Mortar spraying device and control method

Abstract

The invention discloses a mortar spraying device and a control method, the mortar spraying device comprises a base frame, a displacement driving module, a mortar spraying assembly, a smearing plate, a distance detection module and a control module, the displacement driving module is arranged on the base frame, and the mortar spraying assembly is arranged on the displacement driving module; the displacement driving module can drive the mortar spraying assembly to move in the up-down direction, the front-back direction and the left-right direction, the smearing plate is used for smearing mortar and arranged on the displacement driving module, and the displacement driving module can drive the smearing plate to move in the up-down direction, the front-back direction and the left-right direction. The distance detection module is arranged on the displacement driving module, the distance detection module is used for detecting distance information between the distance detection module and the wall body, and the control module is connected with the distance detection module and the displacement driving module so as to control the displacement driving module to operate according to the distance information. The labor cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent building robot equipment, and in particular to a mortar spraying device and a control method thereof. Background Art

[0002] In the wall-building process, after the wall is built, workers are required to spray mortar and apply it on the surface of the wall to eventually form a relatively smooth wall surface. Currently, this is done manually by workers, which is inefficient. Moreover, when multiple workers work together, the skills of each worker are different, and the overall smoothness of the wall cannot be guaranteed. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a mortar spraying device and a control method to improve work efficiency, ensure the smoothness and quality of the wall, and reduce labor costs.

[0004] According to the first aspect of the present invention, a mortar spraying device includes: a base frame; a displacement drive module, which is arranged on the base frame; a spraying assembly, which is used to connect with a slurry supply source through a slurry transmission pipe and spray mortar, and the spraying assembly is arranged on the displacement drive module, and the displacement drive module can drive the spraying assembly to move in the up and down directions, front and back directions, and left and right directions; a smear plate, which is used to smear mortar, and the smear plate is arranged on the displacement drive module, and the displacement drive module can drive the smear plate to move in the up and down directions, front and back directions, and left and right directions; a distance detection module, which is arranged on the displacement drive module, and the distance detection module is used to detect the distance information between the device and the wall; a control module, which is respectively connected to the distance detection module and the displacement drive module to control the operation of the displacement drive module according to the distance information.

[0005] A mortar spraying device according to an embodiment of the present invention has at least the following beneficial effects:

[0006] In the mortar spraying device of the present invention, the control module can first detect the distance information between the wall and the wall according to the distance detection module, and then control the displacement drive module to drive the spraying component to spray the surface of the wall according to the distance information, and control the smearing plate to smooth the slurry on the wall to form a wall with relatively high flatness. This design improves work efficiency, ensures the smoothness quality of the wall, and reduces labor costs.

[0007] According to some embodiments of the present invention, the mortar spraying device further includes a deflection assembly, which is respectively connected to the spraying assembly and the smear plate, the displacement drive module is connected to the deflection assembly, and the spraying assembly and the smear plate are circumferentially arranged around the first rotation axis of the deflection assembly.

[0008] According to some embodiments of the present invention, the displacement drive module includes a longitudinal movement component, a transverse movement component and a forward movement component, the longitudinal movement component is arranged on the base frame, the longitudinal movement component is connected to the transverse movement component to drive the transverse movement component to move up and down, the transverse movement component is connected to the forward movement component to drive the forward movement component to move left and right, and the forward movement component is connected to the deflection component to drive the deflection component to move forward and backward.

[0009] According to some embodiments of the present invention, the deflection assembly includes a first swing arm, a second swing arm and a third swing arm, the first swing arm is connected to the spraying assembly and the smear plate, respectively, the first swing arm is rotatably connected to the head end of the second swing arm and can rotate around the second rotation axis, the tail end of the second swing arm is rotatably connected to the head end of the third swing arm and can rotate around the first rotation axis, the tail end of the third swing arm is rotatably connected to the forward moving assembly and can rotate around the third rotation axis, wherein the first rotation axis, the second rotation axis and the third rotation axis are perpendicular to each other and not parallel to each other.

[0010] According to some embodiments of the present invention, the second swing arm includes a first support rod segment, a second support rod segment and a third support rod segment, the head end of the first support rod segment is rotationally connected to the first swing arm and can rotate around the second rotation axis, the tail end of the first support rod segment is rotationally connected to the head end of the second support rod segment and can rotate around the first rotation axis, the tail end of the second support rod segment is rotationally connected to the head end of the third support rod segment and can rotate around the first rotation axis, and the tail end of the third support rod segment is rotationally connected to the head end of the third swing arm and can rotate around the first rotation axis.

