Intelligent detection device for concrete plastering

Abstract

The invention discloses an intelligent concrete plastering detection device, and belongs to the field of concrete plastering, the intelligent concrete plastering detection device comprises a moving assembly driven by a crawler-type mode and a Mecanum wheel mode, a bearing mechanism is mounted on the upper surface of the moving assembly, and an intelligent detection trowelling mechanism is mounted on the surface of the bearing mechanism; the intelligent detection trowelling mechanism comprises a supporting bottom plate mounted on the surface of the bearing mechanism; through cooperative use of the devices, the concrete plaster is detected based on the three-dimensional laser scanner, the flatness defect of the plaster is automatically recognized, a repair path is generated, the six-axis cooperative mechanical arm is started according to the repair path, the mounting plate, the pressure sensor and the spatula are driven to move, fine plastering is conducted on the plaster with the flatness defect, and the repair efficiency is improved. And the pressure in the trowelling process is monitored in real time through a pressure sensor, the defect of plastering caused by too large pressure is avoided, and therefore plastering detection and automatic fine plastering are achieved through intelligent detection.

Description

Technical Field

[0001] This invention relates to the field of concrete plastering technology, specifically to an intelligent detection device for concrete plastering. Background Technology

[0002] Concrete finishing is a common process in construction engineering, mainly used for surface repair and decoration of floors, walls, and other parts. During construction, it is necessary to ensure that the base surface is flat, solid, and has good adsorption properties. Dust, debris, oil stains, and other impurities on the base surface must be removed. Damaged areas should be repaired, depressions filled, and polished. Commonly used materials include cement, quartz sand, and fine aggregate. The appropriate proportion and type should be selected according to the project needs and the usage environment. When mixing, attention should be paid to the mixing time and speed to ensure that the mixture is evenly mixed and free of lumps. After the concrete is vibrated, it can be leveled with a leveling tool, then raised with a slurry tap, and then smoothed with a polishing slab. Finally, a blade-type concrete trowel is used for mechanical finishing, which consists of two processes: rough finishing and fine finishing.

[0003] An investigation revealed that a Chinese invention patent (publication number: CN118774400B) discloses a concrete pouring surface smoothing device, comprising a top plate and an air pump. The air pump is fixedly connected to one side of the top wall of the top plate, and a rotating shell is fixedly connected to one side of the top wall of the top plate. One end of the rotating shell is connected to the output end of the air pump through an air pipe. A movable plate is slidably connected to the bottom wall of the top plate, and a contact switch is fixedly connected to one side of the bottom wall of the top plate. This solution uses pneumatics to smooth the concrete surface and simultaneously uses high-pressure airflow during smoothing to compact the concrete, so that smoothing and compaction of the concrete are carried out simultaneously. This solves the technical problem in the prior art where compaction and smoothing are carried out separately, resulting in structural damage to the concrete after initial setting. It also uses point contact to clean the residual material on the smoothing plate with high-pressure airflow sprayed in a fan shape, and simultaneously uses vibration to shake off the residual material on the vibrating plate, solving the technical problem of residual material adhering to the smoothing plate and causing pits on the concrete surface.

[0004] While the aforementioned patent utilizes a movable pneumatic telescopic rod and casters to facilitate device transfer without affecting the smoothing process, and employs high-pressure airflow to drive a tapping head to intermittently strike a vibrating plate, thereby compacting the concrete and eliminating air bubbles, and the high-pressure airflow also drives a screed to smooth the concrete surface, simultaneously performing compaction and smoothing without damaging the concrete structure, the smoothing effect still requires inspection using tools or manual observation after smoothing. Areas with surface unevenness defects need secondary smoothing. The lack of intelligent detection for surface inspection and automatic smoothing means that manual secondary smoothing may affect other concrete surfaces, increasing worker workload and potentially requiring multiple rework runs, thus extending the project timeline and impacting the efficiency of concrete smoothing.

[0005] Therefore, the present invention provides an intelligent detection device for concrete plastering to solve the above problems. Summary of the Invention

[0006] (a) Technical problems to be solved

[0007] This invention provides an intelligent detection device for concrete plastering, which aims to solve the problems mentioned in the background art.

