Climbing type wall plastering robot and plastering method

Abstract

The invention relates to the technical field of building construction, in particular to a climbing type wall surface plastering robot and a plastering method.The climbing type wall surface plastering robot comprises a walking module, and the walking module comprises a first-stage negative pressure cavity shell, a first-stage negative pressure unit and a second-stage negative pressure unit; the mortar spraying module comprises a linear driving part and a mortar spraying head; the plastering module comprises a plastering plate and an adjusting unit; and the control module is fixed on the primary negative pressure cavity shell, and the control module comprises a central controller, an image sensing module and a detection sensing module. Adsorption of the wall surface to be plastered is achieved through the first-stage negative pressure unit and the second-stage negative pressure unit, limitation of the height of the wall body is avoided, and theoretically, as long as the mortar conveying pipe is long enough, the device can be suitable for plastering operation of the ultrahigh wall surface; the plastering robot solves the technical problem that a plastering robot in the prior art is not suitable for plastering operation of a higher layer.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to a climbing wall plastering robot and a plastering method. Background Art

[0002] Current innovations in wall plastering robots, such as Chinese patents 202110835250.7, 202010285985.2, or 201810808379.7, all have one thing in common: they are all floor-standing, with a movable base on the ground and a lifting bracket on top to control the plastering module. This results in existing floor-standing plastering robots being difficult to adapt to when plastering walls with high floor heights (e.g., >6m). Therefore, existing plastering robots are not suitable for such construction scenarios. The traditional manual plastering method of manually setting up an operating frame is time-consuming, labor-intensive, and dangerous to work at height.

[0003] In summary, there is an urgent need for a robot suitable for plastering walls with high floor heights to solve the problems existing in the existing technology. Summary of the Invention

[0004] The present invention aims to provide a climbing wall plastering robot and a plastering method to solve the technical problem that the existing plastering robots are not suitable for plastering operations at higher floors. The specific technical solution is as follows:

[0005] The present invention provides a climbing wall plastering robot, comprising:

[0006] A walking module, comprising a primary negative pressure chamber housing, a primary negative pressure unit, and a secondary negative pressure unit, wherein the primary negative pressure unit and the secondary negative pressure unit are located inside the primary negative pressure chamber housing, the primary negative pressure unit comprising a primary negative pressure fan, and the secondary negative pressure unit comprising a crawler drive mechanism, wherein the crawler drive mechanism is movably mounted on the outer periphery of the primary negative pressure fan;

[0007] A spraying module, comprising a linear drive member and a mortar nozzle, wherein the linear drive member is mounted on the outer periphery of the primary negative pressure chamber housing, and the mortar nozzle is mounted on the linear drive member;

[0008] A plastering module, comprising a plastering plate and an adjusting unit, wherein the adjusting unit is connected between the primary negative pressure chamber housing and the plastering plate, and the plastering plate is located at the periphery of the spraying module;

[0009] A control module is fixed on the first-level negative pressure chamber shell, and the control module includes a central controller, an image sensor module and a detection sensor module. The central controller is connected to the image sensor module, the detection sensor module, the walking module, the spraying module and the plastering module.

[0010] A further improvement of the climbing wall plastering robot of the present invention is that the secondary negative pressure unit also includes a negative pressure mechanism, a secondary negative pressure chamber shell and a secondary semi-rigid sealing ring. The secondary negative pressure chamber shell is fixed to the outside of the primary negative pressure fan and is located in the crawler drive mechanism. The crawler of the crawler drive mechanism is provided with an opening connected to the secondary negative pressure chamber shell. The secondary semi-rigid sealing ring is fixed to the bottom of the secondary negative pressure chamber shell and is attached to the crawler of the crawler drive mechanism. The negative pressure mechanism is used to extract the air in the secondary negative pressure chamber shell.

[0011] A further improvement of the climbing wall plastering robot of the present invention is that the negative pressure mechanism includes a secondary negative pressure fan and a negative pressure air duct, the secondary negative pressure fan is fixed on the top of the primary negative pressure fan, and the negative pressure air duct is connected between the secondary negative pressure fan and the secondary negative pressure chamber shell.

[0012] A further improvement of the climbing wall plastering robot of the present invention is that a lifting frame for mounting the crawler drive mechanism is provided on the outer periphery of the first-stage negative pressure fan.

[0013] A further improvement of the climbing wall plastering robot of the present invention is that the first-stage negative pressure fan is in the shape of a cube, the number of the crawler drive mechanisms is four, and the four crawler drive mechanisms are movably mounted on the four sides of the first-stage negative pressure fan;

[0014] The first-level negative pressure chamber shell is in the shape of a cube, and an interface assembly is provided on the first side of the first-level negative pressure chamber shell. The number of the spraying module and the plastering module are three, and the three spraying modules and the plastering modules are respectively installed on the other three sides of the first-level negative pressure chamber shell.

