Adjustable curved surface plastering device with slurry beating mechanism and method

Abstract

The invention belongs to the technical field of building construction, and discloses an adjustable curved surface plastering device with a slurry beating mechanism and a method. The lifting structure is mounted on the chassis structure and used for driving the plastering main body structure to ascend and descend to meet the curved surface operation requirements of different heights; the plastering main body structure is mounted on the lifting structure and can sense and adapt to the radian of the curved wall surface in real time, and uniform attachment and construction precision during plastering are guaranteed; and the energy supply and storage structure is installed on the chassis structure and used for providing electric energy and hydraulic power, storing the mortar and accurately conveying the mortar to the mortar beating and plastering component through a conveying component. The problems that due to the fact that traditional curved surface plastering depends on manual work, the thickness is uneven, the flatness is poor, the capacity of existing automatic equipment for being matched with a curved surface structure is weak, the slurry patting and plastering procedures are disjointed, and the working efficiency is low can be solved, the device is suitable for plastering construction of curved surface structures such as arc-shaped walls and arch-shaped components, and the wall surface base layer slurry patting technology is integrated.

Description

Technical Field

[0001] This invention relates to the technical field of building construction, specifically to an adjustable curved surface plastering device with a slurry-spreading mechanism, and also to an adjustable curved surface plastering method with a slurry-spreading mechanism. Background Technology

[0002] In building construction, wall plastering is a key process to ensure the flatness, strength, and subsequent decorative effect of the wall. The grouting process is a preliminary step in which grout is applied to the base layer of the wall to enhance the adhesion of the plaster layer. The two must be completed in sequence.

[0003] However, traditional curved surface plastering relies on manual hand tools, which is greatly affected by the skill level of workers and is prone to problems such as uneven plastering thickness and poor surface flatness. Some automated plastering equipment is only suitable for flat walls and has low compatibility with curved structures. It cannot flexibly adjust the plastering angle and pressure, making it difficult to meet the construction requirements of complex curved surfaces such as arcs and arches. The slurry application and plastering processes are disconnected, and the process connection is cumbersome, reducing the overall work efficiency. Summary of the Invention

[0004] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide an adjustable curved surface plastering device with a slurry applicator, so as to solve the problems of uneven thickness and poor flatness caused by the reliance on manual labor in traditional curved surface plastering, weak adaptability of existing automated equipment to curved surface structures, and low work efficiency due to the disconnect between the slurry applicator and plastering process. It is suitable for plastering construction of curved surface structures such as arc walls and arched components, and integrates the wall base slurry applicator process.

[0005] Another objective of this invention is to provide an adjustable curved surface plastering method with a slurry applicator, in order to solve the problems of cumbersome process connections, difficulty in controlling operational precision, and inability to efficiently adapt to the construction requirements of complex curved surface structures such as arc walls and arched components in curved surface plastering construction.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: The adjustable curved surface plastering device with a slurry-applying mechanism of the present invention includes: a chassis structure; a lifting structure installed on the chassis structure for driving the main plastering structure to lift and lower, adapting to the needs of curved surface operations at different heights; the main plastering structure installed on the lifting structure, including a plastering lifting chute, a plastering lifting slide table that moves up and down in the plastering lifting chute, a primary hydraulic rod for a plastering scraper and a primary hydraulic rod for a slurry-applying plate installed on the plastering lifting slide table, a secondary hydraulic rod for a plastering scraper connected to the primary hydraulic rod for the plastering scraper, a plastering scraper fixing square steel connected and fixed to the secondary hydraulic rod for the plastering scraper, and a plastering scraper fixing square steel installed on one side. The system includes: a scraper bending screw drive motor; a scraper bending screw connected to the plastering scraper fixing square steel and the plastering scraper via the scraper bending screw drive motor; a plastering slurry plate secondary hydraulic rod connected to the primary hydraulic rod of the plastering slurry plate; a plastering slurry plate fixing square steel connected to the secondary hydraulic rod of the plastering slurry plate; a slurry slurry translating slide that moves along the length of the plastering slurry plate fixing square steel; a slurry slurry plate support plate fixed above the slurry slurry translating slide; and a slurry slurry plate fixed to the slurry slurry plate support plate; and a power supply and storage structure installed on the chassis structure to provide electrical and hydraulic power, store mortar, and accurately deliver the mortar to the slurry slurry and plastering components via a conveying component.

[0007] Preferably, multiple scraper bending screw drive motors are installed on one side of the plastering scraper fixing square steel. The scraper bending screw drive motors are connected to the scraper bending screws, which are installed within the plastering scraper fixing square steel and the scraper bending screw drive motors. When the scraper bending screw drive motors rotate, the scraper bending screws extend or retract, thereby causing the flexible plastering scraper and the baffle plate to bend and conform to the wall surface. Multiple primary scraper couplings are distributed on the back of the plastering scraper, one side connected to the scraper bending screw and the other side connected to the secondary scraper coupling. The back of the plastering scraper is connected to the scraper bending screw via multiple primary scraper couplings. Resistive thin-film pressure sensors are distributed on its front side to detect whether the scraper is conforming to the wall surface. When the plastering scraper contacts the curved wall surface, the pressure on the sensor is greater at the protruding parts of the wall and less at the recessed parts. The conductive film inside the resistive thin-film pressure sensor will change with the pressure... The force of extrusion causes deformation, which in turn changes the contact resistance between the films. The electrical signal corresponding to the resistance change is then transmitted to the device controller. The controller judges the adhesion difference by comparing the pressure data of each resistive film pressure sensor, and drives the scraper bending screw drive motor at the corresponding position to adjust the stroke. In areas with low pressure, the scraper bending screw drive motor extends to push the scraper tighter, while in areas with high pressure, the scraper bending screw drive motor shortens to reduce pressure, ultimately achieving uniform adhesion between the plastering scraper and the curved wall surface. The secondary coupling of the scraper is made of flexible material, with its lower end connected to the primary coupling of the scraper and its upper end connected to the baffle plate, achieving synchronization of the curvature of the baffle plate and the plastering scraper. The baffle plate is connected to the secondary coupling of the scraper and is located to the side and rear of the plastering scraper. During plastering, the plastering scraper adheres to the wall surface, while a gap parallel to the wall surface is formed between the baffle plate and the wall surface. Then, the scraper supply pipe injects mortar into the gap to complete the operation.

[0008] Furthermore, the feed translation slide screw fixing seat is installed above the plaster scraper fixing square steel, fixing the feed translation slide screw and providing a sliding platform for the feed translation slide; the feed translation slide screw is fixed to the feed translation slide screw fixing seat and connected to the feed translation slide, allowing the feed translation slide to perform linear reciprocating motion along the feed translation slide screw; the feed translation slide is connected to the feed translation slide screw, and a scraper feed pipe fixing frame is installed above the feed translation slide, allowing the scraper feed pipe to move, so that the sand at the baffle plate... The slurry feeding is more uniform; the inner side of the outer frame of the scraper feed pipe is provided with cylindrical grooves on the top and bottom, and the outer side of the inner frame of the scraper feed pipe is provided with cylindrical protrusions on the top and bottom, so that the inner frame of the scraper feed pipe can rotate within the outer frame of the scraper feed pipe; the scraper feed pipe, which is supplied with mortar by the mortar feeding pipe, is installed inside the inner frame of the scraper feed pipe. When the feeding translation slide moves, the orientation of the scraper feed pipe is not fixed, but rotates simultaneously with the movement of the feeding translation slide and the inner frame of the scraper feed pipe, so that the feeding on both sides of the baffle plate is also more uniform.

