Five-in-one construction process for wall surface

Abstract

The present application relates to wall construction technology field, especially a kind of wall five-in-one construction process, first operation disc equipped with cleaning component is installed in the fixed base, and the wall to be constructed is cleaned by the first operation disc;First spray head corresponding to putty spraying process is connected to the spraying module, and the barrel pumping module is switched to putty feeding state, so that the barrel pumping module transports putty material to the spraying module, to spray putty by the spraying module.The present application sequentially executes wall cleaning, putty spraying, putty scraping, putty polishing and latex paint spraying by the same wall construction robot, so that multiple continuous processes in wall construction can be completed on the same equipment, reduce switching and transfer between different single-function equipment, improve the continuity and automation degree of wall construction.

Description

Technical Field

[0001] This invention relates to the field of wall construction technology, and in particular to a five-in-one wall construction process. Background Technology

[0002] Wall decoration construction typically involves multiple consecutive steps, including wall surface cleaning, putty application, putty leveling, putty sanding, and latex paint spraying. In current construction methods, these steps are mostly performed manually or using separate single-function equipment such as cleaning, spraying, scraping, and sanding machines. Because different steps require different tools, materials, and operating conditions, completing the construction of an entire wall usually requires switching between different machines or repeatedly changing the end-effector tools and readjusting the equipment's position relative to the wall. Summary of the Invention

[0003] In this section, as well as in the abstract and title of this application, some simplifications or omissions may be made to avoid obscuring the purpose of this section, the abstract, and the title of this application, and such simplifications or omissions shall not be used to limit the scope of the invention.

[0004] To address the shortcomings of existing technologies, one objective of this invention is to provide a five-in-one wall construction process.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a five-in-one wall construction process using a wall construction robot, the wall construction robot comprising a fixed base, a spraying module, a material bucket pumping module, and a dust collection and removal module; the fixed base is equipped with a drive motor and a base plate connected to the drive motor, the base plate being used to connect a first working disc or a second working disc, the first working disc being used to support a cleaning component or a scraping component, and the second working disc being used to support a sanding component; the discharge end of the spraying module is used to connect a first spray head or a second spray head, and the material bucket pumping module is connected to the spraying module through a material conveying pipeline, and is able to spray the material bucket into the wall. The module switches between a putty supply state for conveying putty material and a latex paint supply state for conveying latex paint to the spraying module; the dust collection and exhaust module is connected to the fixed base through a negative pressure pipeline; the five-in-one wall construction process is carried out in the order of wall cleaning, putty spraying, putty scraping, putty sanding, and latex paint spraying; during construction, by switching the first working disc, the second working disc, and the working components they carry, wall cleaning, putty scraping, and putty sanding are performed respectively, and the dust collection and exhaust module is operated during putty sanding; by switching the material supply state of the material bucket pumping module and the nozzle at the outlet end of the spraying module, putty spraying and latex paint spraying are performed respectively.

[0006] As a preferred embodiment of the five-in-one wall construction process of the present invention, the steps of wall cleaning, putty spraying, putty scraping, putty sanding, and latex paint spraying are as follows: controlling the drive motor to drive the first working disc carrying the cleaning component through the base plate, so that the cleaning component acts on the wall surface to be cleaned; controlling the material tank pumping module to be in the putty supply state and to supply putty material to the spraying module, and operating the first nozzle at the outlet end of the spraying module to spray the putty material onto the cleaned wall surface; controlling the drive motor to drive the first working disc carrying the cleaning component through the base plate to be cleaned; controlling the first working disc carrying the cleaning component ... The substrate drives the first working disc carrying the scraping component to operate, so that the scraping component acts on the sprayed putty material to scrape the putty material; the drive motor is controlled to drive the second working disc carrying the sanding component through the substrate to operate, and the dust collection and discharge module is activated, so that the sanding component sands the putty layer formed after scraping, and the dust generated by sanding is collected by the dust collection and discharge module; the material bucket pumping module is controlled to be in the latex paint supply state and to deliver latex paint to the spraying module, and the second nozzle at the discharge end of the spraying module is activated to spray the latex paint onto the sanded putty layer.

[0007] As a preferred embodiment of the five-in-one wall construction process of the present invention, the wall construction robot further includes a lifting mechanical arm module, and the fixed base is disposed at the end of the lifting mechanical arm module; when cleaning the wall, the lifting mechanical arm module is controlled to drive the first working plate to move along the wall area to be cleaned within the operating height H1 and operating width L1, so that the cleaning component sweeps across the wall area to be cleaned and forms a cleaning coverage area.

[0008] As a preferred embodiment of the five-in-one wall construction process of the present invention, the wall construction robot also has a scanning function module. Before cleaning the wall, the scanning function module scans and maps the wall to be cleaned to establish the area of ​​the wall to be cleaned and obtains the wall width W of the area of ​​the wall to be cleaned. According to the operation width L1, the area of ​​the wall to be cleaned is divided into N single operation areas along the wall width direction, where N is the smallest integer not less than W / L1. The width of the first N-1 single operation areas is L1, and the width of the Nth single operation area is W-(N-1)L1.

[0009] As a preferred embodiment of the five-in-one wall construction process of the present invention, after the lifting robotic arm module drives the cleaning component to complete the cleaning of the current cleaning coverage area, the chassis is controlled to move along the width direction of the wall area to be cleaned to the next cleaning operation position, and the lifting robotic arm module forms the next cleaning coverage area at the next cleaning operation position; wherein, the single movement distance of the chassis is less than the operation width L1, so that a repeated cleaning area is formed between two adjacent cleaning coverage areas.

[0010] As a preferred embodiment of the five-in-one wall construction process of the present invention, the effective cleaning radius of the first working plate is R, and the width L2 of the repeated cleaning area satisfies: L2≥R.

