A wall construction robot with detachable spraying and grinding modules

Abstract

The application discloses a wall construction robot with detachable spraying and polishing modules and belongs to the technical field of building construction equipment. The wall construction robot with detachable spraying and polishing modules comprises a bottom plate, walking mechanisms are installed at the bottom corners of the bottom plate, supporting and positioning mechanisms are installed at the top sides of the bottom plate, a six-axis mechanical arm is installed at one end face of the top of the bottom plate, a quick release mechanism is installed at one end of the six-axis mechanical arm, a wall polisher is connected to one end of the quick release mechanism, a spraying head is installed at the top of the wall polisher, a battery box and a liquid storage tank are installed at the other end face of the top of the bottom plate, a pump is installed at one end face of the top of the bottom plate, and a liquid suction pipe is installed at the input end of the pump. The wall construction robot can effectively realize quick dismounting and replacement of the wall polisher or other construction modules, realizes efficient integration of multiple procedures and quick switching of modules, and reduces the equipment procurement and transfer cost.

Description

Technical Field

[0001] This invention relates to the field of building construction equipment technology, and in particular to a wall construction robot with detachable spraying and sanding modules. Background Technology

[0002] In modern architectural decoration and renovation engineering, wall construction has always held a crucial position. As a core component in enhancing the aesthetics, durability, and quality of life of buildings, wall construction typically encompasses a series of precise and continuous processes, including base treatment, putty application, sanding for smoothness, and latex paint spraying. Throughout the long course of technological evolution, these processes have heavily relied on manual labor. However, the inherent limitations of traditional manual labor methods are becoming increasingly apparent when facing the demands of large-scale, high-standard modern construction: not only is the labor intensity extremely high and the construction efficiency low, but the individual skill differences and physical limitations of workers often make it difficult to achieve standardized quality control of key indicators such as wall smoothness and spray uniformity. Furthermore, for high-altitude work on high-rise building facades, traditional methods often require the erection of complex scaffolding systems. This not only significantly increases construction costs and timelines but also exposes workers to severe safety risks such as falls from heights, severely hindering the intelligent transformation and safety standards of the construction industry.

[0003] With the rapid development of automation technology and robotics engineering, automated robot systems for wall construction have emerged and are gradually being piloted in some construction scenarios. These robots typically consist of a mobile chassis, a multi-degree-of-freedom robotic arm, and an end-effector. Through pre-programmed motion trajectory planning, they can replace manual labor to complete wall treatment tasks within a specific range. This technological advancement has alleviated labor shortages and safety risks to some extent, achieving initial standardization of the construction process. However, a deeper analysis of existing technologies reveals profound inherent contradictions in the system integration and process coordination of current wall construction robots. The reason for this is that existing robots mostly adopt a single-function-oriented design logic, meaning that the connection between the end-effector and the execution tool (such as a grinding disc or spray nozzle) is usually a fixed or semi-permanent structure. While this design aims to ensure the stability of a single process under specific conditions, it neglects the continuity and dynamic switching requirements of the entire wall construction process chain.

[0004] Specifically, wall treatment is a progressive process from rough to fine, from the base layer to the surface layer. In actual construction, sanding and spraying often need to be done alternately or switched within a very short time window. Due to the lack of efficient modular quick-assembly and disassembly mechanisms for existing equipment, construction sites often face two awkward choices: either professional technicians use manual tools to disassemble and reassemble the equipment, which is time-consuming and labor-intensive, greatly disrupting the continuity of work and reducing the effective operating time of the equipment; or multiple independent robots with single functions are deployed on the same construction site. While the latter approach avoids the disassembly and assembly difficulties, it raises more complex technical and economic issues. First, the purchase and maintenance costs of multiple devices increase exponentially, significantly diluting the economic benefits of automated construction. Second, construction sites are often space-constrained and have many temporary obstacles; the simultaneous entry of multiple bulky robots can lead to serious conflicts in work areas and difficulties in logistics scheduling. Furthermore, frequent equipment transfers and entry / exit not only increase energy consumption but also significantly increase the pressure on on-site power and supporting resource supply due to equipment redundancy.