[0009] Furthermore, the mortar-applying plate is fixed to the mortar-applying plate support plate. Its front surface is composed of a mesh, and its internal cavity is used to store a certain amount of mortar. An opening at the top allows mortar to be supplied by the mortar-applying plate supply pipe. The mortar-applying plate also has a herringbone-shaped mortar diversion plate inside. When mortar is injected from above, it first diverts to both sides and then flows downwards, ensuring the entire mortar-applying plate is evenly filled with mortar. The mortar-applying plate supply pipe is installed at the top of the mortar-applying plate to supply mortar, and it is supplied by the mortar feeding pipe. The secondary hydraulic rod of the plastering scraper, located in the primary hydraulic rod of the plastering scraper, retracts, and the plastering scraper is retracted. The secondary hydraulic rod of the plastering slapping plate begins to reciprocate and extend to slap the plaster. The plastering translation slide moves the slapping plate horizontally, while the lifting structure and the plastering lifting slide move the slapping plate vertically. This reciprocating motion completes the entire plastering process. After the plastering process is completed, the secondary hydraulic rod of the plastering slapping plate, located in the primary hydraulic rod of the plastering slapping plate, retracts, and the slapping plate is retracted. The secondary hydraulic rod of the plastering scraper, located in the primary hydraulic rod of the plastering scraper, begins to extend and retract. The material supply translation slide moves the plastering scraper horizontally, while the lifting structure and the plastering lifting slide move the plastering scraper vertically. This reciprocating motion completes the entire plastering process.

[0010] Furthermore, the lifting structure mainly consists of a lifting rod drive motor, a lifting structure protection plate, a lifting base plate, a lifting movable plate, an upper fixed bearing, a lower fixed bearing, a lifting chain, a lifting limit block, and a lifting linkage plate. The lifting rod drive motor is fixed on both sides above the chassis platform, driving the lifting chain to rotate on the upper and lower fixed bearings. The lifting structure protection plate is fixed to the chassis platform, constraining the lifting base plate and the multi-stage lifting movable plate. The lifting base plate is fixed above the chassis platform and connected to the lifting structure protection plate by bolts. The lower end of the lifting base plate has an opening and is equipped with a lower fixed bearing and a lifting limit block. The shaft of the lifting rod drive motor is connected and fixed to the lower fixed bearing at the lower end of the lifting base plate through the opening. At the same time, the slot-type structure of the lifting base plate connects the lifting movable plate to it.

[0011] Preferably, the lifting movable plates are symmetrically distributed above the chassis platform. For the first-level lifting movable plate, one side is nested with the lifting base plate, and the other side is nested with the next-level lifting movable plate. An upper fixed bearing is installed at the upper end of the lifting movable plate, and a lower fixed bearing is installed at the lower end. The lifting chain passes through the lower fixed bearing of the previous level, through the upper fixed bearing of this level, then through the lower fixed bearing of this level, and finally out, and then is periodically connected. For the last-level lifting movable plate, its lifting chain passes through the upper fixed bearing and is fixed to the lower fixed bearing, thus forming a symmetrical multi-layer mast nesting structure. The upper fixed bearing is installed at the upper end of the lifting movable plate for connecting with the lifting chain, and the lower fixed bearing is installed between the lifting base plate and the lifting movable plate. The lower end is used to connect with the lifting chain, which shuttles between the upper and lower fixed bearings, connecting the lifting base plate with the multi-stage lifting movable plate to form a complete lifting structure. The lifting limit block is installed at the bottom of the lifting base plate and the lifting movable plate to provide support for the lifting movable plate and prevent it from derailing. When the two lifting rod drive motors rotate at the same speed, the lifting chain on the lower fixed bearing at the bottom of the lifting base plate is pulled, which, through the upper fixed bearing, causes the lifting chain on the lower fixed bearing of the next stage lifting movable plate to be pulled, so that stage of lifting movable plate rises, and then the next stage rises in sequence. The lifting linkage plate is installed between the two last stage lifting movable plates, and its side end is equipped with the plastering main structure, which is used to drive the lifting operation of the plastering main structure.

[0012] Furthermore, the chassis structure mainly consists of tires, tire mounting frames, tire drive motors, leveling cylinders, and a chassis platform. The tires are steering wheel structures, installed in the tire mounting frames, providing the device with flexible mobility. The tires are installed inside the tire mounting frames and driven to rotate by the tire drive motors. The tire mounting frames are bolted to the bottom of the chassis platform. The tire drive motors are battery-powered and drive the tires to rotate. The leveling cylinders are installed under the tire mounting frames, distributed at the four corners of the chassis platform, and are battery-powered. When uneven ground causes the device to tilt, the leveling cylinders extend to compensate for the tilt angle and keep the working surface parallel to the wall. The chassis platform provides strong support for the device and is connected to the lifting structure, the main plastering structure, the power supply and storage structure, and the outer shell structure.

[0013] Furthermore, the power supply and storage structure mainly consists of a battery, a hydraulic cylinder, a mortar feeding motor, a screw feed pump, a mortar feeding pipe, a mortar storage tank, a camera mounting base, and a camera. The battery is installed in the middle of the upper part of the chassis platform to provide power to the entire device. The hydraulic cylinder is installed on the rear side of the upper part of the chassis platform to power the first-stage hydraulic rods of the plastering scraper and the plastering slapping plate. The mortar feeding motor is installed on the rear side of the upper part of the chassis platform, driven by the battery, and powers the screw feed pump. The screw feeder pump provides power for material feeding. It has a screw feeding structure inside, which can pump mortar from the mortar storage tank out through the mortar feeding pipe. The mortar feeding pipe is installed at the end of the screw feeder pump and connects to the scraper feeding pipe and the slurry tapping plate feeding pipe to provide mortar supply. The mortar storage tank is installed above the screw feeder pump to store mortar. When the mortar is exhausted, it is replenished through the mortar replenishment port in the outer shell structure. The camera mounting base is installed on one side of the lifting linkage plate, and a camera for monitoring the operation is installed above it.

[0014] Accordingly, the present invention also provides an adjustable curved surface plastering method with a slurry applicator, the steps of which are as follows: S1. Device positioning and leveling: S1.1 Start the battery in the power supply and storage structure to power the entire device. Drive the tires to rotate through the tire drive motor in the chassis structure and move the device to the side of the curved wall to be worked on, so that the main plastering structure is aligned with the work area. S1.2 If the uneven ground causes the device to tilt, activate the leveling electric cylinders at the four corners of the chassis structure. The tilt angle is compensated by the extension and retraction of the leveling electric cylinders to ensure that the chassis platform and the working structure above it remain parallel to the wall. S2. Energy supply and material storage preparation: S2.1 Check the mortar storage tank in the power supply and storage structure. If the mortar is insufficient, replenish the mortar through the mortar replenishment port in the outer shell structure. Start the mortar feeding motor and drive the screw feed pump to ensure that the mortar feeding pipe, scraper feeding pipe, and slapping plate feeding pipe are unobstructed, in order to prepare for subsequent operations. S2.2 Start the hydraulic cylinder to ensure that it can provide stable power to the first-level hydraulic rods of the plastering scraper and the first-level hydraulic rods of the plastering slapping board in the main plastering structure. Turn on the camera to monitor the work area in real time. S3: Perform the tamping operation: S3.1 In the main structure of plastering, the secondary hydraulic rod of the plastering scraper in the primary hydraulic rod of the plastering scraper retracts, driving the plastering scraper to retract, so as to avoid interfering with the troweling operation; S3.2 Activate the secondary hydraulic rod of the plastering slurry board in the primary hydraulic rod of the plastering slurry board to make it reciprocate and extend, drive the slurry board to slurry the wall base, and the slurry sliding table drives the slurry board to move in the horizontal direction to achieve horizontal slurry coverage; S3.3 Start the lifting rod drive motor in the lifting structure, drive the lifting chain to lift the lifting movable plate and the lifting linkage plate, and at the same time start the plastering slide drive motor, drive the plastering slide screw to move the plastering lifting slide vertically along the plastering lifting slide groove, and then drive the slurry plate to move vertically to achieve longitudinal slurry covering. S3.4 During the mortar application process, the mortar feeding pipe of the mortar application plate continuously obtains mortar through the mortar feeding pipe. After the mortar is diverted by the herringbone mortar diversion plate inside the mortar application plate, it evenly fills the cavity of the mortar application plate to ensure the uniformity of the mortar application. Repeat steps S3.2-S3.4 until the entire wall base layer is plastered. S4: Perform plastering work: S4.1 After the mortar is applied, the secondary hydraulic rod of the mortar application board in the primary hydraulic rod of the mortar application board retracts, causing the mortar application board to retract. The secondary hydraulic rod of the plastering scraper in the primary hydraulic rod of the plastering scraper extends, pushing the plastering scraper closer to the wall surface. S4.2 The resistive thin-film pressure sensor on the front of the plastering scraper detects the pressure of the scraper against the wall and transmits the electrical signal to the controller. The controller compares the pressure data of each sensor and drives the scraper bending screw drive motor at the corresponding position to rotate, causing the scraper bending screw to extend and retract. The curvature of the plastering scraper is adjusted through the first-stage and second-stage couplings of the scraper to ensure that it is evenly attached to the curved wall surface. S4.3 The material supply sliding table drives the scraper supply pipe to move horizontally, and injects mortar evenly into the gap formed between the baffle plate and the wall. The lifting structure and the plastering lifting sliding table drive the plastering scraper to move vertically. The plastering scraper scrapes and levels the injected mortar, and the scraper scrapes away the excess mortar on the side. Repeat steps S4.2-S4.3, and complete the plastering process of the entire curved wall surface through reciprocating horizontal and vertical operations; S5: Operation Reset and Inspection: S5.1 After plastering is completed, turn off the mortar feeding motor and hydraulic cylinder, the secondary hydraulic rod of the plastering scraper and the secondary hydraulic rod of the plastering patting board will retract, the plastering scraper and patting board will be retracted, the lifting structure will drive the lifting linkage plate to reset to the initial height, and the plastering lifting slide will reset to the bottom of the plastering lifting slide groove. S5.2 After reviewing the work results through the camera and confirming that the plaster thickness is uniform and the surface is flat, turn off the battery and drive the device away from the work area using the tire drive motor to complete the work.