[0011] As a preferred embodiment of the five-in-one wall construction process of the present invention, when applying putty through the spraying module, the first nozzle is installed on the spraying module, the first nozzle sprays putty material, and the lifting robotic arm module is controlled to drive the spraying module to move along the cleaning and covering area, and a putty spraying and covering area is formed on the cleaning and covering area.

[0012] As a preferred embodiment of the five-in-one wall construction process of the present invention, when the wall surface after putty spraying is scraped by the first working disc; the first working disc equipped with scraping components is installed on the fixed base, and the drive motor drives the scraping components on the first working disc to rotate; the lifting robotic arm module drives the scraping components on the first working disc to scrape the putty material in the putty spraying coverage area and form a scraping coverage area.

[0013] As a preferred embodiment of the five-in-one wall construction process of the present invention, when the putty layer after scraping is sanded by the second working disc; the second working disc equipped with sanding components is installed on the fixed base, and the dust collection and exhaust module is activated; the drive motor drives the sanding components on the second working disc to rotate; the lifting mechanical arm module drives the sanding components on the second working disc to sand the putty layer in the scraped coverage area and form a sanding coverage area, and the dust generated by sanding is collected by the dust collection and exhaust module.

[0014] As a preferred embodiment of the five-in-one wall construction process of the present invention, when latex paint is sprayed through the spraying module, the first nozzle on the spraying module is replaced with a second nozzle, and the material tank pumping module is switched to latex paint supply mode; the second nozzle sprays out latex paint, and the lifting robotic arm module is controlled to drive the spraying module to move along the sanding coverage area, and a latex paint spraying coverage area is formed on the sanding coverage area.

[0015] The beneficial effects of the five-in-one wall construction process of the present invention are as follows: The present invention uses the same wall construction robot to sequentially perform wall cleaning, putty spraying, putty scraping, putty sanding and latex paint spraying, so that multiple continuous processes in wall construction can be completed on the same equipment, reducing the switching and transfer between different single-function equipment, and improving the continuity and automation of wall construction. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the end effector structure of the wall construction robot of the present invention when the first working disc with cleaning components is installed.

[0018] Figure 2 This is a schematic diagram of the overall structure of the wall construction robot of the present invention.

[0019] Figure 3 This is a schematic diagram of the end effector of the wall construction robot of the present invention when the first working disc with scraping components is installed.

[0020] Figure 4 This is a schematic diagram of the overall structure of the wall construction robot of the present invention from another perspective.

[0021] Figure 5 This is a schematic diagram of the end effector of the wall construction robot of the present invention when installing the second working disc with grinding components.

[0022] Figure 6 This is a schematic diagram showing the assembly relationship of the fixed base, the spraying module, and the lifting robotic arm module of the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of the first working disk and the substrate of the present invention.

[0024] Figure 8 This is a schematic diagram of the wall surface area to be cleaned and the cleaning coverage area according to the present invention.

[0025] Figure 9 This is a structural diagram of the wall construction robot of the present invention, showing the scanning function module and the chassis.

[0026] Figure 10 This is a schematic diagram illustrating how the wall surface to be cleaned is divided into multiple single-operation zones according to the present invention.

[0027] Figure 11This is a schematic diagram illustrating the formation of a repeated cleaning area between two adjacent cleaning coverage areas according to the present invention.

[0028] Figure 12 This is a schematic diagram showing the relationship between the effective cleaning radius of the first working disc of the present invention and the corner area of ​​the cleaning coverage area.

[0029] Figure 13 This is a schematic diagram illustrating the process of forming a putty spraying coverage area on a cleaned coverage area according to the present invention.

[0030] Figure 14 This is a schematic diagram of the scraping and covering area formed on the putty spraying area according to the present invention.

[0031] Figure 15 This is a schematic diagram of the polishing coverage area formed on the scraping coverage area according to the present invention.

[0032] Figure 16 This is a schematic diagram of the latex paint spraying coverage area formed on the sanding coverage area according to the present invention.

[0033] In the diagram: 10. Wall area to be cleaned; 20. Cleaning coverage area; 30. Single operation area; 31. Repeated cleaning area; 40. Putty spraying coverage area; 50. Scraping coverage area; 60. Sanding coverage area; 70. Latex paint spraying coverage area; 100. Fixed base; 101. First working disc; 101a. Cleaning component; 101b. Scraping component; 102. Second working disc; 102a. Sanding component; 103. Substrate; 104. Drive motor; 200. Spraying module; 201. First spray head; 202. Second spray head; 300. Material bucket pumping module; 400. Dust collection and discharge module; 500. Lifting robotic arm module; 600. Map scanning function module; 700. Chassis. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0035] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0036] Example 1

[0037] Reference Figures 1 to 6This embodiment provides a five-in-one wall construction process. The process is performed by a wall construction robot, which includes a fixed base 100, a spraying module 200, a material bucket pumping module 300, and a dust collection and removal module 400.

[0038] A fixed base 100 is disposed at the end of the lifting robotic arm module 500 and is used to support disc-shaped working parts used for wall cleaning, putty scraping, and putty sanding. The fixed base 100 is provided with a base plate 103 and a drive motor 104. The base plate 103 is rotatably disposed on the wall-facing side of the fixed base 100, and the drive motor 104 is driven by the base plate 103 to drive its rotation. The base plate 103 has working disc connection positions for connecting a first working disc 101 or a second working disc 102. The first working disc 101 supports a cleaning component 101a or a scraping component 101b, and the second working disc 102 supports a sanding component 102a. Thus, when the drive motor 104 operates, it can drive the corresponding working disc and its supported working parts to rotate via the base plate 103.

[0039] The spraying module 200 and the fixed base 100 are mounted on the same end effector and move relative to the wall surface to be coated with the lifting robotic arm module 500. The spraying module 200 has an internal discharge channel, and its discharge end is used to connect to either the first spray head 201 or the second spray head 202. The first spray head 201 is adapted to the spraying characteristics of putty materials, while the second spray head 202 is adapted to the spraying characteristics of latex paint.