[0005] A deeper technical contradiction lies in the fact that the grinding process involves high-frequency vibration and strong contact cutting, placing extremely high demands on the mechanical rigidity and locking strength of the actuator; while the spraying process involves the delivery and precise atomization of high-pressure fluids, focusing on the system's stable control of pressure balance and positioning trajectory. Traditional connection methods, such as simple plug-in quick-connect couplings or bolt connections, often struggle to achieve a perfect balance between ensuring structural reliability under high-frequency vibration and enabling convenient rapid switching. Specifically, simple quick-connect couplings are prone to increased clearance, decreased positioning accuracy, and even loosening under the high-frequency vibration of the grinding machine; while bolt connections, although rigid enough, have extremely low disassembly and assembly efficiency, failing to meet the requirements for rapid process switching. This contradiction between "rigidity and efficiency" leads to secondary failures in existing so-called "universal platforms" in practical applications, such as fatigue loosening of connection parts and a significant decrease in positioning accuracy with increasing disassembly and assembly cycles.

[0006] Therefore, designing a robotic system that can guarantee extremely high structural stability to resist high-frequency vibrations under diverse working conditions such as grinding and spraying, while also enabling rapid and precise switching of construction modules in non-laboratory environments, has become a key technological bottleneck in the field of construction robotics towards full-process automation. Consequently, addressing the profound contradictions inherent in the aforementioned technical solutions—such as high equipment redundancy, poor versatility, low process switching efficiency, and weak adaptability to on-site space—developing a wall construction robot with detachable spraying and grinding modules has become a core challenge and an urgent technical problem for those skilled in the art. Summary of the Invention

[0007] The purpose of this invention is to provide a wall construction robot with detachable spraying and sanding modules, in order to solve the technical problems in the prior art where wall construction robots cannot balance the rigidity of the end effector connection and the efficiency of rapid assembly and disassembly under high-frequency vibration conditions during sanding, resulting in easy loosening of the connection, attenuation of positioning accuracy, and inconvenience in process switching.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0009] A wall construction robot with detachable spraying and sanding modules includes a base plate. Walking mechanisms are installed at the four corners of the base plate's bottom. Support and positioning mechanisms are installed on both sides of the top of the base plate. A six-axis robotic arm is installed on one end of the top of the base plate. A quick-release mechanism is installed at one end of the six-axis robotic arm, and a wall sander is connected to one end of the quick-release mechanism. A spray head is installed on the top of the wall sander, allowing continuous operation of sanding and spraying without changing the end tool. A battery box and a liquid storage tank are installed on the other end of the top of the base plate. A pump is installed on one end of the top of the base plate. A suction pipe is installed at the input end of the pump, and one end of the suction pipe is connected to the inner bottom of the liquid storage tank. A delivery pipe is installed at the output end of the pump, and one end of the delivery pipe is connected to the input end of the spray head.

[0010] Furthermore, the walking mechanism includes a retainer, the top of which is fixedly connected to the bottom of the base plate, a first motor is mounted on one side of the retainer, and a walking wheel is mounted on the output end of the first motor.

[0011] Furthermore, the support and positioning mechanism includes an electric telescopic rod, the fixed end of which is installed on the top of the base plate, and the telescopic end of which passes downward through the base plate and is connected to a support plate.

[0012] Furthermore, the bottom end of the support plate is provided with a protective texture.

[0013] Furthermore, the quick-release mechanism includes a frame, one side of which is fixedly connected to one end of a six-axis robotic arm. A bidirectional threaded rod is rotatably connected to the inner side of the frame. Moving blocks are threaded into both ends of the bidirectional threaded rod. Connecting frames are mounted at the top and bottom of each moving block. A clamping plate is mounted on one side of the connecting frame. A locking block is mounted on adjacent sides of a pair of clamping plates. Slots are provided on both sides of the wall sander, and one end of each locking block engages with the inner side of a slot. The bidirectional threaded rod drives the clamping plates on both sides to move synchronously in opposite directions, achieving rigid locking of the wall sander. Simultaneously, the engagement of the locking blocks and slots provides reliable axial and radial positioning, effectively resisting high-frequency vibrations generated during sanding operations.