[0015] Therefore, the adjustable curved surface plastering device and method with a slurry-applying mechanism of the present invention has at least the following beneficial effects: 1. It integrates the functions of slurry application and plastering, eliminating the need for separate slurry application equipment. The process is closely linked, greatly improving work efficiency and reducing equipment handling and debugging time.

[0016] 2. The plastering scraper is made of flexible material. With the scraper bending screw drive motor and resistive thin film pressure sensor, the curvature of the scraper can be adjusted in real time to accurately fit curved walls such as arcs and arches, ensuring uniform plastering thickness and surface flatness.

[0017] 3. The device is equipped with a mast-type lifting structure and a sliding slide, which enables the slurry slab and plastering scraper to move flexibly in the horizontal and vertical directions, covering the entire working surface and adapting to curved structures of different heights and spans.

[0018] 4. The chassis structure is equipped with a leveling electric cylinder and steering wheel-type tires, which can quickly position the device and compensate for ground inclination, ensuring that the working surface is parallel to the wall, improving construction stability, and enhancing the mobility of the device.

[0019] 5. Automated operations reduce reliance on workers' technical skills and lower the intensity of manual labor. Real-time monitoring of operations via cameras facilitates timely adjustments and further ensures construction quality. Attached Figure Description

[0020] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0021] Figure 1 This is a schematic diagram of the front structure of the adjustable curved surface plastering device with a slurry applicator of the present invention; Figure 2 This is a schematic diagram of the rear structure of the adjustable curved surface plastering device with a slurry applicator of the present invention. Figure 3 This is a schematic diagram of the chassis structure of the present invention; Figure 4 This is a schematic diagram of the lifting structure of the present invention; Figure 5 This is a partially enlarged view of the lifting structure of the present invention; Figure 6 This is a schematic diagram of the main structure of the plastering operation according to the present invention; Figure 7 This is a partially enlarged view of the scraper structure of the present invention; Figure 8 This is a partially enlarged view of the paddleboard structure of the present invention; Figure 9 This is a partially enlarged view of the scraper feed pipe of the present invention; Figure 10 This is a schematic diagram of the energy supply and storage structure of the present invention; Figure 11 This is a schematic diagram of the camera structure of the present invention; Figure 12 This is a schematic diagram of the outer shell structure of the present invention.

[0022] Explanation of reference numerals in the attached figures: 100-Chassis Structure: 101-Tire; 102-Tire mounting bracket; 103-Tire drive motor; 104-Leveling electric cylinder; 105-Chassis platform; 200-Lifting Structure: 201-Lifting rod drive motor; 202-Lifting structure protection plate; 203-Lifting base plate; 204-Lifting movable plate; 205-Upper fixed bearing; 206-Lower fixed bearing; 207-Lifting chain; 208-Lifting limit block; 209-Lifting linkage plate; 300 - Plastered main structure; 301-Plastering lifting chute; 302-Plastering slide drive motor; 303-Plastering slide connecting seat; 304-Plastering lifting slide; 305-Plastering slide lead screw; 306-Plastering lifting slide limit plate; 307-Plastering scraper primary hydraulic rod; 308-Plastering scraper secondary hydraulic rod; 309-Plastering scraper fixing square steel; 310-Scraper; 311-Scraper bending lead screw drive motor; 312-Scraper bending lead screw; 313-Scraper primary coupling; 314-Plastering scraper; 315-Resistive thin-film pressure sensor; 316-Scraper secondary coupling; 317-Baffle plate. 318-Material feeding translation slide screw fixing seat; 319-Material feeding translation slide screw; 320-Material feeding translation slide; 321-Scraper feed pipe fixing outer frame; 322-Scraper feed pipe fixing inner frame; 323-Scraper feed pipe; 324-Plate trowel primary hydraulic rod; 325-Plate trowel secondary hydraulic rod; 326-Plate trowel fixing square steel; 327-Plate trowel translation slide screw fixing seat; 328-Plate trowel translation slide screw; 329-Plate trowel translation slide; 330-Plate trowel support plate; 331-Plate trowel; 332-Mortar diversion plate; 333-Plate trowel feed pipe. 400 - Power supply and storage structure; 401-Battery; 402-Hydraulic cylinder; 403-Mortar feeding motor; 404-Screw feed pump; 405-Mortar feeding pipe; 406-Mortar storage tank; 407-Camera mounting base; 408-Camera; 500 - Shell structure; 501-Side wall shell; 502-Top shell; 503-Mortar filling port. Detailed Implementation

[0023] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0024] Below, in conjunction with Figures 1 to 12 This invention provides a detailed description of the adjustable curved surface plastering device and method with a slurry applicator.

[0025] This invention relates to an adjustable curved surface plastering device with a slurry-applying mechanism, suitable for plastering curved structures such as arc-shaped walls and arched components. It integrates the wall base slurry-applying process and mainly consists of a chassis structure 100, a lifting structure 200, a plastering main structure 300, an energy supply and material storage structure 400, and an outer shell structure 500. The chassis structure 100 has flexible mobility, enabling the device to precisely reach the work area. It is also equipped with leveling components to compensate for tilt angles when the ground is uneven, ensuring the work surface is parallel to the wall and guaranteeing construction stability. The lifting structure 200 can raise and lower the plastering main structure 300, adapting to the needs of curved surface operations at different heights and providing support for full coverage of the work surface.

[0026] The plastering main structure 300 is the core operating part. Plastering-related components are made of flexible materials, equipped with adjustable bending drive components and pressure detection components, which can sense and adapt to the curvature of curved walls in real time, ensuring uniform adhesion and construction accuracy during plastering. The mortar-applying components can achieve reciprocating extension and retraction and horizontal movement, and with the internal mortar diversion design, ensure uniform mortar application. Moreover, the plastering and mortar-applying components can be retracted or extended separately to avoid operational interference.

[0027] The power supply and storage structure 400 provides electrical and hydraulic power to the device, stores mortar, and precisely delivers the mortar to the mortar application and plastering components via a conveying device. It is also equipped with a monitoring device to observe the operation in real time. The outer shell structure 500 provides protection for the device and has a material replenishment port for easy mortar replenishment. The whole system realizes automated operation of curved surface plastering, solving the problems of poor precision, disjointed processes, and low compatibility with existing equipment in traditional manual methods.