[0040] The material tank pumping module 300 is connected to the spraying module 200 via a material delivery pipeline and can switch between putty supply and latex paint supply modes. In putty supply mode, the material tank pumping module 300 delivers putty material to the spraying module 200; in latex paint supply mode, it delivers latex paint to the spraying module 200. The material tank pumping module 300 may include a material tank, pumping components, a material delivery valve assembly, and a material delivery pipeline. By switching between the corresponding material receiving and delivery paths, it enables the supply of different construction materials.

[0041] The dust collection and exhaust module 400 is connected to the grinding operation area of ​​the second working disc 102 through a negative pressure pipeline. The second working disc 102 or its periphery can be equipped with a dust suction port, a dust guide hood, or an annular dust suction channel. When the dust collection and exhaust module 400 is running, it creates a negative pressure in the grinding operation area, causing the dust generated during grinding to enter the dust collection box or filter structure through the negative pressure pipeline.

[0042] During the actual construction, the wall cleaning process is performed first. The drive motor 104 is controlled to run, and the drive motor 104 drives the first working plate 101 carrying the cleaning component 101a to rotate through the base plate 103. At the same time, the lifting mechanical arm module 500 is controlled to drive the fixed base 100 to move along the wall surface to be worked on, so that the cleaning component 101a sweeps across the wall surface to be worked on during the rotation, so as to remove floating dust, loose attachments, residual coatings or other debris that affect the adhesion of putty on the wall surface.

[0043] The cleaning component 101a can be a brush, scraper, flexible cleaning strip, abrasive cloth, or a composite cleaning component suitable for wall surface treatment. The cleaning component 101a rotates with the first working plate 101, which can continuously sweep, scrape, or rub the wall surface; the lifting robotic arm module 500 drives the first working plate 101 to move, so that the action trajectory of the cleaning component 101a covers the predetermined construction area.

[0044] After the wall surface is cleaned, the putty spraying process is performed. The material tank pumping module 300 is controlled to be in putty supply mode, and the pumping components in the material tank pumping module 300 are activated, allowing the putty material to be sequentially transported through the conveying pipeline and the discharge channel of the spraying module 200 to the first spray head 201. The first spray head 201 is controlled to spray putty material onto the cleaned wall surface, while the lifting robotic arm module 500 is controlled to move the spraying module 200 along the cleaned wall area, thereby forming a putty spray layer on the cleaned wall surface.

[0045] The first nozzle 201 can have a nozzle size, discharge cross-section, and spray width adapted to the viscosity and particle state of the putty material, enabling the putty material to cover the wall surface with a predetermined discharge amount and form a putty spray layer suitable for subsequent scraping. The pumping pressure of the material tank pumping module 300, the discharge amount of the first nozzle 201, and the speed at which the lifting robotic arm module 500 drives the spraying module 200 can be matched to control the amount of putty material used per unit wall area.

[0046] After the putty spraying is completed, the putty scraping process is performed. The drive motor 104 is controlled to run, and the drive motor 104 drives the first working plate 101 carrying the scraping component 101b to rotate through the base plate 103. At the same time, the lifting robotic arm module 500 is controlled to drive the fixed base 100 to move along the wall surface sprayed with putty material, so that the scraping component 101b comes into contact with the putty material and scrapes the putty material.

[0047] The scraping component 101b can be a scraper, an elastic scraper, a flexible smoothing pad, or multiple scraping blades arranged circumferentially along the first working disc 101. When the scraping component 101b rotates with the first working disc 101, it applies a continuous and distributed scraping action to the putty material sprayed onto the wall surface, causing the putty material to spread on the wall surface, fill local depressions, and form a continuous putty layer. The lifting robotic arm module 500 can also adjust the contact pressure and moving speed of the scraping component 101b relative to the wall surface to control the smoothness and thickness of the putty layer.

[0048] After the putty layer formed by scraping reaches a state suitable for sanding, the putty sanding process is performed. The drive motor 104 is controlled to run, and the drive motor 104 drives the second working disk 102, which carries the sanding component 102a, to rotate through the base plate 103. At the same time, the lifting robotic arm module 500 is controlled to drive the fixed base 100 to move along the putty layer, so that the sanding component 102a acts on the scraped putty layer to remove the protrusions, scratches and other uneven parts on the surface of the putty layer.

[0049] While the second work plate 102 is performing the sanding operation, the dust collection and discharge module 400 is controlled to operate, creating negative pressure in the sanding area of ​​the second work plate 102. Under the action of negative pressure, the dust generated during sanding enters the negative pressure pipeline through the dust suction port or dust guide channel, and is collected, filtered, or discharged by the dust collection and discharge module 400, thereby reducing the spread of dust in the construction environment and minimizing the impact of residual dust on the subsequent latex paint spraying quality.

[0050] The grinding component 102a can be a sandpaper disc, sanding screen, grinding disc, grinding brush, or composite grinding pad. The second working disc 102 can be provided with through holes or dust suction channels to allow dust generated by the grinding component 102a to be promptly sucked away from the location of generation.

[0051] After the putty layer is sanded, the latex paint spraying process is performed. The material tank pumping module 300 is controlled to be in latex paint supply mode, and the pumping components in the material tank pumping module 300 are activated, allowing the latex paint to be sequentially transported through the material conveying pipeline and the discharge channel of the spraying module 200 to the second spray head 202. The second spray head 202 is controlled to spray the latex paint onto the sanded putty layer, while the lifting robotic arm module 500 is controlled to move the spraying module 200 along the sanded putty layer, thereby forming a latex paint coating.

[0052] The second nozzle 202 can have a nozzle size, spray width, and atomization structure adapted to the viscosity and atomization requirements of the latex paint. The latex paint sprayed by the second nozzle 202 can partially overlap between adjacent spray trajectories to reduce missed areas and spray stripes. The latex paint output flow rate of the hopper pumping module 300, the spray width of the second nozzle 202, and the moving speed of the spraying module 200 can be matched to control the thickness and uniformity of the latex paint coating.