[0011] According to some embodiments of the present invention, the smearing portion of the smearing plate is provided with a smearing slope that slopes upward from the edge to the middle.

[0012] According to the control method of the embodiment of the second aspect of the present invention, it is applied to the mortar spraying device disclosed in any of the above embodiments, and the control method includes: obtaining spacing information; performing a spraying step, in which the displacement drive module is controlled according to the spacing information to drive the spraying component to move to the front of the wall, the spraying component is started and the displacement drive module is controlled to drive the spraying component to move in a direction parallel to the wall; performing a smearing step, in which the displacement drive module is controlled according to the spacing information to drive the smearing plate close to the surface of the slurry coating, and the displacement drive module is controlled to drive the smearing plate to move up and down in a direction parallel to the wall.

[0013] The control method according to the embodiment of the present invention has at least the following beneficial effects:

[0014] The control method of the present invention automatically executes the spraying step and the smearing step according to the spacing information. This design improves work efficiency, ensures the smoothness quality of the wall, and reduces labor costs.

[0015] According to some embodiments of the present invention, the spraying step and the smearing step are repeated at least once after the smearing step is executed; when the smearing step is executed for the first time, a first distance is determined according to the spacing information, and the displacement driving module is controlled to drive the smearing plate to move to the front of the wall so that the smearing plate is close to the surface of the slurry coating, and the distance between the smearing part of the smearing plate and the wall is the first distance; when the smearing step is executed for the second time, a second distance is determined according to the spacing information, and the displacement driving module is controlled to drive the smearing plate to move to the front of the wall so that the smearing plate is close to the surface of the slurry coating, and the distance between the smearing part of the smearing plate and the wall is the second distance; wherein, the first distance is smaller than the second distance.

[0016] According to some embodiments of the present invention, starting the spray assembly and controlling the displacement drive module to drive the spray assembly to move in a direction parallel to the wall includes: moving the spray assembly to the bottom of the wall and being located at the first end of the wall, wherein the first end is the left end or the right end; starting the spray assembly; performing a first sweeping step, in which the spray assembly is moved from the first end of the wall to the second end of the wall in the left-right direction, wherein the second end is opposite to the first end, and the spray assembly is moved upward by a first step distance, and a total step height is accumulated, where the total step height is the sum of the first step distances of each upward movement; performing a second sweeping step, in which the spray assembly is moved from the second end of the wall to the first end of the wall in the left-right direction, and the spray assembly is moved upward by a first step distance, and a total step height is accumulated; and the first sweeping step and the second sweeping step are cyclically executed in sequence until the total step height is greater than the wall height.

[0017] According to some embodiments of the present invention, the smearing portion of the smearing plate is provided with a smearing slope that tilts upward from the edge to the middle, and the smearing slope is located at the top. Controlling the displacement driving module to drive the smearing plate to move up and down in a direction parallel to the wall includes: moving the smearing plate to the bottom of the wall and being located at the first end of the wall, wherein the first end is the left end or the right end; performing the scraping step, driving the smearing plate to move from the bottom of the wall to the top of the wall in the up-down direction, moving the spraying assembly to the second end by a second step distance, accumulating the total step width, the second end is opposite to the first end, driving the smearing plate to retreat away from the wall by a distance, driving the smearing plate to move from the top of the wall to the bottom of the wall in the up-down direction, and then driving the smearing plate close to the surface of the slurry coating; cyclically performing the scraping step until the total step width is greater than the wall width.

[0018] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0020] Figure 1 This is a front structural schematic diagram of one embodiment of the mortar spraying device of the present invention;

[0021] Figure 2 This is a schematic diagram of the back structure of one embodiment of the mortar spraying device of the present invention;

[0022] Figure 3 This is a side structural diagram of one embodiment of the mortar spraying device of the present invention;

[0023] Figure 4 for Figure 3 An enlarged schematic diagram of a part A of one embodiment of the mortar spraying device of the present invention;

[0024] Figure 5 This is a flow chart of one embodiment of the control method of the present invention.