[0028] Specifically, such as Figure 3As shown, the chassis structure 100 of the present invention mainly consists of a tire 101, a tire mounting frame 102, a tire drive motor 103, a leveling cylinder 104, and a chassis platform 105. The tire 101 is a steering wheel structure, installed in the tire mounting frame 102, providing the device with flexible mobility. The tire 101 is installed inside the tire mounting frame 102 and is driven to rotate by the tire drive motor 103. The tire mounting frame 102 is bolted to the bottom of the chassis platform 105. The tire drive motor 103 is powered by a battery 401 and drives the tire 101 to rotate. The leveling cylinder 104 is installed below the tire mounting frame 102, distributed at the four corners of the chassis platform 105, and powered by the battery 401. When the device tilts due to uneven ground, the leveling cylinder 104 can extend to compensate for the tilt angle and keep the working surface parallel to the wall. The chassis platform 105 provides strong support for the device and is connected to the lifting structure 200, the plastering main structure 300, the power supply and material storage structure 400, and the outer shell structure 500.

[0029] like Figure 4 and Figure 5 As shown, the lifting structure 200 mainly consists of a lifting rod drive motor 201, a lifting structure protection plate 202, a lifting base plate 203, a lifting movable plate 204, an upper fixed bearing 205, a lower fixed bearing 206, a lifting chain 207, a lifting limit block 208, and a lifting linkage plate 209. The lifting structure 200 is a mast-type lifting structure, using symmetrical multi-layered nested masts to increase working height and stability. The lifting rod drive motors 201 are fixed to the upper sides of the chassis platform 105, powered by a battery 401, driving the lifting chain 207 to rotate on the upper fixed bearing 205 and the lower fixed bearing 206. The lifting structure protection plate 202 is fixed to the chassis platform 105, constraining the lifting base plate 203 and the multi-stage lifting movable plate to prevent tipping. The lifting base plate 203 is fixed above the chassis platform 105 and connected to the lifting structure protection plate 202 by bolts. The lower end of the lifting base plate 203 has an opening and is equipped with a lower fixed bearing 206 and a lifting limit block 208. The rotating shaft of the lifting rod drive motor 201 can be connected and fixed to the lower fixed bearing 206 at the lower end of the lifting base plate 203 through the opening. At the same time, the slot-type structure of the lifting base plate 203 connects the lifting movable plate 204 to it.

[0030] The lifting movable plates 204 are symmetrically distributed above the chassis platform 105 of this device. For the first-level lifting movable plate, one side is nested with the lifting base plate 203, and the other side is nested with the next-level lifting movable plate. An upper fixed bearing 205 is installed at the upper end of the lifting movable plate 204, and a lower fixed bearing 206 is installed at its lower end. The lifting chain 207 passes through the lower fixed bearing 206 of the previous level, through the upper fixed bearing 205 of this level, then through the lower fixed bearing 206 of this level, and finally exits. This chain is then periodically connected. For the last-level lifting movable plate, the lifting chain 207 passes through the upper fixed bearing 205 and is fixed to the lower fixed bearing 206, thus forming a symmetrical multi-layer mast nesting structure. The upper fixed bearing 205 is installed at the upper end of the lifting movable plate 204 for connection with the lifting chain 207. The lower fixed bearing 206 is installed at the lower end of the lifting base plate 203 and the lifting movable plate 204 for connection with the lifting chain 207. The lifting chain 207 shuttles between the upper fixed bearing 205 and the lower fixed bearing 206, connecting the lifting base plate 203 with the multi-stage lifting movable plate to form a complete lifting structure.

[0031] The lifting limit block 208 is installed at the bottom of the lifting base plate 203 and the lifting movable plate 204 to provide support for the lifting movable plate 204 and prevent it from derailing. When the two lifting rod drive motors 201 rotate at the same speed, the lifting chain 207 on the lower fixed bearing 206 at the bottom of the lifting base plate 203 is stretched. Through the upper fixed bearing 205, the lifting chain 207 on the lower fixed bearing 206 under the next level lifting movable plate 204 is stretched, causing that level of lifting movable plate to rise, and then the next level rises in sequence. The lifting linkage plate 209 is installed between the two last level lifting movable plates, and a plastering main structure 300 is installed on its side end for driving the lifting operation of the plastering main structure 300.

[0032] Specifically, such as Figure 6 , Figure 7 , Figure 8 and Figure 9As shown, the main plastering structure 300 comprises a plastering lifting slide 301, a plastering slide drive motor 302, a plastering slide connecting seat 303, a plastering lifting slide 304, a plastering slide lead screw 305, a plastering lifting slide limit plate 306, a primary hydraulic rod for the plastering scraper 307, a secondary hydraulic rod for the plastering scraper 308, a fixed square steel for the plastering scraper 309, a scraper 310, a scraper bending lead screw drive motor 311, a scraper bending lead screw 312, a primary coupling for the scraper 313, a plastering scraper 314, a resistive diaphragm pressure sensor 315, a secondary coupling for the scraper 316, and a material stop. The system comprises: plate 317, feeding translation slide screw fixing seat 318, feeding translation slide screw 319, feeding translation slide 320, scraper feeding pipe fixing outer frame 321, scraper feeding pipe fixing inner frame 322, scraper feeding pipe 323, plastering slurry board primary hydraulic rod 324, plastering slurry board secondary hydraulic rod 325, plastering slurry board fixing square steel 326, slurry slurry translation slide screw fixing seat 327, slurry slurry translation slide screw 328, slurry slurry translation slide 329, slurry board support plate 330, slurry board 331, mortar diversion plate 332, and slurry board feeding pipe 333.

[0033] The plastering lifting slide 301 is bolted to the side of the lifting linkage plate 209. The plastering lifting slide 301 houses a plastering slide drive motor 302, a plastering slide connecting seat 303, a plastering lifting slide 304, and a plastering slide screw 305, enabling secondary lifting of the plastering main structure 300. The plastering slide drive motor 302 is powered by a battery 401 and drives the plastering slide screw 305 to rotate via the plastering slide connecting seat 303 mounted on the plastering lifting slide 301. The plastering slide connecting seat 303 connects the plastering slide drive motor 302 to the plastering slide screw 305. A plastering lifting slide 304 passes through a plastering slide screw 305 and is engaged within a plastering lifting groove 301. When the plastering slide screw 305 rotates, the plastering lifting slide 304 can move up and down within the plastering lifting groove 301. The plastering lifting slide 304 is equipped with structures such as a primary hydraulic rod 307 for a plaster scraper and a primary hydraulic rod 324 for a plaster trowel. The plastering slide screw 305 is connected to the plastering lifting slide 304. A plastering lifting slide limit plate 306 provides a limiting function for the plastering lifting slide 304. One end of each primary hydraulic rod 307 for the two plaster scrapers is installed on the plastering lifting slide 304, and the other end is connected to a secondary hydraulic rod 308 for the plaster scraper, driven by a hydraulic cylinder 402. One end of the secondary hydraulic rod 308 of the two plastering scrapers is connected to the primary hydraulic rod 307 of the plastering scraper, and the other end is connected and fixed to the plastering scraper fixing square steel 309. The secondary hydraulic rod 308 of the plastering scraper can extend and retract within the primary hydraulic rod 307 of the plastering scraper, thereby driving the extension and retraction of the plastering scraper fixing square steel 309 and its connecting parts. The plastering scraper fixing square steel 309 is fixed to the end of the two secondary hydraulic rods 308 of the two plastering scrapers. It has screw holes. The scraper bending screw drive motor 311 is installed on one side of it. The scraper bending screw 312 is connected to the plastering scraper fixing square steel 309 and the plastering scraper 314 through the scraper bending screw drive motor 311. The plastering scraper fixing square steel 309 provides overall support for the plastering operation structure. The scraper 310 is installed at both ends of the plastering scraper fixing square steel 309. When the plastering scraper 314 comes into contact with the wall surface, it can restrict the flow of mortar in the non-working area and scrape off the excess mortar on the side, thereby improving the plastering quality.