[0014] Furthermore, a slide rail is slidably connected to one end of the clamping plate, and one side of the slide rail is fixedly connected to the other side of the frame. The slide rail provides precise guidance for the movement of the clamping plate, ensuring that the card block and the card slot can still be accurately aligned after repeated disassembly and assembly, thus guaranteeing repeatability and positioning accuracy.

[0015] Furthermore, a second motor is mounted on one end of the frame, and the output end of the second motor is connected to one end of a bidirectional threaded rod. Driven by the second motor, the quick-release mechanism is automatically controlled, further improving the efficiency of module switching.

[0016] Furthermore, the battery box contains a lithium battery, a charging port is located on one side of the battery box, and a wireless controller is magnetically mounted on one side of the battery box.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. This invention utilizes a quick-release mechanism with a bidirectional threaded rod to drive the synchronous movement of the clamping plates on both sides, leveraging the mechanical force-amplifying characteristics of threaded transmission to achieve powerful clamping of the wall sander. The rigid engagement of the locking block and slot provides the sander with extremely high connection rigidity, effectively resisting high-frequency vibrations generated during sanding operations and preventing loosening of the connection or loss of positioning accuracy. Simultaneously, a second motor drives the bidirectional threaded rod to rotate forward and backward, enabling rapid opening and closing of the clamping plates. This allows for rapid switching of construction modules while maintaining rigidity, solving the technical challenge of balancing rigidity and efficiency in traditional connection methods.

[0019] 2. This invention provides precise guidance for the opening and closing movement of the clamping plate through a slide rail slidably connected to one end of the clamping plate. This design ensures that the clamping block can still accurately engage in the slot after repeated disassembly and assembly of different construction modules, avoiding positioning deviations caused by long-term use, ensuring the repeatability of the robotic arm's end effector, and thus guaranteeing continuous high precision in grinding and spraying operations.

[0020] 3. This invention directly mounts the spray head to the top of the wall sander, allowing the pump to be started immediately for spraying after sanding without needing to change the end tool via a quick-release mechanism. This integrated approach of "sanding as a preparation for spraying" greatly simplifies the control logic, eliminates the waiting time and positioning errors caused by tool changes in traditional solutions, enables continuous and efficient multi-process operations, and significantly improves construction efficiency.

[0021] 4. This invention provides a stable mounting foundation for all components of the wall construction robot via a base plate, integrating modules for walking, support, construction, and power supply to ensure overall structural stability and prevent shaking during construction. Walking mechanisms mounted at the four corners of the base plate enable flexible movement of the equipment, adapting to different wall construction areas, replacing manual handling, and improving construction convenience and efficiency. Support and positioning mechanisms mounted on both sides of the top of the base plate fix the equipment's position during construction, preventing displacement and ensuring grinding and spraying accuracy. A six-axis robotic arm mounted on one end of the top of the base plate allows for flexible adjustment of the wall grinder and spray head's angle and position, adapting to different areas of the wall, such as corners and high places, increasing the construction coverage. A battery box mounted on the other end of the top of the base plate provides power to the walking mechanisms, robotic arm, pump, and other components of the equipment. Stable power supply ensures continuous equipment operation, adapting to construction scenarios without external power. A liquid storage tank installed on the other end of the base plate stores paint for continuous supply to the spray head, avoiding frequent paint additions and improving construction efficiency. A pump installed on one end of the base plate provides power for paint delivery, ensuring stable paint delivery to the spray head. A suction pipe installed at the pump input accurately extracts paint from the storage tank, avoiding paint residue and waste. Connecting one end of the suction pipe to the bottom inside the storage tank allows for thorough extraction of paint, reducing residue. A delivery pipe installed at the pump output stably delivers paint to the spray head, ensuring uniform spray pressure. Connecting one end of the delivery pipe to the spray head input ensures precise paint entry into the spray head, guaranteeing uniform spraying and improving wall coating quality.