[0025] Reference numerals:

[0026] Base frame 100; displacement drive module 200; longitudinal movement assembly 210; transverse movement assembly 220; forward movement assembly 230; spraying assembly 300; smear plate 400; smear slope 410; distance detection module 500; deflection assembly 600; first swing arm 610; second swing arm 620; first support rod segment 621; second support rod segment 622; third support rod segment 623; third swing arm 630. DETAILED DESCRIPTION

[0027] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0028] In the description of the present invention, it should be understood that descriptions involving orientations, such as the orientations or positional relationships indicated by terms such as "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside", are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention 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 the present invention.

[0029] In the description of the present invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0030] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0031] like Figures 1 to 4 As shown, a mortar spraying device according to an embodiment of the first aspect of the present invention includes a base frame 100, a displacement driving module 200, a spraying assembly 300, a smearing plate 400, a distance detection module 500 and a control module, wherein the displacement driving module 200 is arranged on the base frame 100, the spraying assembly 300 is used to communicate with the slurry supply source through a slurry transmission pipe and spray mortar, and the spraying assembly 300 is arranged on the displacement driving module 200. The displacement driving module 200 can drive the spraying assembly 300 to move in the up and down directions, the front and back directions, and the left and right directions. The smear plate 400 is used to smear mortar, and the smear plate 400 is arranged on the displacement driving module 200. The displacement driving module 200 can drive the smear plate 400 to move in the up and down directions, the front and back directions, and the left and right directions. The distance detection module 500 is arranged on the displacement driving module 200, and the distance detection module 500 is used to detect the distance information between the wall and the control module. The distance detection module 500 is connected to the distance detection module 500 and the displacement driving module 200 respectively to control the operation of the displacement driving module 200 according to the distance information.

[0032] Among them, the displacement drive module 200 is arranged on the base frame 100, and the displacement drive module 200 usually has a drive end. The spraying component 300, the smear plate 400 and the distance detection module 500 can all be arranged at the drive end. When the displacement drive module 200 is in motion, it can synchronously drive the spraying component 300, the smear plate 400 and the distance detection module 500 to move. Of course, in some embodiments of the present invention, the spraying component 300 and the smear plate 400 can also each be driven to move by an independent drive mechanism. The distance detection module 500 can be a conventional infrared rangefinder, an acoustic rangefinder, etc. The control module can include an MCU or a CPU and its auxiliary circuits. The spraying component 300 can be selected from a conventional nozzle with an aperture suitable for spraying cement or other mortars, and the smear plate 400 can be selected from conventional plates for applying mortar.

[0033] In the mortar spraying device of the present invention, the control module can first detect the distance information between the wall and the distance detection module 500, and then control the displacement drive module 200 to drive the spraying assembly 300 to spray the surface of the wall according to the distance information, and control the smearing plate 400 to smooth the slurry on the wall to form a wall with relatively high flatness. This design improves work efficiency, ensures the smoothness quality of the wall, and reduces labor costs.

[0034] In some embodiments of the present invention, Figure 4 As shown, the mortar spraying device also includes a deflection assembly 600, which is respectively connected to the spraying assembly 300 and the smear plate 400, and the displacement drive module 200 is connected to the deflection assembly 600. The spraying assembly 300 and the smear plate 400 are arranged circumferentially around the first rotation axis of the deflection assembly 600.

[0035] When the displacement drive module 200 uses the same drive end to drive the spray assembly 300 and the smear plate 400, when any one of the spray assembly 300 and the smear plate 400 is in operation, the other may cause an obstruction. Therefore, the spray assembly 300 and the smear plate 400 are arranged circumferentially around the first rotation axis of the deflection assembly 600. When the spray assembly 300 is started, the control module drives the deflection assembly 600 to rotate through a drive member such as a motor or a rotary cylinder, so that the nozzle of the spray assembly 300 tends to face the wall, and the smear plate 400 will be located on the upper side or lower side of the nozzle, and may not protrude from the position of the nozzle, forming an avoidance. Similarly, when the smear plate 400 is used, the deflection assembly 600 is also driven to rotate so that the smear plate 400 tends to face the wall, and the spray assembly 300 is located on the upper side or lower side of the smear plate 400, and may not protrude from the position of the smear plate 400, forming an avoidance.

[0036] In some embodiments of the present invention, Figures 1 to 3 As shown, the displacement drive module 200 includes a longitudinal movement component 210, a transverse movement component 220 and a forward movement component 230. The longitudinal movement component 210 is arranged on the base frame 100. The longitudinal movement component 210 is connected to the transverse movement component 220 to drive the transverse movement component 220 to move up and down. The transverse movement component 220 is connected to the forward movement component to drive the forward movement component to move left and right. The forward movement component 230 is connected to the deflection component 600 to drive the deflection component 600 to move forward and backward.