[0034] Multiple scraper bending screw drive motors 311 are installed on one side of the plastering scraper fixing square steel 309 and powered by a battery 401. The scraper bending screw drive motors 311 are connected to scraper bending screws 312. When the scraper bending screw drive motors 311 rotate, the scraper bending screws 312 can extend or retract, thereby causing the flexible plastering scraper 314 and the baffle plate 317 to bend and conform to the wall surface. The scraper bending screws 312 are installed in the plastering scraper fixing square steel 309 and the scraper bending screw drive motors 311, with one end connected to the primary scraper coupling 313, which can cause the flexible plastering scraper 314 and the baffle plate 317 to bend and conform to the wall surface. Multiple primary scraper couplings 313 are distributed on the back of the plastering scraper 314, one side of which is connected to the scraper bending screw 312, and the other side is connected to the secondary scraper coupling 316. The back of the plastering scraper 314 is connected to the scraper bending screw 312 via multiple scraper primary couplings 313, and its front is equipped with resistive thin-film pressure sensors 315 for detecting whether the scraper is in contact with the wall surface. The plastering scraper 314 is made of flexible material and is the main structure for plastering operations. Resistive thin-film pressure sensors 315 are distributed on the front of the plastering scraper 314. When the plastering scraper 314 contacts the curved wall surface, the pressure on the sensor is greater at the protruding parts of the wall and less at the recessed parts. The conductive thin film inside the resistive thin-film pressure sensor 315 deforms under pressure, thereby changing the contact resistance between the films. The electrical signal corresponding to the change in resistance is then transmitted to the device controller. The controller judges the fit difference by comparing the pressure data of each resistive thin-film pressure sensor 315, and drives the scraper bending screw drive motor 311 at the corresponding position to adjust the stroke. That is, in areas with low pressure, the scraper bending screw drive motor 311 extends to push the scraper tighter, and in areas with high pressure, the scraper bending screw drive motor 311 shortens to reduce pressure, ultimately achieving uniform fit between the plastering scraper 314 and the curved wall surface. The scraper secondary coupling 316 also uses a flexible material. Its lower end is connected to the scraper primary coupling 313, and its upper end is connected to the baffle plate 317, so that the curvature of the baffle plate 317 is synchronized with that of the plastering scraper 314. The baffle plate 317 is connected to the secondary coupling 316 of the scraper and is located on the side and rear of the plastering scraper 314. During the plastering operation, the plastering scraper 314 is in contact with the wall surface, while the baffle plate 317 forms a gap parallel to the wall surface. Then, the scraper supply pipe 323 injects mortar into the gap to complete the operation.

[0035] The feed translation slide screw fixing seat 318 is installed above the plaster scraper fixing square steel 309, fixing the feed translation slide screw 319 and providing a sliding platform for the feed translation slide 320. The feed translation slide screw 319 is fixed to the feed translation slide screw fixing seat 318 and connected to the feed translation slide 320, allowing the feed translation slide 320 to perform linear reciprocating motion along the feed translation slide screw 319. The feed translation slide 320 is connected to the feed translation slide screw 319, and a scraper feed pipe fixing frame 321 is installed above the feed translation slide 320, allowing the scraper feed pipe 323 to move, resulting in more uniform mortar supply at the baffle plate 317. The outer frame 321 of the scraper feed pipe is installed above the feeding translation slide 320. Its inner side has cylindrical grooves on the top and bottom, while the outer side of the inner frame 322 of the scraper feed pipe has cylindrical protrusions on the top and bottom, allowing the inner frame 322 to rotate within the outer frame 321. The inner frame 322 is installed inside the outer frame 321, and a scraper feed pipe 323 is installed inside it. When the feeding translation slide 320 moves, the orientation of the scraper feed pipe 323 is not fixed, but rather changes with the movement of the feeding translation slide 320 and the simultaneous rotation of the inner frame 322, resulting in more even material supply on both sides of the baffle plate 317. The scraper feed pipe 323, installed inside the inner frame 322, receives mortar from the mortar feed pipe 405.

[0036] One side of the primary hydraulic rod 324 of the plastering slurry board is installed on the plastering lifting slide 304, and the other side is connected to the secondary hydraulic rod 325 of the plastering slurry board, driven by the hydraulic cylinder 402. One end of the two secondary hydraulic rods 325 of the plastering slurry board is connected to the primary hydraulic rod 324 of the plastering slurry board, and the other end is fixed to the plastering slurry board fixing square steel 326. When the secondary hydraulic rods 325 of the plastering slurry board extend or retract, they can drive the slurry board 331 to extend or retract, realizing the operation. The rear side of the plastering slurry board fixing square steel 326 is fixed to the two secondary hydraulic rods 325 of the plastering slurry board, and its upper part is connected to the slurry sliding slide screw fixing seat 327, providing a moving platform for the slurry sliding slide 329 and providing overall support for its upper structure. The slurry sliding slide screw fixing seat 327 is installed at both ends of the plastering slurry board fixing square steel 326 and fixes the slurry sliding slide screw 328. The lead screw 328 of the slurry translating slide is installed between the lead screw fixing seats 327 and connected to the slurry translating slide 329, allowing the slurry translating slide 329 to translate along the lead screw 328. The slurry translating slide 329 is connected to the lead screw 328, and a slurry plate support plate 330 is fixed on its top. The slurry translating slide 329 is powered by the battery 401. The slurry plate support plate 330 is fixed on top of the slurry translating slide 329, and its side is connected and fixed to the slurry plate 331, providing support for the slurry plate 331. The mortar-spreading plate 331 is fixed to the mortar-spreading plate support plate 330. Its front side is composed of a mesh, and its internal cavity is used to store a certain amount of mortar. An opening at the top allows mortar to be supplied by the mortar-spreading plate supply pipe 333. To prevent mortar from accumulating at the bottom and hindering uniform mortar spreading, the mortar-spreading plate 331 also has a herringbone-shaped mortar diversion plate 332 inside. When mortar is injected from above, it first diverts to both sides and then flows downwards, ensuring that the entire mortar-spreading plate 331 is evenly filled with mortar. The mortar diversion plate 332 is located inside the mortar-spreading plate 331 and is herringbone-shaped, achieving mortar diversion.

[0037] The mortar supply pipe 333 is installed on top of the mortar-applying plate 331 to supply mortar to the mortar-applying plate 331, which is supplied by the mortar feeding pipe 405. Mortar applicator is the first step before plastering. At this time, the secondary hydraulic rod 308 of the plastering scraper located in the primary hydraulic rod 307 retracts, the plastering scraper 314 retracts, and the secondary hydraulic rod 325 of the mortar-applying plate located in the primary hydraulic rod 324 of the mortar-applying plate begins to reciprocate and extend, applicating the mortar. The mortar-applying translation slide 329 drives the mortar-applying plate 331 to move horizontally, while the lifting structure 200 and the plastering lifting slide 304 drive the mortar-applying plate 331 to move vertically, thus reciprocating to realize the entire mortar-applying process. After the plastering process is completed, the secondary hydraulic rod 325 of the plastering plate located in the primary hydraulic rod 324 of the plastering plate retracts, the plastering plate 331 retracts, and the secondary hydraulic rod 308 of the plastering scraper located in the primary hydraulic rod 307 of the plastering scraper begins to extend and retract. The material feeding translation slide 320 drives the plastering scraper 314 to move in the horizontal direction, and the lifting structure 200 and the plastering lifting slide 304 drive the plastering scraper 314 to move in the vertical direction. This process is repeated to realize the entire plastering process.

