a three-dimensional model. According to the three-dimensional model, the vertical arm is controlled to rotate, the vertical arm and the movable arm are folded and moved, the vertical arm and the movable arm are extended and retracted, and the vertical arm is rotated relative to the traveling carriage to match the wall surfaces of various complex corners, so that the flexible plastering head can adapt to the construction angle of the wall corner, and then fit the wall surface of the wall corner and transport water and materials through the conveying mechanism, and then automatically plastered by the robotic arm, which greatly improves the automated construction capability and solves the technical problem that the existing plastering device cannot perform wall corner plastering. Compared with manual operation, it is difficult to ensure the uniformity and consistency of the plastering quality. The automatic plastering device of the present application can ensure the uniformity and consistency of the plastering quality with its precise angle control and stable mechanical operation, thereby improving the overall quality of the building wall corner plastering.

[0017] 2. The automatic plastering device of the present application is controlled by a second servo motor, a third servo motor, a fifth servo motor, two telescopic cylinders and an angle sensor to realize the rotation of the vertical arm, the folding and swinging of the vertical arm and the movable arm, the extension and retraction of the vertical arm and the movable arm, the pitching and swinging of the flexible plastering head relative to the end of the movable arm, and the rotation of the vertical arm relative to the traveling trolley, so that it can adapt to wall surfaces with various complex corners, so that the flexible plastering head can adapt to the construction angle of the corner, and then fit the wall surface of the corner and transport water and materials through the conveying mechanism and then automatically plaster through the robotic arm.

[0018] 3. The automatic plastering device of the present application, power adjustment of the water pump and the material pump, flow monitoring by the flow sensor, and pressure detection by the pipe pressure sensor enable the plastering material to be accurately extracted and transported to the flexible plastering head as needed. The presence of the flow sensor and the pipe pressure sensor can accurately control the discharge volume and pressure, ensuring that when plastering complex-shaped areas such as wall corners, the plastering material can be applied with appropriate amount and pressure, effectively solving the problem of insufficient construction capacity of existing plastering robots at corners. Furthermore, the cooperation of the water tank, the water pump and the water outlet hose can pre-wet the wall surface, which helps to improve the quality of the plastering. The synergistic effect of the various components of the entire conveying mechanism can greatly improve the degree of automation of wall corner plastering, eliminating the need for manual operation, thereby significantly improving construction efficiency, and reliably ensuring the uniformity and consistency of the plastering quality, overcoming the defect that traditional construction methods are difficult to ensure uniform and consistent plastering quality, and has positive significance for improving the overall quality and efficiency of building construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 A schematic diagram of the major components of the automatic plastering device provided in an embodiment of the present application; Figure 2 A schematic diagram of a portion of the structure of the coating mechanism and the conveying mechanism provided in an embodiment of the present application; Figure 3 A cross-sectional view of a storage box provided in an embodiment of the present application; Figure 4 A schematic diagram of the remaining structures of the bottom plate provided in the embodiment of the present application after cross-section; Figure 5 A schematic diagram of the cross-section of the rotating frame provided in an embodiment of the present application, and the installation positions of the laser scanner and the visual sensor; Figure 6A cross-sectional view of the fixing plate and surrounding structures provided in an embodiment of the present application.

[0021] In the picture: 1. Traveling trolley; 2. Coating mechanism; 201. Rotating frame; 202. Robotic arm; 203. Fixed plate; 204. Flexible plastering head; 205. First servo motor; 206. Second servo motor; 207. Support plate; 208. Angle sensor; 209. Third servo motor; 210. Fifth servo motor; 211. Telescopic cylinder; 3. Conveying mechanism; 301. Material storage box; 302. Water storage tank; 303. Water pump; 304. Water outlet hose; 305. Material pump; 306. Material outlet hose; 307. Flow sensor; 308. Pipe pressure sensor; 4. Support legs; 5. Self-locking universal wheels; 6. Cover plate; 7. Pull block; 8. Water injection pipe; 9. Plug; 10. Fourth servo motor; 11. Stirring shaft; 12. Laser scanner; 13. Visual sensor; 14. Vibration motor; 15. Micro pressure sensor. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 this application.

[0023] The present application provides an automatic plastering device and a plastering method for building corners, which solve the technical problem that existing plastering devices cannot perform wall corner plastering.