[0008] (II) Technical Solution

[0009] To achieve the above objectives, the present invention provides the following technical solution: a concrete plastering intelligent detection device, comprising a moving component driven by both tracked and Mecanum wheel dual modes, a bearing mechanism mounted on the upper surface of the moving component, and an intelligent detection and plastering mechanism mounted on the surface of the bearing mechanism;

[0010] The intelligent detection and smoothing mechanism includes a support base plate mounted on the surface of the carrier mechanism. A connector is rotatably connected to the upper surface of the support base plate. A movable ring is threadedly connected to the surface of the connector. A three-dimensional laser scanner corresponding to the movable component is fixedly connected to the surface of the movable ring. A six-axis collaborative robotic arm is fixedly connected to the upper surface of the connector. The end effector of the six-axis collaborative robotic arm is equipped with a mounting plate corresponding to the movable component. Pressure sensors are fixedly connected in a rectangular array on one side of the mounting plate. A trowel corresponding to the mounting plate is fixedly connected to one side of several pressure sensors.

[0011] As a preferred technical solution of this application, the intelligent detection and smoothing mechanism further includes a limiting ring fixedly connected to the surface of the connector. The surface of the limiting ring is fixedly connected to a guide rod in a ring array. The surface of the limiting ring is rotatably connected to a threaded rod corresponding to the guide rod near the guide rod.

[0012] As a preferred technical solution of this application, the intelligent detection and smoothing mechanism further includes a drive motor fixedly connected inside the limiting ring and whose output end is fixedly connected to the threaded rod. The moving ring is sleeved on the surface of several guide rods. The moving ring is threadedly connected to the threaded rod. One end of the connecting member is fixedly connected to a servo motor fixedly connected to the support base plate.

[0013] As a preferred technical solution of this application, the bearing mechanism includes a support plate fixedly connected to the upper surface of the moving component, a rotating shaft fixedly connected to the upper surface of the support plate, a rotating plate corresponding to the support plate sleeved on the surface of the rotating shaft, an installation groove opened on the upper surface of the rotating plate, and the rotating plate corresponding to the moving component.

[0014] As a preferred technical solution of this application, the bearing mechanism further includes hollow tubes fixedly connected to the surface of the support plate in a rectangular array. A push rod for sealing the hollow tube is slidably connected inside the hollow tube. The push rod is in contact with the lower surface of the rotating plate. A connecting pipe connected to the hollow tube is fixedly connected to each pair of opposite sides of the hollow tube.

[0015] As a preferred technical solution of this application, the bearing mechanism further includes a connecting pipe fixedly connected to the surface of the connecting pipe, one end of the connecting pipe is fixedly connected to a solenoid valve, the opposite sides of the two solenoid valves are jointly fixedly connected to a flow pipe, and the surface of the flow pipe is fixedly connected to an air inlet pipe that communicates with the flow pipe.

[0016] As a preferred technical solution of this application, the supporting mechanism further includes an air pump fixedly connected to one end of the air inlet pipe, and a fixing member fixedly connected to the support plate is fixedly connected to the surface of the air pump. The support base plate is fixedly connected to the support plate by bolts.

[0017] As a preferred technical solution of this application, a fixing plate is fixedly connected to the surface of the supporting base plate, and a level that is at the same horizontal line as the supporting base plate is fixedly connected to one side of the fixing plate. The air pump is connected to a PLC controller.

[0018] (III) Beneficial Effects

[0019] Based on the coordinated operation of intelligent detection and smoothing mechanisms, a moving component equipped with a 3D laser scanner moves alongside the smoothed concrete. The 3D laser scanner detects the smoothed concrete surface, automatically identifies surface flatness defects, and generates repair paths. According to the repair paths, a six-axis collaborative robotic arm is activated, driving the movement of the mounting plate, pressure sensors, and trowels to perform fine smoothing on the surface with flatness defects. The pressure sensors monitor the pressure during the smoothing process in real time to prevent excessive pressure from causing defects. This achieves intelligent detection and automatic fine smoothing of the surface, avoiding the impact of manual secondary smoothing on other concrete surfaces. This not only increases the workload of workers but may also require multiple reworks, leading to extended construction periods and affecting the efficiency of concrete smoothing.

[0020] Based on the cooperation of the supporting mechanism and other structures, during the inspection of the troweled surface by the 3D laser scanner, the level instrument monitors in real time whether the fixed plate and the support plate are level. When the support plate is not level, the air pump and the corresponding solenoid valve are activated, so that the gas enters the hollow tube through the solenoid valve, which drives the push rod to move. The push rod drives one side of the lower surface of the rotating plate to change position through the rotating shaft, thereby adjusting the support plate to be level. This makes the 3D laser scanner more accurate in detecting the troweled surface. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of a smart detection device for concrete plastering surfaces.