[0038] Specifically, such as Figure 10 and Figure 11 As shown, the power supply and storage structure 400 mainly consists of a battery 401, a hydraulic cylinder 402, a mortar feeding motor 403, a screw feed pump 404, a mortar feeding pipe 405, a mortar storage tank 406, a camera mounting base 407, and a camera 408. The battery 401 is installed above the center of the chassis platform 105, providing power to the entire device. The hydraulic cylinder 402 is installed above the rear side of the chassis platform 105, providing power to the first-stage hydraulic rod 307 of the plastering scraper and the first-stage hydraulic rod 324 of the plastering trowel. The mortar feeding motor 403 is installed above the rear side of the chassis platform 105, driven by the battery 401, providing feeding power to the screw feed pump 404. The screw feed pump 404 has a screw feeding structure that can pump the mortar from the mortar storage tank 406 out of the mortar feeding pipe 405. A mortar feeding pipe 405 is installed at the end of the screw feed pump 404, connecting the scraper feed pipe 323 and the slurry-tapping plate feed pipe 333 to provide mortar supply. A mortar storage tank 406 is installed above the screw feed pump 404 to store mortar. When the mortar is depleted, it can be replenished through the mortar replenishment port 503 in the outer casing structure 500. A camera mounting base 407 is installed on one side of the lifting linkage plate 209, and a camera 408 is mounted above it. The camera 408 is mounted above the camera mounting base 407 to monitor the operation.

[0039] Specifically, such as Figure 12As shown, the outer shell structure 500 consists of a side wall shell 501, a top shell 502, and a mortar filling port 503. The side wall shell 501 is installed above the chassis platform 105, the top shell 502 is installed above the side wall shell 501, and the mortar filling port 503 is located behind the side wall shell 501 for easy mortar replenishment. The outer shell structure 500 provides basic protection and power supply for this device.

[0040] Based on the above-mentioned adjustable curved surface plastering device with a slurry-applying mechanism, the present invention provides an adjustable curved surface plastering method with a slurry-applying mechanism, the steps of which are: S1. Device positioning and leveling: S1.1 Start the battery 401 in the power supply and storage structure 400 to power the entire device. Drive the tire 101 to rotate through the tire drive motor 103 in the chassis structure 100, and move the device to the side of the curved wall to be worked on, so that the plastering main structure 300 is aligned with the work area. S1.2 If the uneven ground causes the device to tilt, activate the leveling cylinders 104 at the four corners of the chassis structure 100. The tilt angle is compensated by the extension and retraction of the leveling cylinders 104 to ensure that the chassis platform 105 and the working structure above it remain parallel to the wall. S2. Energy supply and material storage preparation: S2.1 Check the mortar storage tank 406 in the power supply and storage structure 400. If the mortar is insufficient, replenish the mortar through the mortar replenishment port 503 in the outer shell structure 500. Start the mortar feeding motor 403 and drive the screw feed pump 404 to operate. Ensure that the mortar feeding pipe 405, scraper feeding pipe 323, and slurry plate feeding pipe 333 are unobstructed to prepare for subsequent operations. S2.2 Start the hydraulic cylinder 402 to ensure that it can provide stable power to the first-stage hydraulic rod 307 of the plastering scraper and the first-stage hydraulic rod 324 of the plastering slapping board in the main plastering structure 300, and turn on the camera 408 to monitor the work area in real time. S3: Perform the tamping operation: S3.1 In the main plastering structure 300, the secondary hydraulic rod 308 of the plastering scraper inside the primary hydraulic rod 307 of the plastering scraper retracts, driving the plastering scraper 314 to retract, so as to avoid interfering with the troweling operation. S3.2. Activate the secondary hydraulic rod 325 of the plastering slurry ... S3.3. Start the lifting rod drive motor 201 in the lifting structure 200, which drives the lifting chain 207 to lift the lifting movable plate 204 and the lifting linkage plate 209. At the same time, start the plastering slide drive motor 302, which drives the plastering slide screw 305 to move the plastering lifting slide 304 vertically along the plastering lifting slide groove 301, thereby driving the slurry slurry plate 331 to move vertically to achieve longitudinal slurry slurry coverage; S3.4 During the mortar application process, the mortar feeding pipe 333 continuously obtains mortar through the mortar feeding pipe 405. After the mortar is diverted by the herringbone mortar diversion plate 332 inside the mortar application plate 331, it evenly fills the cavity of the mortar application plate 331 to ensure the uniformity of mortar application. Repeat steps S3.2-S3.4 until the entire wall base layer is plastered. S4: Perform plastering work: S4.1 After the mortar application is completed, the secondary hydraulic rod 325 of the mortar application board within the primary hydraulic rod 324 of the mortar application board retracts, causing the mortar application board 331 to retract. At the same time, the secondary hydraulic rod 308 of the plastering scraper within the primary hydraulic rod 307 of the plastering scraper extends, pushing the plastering scraper 314 closer to the wall surface; S4.2, The resistive thin-film pressure sensor 315 on the front of the plastering scraper 314 detects the contact pressure with the wall surface and transmits the electrical signal to the controller. The controller compares the pressure data of each sensor and drives the scraper bending screw drive motor 311 at the corresponding position to rotate, which drives the scraper bending screw 312 to extend and retract. The curvature of the plastering scraper 314 is adjusted through the scraper primary coupling 313 and the scraper secondary coupling 316 to ensure that it is evenly attached to the curved wall surface. S4.3 The material supply sliding table 320 drives the scraper supply pipe 323 to move horizontally, evenly injecting mortar into the gap formed between the baffle plate 317 and the wall. At the same time, the lifting structure 200 and the plastering lifting sliding table 304 drive the plastering scraper 314 to move vertically. The plastering scraper 314 scrapes and levels the injected mortar, and the scraper plate 310 scrapes away excess mortar from the sides. Repeat steps S4.2-S4.3, and complete the plastering process of the entire curved wall surface through reciprocating horizontal and vertical operations; S5: Operation Reset and Inspection: S5.1 After plastering is completed, turn off the mortar feeding motor 403 and hydraulic cylinder 402. The secondary hydraulic rods 308 and 325 of the plastering scraper and plastering patting plate retract, and the plastering scraper 314 and patting plate 331 are retracted. The lifting structure 200 drives the lifting linkage plate 209 to return to the initial height, and the plastering lifting slide 304 returns to the bottom of the plastering lifting slide 301. S5.2. Review the work results through camera 408 to confirm that the plastering thickness is uniform and the surface is flat. Then turn off battery 401 and drive the device away from the work area through tire drive motor 103 to complete the work.

[0041] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. An adjustable curved surface plastering device with a slurry applicator, characterized in that, include: Chassis structure (100); The lifting structure (200) is installed on the chassis structure (100) and is used to drive the plastering main structure (300) to lift and lower, adapting to the needs of curved surface operations at different heights; The plastering main structure (300) is installed on the lifting structure (200), including a plastering lifting chute (301), a plastering lifting slide (304) that moves up and down in the plastering lifting chute (301), a plastering scraper primary hydraulic rod (307) and a plastering slapping plate primary hydraulic rod (324) installed on the plastering lifting slide (304), a plastering scraper secondary hydraulic rod (308) connected to the plastering scraper primary hydraulic rod (307), a plastering scraper fixing square steel (309) connected and fixed to the plastering scraper secondary hydraulic rod (308), and a scraper bending screw drive motor (324) installed on one side of the plastering scraper fixing square steel (309). 11) The scraper bending screw (312) is connected to the scraper bending screw drive motor (311), the plastering scraper fixing square steel (309), and the plastering scraper (314); the plastering slurry plate secondary hydraulic rod (325) is connected to the plastering slurry plate primary hydraulic rod (324); the plastering slurry plate fixing square steel (326) is connected to the plastering slurry plate secondary hydraulic rod (325); the slurry slurry plate translation slide (329) is translated along the length direction of the plastering slurry plate fixing square steel (326); the slurry slurry plate support plate (330) is fixed above the slurry slurry plate translation slide (329); and the slurry slurry plate (331) is fixed on the slurry slurry plate support plate (330). A power supply and storage structure (400), mounted on the chassis structure (100), is used to provide electrical and hydraulic power, store mortar, and precisely deliver the mortar to the mortar-applying and plastering components via a conveying component.