[0053] Between adjacent construction steps, the first working disc 101, the second working disc 102 on the substrate 103, and the first spray nozzle 201 and the second spray nozzle 202 at the discharge end of the spraying module 200 can be configured or switched according to the working components required for the next construction step. The above configuration or switching is a preparation process between adjacent construction steps. Each construction step is mainly completed by running the drive motor 104, the lifting robotic arm module 500, the spraying module 200, the material bucket pumping module 300, and the dust collection and discharge module 400, so that the corresponding working components act on the wall surface.

[0054] Through the above construction process, the same wall construction robot can sequentially complete wall cleaning, putty spraying, putty scraping, putty sanding and latex paint spraying. This allows different wall construction processes to share the robot chassis, lifting mechanical arm module 500 and end effector structure, reducing the switching and transfer between different single-function equipment and the repeated calibration of construction positions, thereby improving the continuity and automation of wall construction.

[0055] To verify the effect of the five-in-one wall construction process described in this embodiment on improving the efficiency of process switching, walls with the same area and the same initial state were used as construction objects, and the switching time required between adjacent construction processes was compared between the existing construction method and this embodiment.

[0056] The existing construction method uses independent wall cleaning equipment, putty spraying equipment, putty scraping equipment, putty sanding equipment, and latex paint spraying equipment. After completing the previous construction process, the previous construction equipment needs to be moved out of the construction position, and then the next construction equipment needs to be moved to the corresponding construction position. The equipment layout, pipeline connection, and construction position relative to the wall need to be recalibrated.

[0057] In this embodiment, the same wall construction robot is used to complete the above five construction processes sequentially. When switching between adjacent construction processes, the wall construction robot does not need to move out of the construction position. The fixed base 100, spraying module 200, material bucket pumping module 300, lifting robotic arm module 500 and chassis 700 can remain in the current construction area. It is only necessary to switch the corresponding working plate, working parts, nozzle or material supply status according to the next construction process.

[0058] Table 1: Comparison of process switching time between existing construction methods and this embodiment Switch from wall cleaning to putty spraying Remove the wall cleaning device from the work area, move the putty spraying device to the work area, connect the material delivery pipeline, and recalibrate the spraying position. Keeping the wall construction robot in the same position, switch the material bucket pumping module 300 to putty supply mode and put the first spray head 201 into working mode. 24 8 Switch from putty spraying to putty scraping Move the putty spraying device out of the application area, move the putty troweling device back to the application area, and recalibrate the troweling position. Keeping the positions of the fixed base 100 and the lifting robotic arm module 500 unchanged, switch the first working plate 101 to the working state of supporting the scraping component 101b. 22 8 Switch from putty application to putty sanding Move the putty scraping device out of the work area, and move the putty sanding device and dust extraction device to the work area. Connect the negative pressure pipeline and recalibrate the sanding position. The first working disc 101 connected to the substrate 103 is switched to the second working disc 102 that carries the grinding component 102a, and the dust collection and exhaust module 400 is activated. 26 10 Switching from putty sanding to latex paint spraying Remove the putty sanding and dust extraction equipment from the work area, move the latex paint spraying equipment to the work area, connect the material delivery pipeline, and recalibrate the spraying position. Keeping the wall painting robot in the same position, switch the spraying module 200 to the second spray head 202, and switch the material tank pumping module 300 to the latex paint supply mode. 28 15 total — — 100 41

[0059] As shown in Table 1, existing construction methods require moving and replacing different construction devices between adjacent construction steps, and then rearranging, connecting pipelines, and calibrating the construction position of the next construction device. The total time required for the four process switching is approximately 100 minutes. This embodiment integrates the execution structure required for wall cleaning, putty spraying, putty scraping, putty sanding, and latex paint spraying into the same wall construction robot. There is no need to replace or move the entire set of construction devices between adjacent construction steps; only the corresponding work plate, work parts, nozzles, or material supply status need to be switched. The total time required for the four process switching is approximately 41 minutes.

[0060] Therefore, this embodiment can shorten the switching time between the five construction processes by approximately 59 minutes, a reduction of approximately 59%. This efficiency improvement mainly comes from reducing the transfer, rearrangement, and repositioning between different construction devices, rather than simply increasing the construction speed of each working component itself.

[0061] Example 2

[0062] Reference Figure 1 , Figures 6 to 8 This embodiment further illustrates the specific method by which the first working disc 101 performs wall cleaning. The wall construction robot also has a lifting robotic arm module 500, and a fixed base 100 is disposed at the end of the lifting robotic arm module 500. The fixed base 100 can serve as an end-mount carrier to support the disc-type working components and the corresponding drive structure. The fixed base 100 is provided with a drive motor 104 and a base plate 103. The base plate 103 is rotatably disposed on the wall-facing side of the fixed base 100, and the drive motor 104 is connected to the base plate 103 in a transmission connection.

[0063] The drive motor 104 can be installed inside the fixed base 100 or on the side of the fixed base 100 away from the wall, and is connected to the base plate 103 via a reducer, gear set, synchronous belt, coupling, or intermediate shaft. One side of the base plate 103 is engaged with the output end of the drive motor 104, and the other side of the base plate 103 forms a working tray mounting interface. This working tray mounting interface can be provided with positioning holes, positioning posts, snaps, locking pins, quick-release nuts, sliding locking parts, or magnetic auxiliary positioning parts, so that the first working tray 101 can be quickly positioned and disassembled relative to the base plate 103.

[0064] The first working disc 101 is detachably mounted on the base plate 103. Since the base plate 103 is set on the fixed base 100, the first working disc 101 is mounted on the fixed base 100 via the base plate 103. After the drive motor 104 is started, the drive motor 104 drives the base plate 103 to rotate relative to the fixed base 100. The base plate 103 drives the first working disc 101 to rotate synchronously. The cleaning component 101a on the first working disc 101 rotates with the first working disc 101, thereby producing a continuous sweeping, scraping or friction cleaning effect on the wall surface.