[0024] First, as Figures 1 to 6 As shown, the present application discloses an embodiment of an automatic plastering device for building corners, the automatic plastering device comprising a traveling trolley, a coating mechanism 2, a conveying mechanism 3 and a corner recognition mechanism.

[0025] Specifically, the traveling trolley 1 can move as a whole.

[0026] The coating mechanism 2 includes a mechanical arm 202 and a flexible plastering head 204. The mechanical arm 202 includes a vertical arm and a movable arm, which are hinged and foldable. The vertical arm is vertically mounted on the traveling trolley 1. The flexible plastering head 204 is rotatably mounted on the top of the movable arm of the mechanical arm 202. The vertical arm and the movable arm of the mechanical arm 202 can each be extended and retracted, and the vertical arm can be rotated relative to the traveling trolley 1. The rotation of the vertical arm, the folding and movement of the vertical arm and the movable arm, the independent extension and retraction of the vertical arm and the movable arm, and the rotation of the vertical arm relative to the traveling trolley 1 can be matched to wall surfaces with various complex corner shapes.

[0027] The conveying mechanism 3 comprises a water tank 302 and a material storage box 301 arranged on the top surface of the traveling trolley, and the water tank 302 and the material storage box 301 are both communicated to the flexible plastering head 204 through a pump and a hose. The traveling trolley can move the water tank 302 and the material storage box 301 as a whole.

[0028] The corner recognition mechanism includes a laser scanner 12 for identifying the three-dimensional contours of corners and a visual sensor 13 for identifying the precise edge position of corners. These two sensors are attached to the side of the robotic arm 202 facing the flexible plastering head 204. The laser scanner 12 and visual sensor 13 are located on the side of the vertical arm, facing the flexible plastering head 204.

[0029] The controller is used to identify the position and shape of the wall corner through the laser scanner 12 and the visual sensor 13 and generate a three-dimensional model. It is also used to control the robotic arm 202 and the flexible plastering head 204 according to the three-dimensional model so that the flexible plastering head 204 matches the corresponding construction angle of the wall corner, and automatically plasters the wall corner through the conveying mechanism 3 to transport water and materials.

[0030] Specifically, visual sensors typically use binocular or multi-cameras, capturing visible light images and combining them with computer vision technology to achieve 3D reconstruction. Laser scanners quickly capture the approximate outline and distance of the corner, guiding the visual sensor's focus area. The visual sensor supplements the image with high-resolution texture details, identifying cracks or bumps in the plastered area. The controller aligns the laser point cloud with the visual 3D model using iterative nearest point filtering or Kalman filtering, outputting a complete corner model.

[0031] Specifically, when a wall corner has multiple wall surfaces that need to be constructed, it is necessary to perform multiple positioning and then multiple constructions using the wall corner recognition mechanism.

[0032] The automatic plastering device of the present application uses a laser scanner to roughly locate and identify the three-dimensional contour of the wall corner and a visual sensor to finely model and identify the precise edge position of the wall corner. The controller uses the laser scanner and the visual sensor to match each other to identify the position and shape of the wall corner and generate a three-dimensional model. According to the three-dimensional model, the vertical arm is controlled to rotate, the vertical arm and the movable arm are folded and moved, the vertical arm and the movable arm are extended and retracted, and the vertical arm is rotated relative to the traveling trolley 1 to match the wall surface of various complex corners, so that the flexible plastering head can adapt to the construction angle of the wall corner, and then fit the wall surface of the wall corner and transport water and materials through the conveying mechanism 3 and then automatically plaster through the mechanical arm, which greatly improves the automated construction capability and solves the technical problem that the existing plastering device cannot perform wall corner plastering. Compared with manual operation, it is difficult to ensure the uniformity and consistency of the plastering quality. The automatic plastering device of the present application can ensure the uniformity and consistency of the plastering quality by virtue of precise angle control and stable mechanical operation, thereby improving the quality of the overall building wall corner plastering.

[0033] In one embodiment, the coating mechanism 2 further comprises a rotating frame 201, through which the vertical arm can be rotatably mounted on the traveling carriage 1. A third servo motor 209 (see FIG. Figure 5 The third servo motor 209 drives the vertical arm to rotate relative to the traveling trolley 1.

[0034] A fifth servo motor 210 is provided at the hinge of the vertical arm and the movable arm. The fifth servo motor 210 drives the movable arm to perform pitch and swing relative to the vertical arm.