[0022] Figure 2 This is a structural schematic diagram of a smart detection device for concrete plastering from a second perspective.

[0023] Figure 3 This is a schematic diagram of the intelligent detection and smoothing mechanism in an intelligent concrete surface detection device.

[0024] Figure 4 This is a structural schematic diagram of a 3D laser scanner, a six-axis collaborative robotic arm, and connecting components in an intelligent concrete plastering inspection device.

[0025] Figure 5 This is a schematic diagram of the load-bearing mechanism in an intelligent detection device for concrete plastering.

[0026] Figure 6 This is a schematic diagram of the structure of a support plate, rotating plate, air pump, and flow pipe in an intelligent concrete plastering detection device.

[0027] In the picture:

[0028] 1. Moving component; 2. Support base plate; 3. Connector; 4. Moving ring; 5. 3D laser scanner; 6. Six-axis collaborative robotic arm; 7. Mounting plate; 8. Pressure sensor; 9. Spare squeegee; 10. Limiting ring; 11. Guide rod; 12. Threaded rod; 13. Drive motor; 14. Servo motor; 15. Support plate; 16. Rotating shaft; 17. Rotating plate; 18. Hollow tube; 19. Push rod; 20. Connecting pipe; 21. Connecting pipe; 22. Solenoid valve; 23. Flow pipe; 24. Air inlet pipe; 25. Air pump; 26. Fixing component; 27. Fixing plate; 28. Level. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] This invention provides an intelligent detection device for concrete plastering surfaces, such as... Figures 1-6 As shown, the intelligent concrete plastering detection device includes a mobile component 1 driven by both tracked and Mecanum wheel modes.

[0031] Specifically, for concrete construction sites, a tracked structure is used to adapt to soft and uneven ground, and Mecanum wheels enable in-situ turning and lateral movement to ensure that there are no blind spots in the detection path;

[0032] A bearing mechanism is installed on the upper surface of the movable component 1. The bearing mechanism includes a support plate 15 fixedly connected to the upper surface of the movable component 1. A rotating shaft 16 is fixedly connected to the upper surface of the support plate 15. A rotating plate 17 corresponding to the support plate 15 is sleeved on the surface of the rotating shaft 16. An installation groove is opened on the upper surface of the rotating plate 17, and the rotating plate 17 corresponds to the movable component 1.

[0033] Among them, the support plate 15 is used to support the support base plate 2 and the rotating plate 17;

[0034] Among them, the rotating shaft 16 is used to rotate the plate 17 on the support plate 15 to adjust the tilt angle;

[0035] The mounting slot is used to install the support base plate 2;

[0036] The bearing mechanism also includes hollow tubes 18 fixedly connected to the surface of the support plate 15 in a rectangular array. A push rod 19 for sealing the hollow tube 18 is slidably connected inside the hollow tube 18. The push rod 19 is in contact with the lower surface of the rotating plate 17. A connecting pipe 20 connected to the hollow tube 18 is fixedly connected to the opposite sides of every two corresponding hollow tubes 18. The bearing mechanism also includes a connecting pipe 21 fixedly connected to the surface of the connecting pipe 20. A solenoid valve 22 is fixedly connected to one end of the connecting pipe 21. A flow pipe 23 is fixedly connected to the opposite sides of the two solenoid valves 22.

[0037] The hollow tube 18 is used for gas flow and compression, thereby driving the push rod 19 to move;

[0038] Among them, the push rod 19 is used to push the rotating plate 17 to rotate;

[0039] The connecting pipe 20 is used to transport gas into the hollow pipe 18;

[0040] An air inlet pipe 24, which is connected to the flow pipe 23, is fixedly connected to the surface of the flow pipe 23. The supporting mechanism also includes an air pump 25 fixedly connected to one end of the air inlet pipe 24. A fastener 26, which is fixedly connected to the support plate 15, is fixedly connected to the surface of the air pump 25. The support base plate 2 is fixedly connected to the support plate 15 by bolts.

[0041] The flow pipe 23 and the air inlet pipe 24 are used to transport the gas generated by the air pump 25 to the interior of the corresponding connecting pipe 20.

[0042] Among them, the air pump 25 is used to deliver outside air into the flow pipe 23;

[0043] Among them, the fastener 26 is used to fix the air pump 25;

[0044] The surface of the bearing mechanism is equipped with an intelligent detection and smoothing mechanism. The intelligent detection and smoothing mechanism includes a support base plate 2 installed on the surface of the bearing mechanism. A fixing plate 27 is fixedly connected to the surface of the support base plate 2. A level 28 that is at the same horizontal line as the support base plate 2 is fixedly connected to one side of the fixing plate 27. An air pump 25 is connected to a PLC controller.