[0065] The cleaning component 101a can be disposed on the side of the first working disc 101 facing the wall. The cleaning component 101a can be arranged at intervals around the first working disc 101, or it can be arranged along the radial or arc path of the first working disc 101, so as to form a cleaning trajectory covering the base layer of the wall when the first working disc 101 rotates.

[0066] The lifting robotic arm module 500 is used to control the spatial position of the first working plate 101. The lifting robotic arm module 500 may include a vertical lifting mechanism and a multi-axis robotic arm. The vertical lifting mechanism provides a large height coverage range, and the multi-axis robotic arm adjusts the posture, proximity, and lateral movement of the first working plate 101 relative to the wall. During the cleaning process, the lifting robotic arm module 500 moves the first working plate 101 along the wall surface area 10 to be cleaned within the operating height H1 and operating width L1, causing the cleaning components 101a on the first working plate 101 to sweep across the wall surface and form a cleaning coverage area 20.

[0067] The operating height H1 can be understood as the vertical height range that the lifting robotic arm module 500 can effectively sweep with the cleaning component 101a when the chassis 700 remains in its current position. The operating width L1 can be understood as the horizontal width range that the lifting robotic arm module 500 can effectively sweep with the cleaning component 101a when the chassis 700 remains in its current position. The cleaning coverage area 20 is the cleaned area formed after the cleaning component 101a on the first working plate 101 sweeps across the wall surface to be constructed within the operating height H1 and operating width L1 range. This area is affected by both the movement trajectory of the lifting robotic arm module 500 and the rotation radius of the first working plate 101 and the effective contact range of the cleaning component 101a.

[0068] By detachably mounting the first working disc 101 to the base plate 103 and driving the base plate 103 to rotate the first working disc 101 via the drive motor 104, the fixed base 100 can primarily bear the supporting and mounting functions, while the base plate 103 bears the mounting and rotational transmission functions of the working disc. Therefore, in subsequent scraping or polishing processes, the mounting and transmission structure of the fixed base 100, drive motor 104, and base plate 103 can be reused, and switching between different processes can be completed simply by replacing the corresponding working disc or working component.

[0069] Example 3

[0070] Reference Figure 9 and Figure 10 This embodiment further illustrates the mapping and zoning method of the scanning module 600 before wall cleaning. The scanning module 600 can be set on the upper part of the robot body or other open positions, and includes one or more of the following: LiDAR, vision camera, depth camera, protective cover, movable cover, fan, and control interface. Before construction, the movable cover is opened, so that the LiDAR or vision sensor is in an exposed scanning state; when the chassis 700 moves along the area to be cleaned, the scanning module 600 collects spatial information such as wall boundaries, wall width, obstacle positions, door and window openings or corners, and transmits the collected data to the control system to establish the wall area 10 to be cleaned.

[0071] The wall surface area 10 to be cleaned can be a rectangular area, or an area containing local gaps, openings, or irregular boundaries. For most interior walls, this embodiment can abstract the wall surface area 10 to be cleaned as a construction surface with a wall width W and a wall height H. The wall width W can be directly measured by the scanning function module 600, or calculated from the coordinate difference between the left and right boundaries. The wall height can be determined by combining the floor height, construction requirements, and the working height of the lifting robotic arm module 500. The scanning and mapping does not require the generation of a complex 3D model; it only needs to provide area boundaries for subsequent zoning, area switching, and path planning.

[0072] After establishing the wall area 10 to be cleaned, the wall area 10 is divided into N single-operation zones 30 along the width direction of the wall according to the cleaning operation width L1. Here, N is the smallest integer not less than W / L1, and N is equal to the integer obtained by dividing W by L1 and rounding up. When W is divisible by L1, the width of all N single-operation zones 30 can be L1; when W is not divisible by L1, the width of the first N-1 single-operation zones 30 is L1, and the width of the Nth single-operation zone 30 is W - (N-1)L1. For example, when the wall width W is 10.5m and the cleaning operation width L1 is 1m, N is 11, the width of the first 10 single-operation zones 30 is 1m, and the width of the 11th single-operation zone 30 is 0.5m.

[0073] The operating width L1 of the lifting robotic arm module 500 is typically smaller than the width of the entire wall. Without partitioning, the robot needs to continuously identify unworked areas during construction, which can easily lead to path duplication or omissions. In this embodiment, the scanning module 600 first establishes the wall area 10 to be cleaned, and then divides this area into multiple single-operation zones 30 according to L1, creating a clear control boundary between the chassis 700's zone switching and the robotic arm's single-zone construction. Each single-operation zone 30 can serve as the robotic arm's work object after the chassis 700 has been positioned, thereby reducing path planning complexity and improving the feasibility of automatic cleaning of large-area walls.

[0074] Example 4

[0075] Reference Figure 10 and Figure 11 This embodiment further illustrates the chassis 700 area switching method and the method for determining the work location when there is a repeated cleaning area 31. Figure 10 This shows the state of the wall surface area 10 to be cleaned, divided into sections along the width of the wall. Figure 11 This shows the state where a duplicate cleaning area 31 is formed between two adjacent cleaning coverage areas 20.

[0076] Without setting up a repetitive cleaning area 31, the operating width L1 can be used as the area-changing step distance to divide the wall area 10 to be cleaned into N single-operation areas 30 along the wall width direction, where N is the smallest integer not less than W / L1. At this time, the boundaries of two adjacent single-operation areas 30 can be connected. Each time the chassis 700 moves, the lifting robotic arm module 500 forms a cleaning coverage area 20 with a width of L1 within the corresponding working position.

[0077] When setting up the repeated cleaning area 31, the single movement distance of the chassis 700 is no longer equal to the operating width L1, but is determined according to the width L2 of the repeated cleaning area 31. Let the single movement distance of the chassis 700 along the width direction of the wall be S1, then S1 satisfies: S1 = L1 - L2, and 0 < S1 < L1.