[0035] The vertical arm and the movable arm are both in a telescopic two-section structure, and each is provided with a telescopic oil cylinder 211 for telescopic movement. The two ends of the telescopic oil cylinder 211 are respectively fixed to the two sections of the two-section structure.

[0036] A second servo motor 206 is provided at the hinge between the flexible plastering head 204 and the end of the movable arm. The second servo motor 206 drives the flexible plastering head 204 to perform pitching and swinging relative to the movable arm.

[0037] The second servo motor 206, the third servo motor 209 and the fifth servo motor 210 are all equipped with matching angle sensors 208, which can obtain the rotation angle in real time during rotation. Specifically, the initial angle is set to 0, and the positive and negative angles are obtained in real time during subsequent rotation or pitch swing.

[0038] The controller connects to and controls the second servo motor 206, the third servo motor 209, the fifth servo motor 210, and the two telescopic cylinders 211, and acquires angle signals from all angle sensors 208 in real time. As the controller controls the two telescopic cylinders 211 to extend and retract toward the corner wall, it uses the laser scanner 12 and the visual sensor 13 to obtain the distance to the wall surface to be plastered in the corner in real time.

[0039] The automatic plastering device of the present application is controlled by the second servo motor 206, the third servo motor 209, the fifth servo motor 210, the two telescopic cylinders 211 and the angle sensor 208 to realize the rotation of the vertical arm, the folding and swinging of the vertical arm and the movable arm, the extension and retraction of the vertical arm and the movable arm, the pitching and swinging of the flexible plastering head 204 relative to the end of the movable arm, and the rotation of the vertical arm relative to the traveling trolley 1, so that it can adapt to the wall surfaces of various complex corners, so that the flexible plastering head can adapt to the construction angle of the corner, and then fit the wall surface of the corner and transport water and materials through the conveying mechanism 3 and then automatically plaster through the robotic arm.

[0040] The automatic plastering device of the present application is equipped with a robotic arm, which is controlled by multiple servo motors, and each servo motor is externally connected to an angle sensor, which enables the flexible plastering head to accurately adjust the angle. The plastering head is made of flexible material and can automatically adjust the fitting angle according to the shape of the corners to ensure the uniformity and density of the plastering, thereby adapting to various complex shapes of wall corners, greatly improving the automation construction capability. Manual operation is difficult to ensure the uniformity and consistency of the plastering quality. The present device, with its precise angle control and stable mechanical operation, can ensure the uniformity and consistency of the plastering quality, thereby improving the quality of the overall building wall corner plastering.

[0041] Preferably, the automatic plastering device further includes a U-shaped bracket, the bottom end of the vertical arm being hinged to the U-shaped bracket. A first servo motor 205 is disposed at the hinged connection between the bottom end of the vertical arm and the U-shaped bracket, and a matching angle sensor 208 is also provided for the first servo motor 205. The U-shaped bracket is rotatably mounted on a rotating frame 201. A third servo motor 209 is disposed within the rotating frame 201, which remains stationary. The third servo motor 209 drives the U-shaped bracket to rotate on the top surface of the rotating frame 201.

[0042] In one embodiment, the flexible plastering head 204 further comprises a plastering head body and a fixing plate 203 , one side of the fixing plate 203 is hinged to the top of the movable arm via a protruding structure, and a vibration motor 14 is fixedly arranged near the hinge. The plastering head body is arranged on the other side of the fixing plate 203 .

[0043] Specifically, the second servo motor 206 is disposed at the hinge between the fixed plate 203 and the end of the movable arm.

[0044] The automatic plastering device of the present application, during actual operation, performs automatic plastering while vibrating through the vibration motor 14. The vibration motor 14 can greatly improve the uniformity of plastering and improve the quality of plastering.

[0045] Preferably, the area of the plastering head body is larger than the fixing plate 203, so that extrusion plastering can be performed at the corners.

[0046] Furthermore, a micro pressure sensor 15 is installed inside the flexible plastering head 204, and its signal is connected to the controller. The micro pressure sensor 15 can sense the pressure during plastering and provide real-time feedback on the contact pressure between the plastering head and the wall surface, preventing excessive or insufficient pressure, ensuring that the plastering pressure is within an appropriate range and ensuring uniform plastering force.