2. The adjustable curved surface plastering device with a slurry-applying mechanism according to claim 1, characterized in that, Multiple scraper bending screw drive motors (311) are installed on one side of the plastering scraper fixing square steel (309). The scraper bending screw drive motors (311) are connected to the scraper bending screws (312). The scraper bending screws (312) are installed in the plastering scraper fixing square steel (309) and the scraper bending screw drive motors (311). When the scraper bending screw drive motors (311) rotate, the scraper bending screws (312) extend or retract, thereby driving the flexible plastering scraper (314) and the baffle plate (317) to bend and fit against the wall surface. Multiple primary couplings (313) are distributed on the back of the plastering scraper (314). One side of the scraper is connected to the scraper bending screw (312), and the other side is connected to the scraper secondary coupling (316). The back of the plastering scraper (314) is connected to the scraper bending screw (312) through multiple primary couplings (313). A resistive thin-film pressure sensor (315) is distributed on its front side to detect whether the scraper is in contact with the wall surface. When the plastering scraper (314) contacts the curved wall surface, the pressure on the sensor is greater at the protrusions of the wall surface and less at the depressions. The resistive thin-film pressure sensor (315) is activated. 15) The internal conductive film will deform under pressure, thereby changing the contact resistance between the films. Then, the electrical signal corresponding to the resistance change is transmitted to the device controller. The controller judges the bonding difference by comparing the pressure data of each resistive film pressure sensor (315), and drives the scraper bending screw drive motor (311) at the corresponding position to adjust the stroke. In areas with low pressure, the scraper bending screw drive motor (311) extends to push the scraper tight, and in areas with high pressure, the scraper bending screw drive motor (311) shortens to reduce pressure, and finally achieves uniform bonding between the plastering scraper (314) and the curved wall surface. The secondary connecting shaft (316) of the scraper is made of flexible material. Its lower end is connected to the primary connecting shaft (313) of the scraper, and its upper end is connected to the baffle plate (317) to achieve synchronous curvature of the baffle plate (317) and the plastering scraper (314). The baffle plate (317) is connected to the secondary connecting shaft (316) of the scraper and is located on the side and rear of the plastering scraper (314). During the plastering operation, the plastering scraper (314) is in contact with the wall surface, while the baffle plate (317) forms a gap parallel to the wall surface. Then the scraper supply pipe (323) injects mortar into the gap to complete the operation.

3. The adjustable curved surface plastering device with a slurry-applying mechanism according to claim 2, characterized in that, The feeding translation slide screw fixing seat (318) is installed above the plastering scraper fixing square steel (309) to fix the feeding translation slide screw (319) and provide a sliding platform for the feeding translation slide (320); the feeding translation slide screw (319) is fixed to the feeding translation slide screw fixing seat (318) and connected to the feeding translation slide (320), so that the feeding translation slide (320) can make linear reciprocating motion along the feeding translation slide screw (319); The feeding translation slide (320) is connected to the feeding translation slide screw (319). A scraper feeding pipe fixing frame (321) is installed above the feeding translation slide (320), so that the scraper feeding pipe (323) can move, making the mortar supply at the baffle plate (317) more uniform. The inner side of the scraper feeding pipe fixing frame (321) has cylindrical grooves on the upper and lower sides, and the outer side of the scraper feeding pipe fixing inner frame (322) has cylindrical protrusions on the upper and lower sides, so that the scraper feeding pipe fixing inner frame (322) can rotate within the scraper feeding pipe fixing outer frame (321). The scraper feed pipe (323) supplied with mortar by the mortar feeding pipe (405) is installed inside the fixed inner frame (322) of the scraper feed pipe. When the feeding translation slide (320) moves, the orientation of the scraper feed pipe (323) is not fixed, but rotates simultaneously with the movement of the feeding translation slide (320) and the fixed inner frame (322) of the scraper feed pipe, so that the feeding on both sides of the baffle plate (317) is more uniform.

4. The adjustable curved surface plastering device with a slurry-applying mechanism according to claim 3, characterized in that, The mortar-spreading plate (331) is fixed to the mortar-spreading plate support plate (330). Its front side is composed of a grid, and the internal cavity is used to store a certain amount of mortar. An opening is provided at the top for mortar supply by the mortar-spreading plate supply pipe (333). The mortar-spreading plate (331) is also provided with a herringbone mortar diversion plate (332) inside. When mortar is injected from above, it first diverts to both sides and then flows downward, so that the entire mortar-spreading plate (331) is evenly filled with mortar. The mortar feeding pipe (333) is installed on the top of the mortar feeding plate (331) to provide mortar to the mortar feeding plate (331), which is supplied by the mortar feeding pipe (405); the plastering scraper secondary hydraulic rod (308) located in the first-level hydraulic rod (307) of the plastering scraper retracts, the plastering scraper (314) retracts, and the plastering mortar feeding plate secondary hydraulic rod (325) located in the first-level hydraulic rod (324) of the plastering mortar feeding plate begins to reciprocate and extend to feed mortar, the mortar feeding translation slide (329) drives the mortar feeding plate (331) to move horizontally, and the lifting structure (200) and the plastering lifting slide (304) drive the mortar feeding plate (331) to move horizontally. 31) Move vertically, thereby repeating the entire plastering process; after the plastering process is completed, the plastering slurry plate secondary hydraulic rod (325) in the primary hydraulic rod (3324) of the plastering slurry plate retracts, the slurry plate (331) retracts, the plastering scraper secondary hydraulic rod (3308) in the primary hydraulic rod (307) of the plastering scraper begins to extend and retract, the material supply translation slide (320) drives the plastering scraper (314) to move horizontally, and the lifting structure (200) and the plastering lifting slide (304) drive the plastering scraper (314) to move vertically, thereby repeating the entire plastering process.

5. The adjustable curved surface plastering device with a slurry-applying mechanism according to claim 4, characterized in that, The lifting structure (200) mainly consists of a lifting rod drive motor (201), a lifting structure protection plate (202), a lifting base plate (203), a lifting movable plate (204), an upper fixed bearing (205), a lower fixed bearing (206), a lifting chain (207), a lifting limit block (208), and a lifting linkage plate (209); The lifting rod drive motor (201) is fixed on both sides above the chassis platform (105) and drives the lifting chain (207) to rotate on the upper fixed bearing (205) and the lower fixed bearing (206). The lifting structure protection plate (202) is fixed on the chassis platform (105) and constrains the lifting base plate (203) and the multi-stage lifting movable plate. The lifting base plate (203) is fixed above the chassis platform (105) and connected to the lifting structure protection plate (202) by bolts. The lower end of the lifting base plate (203) is provided with an opening and is equipped with a lower fixed bearing (206) and a lifting limit block (208). The rotating shaft of the lifting rod drive motor (201) is connected and fixed to the lower fixed bearing (206) at the lower end of the lifting base plate (203) through the opening. At the same time, the slot-type structure of the lifting base plate (203) connects the lifting movable plate (204) to it.

6. The adjustable curved surface plastering device with a slurry-applying mechanism according to claim 5, characterized in that, The lifting movable plates (204) are symmetrically distributed above the chassis platform (105). For the first-level lifting movable plate, one side is nested with the lifting base plate (203), and the other side is nested with the next-level lifting movable plate. The upper end of the lifting movable plate (204) is equipped with an upper fixed bearing (205), and the lower end is equipped with a lower fixed bearing (206). The lifting chain (207) passes through the lower fixed bearing (206) of the previous level, through the upper fixed bearing (205) of this level, and then through the lower fixed bearing (206) of this level, and finally passes out. Then it is periodically connected. For the last-level lifting movable plate, after its lifting chain (207) passes through the upper fixed bearing (205), it is fixed with the lower fixed bearing (206), thereby forming a symmetrical multi-layer mast nesting structure. The upper fixed bearing (205) is installed at the upper end of the lifting movable plate (204) and is used to connect with the lifting chain (207). The lower fixed bearing (206) is installed at the lower end of the lifting base plate (203) and the lifting movable plate (204) and is used to connect with the lifting chain (207). The lifting chain (207) shuttles between the upper fixed bearing (205) and the lower fixed bearing (206) to connect the lifting base plate (203) with the multi-stage lifting movable plate to form a complete lifting structure. The lifting limit block (208) is installed at the bottom of the lifting base plate (203) and the lifting movable plate (204) to provide support for the lifting movable plate (204) and prevent it from derailing; When the two lifting rod drive motors (201) rotate at the same speed, the lifting chain (207) on the lower fixed bearing (206) at the bottom of the lifting base plate (203) is pulled, and through the upper fixed bearing (205), the lifting chain (207) on the lower fixed bearing (206) under the next level lifting movable plate (204) is pulled, so that the lifting movable plate of that level rises, and then the next level rises in sequence; The lifting linkage plate (209) is installed between the two last-stage lifting movable plates, and a plastering main structure (300) is installed on its side end to drive the lifting operation of the plastering main structure (300).