[0045] The surface of the fixed plate 27 is provided with an identification camera corresponding to the level 28. The identification camera is used to monitor whether the level 28 is kept horizontal in real time, and to control the air pump 25 and the solenoid valve 22 through the deviation of the level 28 and the PLC controller.

[0046] The fixed plate 27 and the level 28 are used to detect whether the rotating plate 17 is horizontal, and the level 28 is monitored in real time by the recognition camera.

[0047] Specifically, before inspecting the concrete surface, the rotating plate 17 is checked to ensure it remains level by using a level 28 and a recognition camera in conjunction with each other.

[0048] When the rotating plate 17 is not kept horizontal, the air pump 25 is started, so that the input end delivers external air to the air inlet pipe 24 and the flow pipe 23 through the output end. According to the detection result of the recognition camera, the corresponding solenoid valve 22 is activated, so that the flow pipe 23 is connected to the corresponding connecting pipe 21, so that the gas can enter the connecting pipe 20 through the connecting pipe 21, so that the gas enters the two corresponding hollow pipes 18. Based on the sealing of the hollow pipes 18 by the push rod 19, the gas pushes the push rod 19 to move, so that the push rod 19 drives one side of the rotating plate 17 to lift and adjust the position of the rotating plate 17, so that the rotating plate 17 is kept horizontal, making the surface detection result of the 3D laser scanner 5 more accurate;

[0049] A connector 3 is rotatably connected to the upper surface of the support base plate 2. One end of the connector 3 is fixedly connected to a servo motor 14 that is fixedly connected to the support base plate 2. A moving ring 4 is threadedly connected to the surface of the connector 3. A three-dimensional laser scanner 5 corresponding to the moving component 1 is fixedly connected to the surface of the moving ring 4.

[0050] Among them, the connector 3 is used to support the 3D laser scanner 5 and the six-axis collaborative robotic arm 6;

[0051] Among them, the servo motor 14 is used to drive the connector 3 to rotate, thereby driving the 3D laser scanner 5 and the six-axis collaborative robotic arm 6 to rotate, so that the 3D laser scanner 5 and the six-axis collaborative robotic arm 6 can detect and finely smooth the surface at different positions.

[0052] Among them, the 3D laser scanner 5 is used to detect the smoothness of the troweled surface;

[0053] A six-axis collaborative robotic arm 6 is fixedly connected to the upper surface of the connector 3. The end effector of the six-axis collaborative robotic arm 6 is equipped with a mounting plate 7 corresponding to the moving component 1. Pressure sensors 8 are fixedly connected in a rectangular array on one side of the mounting plate 7. A spatula 9 corresponding to the mounting plate 7 is fixedly connected to one side of several pressure sensors 8.

[0054] Among them, the six-axis collaborative robotic arm 6 is used to provide power and support for the process of fine smoothing the surface based on the repair path;

[0055] Among them, the mounting plate 7 and the pressure sensor 8 are used to detect the pressure of the trowel 9 during the fine troweling process;

[0056] Among them, spatula 9 is used for fine smoothing of the surface;

[0057] Specifically, the intelligent concrete plastering detection device is moved to the side of the concrete plastering surface by the moving component 1. The 3D laser scanner 5 is used to detect the plastering surface, automatically identify the flatness defects of the plastering surface and generate a repair path. According to the repair path, the six-axis collaborative robotic arm 6 is started, which moves the mounting plate 7, pressure sensor 8 and trowel 9 to perform fine plastering on the plastering surface with flatness defects. The pressure sensor 8 monitors the pressure in real time during the plastering process to avoid excessive pressure that may cause defects in the plastering surface, thereby completing a high-precision secondary fine plastering of the plastering surface.

[0058] The intelligent detection and smoothing mechanism also includes a limiting ring 10 fixedly connected to the surface of the connector 3. The surface of the limiting ring 10 is fixedly connected to guide rods 11 in a ring array. The surface of the limiting ring 10 is rotatably connected to a threaded rod 12 corresponding to the guide rod 11. The moving ring 4 is sleeved on the surface of several guide rods 11. The moving ring 4 is threadedly connected to the threaded rod 12. The intelligent detection and smoothing mechanism also includes a drive motor 13 fixedly connected inside the limiting ring 10 and whose output end is fixedly connected to the threaded rod 12.