[0047] First, the staff connects the first servo motor 205, the second servo motor 206, the angle sensor 208, the robotic arm 202, the third servo motor 209, the laser scanner 12, the visual sensor 13, the vibration motor 14 and the micro pressure sensor 15 to the power supply, and the controller signal is connected to the first servo motor 205, the second servo motor 206, the angle sensor 208, the third servo motor 209, the laser scanner 12, the visual sensor 13, the vibration motor 14 and the micro pressure sensor 15.

[0048] The vertical arm and movable arm of the robot arm 202 are hydraulically extendable and retractable via the telescopic cylinder 211. The controller controls the telescopic cylinder 211 for extension and retraction. At the same time, the first servo motor 205 controls the swinging of the vertical arm relative to the U-shaped bracket. The second servo motor 206 controls the pitching movement of the flexible plastering head 204 relative to the end of the movable arm. The third servo motor 209 controls the overall rotation angle adjustment of the vertical arm of the robot arm 202, thereby enabling the position of the flexible plastering head 204 to be adjusted according to the cooperation of the robot arm 202. The rotating frame 201 then acts as a basic support. The U-shaped bracket rotates relative to the rotating frame 201, thereby driving the vertical arm of the robot arm 202 to rotate. The fixed plate 203 on the robot arm 202 is connected to the flexible plastering head 204. This flexible plastering head 204 is the component that directly performs the plastering operation. The plastering head body is made of flexible material and can automatically adjust the fitting angle according to the shape of the corners to ensure the uniformity and density of the plastering. During operation, the position and shape of the corner are identified by the laser scanner 12 and the visual sensor 13 to generate a three-dimensional model. According to the three-dimensional model and the preset algorithm, the mechanical device automatically plans the motion trajectory of the robotic arm and the angle of the plastering head. Then, the motors on the robotic arm 202 rotate according to the preset program to drive the robotic arm 202 to move, thereby adjusting the position and angle of the flexible plastering head 204 to adapt to the different plastering requirements of the wall at the corner. In addition, the first servo motor 205, the second servo motor 206, the third servo motor 209 and the fifth servo motor 21 0 are all connected to angle sensors 208, which can accurately sense the angle of motor rotation and then feed back to the control system to ensure the movement accuracy of the robotic arm 202 and the flexible plastering head. In addition, the vibration motor 14 on the inner wall of the fixed plate 203 will vibrate, and the high-frequency vibration will make the mortar adhere more evenly to the wall surface, thereby improving the quality of plastering and making the plastering more uniform. The micro pressure sensor 15 inside the flexible plastering head 204 can sense the pressure during plastering, and can provide real-time feedback on the contact pressure between the plastering head and the wall surface to ensure uniform plastering force.

[0049] like Figure 4 and Figure 5 As shown, further, the output end of the water outlet hose 304 of the water storage tank 302 is clamped on the top surface of the flexible plaster head 204, and the fixed plate 203 and the flexible plaster head 204 open a discharge hole at the corresponding position of the output end of the discharge hose 306 of the storage box 301.

[0050] The output end of the water outlet hose 304 of the water storage tank 302 pre-wet the wall surface, and then the plastering operation is carried out. When the discharge hole is in close contact with the wall surface or in contact with the wall surface, the material is discharged while plastering.

[0051] Preferably, the material can be discharged at a set distance from the wall at the beginning.

[0052] In one embodiment, the conveying mechanism 3 further includes a water pump 303 and a material pump 305 . The water storage tank 302 is pumped with water by the water pump 303 , and the material storage tank 301 is fed to the flexible plastering head 204 by the material pump 305 . A controller adjusts the flow rate by adjusting the power of the water pump 303 and the material pump 305 . A flow sensor 307 is provided on the discharge hose 306 , and the controller uses this flow sensor 307 to obtain real-time discharge flow. The discharge hose 306 is fixedly connected to a pipe pressure sensor 308 . Both the flow sensor 307 and the pipe pressure sensor 308 are connected to the controller.