[0015] A further improvement of the climbing wall plastering robot of the present invention is that the nozzle module also includes a rigid tube, an adapter and a flexible tube, the rigid tube is connected to the mortar nozzle, the adapter is connected between the rigid tube and the flexible tube, the flexible tube is connected to the first end of the interface assembly, and the other end of the interface assembly is used to connect to the mortar pumping hose.

[0016] A further improvement of the climbing wall plastering robot of the present invention is that the adjustment unit includes a support rod and a first telescopic rod, the first end of the support rod and the first end of the first telescopic rod are respectively hinged to the side surfaces of the first-level negative pressure chamber shell, the first end of the first telescopic rod is located below the first end of the support rod, the second end of the support rod is hinged to the middle part of the plastering board, and the second end of the first telescopic rod is hinged to the second end of the support rod.

[0017] A further improvement of the climbing wall plastering robot of the present invention is that the adjustment unit also includes a second telescopic rod, a first end of the second telescopic rod is hinged to the middle part of the support rod, and a second end of the second telescopic rod is connected to the upper part of the plastering board.

[0018] A further improvement of the climbing wall plastering robot of the present invention is that a first-level semi-rigid sealing ring is provided at the bottom of the first-level negative pressure chamber housing, and an air outlet is provided at the top of the first-level negative pressure chamber housing.

[0019] The present invention also provides a plastering method using the above-mentioned climbing wall plastering robot, comprising the following steps:

[0020] S1. Connect the climbing wall plastering robot to a power source and a mortar pumping hose, and place the climbing wall plastering robot at the bottom of the working wall;

[0021] S2. Start the first-stage negative pressure fan to form a reference negative pressure of no more than -5kPa in the first-stage negative pressure chamber housing; simultaneously start the second-stage negative pressure fan;

[0022] S3. During the first operation, the crawler drive mechanism is activated to move the climbing wall plastering robot horizontally; the plastering plate is adjusted to a predetermined angle with the wall surface through the adjustment unit; the spraying module is simultaneously activated to cause the mortar nozzle to reciprocate horizontally under the drive of the linear drive member and spray mortar, and the spraying pressure Q is dynamically adjusted according to the formula:

[0023]

[0024] Among them, h is the height of the branch under construction, v is the moving speed of the climbing wall plastering robot, K q is the rheological coefficient of mortar;

[0025] Synchronously start the image sensor module to correct the path deviation in real time to less than 2mm;

[0026] S4. Let P be the forward or backward tilt angle of the climbing wall plastering robot as a whole, and R be the left or right tilt angle of the climbing wall plastering robot as a whole. When the detection sensor module detects |P|>1.5° or |R|>1.2°, the central controller triggers the three-level safety strategy:

[0027] Level 1 warning: Dynamically adjust the gain coefficient K(t) to achieve adaptive adjustment of the gain according to the dynamic characteristics of the climbing wall plastering robot. The execution formula is:

[0028]

[0029] Among them, K0 is the basic gain coefficient, α is the adaptive adjustment coefficient, Pitch angle error change rate, Roll angle error change rate;

[0030] Secondary correction: suspend the spraying operation, stop the climbing wall plastering robot from moving, and start the secondary negative pressure unit;

[0031] Level 3 protection: Emergency start-up of the negative pressure multiplication mode to instantly reduce the pressure inside the first-level negative pressure chamber shell to no less than -8kPa.

[0032] The application of the technical solution of the present invention has the following beneficial effects:

[0033] The climbing wall plastering robot of the present invention achieves adsorption of the wall to be plastered through a primary negative pressure unit and a secondary negative pressure unit, without being restricted by the height of the wall. In theory, as long as the mortar delivery pipe is long enough, the device can be applied to plastering operations on ultra-high walls, solving the technical problem that the plastering robots in the prior art are not suitable for plastering operations at higher floors. The present invention achieves movement on the wall to be plastered through a crawler drive mechanism, sprays mortar on the wall to be plastered through a spraying module, and then controls the plastering plate by an adjustment unit to smooth the sprayed mortar, thereby achieving automated operation of the entire plastering process and avoiding the dangerous operation of setting up an operating frame for plastering operations. The climbing wall plastering robot can be used in a cyclical manner, is convenient for construction, improves construction efficiency, and saves construction costs.