[0037] Among them, the longitudinal movement component 210 may include a longitudinally arranged guide rail, a movable seat and a driving mechanism. The driving mechanism may include a conventional nut and screw mechanism, an active wheel and driven wheel belt dragging mechanism, etc. The guide rail is set on the base frame 100, and the transverse movement component 220 is set on the movable seat. The driving mechanism can drive the movable seat to move up and down along the guide rail.

[0038] The transverse moving assembly 220 may also include a guide rail, a movable seat and a driving mechanism, and the guide rail of the transverse moving assembly 220 is transversely arranged on the movable seat of the longitudinal moving assembly 210 , and the movable seat of the transverse moving assembly 220 is connected to the forward moving assembly 230 .

[0039] The forward moving assembly 230 may also include a guide rail, a movable seat, and a driving mechanism. The guide rail of the forward moving assembly 230 is disposed front and rear on the movable seat of the transverse moving assembly 220 , and the movable seat of the forward moving assembly 230 is connected to the deflection assembly 600 .

[0040] In some embodiments of the present invention, Figures 1 to 3 As shown, the deflection assembly 600 includes a first swing arm 610, a second swing arm 620 and a third swing arm 630, the first swing arm 610 is respectively connected to the spraying assembly 300 and the smear plate 400, the first swing arm 610 is rotatably connected to the head end of the second swing arm 620 and can rotate around the second rotation axis, the tail end of the second swing arm 620 is rotatably connected to the head end of the third swing arm 630 and can rotate around the first rotation axis, the tail end of the third swing arm 630 is rotatably connected to the forward moving assembly 230 and can rotate around the third rotation axis, wherein the first rotation axis, the second rotation axis and the third rotation axis are perpendicular to each other and not parallel to each other.

[0041] The first rotating axis, the second rotating axis and the third rotating axis that rotate among the first swing arm 610, the second swing arm 620, the third swing arm 630 and the forward moving component 230 are perpendicular to each other and not parallel to each other, and the control module can be driven to rotate by a driving member such as a motor and a rotary cylinder, so that the swing angle of the spraying component 300 and the smear plate 400 can be adjusted in all directions. The nozzle of the spraying component 300 can be more accurately directed toward the surface of the wall, and the direction of the smear plate 400 can be adjusted so that the length extension direction of the smear plate 400 can be parallel to the horizontal plane, which is convenient for smooth scraping.

[0042] In addition, the cooperation of the first swing arm 610, the second swing arm 620, and the third swing arm 630 can achieve multi-angle deflection in space, which is particularly suitable for complex curved surface operations.

[0043] In some embodiments of the present invention, Figure 3 As shown, the second swing arm 620 includes a first support rod segment 621, a second support rod segment 622 and a third support rod segment 623. The head end of the first support rod segment 621 is rotatably connected to the first swing arm 610 and can rotate around the second rotation axis, the tail end of the first support rod segment 621 is rotatably connected to the head end of the second support rod segment 622 and can rotate around the first rotation axis, the tail end of the second support rod segment 622 is rotatably connected to the head end of the third support rod segment 623 and can rotate around the first rotation axis, and the tail end of the third support rod segment 623 is rotatably connected to the head end of the third swing arm 630 and can rotate around the first rotation axis.

[0044] The second swing arm 620 adopts a multi-section hinged design of the first support rod segment 621, the second support rod segment 622 and the third support rod segment 623, which greatly increases the posture adjustment range of the end effector. The coordinated rotation can realize bionic joint-like movement in a limited space, and can also realize the switching of the spraying assembly 300 and the smearing plate 400.

[0045] In some embodiments of the present invention, the smearing portion of the smearing plate 400 is provided with a smearing slope 410 that slopes upward from the edge to the middle.

[0046] The smear plate 400 is in the shape of a rectangular plate. During the smearing process, a long side of the smear plate 400 is used to scrape the sprayed slurry. This long side can be used as the smearing part of the smear plate 400, and the edge of the long side is inclined upward toward the middle of the smear plate 400. The slurry on the wall has different thicknesses at different positions. When scraping, the slurry at the thicker position falls on the smearing slope 410 of the smearing plate 400. When it reaches the position where the slurry is thinner, the slurry on the smearing slope 410 can be filled on the wall along the smearing slope 410 due to the action of gravity.