[0053] The automatic plastering device of the present application has power adjustment of the water pump 303 and the material pump 305, flow monitoring of the flow sensor 307, and pressure detection of the pipe pressure sensor 308, so that the plastering material can be accurately extracted and transported to the flexible plastering head as needed. The presence of the flow sensor 307 and the pipe pressure sensor 308 can accurately control the discharge amount and pressure, ensuring that when plastering complex-shaped areas such as wall corners, the plastering material can be applied with appropriate amount and pressure, effectively solving the problem of insufficient construction capacity of existing plastering robots at corners. Furthermore, the cooperation of the water tank, the water pump and the water outlet hose can pre-wet the wall surface, which helps to improve the quality of plastering. The synergistic effect of the various components of the entire conveying mechanism can greatly improve the degree of automation of wall corner plastering, eliminating the need for manual operation, thereby significantly improving construction efficiency, and reliably ensuring the uniformity and consistency of plastering quality, overcoming the defect that traditional construction methods are difficult to ensure uniform and consistent plastering quality, and has positive significance for improving the overall quality and efficiency of building construction.

[0054] In one embodiment, two fourth servo motors 10 are arranged on the top surface of the storage box 301, and the power output end of each fourth servo motor 10 is connected to and drives a vertically forked stirring shaft 11. The stirring shaft 11 passes through the storage box 301 and the bottom end of the stirring shaft 11 can be rotatably arranged on the bottom wall of the storage box 301.

[0055] The automatic plastering device of the present application drives two vertically forked stirring shafts 11 through two fourth servo motors 10 to stir the storage box 301, which can ensure the uniformity inside the storage box 301 and improve the subsequent quality of plastering.

[0056] In one embodiment, the top plate of the storage box 301 is slidably connected to a cover plate 6, and the upper surface of the cover plate 6 is fixedly connected to a pull block 7. When the storage box 301 needs to add materials, the cover plate 6 is opened to add materials.

[0057] In one embodiment, a water injection pipe 8 is fixed to the top surface of the water tank 302, and a plug 9 is slidably provided at the top of the water injection pipe 8. When the water in the water tank 302 is insufficient, the plug 9 is pulled out and water is injected into the water tank 302 through the water injection pipe 8.

[0058] Preferably, four support legs 4 are fixedly connected to the bottom of the traveling trolley 1 , and each support leg 4 is fixedly connected to a self-locking universal wheel 5 .

[0059] Specifically, the staff connects the material pump 305 and the water pump 303 to the power supply, and the controller signal connects the flow sensor 307, the pipe pressure sensor 308, the material pump 305 and the water pump 303 to control the power of the material pump 305 and the water pump 303, and receive data from the flow sensor 307 and the pipe pressure sensor 308. The material storage box 301 stores the raw materials for plastering, and the water storage tank 302 stores water. Then, when the wall needs to be pre-wetted, the water pump 303 pumps water from the water storage tank 302, transports the water to the plastering head through the water outlet hose 304, and sprays it on the wall through the atomizing nozzle. When plastering, the material pump 305 extracts the plastering raw materials from the material storage box 301, and sends the raw materials to the flexible plastering head 204 through the discharge hose 306, and outputs them through the discharge hole of the flexible plastering head 204, so that plastering can be carried out. The flow sensor 307 on the discharge hose 306 can detect the flow rate of the raw materials, and the pipe pressure sensor 308 can detect the pressure in the pipeline. The working state of the material pump 305 can be adjusted according to these detection data to ensure a stable supply of plastering raw materials, and the two material pumps 305 can ensure the stability of the supply.

[0060] The working principle of the automatic plastering device of this application is: First, the staff connects the first servo motor 205, the second servo motor 206, the angle sensor 208, the robotic arm 202, the third servo motor 209, the laser scanner 12, the visual sensor 13, the vibration motor 14, the feed pump 305, the water pump 303, the flow sensor 307, the tube pressure sensor 308 and the micro pressure sensor 15 to the controller.

[0061] The vertical arm and movable arm of the robot arm 202 are hydraulically extendable and retractable via the telescopic cylinder 211. The controller controls the telescopic cylinder 211 for extension and retraction. At the same time, the first servo motor 205 controls the swinging of the vertical arm relative to the U-shaped bracket. The second servo motor 206 controls the pitching movement of the flexible plastering head 204 relative to the end of the movable arm. The third servo motor 209 controls the overall rotation angle adjustment of the vertical arm of the robot arm 202, thereby enabling the position of the flexible plastering head 204 to be adjusted according to the cooperation of the robot arm 202. The rotating frame 201 then acts as a basic support. The U-shaped bracket rotates relative to the rotating frame 201, thereby driving the vertical arm of the robot arm 202 to rotate. The fixed plate 203 on the robot arm 202 is connected to the flexible plastering head 204. This flexible plastering head 204 is the component that directly performs the plastering operation. The plastering head body is made of flexible material and can automatically adjust the fitting angle according to the shape of the corners to ensure the uniformity and density of the plastering.