[0034] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0036] Figure 1 This is a schematic structural diagram of the climbing wall plastering robot from a top perspective of the present invention;

[0037] Figure 2 This is a schematic structural diagram of the climbing wall plastering robot from the bottom perspective of the present invention;

[0038] Figure 3 This is an exploded view of the climbing wall plastering robot of the present invention;

[0039] Figure 4 Schematic diagram of the structure of the walking module of the climbing wall plastering robot of the present invention;

[0040] Figure 5This is an exploded view of the crawler drive mechanism and the first-stage negative pressure fan of the climbing wall plastering robot of the present invention;

[0041] Figure 6 This is a longitudinal sectional view of the crawler drive mechanism of the climbing wall plastering robot of the present invention when adsorbed to the wall;

[0042] Figure 7 Schematic diagram of the structure of the spraying module of the climbing wall plastering robot of the present invention;

[0043] Figure 8 Schematic diagram of the structure of the plastering module of the climbing wall plastering robot of the present invention;

[0044] Figure 9 This is a schematic structural diagram of the primary negative pressure chamber housing of the climbing wall plastering robot of the present invention;

[0045] Figure 10 Schematic diagram of the lateral motion trajectory of the climbing wall plastering robot of the present invention;

[0046] Figure 11 Schematic diagram of the vertical motion trajectory of the climbing wall plastering robot of the present invention;

[0047] Figure 12 This is a three-dimensional schematic diagram of the climbing wall plastering robot of the present invention applied to wall plastering;

[0048] Figure 13 This is a control flow chart of the climbing wall plastering robot of the present invention.

[0049] Among them, 1. walking module; 11. first-level negative pressure unit; 111. first-level negative pressure fan; 112. lifting rod; 12. second-level negative pressure unit; 121. second-level negative pressure fan; 122. negative pressure air duct; 123. second-level negative pressure chamber shell; 124. second-level semi-rigid sealing ring; 125. crawler drive mechanism; 2. spraying module; 21. linear drive component; 22. mortar nozzle; 23. rigid pipe; 24. adapter; 25. flexible pipe; 26. spraying processor; 27. mortar feed port; 28. power interface; 3. plastering module; 31. plastering board; 32. adjustment unit; 321. fixing block; 322. support rod; 323. first telescopic rod; 324. second telescopic rod; 4. image sensor module; 5. top cover; 6. detection sensor module; 7. central controller; 8. first-level negative pressure chamber shell; 81. first-level semi-rigid sealing ring. DETAILED DESCRIPTION

[0050] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0051] See also Figures 1 to 13 As shown, a climbing wall plastering robot includes:

[0052] The walking module 1 includes a primary negative pressure chamber housing 8, a primary negative pressure unit 11, and a secondary negative pressure unit 12. The primary negative pressure unit 11 and the secondary negative pressure unit 12 are located inside the primary negative pressure chamber housing 8. The primary negative pressure unit 11 includes a primary negative pressure fan 111, and the secondary negative pressure unit 12 includes a crawler drive mechanism 125. The crawler drive mechanism 125 is movably mounted on the outer periphery of the primary negative pressure fan 111.

[0053] The spraying module 2 includes a linear drive member 21 and a mortar nozzle 22. The linear drive member 21 is mounted on the outer periphery of the primary negative pressure chamber housing 8, and the mortar nozzle 22 is mounted on the linear drive member 21.

[0054] The plastering module 3 includes a plastering plate 31 and an adjusting unit 32. The adjusting unit 32 is connected between the primary negative pressure chamber housing 8 and the plastering plate 31. The plastering plate 31 is located on the periphery of the spraying module 2.

[0055] The control module is fixed on the first-level negative pressure chamber shell 8, and the control module includes a central controller 7, an image sensor module 4 and a detection sensor module 6. The central controller 7 is connected to the image sensor module 4, the detection sensor module 6, the walking module 1, the spraying module 2 and the plastering module 3.

[0056] Specifically, the present invention is suitable for plastering concrete walls. A primary negative pressure chamber housing 8 overlies a primary negative pressure unit 11 and a secondary negative pressure unit 12, forming a negative pressure cabin with these units. The primary negative pressure unit 11 serves as the device's main negative pressure suction unit, with a powerful primary negative pressure blower 111 located in the center. This blower 111 is driven by a motor and equipped with a protective cover, dust screen, and other components.

[0057] Preferably, Figures 4 to 6As shown, the secondary negative pressure unit 12 also includes a negative pressure mechanism, a secondary negative pressure chamber housing 123, and a secondary semi-rigid sealing ring 124. The secondary negative pressure chamber housing 123 is fixed to the outside of the primary negative pressure fan 111 and is located in the track drive mechanism 125. The track of the track drive mechanism 125 is provided with an opening connected to the secondary negative pressure chamber housing 123. The secondary semi-rigid sealing ring 124 is fixed to the bottom of the secondary negative pressure chamber housing 123 and is attached to the track of the track drive mechanism 125. The negative pressure mechanism is used to extract air from the secondary negative pressure chamber housing 123. Furthermore, the negative pressure mechanism includes a secondary negative pressure fan 121 and a negative pressure air duct 122. The secondary negative pressure fan 121 is fixed to the top of the primary negative pressure fan 111, and the negative pressure air duct 122 is connected between the secondary negative pressure fan 121 and the secondary negative pressure chamber housing 123. Specifically, the negative pressure air duct 122 is preferably made of a material such as a semi-rigid bellows with a certain strength and elasticity, so as to adapt to the up and down movement of the secondary negative pressure unit 12.