7. The adjustable curved surface plastering device with a slurry-applying mechanism according to claim 6, characterized in that, The chassis structure (100) mainly consists of a tire (101), a tire mounting frame (102), a tire drive motor (103), a leveling electric cylinder (104), and a chassis platform (105). The tire (101) is a steering wheel structure, installed in the tire mounting frame (102), providing the device with flexible mobility. The tire (101) is installed in the tire mounting frame (102) and is driven to rotate by the tire drive motor (103). The tire mounting frame (102) and the bottom of the chassis platform (105) are connected by bolts. The tire drive motor (103) is powered by a battery (401) and drives the tire (101) to rotate. The leveling cylinder (104) is installed under the tire mounting bracket (102) and distributed at the four corners of the chassis platform (105). It is powered by a battery (401). When the device tilts due to uneven ground, the leveling cylinder (104) extends to compensate for the tilt angle and keep the working surface parallel to the wall. The chassis platform (105) provides strong support for the device and is connected to the lifting structure (200), the plastering main structure (300), the power supply and material storage structure (400), and the outer shell structure (500).

8. The adjustable curved surface plastering device with a slurry-applying mechanism according to claim 7, characterized in that, The power supply and storage structure (400) mainly consists of a battery (401), a hydraulic cylinder (402), a mortar feeding motor (403), a screw feed pump (404), a mortar feeding pipe (405), a mortar storage tank (406), a camera mounting base (407), and a camera (408). The battery (401) is installed in the middle above the chassis platform (105) to provide power to the entire device. The hydraulic cylinder (402) is installed on the rear side above the chassis platform (105) to provide power to the first-stage hydraulic rod (307) of the plastering scraper and the first-stage hydraulic rod (324) of the plastering slapping plate. The mortar feeding motor (403) is installed on the rear side above the chassis platform (105) and is driven by the battery (401) to provide feeding power for the screw feed pump (404). The screw feed pump (404) has a screw feeding structure inside, which can pump the mortar in the mortar storage tank (406) out from the mortar feeding pipe (405). The mortar feeding pipe (405) is installed at the end of the screw feed pump (404) and connects the scraper feeding pipe (323) and the slurry tack plate feeding pipe (333) to provide mortar supply. The mortar storage tank (406) is installed above the screw feed pump (404) and is used to store mortar. When the mortar is exhausted, mortar is replenished through the mortar replenishment port (503) in the outer shell structure (500). A camera mounting bracket (407) is installed on one side of the lifting linkage plate (209), and a camera (408) for monitoring the operation is installed above it.

9. An adjustable curved surface plastering method using the robot with a slurry-tapping mechanism as described in claim 8, characterized in that, The steps are as follows: S1. Device positioning and leveling: S1.1 Start the battery (401) in the power supply and storage structure (400) to power the entire device. Drive the tire (101) to rotate through the tire drive motor (103) in the chassis structure (100) to move the device to the side of the curved wall to be worked on, so that the plastering main structure (300) is aligned with the work area. S1.2 If the ground is uneven and the device tilts, activate the leveling cylinders (104) at the four corners of the chassis structure (100). The tilt angle is compensated by the extension and retraction of the leveling cylinders (104), ensuring that the chassis platform (105) and the working structure above it remain parallel to the wall. S2. Energy supply and material storage preparation: S2.1 Check the mortar storage tank (406) in the power supply and storage structure (400). If the mortar is insufficient, replenish the mortar through the mortar replenishment port (503) in the outer shell structure (500). Start the mortar feeding motor (403) and drive the screw feed pump (404) to run. Ensure that the mortar feeding pipe (405) and the scraper feeding pipe (323) and the slurry plate feeding pipe (333) are unobstructed, so as to prepare for the subsequent operation of feeding materials. S2.2 Start the hydraulic cylinder (402) to ensure that it can provide stable power to the first-level hydraulic rod (307) of the plastering scraper and the first-level hydraulic rod (324) of the plastering slapping board in the main plastering structure (300), and turn on the camera (408) to monitor the work area in real time. S3: Perform the tamping operation: S3.1 In the main structure of plastering (300), the secondary hydraulic rod (308) of the plastering scraper in the primary hydraulic rod (307) of the plastering scraper retracts, driving the plastering scraper (314) to retract, so as to avoid interfering with the slurry application operation. S3.2 Activate the second-level hydraulic rod (325) of the plastering slurry board in the first-level hydraulic rod (324) of the plastering slurry board to make it reciprocate and extend, drive the slurry board (331) to slurry the wall base, and the slurry sliding table (329) drives the slurry board (331) to move in the horizontal direction to achieve horizontal slurry coverage; S3.3 Start the lifting rod drive motor (201) in the lifting structure (200), drive the lifting chain (207) to lift the lifting movable plate (204) and the lifting linkage plate (209) up and down, and at the same time start the plastering slide drive motor (302), drive the plastering slide screw (305) to drive the plastering lifting slide (304) to move vertically along the plastering lifting slide (301), and then drive the slurry plate (331) to move vertically to achieve longitudinal slurry covering; S3.4 During the mortar application process, the mortar feeding pipe (333) continuously obtains mortar through the mortar feeding pipe (405). After the mortar is diverted by the herringbone mortar diversion plate (332) inside the mortar application plate (331), it evenly fills the cavity of the mortar application plate (331) to ensure the uniformity of mortar application. Repeat steps S3.2-S3.4 until the entire wall base layer is plastered. S4: Perform plastering work: S4.1 After the grouting is completed, the second hydraulic rod (325) of the grouting board in the first hydraulic rod (324) of the grouting board retracts, driving the grouting board (331) to retract, and the second hydraulic rod (308) of the grouting scraper in the first hydraulic rod (307) of the grouting scraper extends, pushing the grouting scraper (314) close to the wall. S4.2 The resistive thin-film pressure sensor (315) on the front of the plastering scraper (314) detects the pressure of the scraper against the wall and transmits the electrical signal to the controller. The controller compares the pressure data of each sensor and drives the scraper bending screw drive motor (311) at the corresponding position to run, which drives the scraper bending screw (312) to extend and retract. The curvature of the plastering scraper (314) is adjusted through the scraper primary coupling (313) and the scraper secondary coupling (316) to ensure that it is evenly attached to the curved wall surface. S4.3 The material supply sliding table (320) drives the scraper supply pipe (323) to move horizontally and inject mortar evenly into the gap formed between the baffle plate (317) and the wall. The lifting structure (200) and the plastering lifting sliding table (304) drive the plastering scraper (314) to move vertically. The plastering scraper (314) scrapes and levels the injected mortar, and the scraper plate (310) scrapes away the excess mortar on the side. Repeat steps S4.2-S4.3, and complete the plastering process of the entire curved wall surface through reciprocating horizontal and vertical operations; S5: Operation Reset and Inspection: S5.1 After plastering is completed, turn off the mortar feeding motor (403) and hydraulic cylinder (402), the secondary hydraulic rod (308) of the plastering scraper and the secondary hydraulic rod (325) of the plastering patting plate retract, and the plastering scraper (314) and patting plate (331) are retracted. The lifting structure (200) drives the lifting linkage plate (209) to reset to the initial height, and the plastering lifting slide (304) resets to the bottom of the plastering lifting slide (301). S5.

2. Review the work results through the camera (408), and after confirming that the plastering thickness is uniform and the surface is flat, turn off the battery (401), and drive the device away from the work area through the tire drive motor (103) to complete the work.

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