[0022] In summary, this invention, through a specific quick-release mechanism design, effectively resolves the contradiction between connection rigidity and rapid assembly / disassembly efficiency under high-frequency vibration conditions during grinding, while ensuring repeatability and positioning accuracy. Furthermore, the integrated layout of the spray head achieves seamless process connection, demonstrating outstanding substantive features and significant progress. Attached Figure Description

[0023] Figure 1 This is one of the three-dimensional structural schematic diagrams disclosed in the embodiments of the present invention;

[0024] Figure 2 This is a second three-dimensional structural schematic diagram disclosed in an embodiment of the present invention;

[0025] Figure 3 This is the third three-dimensional structural schematic diagram disclosed in the embodiment of the present invention;

[0026] Figure 4 This is one of the disassembled three-dimensional structural schematic diagrams disclosed in the embodiments of the present invention;

[0027] Figure 5 This is the second disassembled three-dimensional structural schematic diagram disclosed in the embodiment of the present invention.

[0028] In the above figures, the component names corresponding to the reference numerals are as follows:

[0029] 1. Base plate; 2. Walking mechanism; 201. Cage; 202. First motor; 203. Walking wheels; 3. Support and positioning mechanism; 301. Electric telescopic rod; 302. Support plate; 4. Six-axis robotic arm; 5. Quick release mechanism; 501. Frame; 502. Bidirectional threaded rod; 503. Second motor; 504. Moving block; 505. Connecting frame; 506. Slide rail; 507. Clamping plate; 508. Locking block; 6. Wall sander; 601. Slot; 7. Spray head; 8. Liquid storage tank; 9. Pump; 10. Liquid extraction pipe; 11. Liquid delivery pipe; 12. Battery box; 13. Wireless controller. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of those features. In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "left," and "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0032] Please see Figure 1-5This invention provides a wall construction robot with a detachable spraying and sanding module, including a base plate 1. Walking mechanisms 2 are installed at the four corners of the bottom of the base plate 1. Supporting and positioning mechanisms 3 are installed on both sides of the top of the base plate 1. A six-axis robotic arm 4 is installed on one end of the top of the base plate 1. A quick-release mechanism 5 is installed at one end of the six-axis robotic arm 4. One end of the quick-release mechanism 5 is connected to a wall sander 6. A spray head 7 is installed on the top of the wall sander 6. This integrated layout allows the device to immediately perform spraying operations after sanding without changing the end tool. A battery box 12 and a liquid storage tank 8 are installed on the other end of the top of the base plate 1. A pump 9 is installed on one end of the top of the base plate 1. A suction pipe 10 is installed at the input end of the pump 9. One end of the suction pipe 10 is connected to the liquid storage tank. The bottom inner side of the box 8 is connected to the output end of the pump 9, which is equipped with a liquid delivery pipe 11. One end of the liquid delivery pipe 11 is connected to the input end of the spray head 7. The base plate 1 provides a stable installation foundation for all components of the wall construction robot, integrating modules such as walking, support, construction, and power supply to ensure the overall stability of the equipment structure and prevent shaking during construction. The walking mechanism 2 installed at the four corners of the bottom of the base plate 1 enables flexible movement of the equipment, adapting to different wall construction areas, replacing manual handling, and improving construction convenience and efficiency. The support and positioning mechanism 3 installed on both sides of the top of the base plate 1 fixes the position of the equipment during construction, preventing equipment displacement and ensuring grinding and spraying accuracy. The six-axis robotic arm 4 installed on one end face of the top of the base plate 1 drives the wall sander 6. The spray head 7 can flexibly adjust the construction angle and position to adapt to different areas of the wall, such as corners and high places, improving the construction coverage. A quick-release mechanism 5 installed at one end of the six-axis robotic arm 4 allows for rapid disassembly and replacement of the wall sander 6 or other construction modules, adapting to different construction needs and improving equipment versatility. The wall sander 6, connected to one end of the quick-release mechanism 5, enables precise sanding of the wall surface, removing impurities and smoothing the surface, laying the foundation for the spraying process. The spray head 7 installed at the top of the wall sander 6 enables uniform spraying of the sanded wall surface, completing the core process of wall construction and improving construction quality. The battery box 12 installed at the other end of the base plate 1 provides stable power to the various components of the equipment, including the walking mechanism 2, robotic arm, and pump 9. A fixed power supply ensures continuous operation of the equipment, adapting to construction scenarios without an external power source. A liquid storage tank 8, installed on the other end of the top of the base plate 1, stores the paint for spraying, continuously supplying the spray head 7 and avoiding frequent paint additions, thus improving construction efficiency. A pump 9, installed on one end of the top of the base plate 1, provides power for paint delivery, ensuring stable paint delivery to the spray head 7. A suction pipe 10, installed at the input end of the pump 9, accurately extracts paint from the liquid storage tank 8, avoiding paint residue and waste. The suction pipe 10 connects one end to the bottom inner side of the liquid storage tank 8, ensuring sufficient extraction of paint from the tank and reducing residue. A delivery pipe 11, installed at the output end of the pump 9, stably delivers paint to the spray head 7, ensuring uniform spraying pressure.By connecting one end of the liquid delivery pipe 11 to the input end of the spray head 7, the paint can be precisely delivered into the spray head 7, ensuring uniform spraying and improving the quality of wall coating.