[0058] In this embodiment, the secondary semi-rigid sealing ring 124 can be made of rubber or silicone material. The crawler drive mechanism 125 is composed of a number of driving wheels that cooperate with the crawler control device to move. The driving wheels are driven by a motor. The crawler material is made of a rubber material with flexibility and a certain toughness. An opening is set at each interval of the crawler. When the secondary negative pressure fan 121 draws air outward, the air in the secondary negative pressure chamber shell 123 is drawn out along the negative pressure air duct 122. At this time, driven by the driving wheel, the crawler rotates, and the wall circulates with the secondary negative pressure chamber shell 123 through the opening on the crawler to form a closed negative pressure cabin. The secondary negative pressure chamber shell 123 is A secondary semi-rigid sealing ring 124 is provided at the bottom of 23. The secondary semi-rigid sealing ring 124 always rubs against the crawler during the movement of the crawler. When the crawler rotates, the openings on the crawler alternate in sequence, and a negative pressure cabin is continuously and intermittently formed. At the same time, the primary negative pressure chamber shell 8 of the primary negative pressure unit 11 also forms a large negative pressure chamber, which is equivalent to wrapping the entire secondary negative pressure unit 12 inside. A small negative pressure chamber is set inside the negative pressure chamber, forming a multi-stage negative pressure adsorption structure, which can ensure sufficient adsorption force for the plastered wall.

[0059] Preferably, the primary negative pressure blower 111 is in a cube shape, and the number of the crawler drive mechanisms 125 is four, and the four crawler drive mechanisms 125 are movably mounted on the four sides of the primary negative pressure blower 111. There are four detection sensor modules 6 in total, which are arranged at the four corners of the primary negative pressure chamber housing 8. The central controller 7 is fixed to the primary negative pressure chamber housing 8.

[0060] The primary negative pressure chamber housing 8 is in the shape of a cube. An interface assembly is provided on the first side of the primary negative pressure chamber housing 8. The number of each of the spraying modules 2 and the plastering modules 3 is three, and the three spraying modules 2 and the three plastering modules 3 are respectively installed on the other three sides of the primary negative pressure chamber housing 8. The interface assembly includes a spraying processor 26, a mortar feed port 27, and a power interface 28. The spraying processor 26 is used to calculate and control the flow rate of the mortar. The mortar feed port 27 is used to connect to an external pumping hose. The power interface 28 can be connected to a power source to power the entire robot.

[0061] Preferably, the outer periphery of the primary negative pressure blower 111 is provided with a lifting frame for mounting the crawler drive mechanism 125. Lifting frames for mounting the crawler wheel assembly are provided on all four sides of the negative pressure blower. The lifting frames are provided with a vertical lifting rod 112 connected to the crawler drive mechanism 125. The lifting rod 112 is driven by a cylinder or a linear motor. The lifting frame also includes two lifting L-shaped rods connected to the secondary negative pressure chamber housing 123. The lifting L-shaped rods can also be driven by a cylinder or a linear motor. The two lifting rods 112 and the two lifting L-shaped rods form a group to cooperate in controlling the lifting and lowering of the secondary negative pressure unit 12. Their function is to control the lifting and lowering of the secondary negative pressure unit 12. When the robot moves vertically on the wall, the lifting rods 112 on the upper and lower sides retract, lifting the secondary negative pressure units 12 on the upper and lower sides a short distance (20-25mm) so that the secondary negative pressure units 12 on the upper and lower sides are not in contact with the wall. At this time, the secondary negative pressure units 12 on the left and right sides drive the secondary negative pressure adsorption and up and down movement of the robot, and vice versa.

[0062] Preferably, Figure 7 As shown, the nozzle module also includes a rigid tube 23, an adapter 24 and a flexible tube 25. The rigid tube 23 is connected to the mortar nozzle 22, the adapter 24 is connected between the rigid tube 23 and the flexible tube 25, the flexible tube 25 is connected to the first end of the interface assembly, and the other end of the interface assembly is used to connect to the mortar pumping hose. The main function of the nozzle module is to transport plaster mortar and spray; the plaster mortar is connected to the mortar feed port 27 through the pumping hose (the pumping hose is connected to the small mortar delivery pump on the ground), and the flow is adjusted by the calculation and control of the processor of the spraying module 2 to pass into the flexible end of the mortar tube. This section of mortar tube is made of flexible material, and its operation is to facilitate the movement with the mortar nozzle 22. The flexible end of the mortar tube is connected to the rigid tube 23 through the adapter 24, and then connected to the mortar nozzle 22. The bottom of the mortar nozzle 22 is fixed to the linear drive 21, so that the mortar nozzle 22 can move left and right on the linear drive 21 to achieve uniform spraying of the plaster mortar. In this embodiment, the linear drive member 21 is a linear motor.