[0047] The control method according to the second embodiment of the present invention is applied to the mortar spraying device disclosed in any of the above embodiments, such as Figure 5 As shown, the control method includes:

[0048] S710: Obtain spacing information.

[0049] S720: Execute a spraying step. In the spraying step, control the displacement drive module according to the spacing information to drive the spray assembly to move to the front of the wall, start the spray assembly, and control the displacement drive module to drive the spray assembly to move in a direction parallel to the wall.

[0050] S730, executing the smearing step. In the smearing step, the displacement driving module is controlled according to the spacing information to drive the smearing plate to approach the surface of the slurry coating, and the displacement driving module is controlled to drive the smearing plate to move up and down in a direction parallel to the wall.

[0051] The control method of the present invention automatically executes the spraying step and the smearing step according to the spacing information. This design improves work efficiency, ensures the smoothness quality of the wall, and reduces labor costs.

[0052] In some embodiments of the present invention, the spraying step and the applying step are repeated at least once after the applying step is performed;

[0053] When the smearing step is performed for the first time, a first distance is determined according to the spacing information, and the displacement driving module is controlled to drive the smearing plate to move to the front of the wall so that the smearing plate is close to the surface of the slurry coating. The distance between the smearing portion of the smearing plate and the wall is the first distance;

[0054] When the smearing step is performed for the second time, a second distance is determined based on the spacing information, and the displacement drive module is controlled to drive the smearing plate to move to the front of the wall so that the smearing plate is close to the surface of the slurry coating, and the distance between the smearing part of the smearing plate and the wall is the second distance; wherein the first distance is smaller than the second distance.

[0055] It is understandable that the wall surface without slurry coating is usually rough. Therefore, the wall surface can be smoothed by performing the spraying step and the painting step in multiple cycles. Here, repeating the spraying step and the painting step multiple times means that a painting step is performed after a spraying step, and then a spraying step is performed again, and so on.

[0056] When the coating step is performed for the first time, since only one spraying step has been performed before, the slurry on the wall is relatively small, and the coating plate can be close to the wall at a relatively close first distance. During the coating process, the slurry is compacted on the wall surface as much as possible, and the concave positions on the wall itself can be filled. When the coating step is performed for the second time, at least two spraying steps have been performed, and the slurry has increased relatively. At the same time, the surface of the wall has become relatively flat due to the first coating. The second coating can make the slurry on the wall surface reach the thickness standard, and can also be further smoothed to make the slurry surface on the wall smoother.

[0057] Specifically, it may also include a third and a fourth coating step. In the subsequent coating steps, the distance between the coating plate and the wall determined according to the spacing information may increase with the number of coating steps, or may be the same as the second distance.

[0058] In addition, it can be understood that the first distance and the second distance of this design are formulated based on the spacing information from the wall surface, rather than based on the distance from the slurry surface on the wall, to prevent the different slurry thicknesses at different locations after the slurry is applied, which affects the coating quality.

[0059] In some embodiments of the present invention, starting the spray assembly and controlling the displacement drive module to drive the spray assembly to move in a direction parallel to the wall includes:

[0060] Move the shotcrete assembly to the bottom of the wall and locate it at a first end of the wall, wherein the first end is the left end or the right end;

[0061] Start the shotcrete assembly;

[0062] Performing a first sweeping step, in which the shotcrete assembly is moved in a left-right direction from a first end of the wall to a second end of the wall, wherein the second end is opposite to the first end, and the shotcrete assembly is moved upward by a first step distance, accumulating a total step height, where the total step height is the sum of the first step distances of each upward movement;

[0063] Performing a second sweeping step, in which the shotcrete assembly is moved in a left-right direction from the second end of the wall to the first end of the wall, and the shotcrete assembly is moved upward by a first step distance, and a total step height is accumulated;

[0064] The first sweeping step and the second sweeping step are executed cyclically in sequence until the total step height is greater than the wall height.

[0065] It is understandable that the slurry sprayed on the wall will gradually move downward due to gravity. Therefore, this design first moves the spraying assembly to either end of the bottom of the wall, and then sprays upward in an "S" route to ensure that in the subsequent coating steps, the slurry will not accumulate excessively at the bottom of the wall, and the slurry thickness on the wall is relatively uniform.

[0066] And by alternately sweeping left and right, it ensures that the wall is covered in layers without omission, reducing the possibility of blind spots or repeated areas in spraying.