[0033] The walking mechanism 2 includes a retainer 201, the top of which is fixedly connected to the bottom of the base plate 1. A first motor 202 is installed on one side of the retainer 201, and a walking wheel 203 is installed at the output end of the first motor 202. The retainer 201 of the walking mechanism 2 provides a stable mounting support for the first motor 202 and the walking wheel 203, ensuring the stable operation of the walking mechanism 2. The fixed connection between the top of the retainer 201 and the bottom of the base plate 1 ensures that the walking mechanism 2 is firmly installed, preventing it from loosening or falling off during movement. The first motor 202 installed on one side of the retainer 201 provides stable rotational power to the walking wheel 203, driving the equipment to move flexibly.

[0034] The support and positioning mechanism 3 includes an electric telescopic rod 301. The fixed end of the electric telescopic rod 301 is installed on the top of the base plate 1, and its telescopic end passes downward through the base plate 1 and is connected to a support plate 302. Through the electric telescopic rod 301 of the support and positioning mechanism 3, the height of the support plate 302 can be flexibly adjusted to adapt to different ground flatness, ensuring that the equipment is placed stably during construction. Through the support plate 302 installed at the output end of the electric telescopic rod 301, the contact area between the equipment and the ground is increased, improving the positioning stability of the equipment, preventing the equipment from shaking during construction, and ensuring the accuracy of grinding and spraying.

[0035] The bottom of the support plate 302 is provided with protective texture. The protective texture at the bottom of the support plate 302 increases the frictional resistance between the support plate 302 and the ground, further improving the positioning stability of the equipment and preventing the equipment from sliding and shifting during construction.

[0036] The quick-release mechanism 5, a core improvement of this invention, has the following specific structure: It includes a frame 501, one side of which is fixedly connected to one end of the six-axis robotic arm 4. A bidirectional threaded rod 502 is rotatably connected to the inner side of the frame 501. A second motor 503 is mounted on one end of the frame 501, and the output end of the second motor 503 is connected to one end of the bidirectional threaded rod 502. Moving blocks 504 are threadedly engaged at both ends of the bidirectional threaded rod 502. Connecting frames 505 are mounted at the top and bottom ends of the moving blocks 504. A clamping plate 507 is mounted on one side of the connecting frame 505. A slide rail 506 is slidably connected to one end of the clamping plate 507, and one side of the slide rail 506 is fixedly connected to the other side of the frame 501. A locking block 508 is mounted on adjacent sides of a pair of clamping plates 507. A slot 601 is provided on both sides of the wall sander 6, and one end of the locking block 508 engages with the inner side of the slot 601.

[0037] With the above structure, when the second motor 503 drives the bidirectional threaded rod 502 to rotate, the transmission characteristics of the bidirectional thread drive drive the moving blocks 504 at both ends to move synchronously towards or away from each other along the axial direction of the bidirectional threaded rod 502. The moving blocks 504 drive the clamping plate 507 to slide smoothly along the slide rail 506 through the connecting frame 505. When the clamping plates 507 move towards each other, the locking blocks 508 on them gradually engage with the slots 601 of the wall sander 6 until they are fully locked. This clamping method driven by the bidirectional threaded rod can generate a strong axial clamping force, and due to the self-locking characteristics of the thread drive, the clamping plate 507 will not loosen even under high-frequency vibration conditions, ensuring the absolute rigidity of the connection. At the same time, the slide rail 506 provides high-precision guidance for the movement of the clamping plate 507, ensuring that the locking blocks 508 and the slots 601 can be accurately aligned after each disassembly and assembly, thereby maintaining long-term repeatability and positioning accuracy. When disassembly is required, the second motor 503 reverses, the clamping plate 507 moves in opposite directions, and the locking block 508 disengages from the slot 601, allowing the module to be quickly removed.