[0063] Preferably, Figure 8As shown, the adjustment unit 32 includes a support rod 322 and a first telescopic rod 323. The first end of the support rod 322 and the first end of the first telescopic rod 323 are respectively hinged to the side of the first-stage negative pressure chamber housing 8. The first end of the first telescopic rod 323 is located below the first end of the support rod 322. The second end of the support rod 322 is hinged to the middle of the plastering plate 31. The second end of the first telescopic rod 323 is hinged to the second end of the support rod 322. The adjustment unit 32 also includes a second telescopic rod 324. The first end of the second telescopic rod 324 is hinged to the middle of the support rod 322, and the second end of the second telescopic rod 324 is connected to the upper portion of the plastering plate 31. In this embodiment, the first end of the support rod 322 and the first end of the first telescopic rod 323 are respectively hinged to a fixed block 321, which is fixed to the side of the first-stage negative pressure chamber housing 8. The function of the adjustment unit 32 is to control the up and down movement and angle adjustment of the plastering board 31. The adjustment unit 32 is controlled by the central controller 7. The first telescopic rod 323 and the second telescopic rod 324 are driven by cylinders. The support rod 322 serves as the support rod 322 part of the plastering board 31. The first telescopic rod 323 controls the up and down movement of the plastering board 31 through telescopic and angle adjustment. The second telescopic rod 324 controls the angle adjustment of the plastering board 31 through telescopic and angle adjustment. Finally, the central controller 7 calculates the most reasonable height and angle of the plastering board 31 according to the required plastering thickness.

[0064] Preferably, Figure 9 As shown, the bottom of the first-stage negative pressure chamber housing 8 is provided with a first-stage semi-rigid sealing ring 81, and the top of the first-stage negative pressure chamber housing 8 is provided with an air outlet. The top of the first-stage negative pressure chamber housing 8 is provided with a top cover 5 for covering. The top cover 5, excluding the first side, is provided with an image sensor module 4 on each of the three sides, which is used to identify images and calculate the device path. The top cover 5 is reserved for an air outlet for the first-stage negative pressure fan 111 and four air outlets for the second-stage negative pressure fans 121. The detection sensor module 6 also includes a pressure sensor, an inclination sensor, and a laser thickness gauge (all existing technologies) for detecting the device's adsorption stability and detecting the thickness of the plaster. The central controller 7 is the central control processor of the device. The first-stage negative pressure chamber housing 8 is combined with the travel module 1 to form a sealed negative pressure chamber. The first-stage semi-rigid sealing ring 81 at the bottom can self-adjust to irregular undulations of the wall or small obstacles, ensuring the airtightness of the negative pressure chamber. Since the detection sensor modules 6 are provided at the four corners of the device, the vertical movement of the device and the flatness of the plaster surface are guaranteed.

[0065] The central controller 7 includes a posture calculation module, a control distribution module and an adaptive control module. The processing process of the posture calculation module is: collecting data through the inclination sensors (A, B, C, D) located at the four corners of the robot, where: A , p B , p C, p D Represents the local pitch angle components detected by sensors A, B, C, and D (unit: degree), r A , r B , r C , r D Represent the local roll angle components detected by sensors A, B, C, and D (unit: degree). Calculate the robot's global pitch angle P and global roll angle R (unit: degree) using the following formula:

[0066]

[0067] Among them, P is the tilt angle of the climbing wall plastering robot as a whole forward or backward, and R is the tilt angle of the climbing wall plastering robot as a whole left or right.

[0068] The processing process of the control allocation module is: according to the global pitch angle error e P and the global roll angle error e R Generate drive instructions, including:

[0069] e P =-P represents the pitch angle error (needs to be corrected in reverse);

[0070] e R =-R represents the roll angle error (needs to be corrected in reverse);

[0071] K is the control gain coefficient (dimension: force / angle, speed / angle), which is used to adjust the response strength of force or speed;

[0072] The commands of the four drive units (A, B, C, D) are distributed through the following control law:

[0073]

[0074] Among them, F A , F B , F C , F D are the output force or speed instructions (unit: N or m / s) of drive units A, B, C, and D, respectively. The symbol assignment in the formula reflects the reverse coordinated control of the diagonal drive units. For example, when the robot tilts forward (P>0), drive units A and B output positive forces, and C and D output negative forces to restore balance.

[0075] The processing process of the adaptive control module is: dynamically adjust the control gain coefficient K(t), and its calculation formula is:

[0076]

[0077] Where: K0 is the basic gain coefficient (preset constant, the dimension is the same as K); α is the adaptive adjustment coefficient (dimensionless, used to control the gain change rate); Indicates the rate of change of pitch angle error (unit: degrees / second); Indicates the rate of change of roll angle error (unit: degrees / second);

[0078] The formula realizes adaptive adjustment of the gain along with the dynamic characteristics of the system through the square root operation of the sum of squares of the error change rate, thereby suppressing the oscillation of the climbing wall plastering robot and improving the response speed.