[0059] The limiting ring 10 is used to support the guide rod 11 and the threaded rod 12.

[0060] Among them, the guide rod 11 is used to guide the movement of the moving ring 4;

[0061] Among them, the threaded rod 12 and the drive motor 13 are used to drive the moving ring 4 to move;

[0062] Specifically, based on the detection height, the drive motor 13 is started, causing its output end to drive the threaded rod 12 to rotate, thereby driving the moving ring 4 to move, which in turn drives the 3D laser scanner 5 to move. The position of the 3D laser scanner 5 is adjusted, so that the 3D laser scanner 5 can detect the plaster surface at different heights, thus improving the practicality of the intelligent detection device for concrete plaster surface.

[0063] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A concrete finishing intelligent detection device, comprising a mobile assembly (1) driven in dual mode by caterpillar tracks and Mecanum wheels, characterized in that: The upper surface of the mobile assembly (1) is provided with a bearing mechanism, and the surface of the bearing mechanism is provided with an intelligent detection and troweling mechanism; The intelligent detection and troweling mechanism comprises a support bottom plate (2) installed on the surface of the bearing mechanism, the upper surface of the support bottom plate (2) is rotatably connected with a connecting piece (3), the surface of the connecting piece (3) is threadedly connected with a moving ring (4), the surface of the moving ring (4) is fixedly connected with a three-dimensional laser scanner (5) corresponding to the mobile assembly (1), the upper surface of the connecting piece (3) is fixedly connected with a six-axis collaborative mechanical arm (6), the end effector of the six-axis collaborative mechanical arm (6) is provided with a mounting plate (7) corresponding to the mobile assembly (1), one side of the mounting plate (7) is fixedly connected with a pressure sensor (8) in a rectangular array, and one side of a plurality of pressure sensors (8) is fixedly connected with a trowel (9) corresponding to the mounting plate (7). 2.The concrete finishing intelligent detection device according to claim 1, characterized in that: The intelligent detection and troweling mechanism further comprises a limiting ring (10) fixedly connected to the surface of the connecting piece (3), and the surface of the limiting ring (10) is fixedly connected with guide rods (11) in an annular array.

3. The concrete finishing intelligent detection device according to claim 2, characterized in that: The intelligent detection and troweling mechanism further comprises a drive motor (13) fixedly connected to the inside of the limiting ring (10) and having an output end fixedly connected with the threaded rod (12).

4. The concrete finishing intelligent detection device according to claim 1, characterized in that: The bearing mechanism comprises a support plate (15) fixedly connected to the upper surface of the mobile assembly (1), the upper surface of the support plate (15) is fixedly connected with a rotating shaft (16), the surface of the rotating shaft (16) is sleeved with a rotating plate (17) corresponding to the support plate (15), the upper surface of the rotating plate (17) is provided with a mounting groove, and the rotating plate (17) corresponds to the mobile assembly (1).

5. The concrete finishing intelligent detection device according to claim 4, characterized in that: The bearing mechanism further comprises hollow pipes (18) fixedly connected to the surface of the support plate (15) in a rectangular array, a push rod (19) for sealing the hollow pipes (18) is slidably connected in the hollow pipes (18), the lower surface of the push rod (19) is attached to the rotating plate (17), and every two opposite sides corresponding to the hollow pipes (18) are fixedly connected with a communication pipe (20) in communication with the hollow pipes (18).

6. The concrete finishing intelligent detection device according to claim 5, characterized in that: The bearing mechanism further comprises a connecting pipe (21) fixedly connected to the surface of the communication pipe (20), one end of the connecting pipe (21) is fixedly connected with an electromagnetic valve (22), the opposite sides of the two electromagnetic valves (22) are fixedly connected with a flow pipe (23), and the surface of the flow pipe (23) is fixedly connected with an air inlet pipe (24) in communication with the flow pipe (23).

7. The concrete finishing intelligent detection device according to claim 6, characterized in that: The bearing mechanism further comprises an air pump (25) fixedly connected to one end of the air inlet pipe (24), the surface of the air pump (25) is fixedly connected with a fixing piece (26) fixedly connected with the supporting plate (15), and the supporting bottom plate (2) is fixedly connected with the supporting plate (15) through bolts. 8.The concrete finishing intelligent detection device according to claim 7, characterized in that: The surface of the supporting bottom plate (2) is fixedly connected with a fixing plate (27), one side of the fixing plate (27) is fixedly connected with a level (28) in the same horizontal line as the supporting bottom plate (2), and the air pump (25) is connected with a PLC controller.

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