[0067] In addition, through dynamic calculation of the cumulative total step height, the termination condition can be automatically determined to prevent over-spraying or incomplete coverage, thereby improving construction accuracy.

[0068] At the same time, spraying and movement are carried out synchronously, which reduces the number of starts and stops, shortens the construction period, and reasonable path planning improves the spraying efficiency of the spraying components, reduces empty movement, and reduces mechanical wear and energy consumption.

[0069] Specifically, the first step distance can be reasonably set by the staff according to the spraying range of the spraying assembly. In addition, the staff can input the height of the wall in advance to facilitate the judgment of the total step height and the wall height.

[0070] In some embodiments of the present invention, the smearing portion of the smearing plate is provided with a smearing slope that slopes upward from the edge to the middle, and the smearing slope is located at the top. Controlling the displacement driving module to drive the smearing plate to move up and down in a direction parallel to the wall includes:

[0071] Move the smear plate to the bottom of the wall and locate it at a first end of the wall, wherein the first end is a left end or a right end;

[0072] Execute the scraping step, drive the smear plate to move from the bottom of the wall to the top of the wall in the up-down direction, move the spray assembly to the second end by a second step distance, accumulate the total step width, the second end is opposite to the first end, drive the smear plate to retreat away from the wall by a distance, drive the smear plate to move from the top of the wall to the bottom of the wall in the up-down direction, and then drive the smear plate close to the surface of the slurry coating; loop the scraping step until the total step width is greater than the wall width.

[0073] It can be understood that although the spraying component is sprayed from bottom to top in the above-mentioned spraying step, it is inevitable that the slurry will move downward, and the slurry thickness at the bottom of the wall will be greater than the slurry thickness at the top. Therefore, in the smearing step, the smearing portion of the smearing plate is provided with a smearing slope structure that tilts upward from the edge to the middle, driving the smearing plate to move from the bottom of the wall to the top of the wall in the up and down direction, so that when the smearing plate passes through the position on the wall where the slurry thickness is higher, the slurry can fall on the smearing slope, and when it passes through the position on the wall where the slurry thickness is smaller, the slurry on the smearing slope can be filled to reduce bubbles and hollows, and as time goes by, the slurry gradually solidifies to ensure that the overall thickness of the wall is roughly consistent.

[0074] Similarly, after each scraping, the second step distance is moved horizontally, and the coverage range is controlled by accumulating the total step width to achieve construction without duplication and omission.

[0075] Each time after scraping the slurry to the top, the coating plate retreats a distance and then resets to avoid the scraper from scratching the constructed surface again during the return stroke, thereby protecting the integrity of the coating. The specific retreat distance can be set by the staff. In addition, it should be noted that the judgment standard for driving the coating plate close to the surface of the slurry coating is based on the first distance of the first coating step or the second distance of the second coating step.

[0076] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A mortar spraying device, characterized in that: include: scaffolding; A displacement drive module is provided on the base frame; a spraying assembly, configured to communicate with a slurry supply source through a slurry transmission pipe and spray mortar, the spraying assembly being disposed on the displacement drive module, the displacement drive module being capable of driving the spraying assembly to move in the up-down, front-back, and left-right directions; A smear plate, used for smearing mortar, wherein the smear plate is arranged on the displacement drive module, and the displacement drive module can drive the smear plate to move in the up-down direction, the front-back direction, and the left-right direction; A distance detection module is provided in the displacement drive module, and is used to detect the distance information between the displacement drive module and the wall; The control module is connected to the distance detection module and the displacement driving module respectively to control the operation of the displacement driving module according to the distance information.

2. A mortar spraying device according to claim 1, characterized in that: It also includes a deflection assembly, which is connected to the spray assembly and the smear plate respectively, and the displacement drive module is connected to the deflection assembly. The spray assembly and the smear plate are arranged circumferentially around the first rotation axis of the deflection assembly.

3. A mortar spraying device according to claim 2, characterized in that: The displacement drive module includes a longitudinal movement component, a transverse movement component and a forward movement component. The longitudinal movement component is arranged on the base frame. The longitudinal movement component is connected to the transverse movement component to drive the transverse movement component to move up and down. The transverse movement component is connected to the forward movement component to drive the forward movement component to move left and right. The forward movement component is connected to the deflection component to drive the deflection component to move forward and backward.