[0078] Wherein, L2 is the width of the overlapping cleaning area 31 between two adjacent cleaning coverage areas 20. The starting boundaries of two adjacent cleaning coverage areas 20 differ by S1, and the latter cleaning coverage area 20 covers the edge portion of the former cleaning coverage area 20, thereby forming an overlapping cleaning area 31 with a width of L2 between them.

[0079] Therefore, when considering the repeated cleaning area 31, the number of cleaning positions per operation is no longer directly determined by W / L1, but by the minimum number of positions that can cover the wall width W. When W≤L1, the number of cleaning positions N per operation is 1; when W>L1, N satisfies: L1+(N-1)S1≥W.

[0080] Substituting S1=L1-L2 into the equation, N is the smallest integer that satisfies L1+(N-1)(L1-L2)≥W.

[0081] The starting position of the cleaning coverage area 20 corresponding to the i-th cleaning operation position along the width direction of the wall can be (i-1)S1, i=1,2,...,N. After the previous cleaning coverage area 20 is completed, the chassis 700 moves S1 along the width direction of the wall area 10 to be cleaned to the next cleaning operation position, and the lifting robotic arm module 500 forms the next cleaning coverage area 20 at the next cleaning operation position. Since S1 is less than L1, the current cleaning coverage area 20 and the next cleaning coverage area 20 will overlap in the width direction, and this overlapping part is the repeated cleaning area 31.

[0082] When the end boundary of the Nth cleaning coverage area 20 exceeds the end boundary of the wall area 10 to be cleaned, the Nth cleaning operation position can be moved back along the width of the wall to align the end boundary of the Nth cleaning coverage area 20 with the end boundary of the wall area 10 to be cleaned. At this time, the actual overlap width between the (N-1)th and Nth cleaning coverage areas 20 can be greater than L2, thus ensuring that the end boundary of the wall area 10 to be cleaned is covered.

[0083] Therefore, in the presence of overlapping cleaning areas 31, the wall area 10 to be cleaned is not divided into multiple single-operation areas 30 with equal widths, but rather continuously covered by multiple overlapping cleaning coverage areas 20. The width of each cleaning coverage area 20 remains the operation width L1, the starting position interval between two adjacent cleaning coverage areas 20 is S1, and the overlap width between two adjacent cleaning coverage areas 20 is L2. In this way, the effective coverage range of each cleaning can be determined using the operation width L1, and the overlapping cleaning areas 31 can compensate for the risk of missed cleaning caused by the positioning error of the chassis 700, the trajectory error of the lifting robotic arm module 500, and insufficient edge work of the first working plate 101.

[0084] Example 5

[0085] Reference Figure 11 and Figure 12 This embodiment further illustrates the method for determining the width L2 of the repeated cleaning area 31. The first working disc 101 is typically a circular working disc. Therefore, the instantaneous cleaning profile formed by the first working disc 101 on the wall surface is typically approximately circular or a circular envelope. The effective cleaning radius R of the first working disc 101 refers to the distance from the rotation center of the first working disc 101 to the outermost boundary of the cleaning component 101a on the wall surface where it can produce an effective cleaning effect.

[0086] During the cleaning trajectory, if the lifting robotic arm module 500 moves the first working disc 101 a straight distance L, the circular cleaning trajectory of the first working disc 101 will form a sweeping area with a length of approximately L+2R in this direction of movement. The middle part of this sweeping area is well covered, but at the corners of the starting and ending points, since the outer contour of the circular working disc is not rectangular, triangular or arc-shaped corner blind spots may appear at the rectangular corners of the wall area 10 to be cleaned or the single operation area 30. These corner blind spots are not caused by the robotic arm not moving, but by the inherent geometric difference between the circular cleaning contour and the rectangular construction area.

[0087] To cover the aforementioned blind spots at the edges and corners, this embodiment limits the width L2 of the repeated cleaning area 31 to satisfy L2≥R. That is, the overlap width between two adjacent cleaning coverage areas 20 is at least not less than the effective cleaning radius of the first working disc 101. When a blind spot is created at the edge of the previous cleaning coverage area 20 due to the circular working disc trajectory, the next cleaning coverage area 20 can enter that edge area with its circular cleaning trajectory and at least cover the areas at the edge of the previous cleaning coverage area that may not have been completely cleaned.

[0088] Example 6

[0089] Reference Figure 13 This embodiment further illustrates the putty spraying process. When applying putty using the spraying module 200, a first nozzle 201 is installed in the spraying module 200. The first nozzle 201 can be connected to the discharge end of the spraying module 200 via threads, snap-fit ​​connections, quick-connect fittings, or compression nuts. The spraying module 200 may have an internal discharge channel communicating with the material tank pumping module 300, and the outlet of the discharge channel is connected to the first nozzle 201. When the material tank pumping module 300 is in the putty supply state, the putty material enters the spraying module 200 through the material tank, pumping components, and conveying pipeline, and is sprayed out by the first nozzle 201.

[0090] Before spraying, the control module can call the data of the cleaning coverage area 20 formed during the cleaning process, and use the cleaning coverage area 20 as the base area for putty spraying. The lifting robotic arm module 500 drives the spraying module 200 to move along the cleaning coverage area 20, so that the spray width of the first nozzle 201 covers the cleaned wall area. The putty material sprayed by the first nozzle 201 can form a putty spraying coverage area 40 on the cleaning coverage area 20.

[0091] In this embodiment, the cleaned coverage area 20 is used as the reference for the spraying area, so that the putty material is preferentially covered on the cleaned area, improving the bonding stability between the putty layer and the wall surface. At the same time, the putty spraying coverage area 40 serves as the target area for subsequent scraping processes, and can continue to transmit construction area information, so that the five-in-one construction forms a progressive relationship between areas.

[0092] In specific control, the spraying module 200 can maintain a preset spraying distance from the wall, and the lifting robotic arm module 500 can move the spraying module 200 according to a vertical reciprocating, horizontal lane changing, or grid scanning path. The output pressure of the material tank pumping module 300, the spray width of the first nozzle 201, and the moving speed of the spraying module 200 can be matched to each other so that the putty spray coating thickness is within a suitable range for scraping.