[0038] The frame 501 of the quick-release mechanism 5 provides an installation carrier for components such as the bidirectional threaded rod 502 and the moving block 504, constructing the overall frame 501 of the quick-release structure and ensuring structural stability. A fixed connection is made between one side of the frame 501 and one end of the six-axis robotic arm 4, ensuring a secure connection between the quick-release mechanism 5 and the robotic arm, guaranteeing stable power transmission during construction. The bidirectional threaded rod 502, rotatably connected to the inner side of the frame 501, enables bidirectional threaded transmission, driving the moving blocks 504 at both ends to move synchronously in opposite directions, thus opening and closing the clamping plate 507. The moving blocks 504, with threads engaged at both ends of the bidirectional threaded rod 502, convert the rotational motion of the bidirectional threaded rod 502 into linear motion, driving the clamping plate 507 to move smoothly. The moving blocks 504, with their tops... The connecting brackets 505 installed at the top and bottom securely connect the moving block 504 to the clamping plate 507, ensuring stable power transmission and preventing loosening. The clamping plate 507 installed on one side of the connecting bracket 505 securely clamps the wall sander 6, ensuring that the sander does not loosen during construction. The locking blocks 508 installed on adjacent sides of the pair of clamping plates 507 engage with the slots 601 of the wall sander 6, further reinforcing the sander's fixation and preventing it from falling off during construction. The slots 601 on both sides of the wall sander 6 precisely engage with the locking blocks 508, providing a positioning reference for quick assembly and disassembly of the sander. The locking block 508 engages with the inside of the slot 601, ensuring the sander is securely fixed and facilitating quick disassembly and replacement. A slide rail 506, slidably connected to one end of the clamping plate 507, provides precise sliding guidance for the clamping plate 507, preventing it from shifting or jamming during movement and ensuring smooth opening and closing of the clamping plate 507 to accurately clamp or release the wall sander 6. A second motor 503, mounted on one end of the frame 501, provides stable rotational power to the bidirectional threaded rod 502, driving the quick-release mechanism 5 to open and close automatically, improving disassembly and assembly efficiency.

[0039] The battery box 12 contains a lithium battery, and a charging port is located on one side of the battery box 12. A wireless controller 13 is magnetically mounted on the other side of the battery box 12. The lithium battery inside the battery box 12 provides long-term and stable power support for the device, making it suitable for outdoor construction scenarios without external power sources and improving the portability of the device. The charging port on the side of the battery box 12 allows for easy charging of the lithium battery, ensuring continuous operation of the device and extending the construction time. The wireless controller 13 on the side of the battery box 12 enables the wireless remote control function of the device.

[0040] In one specific embodiment, the wall sander 6 and the spray head 7 are fixed by an integrated bracket. The spray head 7 is eccentrically positioned relative to the wall sander 6, and a dust cover is provided around the spray head 7. By providing the dust cover, the interference of sanding dust on the spray head 7 can be avoided.

[0041] In one specific embodiment, the wireless controller 13 is connected to the bus controller in the base plate via ZigBee or industrial-grade WiFi. The bus controller integrates an environmental perception and autonomous decision-making module: it acquires the three-dimensional contour of the wall through a high-definition camera, detects obstacles in the construction area through lidar, and collects the grinding contact pressure through a force feedback sensor. Based on the above perception data, it dynamically generates the obstacle avoidance path of the six-axis robotic arm and automatically adjusts the pump pressure according to the wall material to optimize the spraying flow, thereby realizing closed-loop intelligent control of "perception-decision-execution".