4. A mortar spraying device according to claim 3, characterized in that: The deflection assembly includes a first swing arm, a second swing arm and a third swing arm, the first swing arm is connected to the spraying assembly and the smear plate respectively, the first swing arm is rotatably connected to the head end of the second swing arm and can rotate around the second rotation axis, the tail end of the second swing arm is rotatably connected to the head end of the third swing arm and can rotate around the first rotation axis, the tail end of the third swing arm is rotatably connected to the forward moving assembly and can rotate around the third rotation axis, wherein the first rotation axis, the second rotation axis and the third rotation axis are perpendicular to each other and not parallel to each other.

5. The mortar spraying device according to claim 3, characterized in that: The second swing arm includes a first support rod segment, a second support rod segment and a third support rod segment. The head end of the first support rod segment is rotationally connected to the first swing arm and can rotate around the second rotation axis. The tail end of the first support rod segment is rotationally connected to the head end of the second support rod segment and can rotate around the first rotation axis. The tail end of the second support rod segment is rotationally connected to the head end of the third support rod segment and can rotate around the first rotation axis. The tail end of the third support rod segment is rotationally connected to the head end of the third swing arm and can rotate around the first rotation axis.

6. A mortar spraying device according to claim 1, characterized in that: The smearing portion of the smearing plate is provided with a smearing slope that slopes upward from the edge to the middle.

7. A control method, applied to the mortar spraying device according to any one of claims 1 to 6, characterized in that: The control method includes: Get spacing information; Executing a spraying step, in which the displacement drive module is controlled according to the spacing information to drive the spray assembly to move to the front of the wall, the spray assembly is started, and the displacement drive module is controlled to drive the spray assembly to move in a direction parallel to the wall; Perform the smearing step. In the smearing step, the displacement driving module is controlled according to the spacing information to drive the smearing plate to approach the surface of the slurry coating, and the displacement driving module is controlled to drive the smearing plate to move up and down in a direction parallel to the wall.

8. A control method according to claim 7, characterized in that: Repeating the spraying step and the applying step at least once after the applying step; When the smearing step is performed for the first time, a first distance is determined according to the spacing information, and the displacement driving module is controlled to drive the smearing plate to move to the front of the wall so that the smearing plate is close to the surface of the slurry coating. The distance between the smearing portion of the smearing plate and the wall is the first distance; When the second smearing step is performed, a second distance is determined according to the spacing information, and the displacement drive module is controlled to drive the smearing plate to move to the front of the wall so that the smearing plate is close to the surface of the slurry coating, and the distance between the smearing portion of the smearing plate and the wall is the second distance; The first distance is smaller than the second distance.

9. A control method according to claim 7, characterized in that: The step of starting the spray assembly and controlling the displacement drive module to drive the spray assembly to move in a direction parallel to the wall includes: Move the shotcrete assembly to the bottom of the wall and locate it at a first end of the wall, wherein the first end is the left end or the right end; Start the shotcrete assembly; Performing a first sweeping step, in which the shotcrete assembly is moved in a left-right direction from a first end of the wall to a second end of the wall, wherein the second end is opposite to the first end, and the shotcrete assembly is moved upward by a first step distance, accumulating a total step height, where the total step height is the sum of the first step distances of each upward movement; Performing a second sweeping step, in which the shotcrete assembly is moved in a left-right direction from the second end of the wall to the first end of the wall, and the shotcrete assembly is moved upward by a first step distance, and a total step height is accumulated; The first sweeping step and the second sweeping step are executed cyclically in sequence until the total step height is greater than the wall height.

10. A control method according to claim 7, wherein the smearing portion of the smearing plate is provided with a smearing slope that slopes upward from the edge to the middle, and the smearing slope is located at the top, characterized in that: Controlling the displacement drive module to drive the smear plate to move up and down in a direction parallel to the wall includes: Move the smear plate to the bottom of the wall and locate it at a first end of the wall, wherein the first end is the left end or the right end; Executing the slurry scraping step, driving the smear plate to move in the vertical direction from the bottom of the wall to the top of the wall, moving the spray assembly toward the second end by a second step distance, accumulating the total step width, the second end facing away from the first end, driving the smear plate to retreat away from the wall by the avoidance distance, driving the smear plate to move in the vertical direction from the top of the wall to the bottom of the wall, and then driving the smear plate to approach the surface of the slurry coating; The scraping steps are repeated until the total step width is greater than the wall width.

Images