[0079] like Figure 10 As shown, the present invention also provides a plastering method using the above-mentioned climbing wall plastering robot, comprising the following steps:

[0080] S1. Connect the climbing wall plastering robot to a power source and a mortar pumping hose, and place the climbing wall plastering robot at the bottom of the working wall;

[0081] S2. Start the first-stage negative pressure blower 111 to form a reference negative pressure of no more than -5 kPa in the first-stage negative pressure chamber housing 8; and simultaneously start the second-stage negative pressure blower 121;

[0082] S3. During the first operation, the crawler drive mechanism 125 is started to move the climbing wall plastering robot horizontally; the plastering plate 31 is adjusted to a predetermined angle with the wall surface by the adjustment unit 32; the spraying module 2 is simultaneously started to make the mortar nozzle 22 move back and forth horizontally under the drive of the linear drive member 21 and spray mortar, and the spraying pressure Q is dynamically adjusted according to the formula:

[0083]

[0084] Among them, h is the height of the branch under construction, v is the moving speed of the climbing wall plastering robot, K q is the rheological coefficient of mortar;

[0085] Synchronously start the image sensor module 4 to correct the path deviation in real time to less than 2mm;

[0086] S4. Let P be the tilt angle of the climbing wall plastering robot forward or backward, and R be the tilt angle of the climbing wall plastering robot left or right. When the detection sensor module 6 detects |P|>1.5° or |R|>1.2°, the central controller 7 triggers the three-level safety strategy:

[0087] Level 1 warning: Dynamically adjust the gain coefficient K(t) to achieve adaptive adjustment of the gain according to the dynamic characteristics of the climbing wall plastering robot. The execution formula is:

[0088]

[0089] Among them, K0 is the basic gain coefficient, α is the adaptive adjustment coefficient, Pitch angle error change rate, Roll angle error change rate;

[0090] Secondary correction: suspend the spraying operation, the climbing wall plastering robot stops moving, and all secondary negative pressure units start at the same time to absorb the wall;

[0091] Level 3 protection: Emergency start of the negative pressure multiplication mode to instantly reduce the pressure inside the first-level negative pressure chamber shell 8 to no less than -8kPa.

[0092] In this embodiment, refer to Figure 10 Before construction, first connect the power cord (including control line) and pumping hose of the climbing wall plastering robot, connect the other end of the pumping hose to a small mortar pump, then start the robot, the robot enters the initialization stage, and place the robot close to the corner of the wall to be plastered. The three sides with the spraying module 2 and the plastering module 3 correspond to the "upper, left, and right" sides respectively, and the side with the mortar feed port 27 and the power interface 28 corresponds to the "lower" side. Then set whether the climbing wall plastering robot is to plaster horizontally or vertically (this application takes the horizontal path as an example for explanation, and the vertical plastering path is referenced). Figure 11, the operating action is adjusted accordingly), the walking module 1 of the climbing wall plastering robot is started, and the first-level negative pressure unit 11 and the second-level negative pressure unit 12 are started at the same time to make the climbing wall plastering robot absorb the wall, and then the driving wheel drives the crawler to start rotating, and the robot starts to climb the wall and move towards the preset starting plastering point; when it reaches the preset point, the walking module 1 starts to self-adjust the angle and direction so that the upper right right side of the climbing wall plastering robot coincides with the upper right right angle of the wall, at this time the right side plastering module 3 is started, and the cylinder coordinates and adjusts the plastering plate 31 to an angle suitable for plastering. The left side plastering board 31 is folded up and retracted without blocking the work of the left side image sensor module 4. At this time, the left side image sensor module 4 acts as the main sensor to identify the obstacles and wall boundaries in front. Then the climbing wall plastering robot starts to move, and the right side spraying module 2 starts to work. The mortar nozzle 22 slides left and right on the linear motor to spray the mortar layer. Then, driven by the climbing wall plastering robot, the plastering board 31 of the right side plastering module 3 scrapes the newly sprayed mortar layer at a uniform speed to level the mortar. At this time, the operator on the ground needs to check whether the mortar delivery pipe is sufficient. To determine whether the length and flow are smooth, it may be necessary to push the small mortar pump to follow the movement direction of the climbing wall plastering robot until the end of the first straight path; when the image sensor module 4 detects that it has reached the wall boundary, the plastering plates 31 on both sides are folded up and retracted through the adjustment unit 32, and the upper plastering plate 31 is downward, and the secondary negative pressure units 12 on the left and right sides fall down under the drive of the lifting rod 112 until they are close to the wall, and the secondary negative pressure units 12 on the upper and lower sides are lifted up and retracted, at this time the climbing wall plastering robot moves downward, and the upper spraying module 2 and the plastering module 3 operation for plastering, at this time the lower image sensor module 4 serves as the main image sensor, when it moves downward to the boundary of the upper plastering position, the right plastering plate 31 is folded upward and retracted, the right image sensor module 4 is started, the upper and lower secondary negative pressure units 12 are lowered for operation, the left and right secondary negative pressure units 12 are retracted, and the climbing wall plastering robot starts to move to the right, then the left spraying module 2 and the plastering module 3 start to work together, and the cycle repeats until the climbing wall plastering robot reaches the root of the wall, and the climbing wall plastering robot is removed to complete the entire plastering construction process.