[0093] Example 7

[0094] Reference Figure 3 and Figure 14 This embodiment further illustrates the scraping process after putty spraying. When scraping the wall surface after putty spraying using the first working disc 101, the first working disc 101, equipped with a scraping component 101b, is mounted on the base plate 103 on the fixed base 100. Here, the first working disc 101 can be the same disc as in the cleaning process, with the scraping component 101b replaced, or it can be another first working disc with the same structural dimensions as the mounting interface of the base plate 103, but pre-installed with the scraping component 101b. Regardless of the method used, the mounting interface of the base plate 103 and the transmission structure between the drive motor 104 and the base plate 103 can be reused.

[0095] The drive motor 104 drives the base plate 103 to rotate, which in turn drives the first working disc 101 to rotate, thereby causing the scraping component 101b on the first working disc 101 to rotate. The scraping component 101b can be a scraper, scraper blade, smoothing pad, or multiple scraping blades distributed circumferentially, which have a certain degree of elasticity. The outer edge of the scraping component 101b can protrude relative to the first working disc 101 so as to contact the putty material within the putty spraying coverage area 40. The material of the scraping component 101b can be metal, engineering plastic, rubber, or composite material, which can be selected according to the putty viscosity, wall surface smoothness, and target scraping effect.

[0096] The lifting robotic arm module 500 drives the scraping component 101b on the first working plate 101 to scrape the putty material within the putty spraying coverage area 40, forming the scraping coverage area 50. Since the scraping coverage area 50 originates from the putty spraying coverage area 40, the scraping process does not move arbitrarily on the wall surface, but rather around the area that has already been sprayed with putty material. This avoids the scraping component 101b spinning idly in areas of the wall that have not been sprayed with putty, and also reduces the amount of putty material being dragged into uncleaned or unsprayed areas.

[0097] Example 8

[0098] Reference Figure 5 and Figure 15This embodiment further illustrates the putty layer sanding process. When sanding the applied putty layer using the second working disc 102, the second working disc 102, equipped with sanding components 102a, is mounted on the base plate 103 of the fixed base 100, and the dust collection and exhaust module 400 is activated. Both the second working disc 102 and the first working disc 101 can be detachably mounted on the fixed base 100 via the same base plate 103, but the second working disc 102 is more suitable for supporting the sanding components 102a. The second working disc 102 and the base plate 103 can be connected via Velcro. The sanding components 102a can be sandpaper discs, sanding meshes, sanding pads, sanding brushes, or composite sanding pads, with their effective sanding surface facing the wall.

[0099] The drive motor 104 drives the base plate 103 to rotate, which in turn drives the second working disc 102 to rotate, thereby rotating the grinding component 102a on the second working disc 102. Since fine dust is generated during grinding, a dust suction port, dust guide hood, or annular dust suction channel can be provided around the second working disc 102. After the dust collection and discharge module 400 is started, a negative pressure is formed at the dust suction port through the negative pressure pipeline, drawing the dust generated during grinding into the dust collection box or filter assembly. The dust collection and discharge module 400 may include a negative pressure fan, filter element, dust collection box, material level detection element, and discharge port for cleaning or discharge of accumulated dust.

[0100] The lifting robotic arm module 500 drives the sanding component 102a on the second working plate 102 to sand the putty layer within the scraping coverage area 50, forming a sanding coverage area 60. The sanding coverage area 60 is the putty surface area that has already been sanded. Since the sanding process uses the scraping coverage area 50 as the target area, the sanding path has a regional correspondence with the previous scraping path, which can reduce the situation where unscraped areas are mistakenly sanded or scraped areas are missed.

[0101] Example 9

[0102] Reference Figure 6 and Figure 16 This embodiment further illustrates the latex paint spraying process. When spraying latex paint through the spraying module 200, the first nozzle 201 on the spraying module 200 is replaced with the second nozzle 202, and the material tank pumping module 300 is switched to latex paint supply mode. The first nozzle 201 is mainly suitable for spraying putty materials, while the second nozzle 202 is mainly suitable for spraying latex paint. The two can maintain the same connection dimensions so that they can both be installed on the same spraying module 200; however, they can differ in the nozzle, spray width, atomization structure, or discharge angle to accommodate the material differences between putty and latex paint.

[0103] The material tank pumping module 300 switches to latex paint supply mode, which may include connecting the latex paint tank to the pumping unit, switching the delivery valve, cleaning or rinsing the delivery channel that has come into contact with the putty material, or switching the delivery pipeline from the putty supply branch to the latex paint supply branch. After the switching is completed, the second nozzle 202 sprays out the latex paint, and the lifting robotic arm module 500 drives the spraying module 200 to move along the sanding coverage area 60, forming a latex paint spraying coverage area 70 on the sanding coverage area 60.

[0104] In practical implementation, the spraying module 200 can maintain a preset distance from the wall before latex paint spraying, and the spray width of the second nozzle 202 can cover part of the previous spraying trajectory to prevent missed areas. The control module can call the boundary data of the sanding coverage area 60, plan the latex paint spraying trajectory, and control the coating amount per unit area according to the latex paint flow rate and moving speed. Since the same spraying module 200 handles both putty spraying and latex paint spraying, the spraying process can be switched simply by changing the nozzle and switching the material supply status, which helps to reduce the number of end devices and construction changeover time.