[0042] Specifically, the working principle of this wall construction robot with detachable spraying and sanding modules is as follows:

[0043] Before starting the equipment, the battery box 12 provides stable power support to all electrical components. The lithium battery inside the battery box 12 stores electrical energy. If the power is insufficient, it can be charged through the charging port on one side of the battery box 12 to ensure continuous operation of the equipment. The operator issues commands through the wireless controller 13 on one side of the battery box 12 to remotely control the equipment, improving construction safety and convenience. During the construction preparation stage, the operator controls the walking mechanism 2 through the wireless controller 13. The first motor 202 of the walking mechanism 2 starts, driving the walking wheel 203 to rotate. The cage 201 provides stable support for the first motor 202 and the walking wheel 203, ensuring that the walking wheel 203 rotates smoothly, thereby moving the base plate 1 and the entire equipment to the designated construction area. Upon arrival at the construction area, the support positioning mechanism 3 is activated, the electric telescopic rod 301 extends, and the support plate 302 moves downward until it is in close contact with the ground. The protective texture at the bottom of the support plate 302 increases the frictional resistance with the ground, further improving the positioning stability of the equipment and preventing the equipment from shifting or shaking during construction, thus ensuring the accuracy of subsequent grinding and spraying processes.

[0044] During the sanding process, the six-axis robotic arm 4 is activated by the wireless controller 13. The robotic arm 4 drives the quick-release mechanism 5 and the wall sander 6 to flexibly adjust their angles and positions to adapt to the sanding needs of different areas of the wall, ensuring thorough sanding coverage. At this time, the quick-release mechanism 5 is in a clamping and fixed state, and the second motor 503 remains stationary. Due to the self-locking characteristic of the bidirectional threaded rod 502, the moving block 504 remains in position, keeping the connecting frame 505 and the clamping plate 507 closed. The locking blocks 508 on the clamping plate 507 are firmly engaged in the slots 601 on both sides of the wall sander 6, achieving rigid fixation of the wall sander 6. This effectively resists high-frequency vibrations generated during sanding, preventing loosening, detachment, or positioning misalignment. After the wall sander 6 is activated, it precisely sands the wall surface, removing impurities and smoothing the surface, laying the foundation for subsequent spraying processes. During sanding, the six-axis robotic arm 4 can adjust the sanding angle and force in real time to ensure sanding accuracy.

[0045] After the sanding process is completed, if a spraying process is required, the wall sander 6 does not need to be disassembled via the quick-release mechanism 5. Instead, the pump 9 is started directly via the wireless controller 13. The pump 9 draws paint from the storage tank 8 through the suction pipe 10 at the input end. One end of the suction pipe 10 is connected to the bottom inside the storage tank 8, which can fully draw the paint in the storage tank 8 and reduce paint residue and waste. The pump 9 provides power for paint delivery, and stably delivers the paint to the spray head 7 through the delivery pipe 11 at the output end. The delivery pipe 11 is tightly connected to the input end of the spray head 7 to ensure that the paint enters the spray head 7 accurately and the delivery pressure is uniform. After the spray head 7 is started, it sprays the sanded wall surface evenly. The six-axis robotic arm 4 synchronously adjusts the angle and position of the spray head 7 to ensure comprehensive coverage and uniform thickness, improving the quality of wall construction. Since the spray head 7 is integrated on the top of the wall sander 6, the switch from sanding to spraying does not require any mechanical disassembly or assembly operations. Only the pump start and stop need to be controlled, achieving seamless connection of processes.

[0046] When a construction module needs to be replaced (e.g., replacing the grinder with a tool with other functions), the quick-release mechanism 5 is operated via the wireless controller 13. The second motor 503 starts, driving the bidirectional threaded rod 502 to rotate. The bidirectional threaded rod 502 drives the moving blocks 504 at both ends to move synchronously in opposite directions through threaded engagement. The moving blocks 504 drive the connecting frame 505 and the clamping plate 507 to slide along the slide rail 506, causing the clamping plate 507 to separate from each other. The locking block 508 disengages from the slot 601 of the wall grinder 6, allowing the wall grinder 6 to be quickly removed. After replacing the construction module, the second motor 503 is started in reverse, and the bidirectional threaded rod 502 rotates in the opposite direction, driving the moving blocks 504, connecting frame 505, and clamping plate 507 to move towards each other. Under the precise guidance of the slide rail 506, the locking block 508 accurately engages in the slot of the new module, completing the quick fixation of the module. The entire process is automated, and the guiding effect of the slide rail ensures the positioning accuracy after repeated disassembly and assembly.