[0093] Figure 13This is a control flow chart of the climbing wall plastering robot of the present application. The specific process is: the control instructions of the central controller 7 are sent to the multi-actuator control layer, and the multi-actuator control layer outputs the control track motor speed, the mortar nozzle 22 flow, the negative pressure fan power and the movement of the plastering board 31 drive group (regulation unit 32), wherein the power drive signal is transmitted to the energy supply layer, and the energy supply layer realizes the power supply to the working wall and the external environment interaction layer by connecting the power supply, and the working wall and the external environment interaction layer realizes the flatness feedback of the mortar spraying surface, the flatness feedback of the plastering board 31, and the matching of the negative pressure adsorption force with the wall material. The mechanical action of the interaction layer between the working wall and the external environment is fed back to the motor execution layer, and the energy supply layer supplies power to the motor execution layer at the same time. The motor execution layer controls the track drive mechanism 125, the mortar nozzle 22, the plaster board 31 and the adjustment unit 32, the first-level negative pressure unit 11 and the second-level negative pressure unit 12. The execution content signal of the motor execution layer is transmitted to the multi-sensor fusion layer. The multi-sensor fusion layer inputs the signals of the image sensor module 4, the pressure sensor, the inclination sensor and the laser thickness gauge, and transmits the above signals to the motor execution layer at the same time, and the sensor data of the multi-sensor fusion layer is summarized to the central controller 7.

[0094] The present invention's clinging wall plastering robot achieves adsorption of the wall to be plastered through a primary negative pressure unit 11 and a secondary negative pressure unit 12, without being restricted by the wall's height. Theoretically, as long as the mortar delivery pipe is long enough, the device can be used for plastering operations on ultra-high walls, resolving the technical problem in the prior art that plastering robots are not suitable for plastering operations at higher floors. The present invention achieves movement on the wall to be plastered through a crawler drive mechanism 125, sprays mortar on the wall to be plastered through a spraying module 2, and then controls the plastering plate 31 by an adjustment unit 32 to smooth the sprayed mortar, thereby achieving automated operation of the entire plastering process and avoiding the dangerous operation of setting up an operating frame for plastering operations. Furthermore, the clinging wall plastering robot can be used in a cyclical manner, making construction convenient, improving construction efficiency, and saving construction costs.

[0095] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A climbing wall plastering robot, characterized in that: include: A walking module (1), the walking module (1) comprising a primary negative pressure chamber housing (8), a primary negative pressure unit (11) and a secondary negative pressure unit (12), the primary negative pressure unit (11) and the secondary negative pressure unit (12) being located inside the primary negative pressure chamber housing (8), the primary negative pressure unit (11) comprising a primary negative pressure fan (111), the secondary negative pressure unit (12) comprising a crawler drive mechanism (125), the crawler drive mechanism (125) being movably mounted on the outer periphery of the primary negative pressure fan (111); A spraying module (2), the spraying module (2) comprising a linear drive member (21) and a mortar spray head (22), the linear drive member (21) being mounted on the outer periphery of the primary negative pressure chamber housing (8), and the mortar spray head (22) being mounted on the linear drive member (21); A plastering module (3), the plastering module (3) comprising a plastering plate (31) and an adjusting unit (32), the adjusting unit (32) being connected between the primary negative pressure chamber housing (8) and the plastering plate (31), and the plastering plate (31) being located on the periphery of the spraying module (2); A control module is fixed on the primary negative pressure chamber housing (8), the control module comprising a central controller (7), an image sensor module (4) and a detection sensor module (6), the central controller (7) being connected to the image sensor module (4), the detection sensor module (6), the walking module (1), the spraying module (2) and the plastering module (3).

2. The climbing wall plastering robot according to claim 1, characterized in that: The secondary negative pressure unit (12) further comprises a negative pressure mechanism, a secondary negative pressure chamber shell (123) and a secondary semi-rigid sealing ring (124); the secondary negative pressure chamber shell (123) is fixed to the outside of the primary negative pressure fan (111) and is located in the track drive mechanism (125); the track of the track drive mechanism (125) is provided with an opening connected to the secondary negative pressure chamber shell (123); the secondary semi-rigid sealing ring (124) is fixed to the bottom of the secondary negative pressure chamber shell (123) and is attached to the track of the track drive mechanism (125); the negative pressure mechanism is used to extract the air in the secondary negative pressure chamber shell (123).