[0062] During operation, the position and shape of the corner of the wall are identified through the laser scanner 12 and the visual sensor 13 to generate a three-dimensional model. According to the three-dimensional model and the preset algorithm, the mechanical device automatically plans the movement trajectory of the robotic arm and the angle of the plastering head. Then the motors on the robotic arm 202 will rotate according to the preset program, driving the robotic arm 202 to move, thereby adjusting the position and angle of the flexible plastering head 204 to adapt to the different plastering requirements of the wall in the corner. In addition, the first servo motor 205, the second servo motor 206, the third servo motor 209 and the fifth servo motor 210 are all connected to the angle sensor 208. These angle sensors 208 can accurately sense the angle of motor rotation, and then feed back to the control system to ensure the movement accuracy of the robotic arm 202 and the flexible plastering head.

[0063] When performing plastering work, the extraction pump 305 extracts the plastering raw materials from the storage box 301, and sends the raw materials to the inside of the flexible plastering head 204 through the discharge hose 306 and outputs them, so that the plastering work can be carried out. The flow sensor 307 on the discharge hose 306 can detect the flow rate of the raw materials, and the pipe pressure sensor 308 can detect the pressure in the pipeline. According to these detection data, the working state of the extraction pump 305 can be adjusted to ensure a stable supply of plastering raw materials. In addition, the two extraction pumps 305 can ensure the stability of the supply of materials. In addition, the fixed plate 203 The vibration motor 14 on the inner wall will generate vibration, and the high-frequency vibration will make the mortar adhere to the wall more evenly, thereby improving the quality of plastering and making the plastering more uniform. The micro pressure sensor 15 inside the flexible plastering head 204 can sense the pressure during plastering, and can provide real-time feedback on the contact pressure between the plastering head and the wall to ensure uniform plastering force. At the same time, the wall can be pre-wetted by the water pump 303 before plastering. The water pump 303 draws water from the water tank 302, and transports the water to the plastering head through the water outlet hose 304, and sprays it on the wall through the atomizing nozzle.

[0064] In a second aspect, the present application discloses a plastering method based on the above-mentioned automatic plastering device, comprising the following steps: The automatic plastering device is placed near the corner of the wall to be plastered by the traveling trolley 1. The controller uses the laser scanner 12 and the visual sensor 13 to identify the position and shape of the corner and generate a three-dimensional model; The controller controls the robotic arm 202 and the flexible plastering head 204 to rotate the vertical arm, fold and swing the vertical arm and the movable arm, extend and retract the vertical arm and the movable arm, pitch and swing the flexible plastering head 204 relative to the end of the movable arm, and rotate the vertical arm relative to the traveling trolley 1, so that the flexible plastering head 204 fits the wall at the corner to be plastered; at the same time, the water tank 302 pre-wet the wall surface at the corner to be plastered through the pump and the hose; The material storage box 301 transports the raw materials to the wall surface at the corner to be plastered through the flexible plastering head 204 via a pump and a hose, and the controller controls the flexible plastering head 204 to perform reciprocating plastering along the wall surface.

[0065] Regarding the plastering method, in one embodiment, the coating mechanism 2 further comprises a rotating frame 201, and the vertical arm is rotatably arranged on the traveling trolley 1 through the rotating frame 201. A third servo motor 209 is arranged at the bottom end of the vertical arm (see Figure 5 The third servo motor 209 drives the vertical arm to rotate relative to the traveling trolley 1.

[0066] A fifth servo motor 210 is provided at the hinge of the vertical arm and the movable arm. The fifth servo motor 210 drives the movable arm to perform pitch and swing relative to the vertical arm.

[0067] The vertical arm and the movable arm are both in a telescopic two-section structure, and are each provided with a telescopic oil cylinder 211 for telescopic movement. The two ends of the telescopic oil cylinder 211 are respectively fixed to the two sections of the two-section structure.

[0068] A second servo motor 206 is provided at the hinge between the flexible plastering head 204 and the end of the movable arm. The second servo motor 206 drives the flexible plastering head 204 to perform pitching and swinging relative to the movable arm.