[0047] During construction, the battery box 12 continuously supplies power to all components, the liquid storage tank 8 continuously supplies paint to the spray head 7, avoiding frequent paint additions, and the pump 9 maintains stable operation to ensure smooth paint delivery. If the construction area needs to be adjusted, first control the electric telescopic rod 301 of the support positioning mechanism 3 to retract, causing the support plate 302 to lift off the ground. Then, the walking mechanism 2 moves the equipment to the new construction area, repeating the above positioning and construction process until all wall construction work is completed. After construction, turn off the power to all components and clean the liquid storage tank 8, the extraction pipe 10, the delivery pipe 11, the spray head 7, and other components to prevent paint residue from clogging and extend the service life of the equipment.

[0048] It should be noted that all standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art, which is common knowledge in the field. Furthermore, since this application is mainly used to protect mechanical devices, this application will not explain the control method and circuit connection in detail.

[0049] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A wall construction robot with detachable spraying and sanding modules, characterized in that, The system includes a base plate (1), with a walking mechanism (2) installed at each of the four corners of the bottom end of the base plate (1), and a support positioning mechanism (3) installed on both sides of the top end of the base plate (1). A six-axis robotic arm (4) is installed on one end of the top end of the base plate (1), and a quick-release mechanism (5) is installed on one end of the six-axis robotic arm (4). A wall sander (6) is connected to one end of the quick-release mechanism (5), and a spray head (7) is installed on the top end of the wall sander (6). A battery box (12) and a liquid storage tank (8) are installed on the other end of the top end of the base plate (1). A pump (9) is installed on one end of the top end of the base plate (1), and a liquid extraction pipe (10) is installed at the input end of the pump (9). One end of the liquid extraction pipe (10) is connected to the inner bottom end of the liquid storage tank (8). A liquid delivery pipe (11) is installed at the output end of the pump (9), and one end of the liquid delivery pipe (11) is connected to the input end of the spray head (7).

2. A wall construction robot with a detachable spraying and sanding module according to claim 1, characterized in that, The quick-release mechanism (5) includes a frame (501), one side of the frame (501) is fixedly connected to one end of the six-axis robotic arm (4), and a bidirectional threaded rod (502) is rotatably connected to the inner side of the frame (501). Both ends of the bidirectional threaded rod (502) are threadedly engaged with moving blocks (504). The top and bottom ends of the moving blocks (504) are each equipped with a connecting frame (505). One side of the connecting frame (505) is equipped with a clamping plate (507), and adjacent sides of a pair of clamping plates (507) are equipped with locking blocks (508). Both sides of the wall sander (6) are provided with locking slots (601), and one end of the locking block (508) is engaged with the inner side of the locking slot (601).

3. A wall construction robot with a detachable spraying and sanding module according to claim 2, characterized in that, One end of the clamping plate (507) is slidably connected to a slide rail (506), and one side of the slide rail (506) is fixedly connected to the other side of the frame (501).

4. A wall construction robot with a detachable spraying and sanding module according to claim 2, characterized in that, A second motor (503) is mounted on one end face of the frame (501), and the output end of the second motor (503) is connected to one end of the bidirectional threaded rod (502).

5. A wall construction robot with a detachable spraying and sanding module according to claim 1, characterized in that, The walking mechanism (2) includes a retainer (201), the top of the retainer (201) and the bottom of the base plate (1) are fixedly connected, a first motor (202) is installed on one side of the retainer (201), and a walking wheel (203) is installed at the output end of the first motor (202).

6. A wall construction robot with a detachable spraying and sanding module according to claim 1, characterized in that, The support positioning mechanism (3) includes an electric telescopic rod (301), the fixed end of which is installed on the top of the base plate (1), and the telescopic end passes down through the base plate (1) and is connected to a support plate (302).

7. A wall construction robot with a detachable spraying and sanding module according to claim 6, characterized in that, The bottom of the support plate (302) is provided with a protective texture.

8. A wall construction robot with a detachable spraying and sanding module according to claim 1, characterized in that, The battery box (12) is equipped with a lithium battery inside, and a charging interface is provided on one side of the battery box (12). A wireless controller (13) is magnetically attached to one side of the battery box (12).

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