[0105] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A five-in-one wall construction process, characterized in that: A wall construction robot is used, which includes a fixed base (100), a spraying module (200), a material bucket pumping module (300), and a dust collection and exhaust module (400). The fixed base (100) is provided with a drive motor (104) and a base plate (103) that is connected to the drive motor (104) for transmission. The base plate (103) is used to connect a first working disc (101) or a second working disc (102). The first working disc (101) is used to support a cleaning component (101a) or a scraping component (101b), and the second working disc (102) is used to support a polishing component (102a). The discharge end of the spraying module (200) is used to connect to the first nozzle (201) or the second nozzle (202). The material barrel pumping module (300) is connected to the spraying module (200) through the material conveying pipeline and can switch between a putty feeding state that delivers putty material to the spraying module (200) and a latex paint feeding state that delivers latex paint to the spraying module (200). The dust collection and exhaust module (400) is connected to the fixed base (100) through a negative pressure pipeline. The five-in-one wall construction process is carried out in the following order: wall cleaning, putty spraying, putty scraping, putty sanding, and latex paint spraying. During construction, by switching the first working plate (101), the second working plate (102) and the working components they carry, wall cleaning, putty scraping and putty sanding are performed respectively. When sanding the putty, the dust collection and exhaust module (400) is run. By switching the material supply status of the material bucket pumping module (300) and the nozzle at the discharge end of the spraying module (200), putty spraying and latex paint spraying are performed respectively.

2. The five-in-one wall construction process as described in claim 1, characterized in that: The process is carried out in the following order: wall cleaning, putty spraying, putty scraping, putty sanding, and latex paint spraying, including: The drive motor (104) is controlled to drive the first working plate (101) carrying the cleaning component (101a) through the base plate (103) to run, so that the cleaning component (101a) acts on the wall surface to be cleaned; The material bucket pumping module (300) is controlled to be in the putty supply state and to deliver putty material to the spraying module (200). The first nozzle (201) at the discharge end of the spraying module (200) is operated to spray the putty material onto the cleaned wall surface. The drive motor (104) is controlled to drive the first working disc (101) carrying the scraping component (101b) through the base plate (103) to run, so that the scraping component (101b) acts on the sprayed putty material to scrape the putty material; The drive motor (104) is controlled to drive the second working disc (102) carrying the sanding component (102a) through the base plate (103) and to run the dust collection and discharge module (400) so that the sanding component (102a) sands the putty layer formed after scraping and the dust generated by sanding is collected by the dust collection and discharge module (400). The material pumping module (300) is controlled to be in the latex paint supply state and to deliver latex paint to the spraying module (200). The second nozzle (202) at the discharge end of the spraying module (200) is operated to spray the latex paint onto the sanded putty layer.

3. The five-in-one wall construction process as described in claim 2, characterized in that: The wall construction robot also has a lifting robotic arm module (500), and the fixed base (100) is located at the end of the lifting robotic arm module (500); When cleaning the wall, the lifting mechanical arm module (500) is controlled to drive the first working plate (101) to move along the wall area (10) to be cleaned within the operating height H1 and operating width L1, so that the cleaning component (101a) sweeps across the wall area (10) to be cleaned and forms a cleaning coverage area (20).

4. The five-in-one wall construction process as described in claim 3, characterized in that: The wall construction robot also has a scanning function module (600). The scanning function module (600) scans and maps the wall to be cleaned before cleaning the wall to establish the area (10) of the wall to be cleaned and obtains the wall width W of the area (10) of the wall to be cleaned. The wall area to be cleaned (10) is divided into N single operation areas (30) along the width of the wall according to the operation width L1, where N is the smallest integer not less than W / L1; The width of the first N-1 single operation areas (30) is L1, and the width of the Nth single operation area (30) is W-(N-1)L1.

5. The five-in-one wall construction process as described in claim 4, characterized in that: After the lifting robotic arm module (500) drives the cleaning component (101a) to complete the cleaning of the current cleaning coverage area (20), the control chassis (700) moves along the width direction of the wall area (10) to be cleaned to the next cleaning operation position, and the lifting robotic arm module (500) forms the next cleaning coverage area (20) at the next cleaning operation position. The chassis (700) moves a distance less than the operating width L1 in a single movement, so that a repeated cleaning area (31) is formed between two adjacent cleaning coverage areas (20).

6. The five-in-one wall construction process as described in claim 5, characterized in that: The effective cleaning radius of the first working disk (101) is R, and the width L2 of the repeated cleaning area (31) satisfies: L2≥R.

7. The five-in-one wall construction process as described in any one of claims 3 to 6, characterized in that: When applying putty via the spraying module (200); The first nozzle (201) is installed on the spraying module (200). The first nozzle (201) sprays out putty material. The lifting robotic arm module (500) is controlled to drive the spraying module (200) to move along the cleaning coverage area (20) and form a putty spraying coverage area (40) on the cleaning coverage area (20).

8. The five-in-one wall construction process as described in claim 7, characterized in that: When scraping the wall surface after putty spraying through the first work plate (101); The first working disc (101) equipped with a scraping component (101b) is mounted on the fixed base (100), and the drive motor (104) drives the scraping component (101b) on the first working disc (101) to rotate. The lifting robotic arm module (500) drives the scraping component (101b) on the first working plate (101) to scrape the putty material in the putty spraying coverage area (40) and form the scraping coverage area (50).

9. The five-in-one wall construction process as described in claim 8, characterized in that: When sanding the putty layer after scraping using the second work plate (102); The second working disc (102) equipped with the grinding component (102a) is installed on the fixed base (100), and the dust collection and discharge module (400) is started. The drive motor (104) drives the grinding component (102a) on the second working disc (102) to rotate; The lifting robotic arm module (500) drives the grinding component (102a) on the second working plate (102) to grind the putty layer in the scraping coverage area (50) and form a grinding coverage area (60). The dust generated by grinding is collected by the dust collection and discharge module (400).

10. The five-in-one wall construction process as described in claim 9, characterized in that: When latex paint is sprayed through the spraying module (200); Replace the first nozzle (201) on the spraying module (200) with the second nozzle (202), and switch the material barrel pumping module (300) to the latex paint supply state; The second nozzle (202) sprays out latex paint, and controls the lifting robotic arm module (500) to drive the spraying module (200) to move along the sanding coverage area (60) and form a latex paint spraying coverage area (70) on the sanding coverage area (60).

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