3. The climbing wall plastering robot according to claim 2, characterized in that: The negative pressure mechanism comprises a secondary negative pressure fan (121) and a negative pressure air duct (122), wherein the secondary negative pressure fan (121) is fixed on the top of the primary negative pressure fan (111), and the negative pressure air duct (122) is connected between the secondary negative pressure fan (121) and the secondary negative pressure chamber housing (123).

4. The climbing wall plastering robot according to claim 1, characterized in that: The first-stage negative pressure fan (111) is in a cube shape, and the number of the crawler drive mechanisms (125) is four, and the four crawler drive mechanisms (125) are movably mounted on the four sides of the first-stage negative pressure fan (111); The first-level negative pressure chamber housing (8) is in the shape of a cube, and an interface assembly is provided on a first side surface of the first-level negative pressure chamber housing (8). The number of the spraying modules (2) and the number of the plastering modules (3) are both three, and the three spraying modules (2) and the three plastering modules (3) are respectively installed on the other three side surfaces of the first-level negative pressure chamber housing (8).

5. The climbing wall plastering robot according to claim 4, characterized in that: The nozzle module further comprises a rigid tube (23), an adapter (24) and a flexible tube (25), wherein the rigid tube (23) is connected to the mortar nozzle (22), the adapter (24) is connected between the rigid tube (23) and the flexible tube (25), the flexible tube (25) is connected to a first end of the interface assembly, and the other end of the interface assembly is used to be connected to a mortar pumping hose.

6. The climbing wall plastering robot according to claim 1, characterized in that: The adjustment unit (32) includes a support rod (322), a first telescopic rod (323) and a second telescopic rod (324); the first end of the support rod (322) and the first end of the first telescopic rod (323) are respectively hinged to the side of the first-level negative pressure chamber shell (8), the first end of the first telescopic rod (323) is located below the first end of the support rod (322), the second end of the support rod (322) is hinged to the middle of the plastering plate (31), and the second end of the first telescopic rod (323) is hinged to the second end of the support rod (322); the first end of the second telescopic rod (324) is hinged to the middle of the support rod (322), and the second end of the second telescopic rod (324) is connected to the upper part of the plastering plate (31).

7. The climbing wall plastering robot according to claim 1, characterized in that: A first-level semi-rigid sealing ring (81) is provided at the bottom of the first-level negative pressure chamber housing (8), and an air outlet is provided at the top of the first-level negative pressure chamber housing (8).

8. A plastering method using the climbing wall plastering robot according to claim 1, characterized in that: The steps include: S1. Connect the climbing wall plastering robot to a power source and a mortar pumping hose, and place the climbing wall plastering robot at the bottom of the working wall; S2, starting the first-stage negative pressure blower (111) to form a reference negative pressure of no more than -5 kPa in the first-stage negative pressure chamber housing (8); Synchronously start the secondary negative pressure fan (121); S3, during the first operation, the crawler drive mechanism (125) is started to move the climbing wall plastering robot horizontally; the plastering plate (31) is adjusted to form a predetermined angle with the wall surface through the adjustment unit (32); the spraying module (2) is simultaneously started to make the mortar nozzle (22) move back and forth horizontally under the drive of the linear drive member (21) and spray mortar; S4. Let P be the tilt angle of the climbing wall plastering robot forward or backward, and R be the tilt angle of the climbing wall plastering robot left or right. When the detection sensor module (6) detects |P|>1.5° or |R|>1.2°, the central controller (7) triggers the third-level safety strategy.

9. The cling-type wall plastering method according to claim 8, characterized in that: When the spraying module (2) is started to make the mortar nozzle (22) move back and forth laterally under the drive of the linear drive member (21) and spray the mortar, the spraying pressure Q is dynamically adjusted according to the formula: Among them, h is the height of the branch under construction, v is the moving speed of the climbing wall plastering robot, K q is the rheological coefficient of mortar; The image sensing module (4) is started synchronously to correct the path deviation in real time to less than 2 mm.

10. The clinging wall plastering method according to claim 8, characterized in that: The three-level security strategy is as follows: Level 1 warning: Dynamically adjust the gain coefficient K(t) to achieve adaptive adjustment of the gain according to the dynamic characteristics of the climbing wall plastering robot. The execution formula is: Among them, K0 is the basic gain coefficient, α is the adaptive adjustment coefficient, Pitch angle error change rate, Roll angle error change rate; Secondary correction: suspend the spraying operation, stop the climbing wall plastering robot from moving, and start the secondary negative pressure unit; Level 3 protection: Emergency start of the negative pressure multiplication mode to instantly reduce the pressure in the first-level negative pressure chamber housing (8) to no less than -8 kPa.

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