[0069] The second servo motor 206, the third servo motor 209 and the fifth servo motor 210 are all equipped with matching angle sensors 208, which can obtain the rotation angle in real time during rotation. Specifically, the initial angle is set to 0, and the positive and negative angles are obtained in real time during subsequent rotation or pitch swing.

[0070] The controller connects to and controls the second servo motor 206, the third servo motor 209, the fifth servo motor 210, and the two telescopic cylinders 211, and acquires angle signals from all angle sensors 208 in real time. As the controller controls the two telescopic cylinders 211 to extend and retract toward the corner wall, it uses the laser scanner 12 and the visual sensor 13 to obtain the distance to the wall surface to be plastered in the corner in real time.

[0071] The plastering method of the present application is controlled by the second servo motor 206, the third servo motor 209, the fifth servo motor 210, the two telescopic cylinders 211 and the angle sensor 208 to realize the rotation of the vertical arm, the folding and swinging of the vertical arm and the movable arm, the extension and retraction of the vertical arm and the movable arm, the pitching and swinging of the flexible plastering head 204 relative to the end of the movable arm, and the rotation of the vertical arm relative to the traveling trolley 1, so that it can adapt to the wall surfaces of various complex corners, so that the flexible plastering head can adapt to the construction angle of the corner, and then fit the wall surface of the corner and transport water and materials through the conveying mechanism 3 and then automatically plaster through the robotic arm.

[0072] Regarding the plastering method, the automatic plastering device preferably further includes a U-shaped bracket, the bottom end of a vertical arm being hingedly connected to the U-shaped bracket, and a first servo motor 205 being installed at the hinged connection between the bottom end of the vertical arm and the U-shaped bracket. The first servo motor 205 is also equipped with a matching angle sensor 208. The U-shaped bracket is rotatably mounted on a rotating frame 201. A third servo motor 209 is disposed within the rotating frame 201, which is stationary. The third servo motor 209 drives the U-shaped bracket to rotate on the top surface of the rotating frame 201.

[0073] Regarding the plastering method, in one embodiment, the flexible plastering head 204 further comprises a plastering head body and a fixed plate 203. One side of the fixed plate 203 is hinged to the top of the movable arm via a protruding structure, and a vibration motor 14 is fixedly installed near the hinge. The plastering head body is installed on the other side of the fixed plate 203.

[0074] Specifically, the second servo motor 206 is disposed at the hinge between the fixed plate 203 and the end of the movable arm.

[0075] The automatic plastering device of the present application, during actual operation, performs automatic plastering while vibrating through the vibration motor 14. The vibration motor 14 can greatly improve the uniformity of plastering and improve the quality of plastering.

[0076] Preferably, the area of the plastering head body is larger than the fixing plate 203, so that extrusion plastering can be performed at the corners.

[0077] Furthermore, a micro pressure sensor 15 is installed inside the flexible plastering head 204, and its signal is connected to the controller. The micro pressure sensor 15 can sense the pressure during plastering and provide real-time feedback on the contact pressure between the plastering head and the wall surface, preventing excessive or insufficient pressure, ensuring that the plastering pressure is within an appropriate range and ensuring uniform plastering force.

[0078] In the description of this application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0079] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any 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 comprising 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. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0080] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. An automatic plastering device for building corners, characterized in that: Include: Traveling trolley (1); A coating mechanism (2) comprising a foldable mechanical arm (202) and a flexible plastering head (204) rotatably arranged at the top of the mechanical arm (202), wherein the vertical arm and the movable arm of the mechanical arm (202) are both retractable, and the bottom end of the vertical arm is vertically rotatably arranged on the traveling trolley (1); A conveying mechanism (3) comprising a water tank (302) and a material storage tank (301) arranged on the top surface of the traveling trolley, wherein the water tank (302) and the material storage tank (301) are both connected to a flexible plastering head (204) via a pump and a hose; A wall corner recognition mechanism comprising a laser scanner (12) for recognizing the three-dimensional contour of the wall corner and a visual sensor (13) for recognizing the precise edge position of the wall corner, wherein the laser scanner (12) and the visual sensor (13) are fixed to a side of the robotic arm (202) facing the flexible plastering head (204); The controller is used to identify the position and shape of the wall corner through a laser scanner (12) and a visual sensor (13) and generate a three-dimensional model, and is also used to control the mechanical arm (202) and the flexible plastering head (204) according to the three-dimensional model so that the flexible plastering head (204) matches the corresponding construction angle of the wall corner and automatically plasters the wall corner by conveying water and materials through a conveying mechanism (3).

2. The automatic plastering device for building corners according to claim 1, characterized in that: The smearing mechanism (2) further comprises a rotating frame (201), and the vertical arm is rotatably arranged on the traveling trolley (1) via the rotating frame (201); a third servo motor (209) is arranged at the bottom end of the vertical arm. A fifth servo motor (210) is provided at the hinge of the vertical arm and the movable arm, and a telescopic oil cylinder (211) is provided on each of the vertical arm and the movable arm; A second servo motor (206) is provided at the hinged joint between the flexible plastering head (204) and the end of the movable arm. The second servo motor (206), the third servo motor (209), and the fifth servo motor (210) are all provided with matching angle sensors (208); The controller is connected to and controls the second servo motor (206), the third servo motor (209), the fifth servo motor (210) and the two telescopic oil cylinders (211), and acquires angle signals from all angle sensors (208) in real time.

3. The automatic plastering device for building corners according to claim 1, characterized in that: The flexible plastering head (204) further comprises a plastering head body and a fixing plate (203); one side of the fixing plate (203) is hinged to the top of the movable arm via a protruding structure, and a vibration motor (14) is fixedly arranged near the hinge; the plastering head body is arranged on the other side of the fixing plate (203).

4. The automatic plastering device for building corners according to claim 1, characterized in that: A micro pressure sensor (15) is provided inside the flexible plastering head (204), and a signal of the micro pressure sensor (15) is connected to a controller.

5. The automatic plastering device for building corners according to claim 1, characterized in that: The output end of the water outlet hose (304) of the water storage tank (302) is clamped on the top surface of the flexible plastering head (204), and the flexible plastering head (204) has a discharge hole at a position corresponding to the output end of the discharge hose (306) of the storage box (301).

6. The automatic plastering device for building corners according to claim 5, characterized in that: The conveying mechanism (3) further comprises a water pump (303) and a material pump (305); the water storage tank (302) pumps water via the water pump (303); the material storage tank (301) delivers material to the flexible plastering head (204) via the material pump (305); the controller adjusts the flow rate by adjusting the power of the water pump (303) and the material pump (305); the discharge hose (306) is provided with a flow sensor (307); the controller obtains the discharge flow rate in real time via the flow sensor (307); and the discharge hose (306) is fixedly connected to a pipe pressure sensor (308).

7. The automatic plastering device for building corners according to claim 1, characterized in that: Two fourth servo motors (10) are arranged on the top surface of the storage box (301), and the power output end of each fourth servo motor (10) is connected to and drives a vertically bifurcated stirring shaft (11), the stirring shaft (11) passes through the storage box (301), and the bottom end of the stirring shaft (11) is rotatably arranged on the bottom wall of the storage box (301).

8. The automatic plastering device for building corners according to claim 1, characterized in that: The top plate of the storage box (301) is slidably connected to a cover plate (6), and the upper surface of the cover plate (6) is fixedly connected to a pull block (7).

9. The automatic plastering device for building corners according to claim 5, characterized in that: A water injection pipe (8) is fixedly provided on the top surface of the water storage tank (302), and a plug (9) is slidably provided on the top opening of the water injection pipe (8). When the water in the water storage tank (302) is insufficient, the plug (9) is pulled out and water is injected into the water storage tank (302) through the water injection pipe (8).

10. A plastering method based on the automatic plastering device according to claim 1, characterized in that: The following steps are involved: The automatic plastering device moves to a corner of a wall to be plastered by a traveling trolley (1), and a controller identifies the position and shape of the corner of the wall by a laser scanner (12) and a visual sensor (13) and generates a three-dimensional model; The controller controls the mechanical arm (202) and the flexible plastering head (204) to rotate the vertical arm, fold and swing the vertical arm and the movable arm, extend and retract the vertical arm and the movable arm, pitch and swing the flexible plastering head (204) relative to the end of the movable arm, and rotate the vertical arm relative to the traveling trolley (1), so that the flexible plastering head (204) fits the wall of the corner to be plastered; at the same time, the water storage tank (302) pre-wet the wall surface of the corner to be plastered through the pump and the hose; The material storage box (301) transports the raw materials to the wall surface at the corner to be plastered via a pump and a hose through a flexible plastering head (204), and a controller controls the flexible plastering head (204) to perform reciprocating plastering along the wall surface.

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