Automatic plastering robot
By integrating laser ranging sensors, cameras and obstacle avoidance radars in the plastering robot, automatic movement and plastering are achieved, and the mortar spray gap or overlap caused by manual control movement is solved, and construction efficiency and safety are improved.
Patent Information
- Application Number
- CN202420366593.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-28
- Publication Date
- 2024-12-20
- Estimated Expiration
- 2034-02-28
AI Technical Summary
Existing plastering robots require manual control of movement, resulting in movement alignment deviation, which may cause mortar spray gaps or overlaps, and waste materials.
Using an automatic plastering robot including a mobile chassis, fixed arms, first laser ranging sensor, camera, obstacle avoidance radar and controller, automatic movement and plastering are achieved by measuring distance from the wall, image acquisition and radar recognition, and avoiding plastering. Spray gap or overlap.
It improves the work efficiency and safety of plastering construction, reduces manpower demand, ensures uniform spraying of mortar, and avoids secondary construction.
Smart Images
Figure CN222207115U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of plastering robots, in particular to an automatic plastering robot. Background Art
[0002] A plastering robot is a high-tech automated construction equipment that can replace traditional manual plastering methods and improve construction efficiency and quality. It is mainly used in the fields of construction and decoration, and has the advantages of high efficiency, precision, and labor saving. The plastering robot's plaster head and plaster support are used to provide plastering materials and assist it in plastering operations. In the prior art, the plastering robot needs to be manually controlled to move, and there may be deviations after movement and alignment, which can easily cause gaps in the mortar spraying that require secondary construction, or overlap in the mortar spraying that causes material waste. Summary of the invention
[0003] In view of the deficiencies in the prior art, the utility model provides an automatic plastering robot, which solves the problem in the prior art that the plastering robot needs to be manually controlled to move, and there may be deviations after movement and alignment, which may easily cause gaps in mortar spraying and require secondary construction, or overlap in mortar spraying and cause material waste.
[0004] To achieve the above-mentioned purpose, the utility model is implemented through the following technical solutions: an automatic plastering robot comprises a mobile chassis, a fixed arm is fixedly connected to one side of the top of the mobile chassis, a telescopic arm is cooperatively connected to the inner wall of the fixed arm, a fixed frame is arranged inside the telescopic arm, a trowel assembly is arranged on the side of the fixed frame away from the telescopic arm, a plastering assembly is arranged on the top of the fixed frame, first laser ranging sensors are installed on both sides of the fixed arm, a camera is installed below the first laser ranging sensor, an ash supply assembly is arranged on the side of the top of the mobile chassis away from the fixed arm, the ash supply assembly is connected with the ash spraying assembly, a power distribution assembly is arranged on the top of the ash supply assembly, obstacle avoidance radars are installed on both sides of the fixed arm and the power distribution assembly, a controller is arranged on the top of the power distribution assembly, and the controller is electrically connected to the first laser ranging sensor, the camera, the obstacle avoidance radar, the power distribution assembly and the ash supply assembly respectively.
[0005] Preferably, a first electric push rod is provided at the front and rear of one side of the telescopic arm, the first electric push rod is fixedly connected to the mobile chassis, the output end of the first electric push rod is fixedly connected to the telescopic arm, both sides of the inner wall of the telescopic arm are cooperatedly connected with a lifting seat, the lifting seat is fixedly connected to a fixed frame, the upper and lower parts of the lifting seat are fixedly connected with a first synchronous belt, the first synchronous belt is cooperated with the telescopic arm, the top of the telescopic arm is fixedly connected with a first servo motor, the first servo motor is transmission-connected with the first synchronous belt, and a second laser ranging sensor is installed at the upper and lower parts of the fixed frame away from the wiper head assembly, and the first electric push rod, the first servo motor and the second laser ranging sensor are electrically connected to the controller respectively.
[0006] Preferably, the spraying assembly includes: a movable rail, a lifting assembly, a movable seat, a second synchronous belt and a second servo motor, the bottom of the lifting assembly is cooperatively connected to the fixed frame, the top of the lifting assembly is cooperatively connected to the movable rail, the inner wall of the movable rail is cooperatively connected to the movable seat, the internal rotation of the movable rail is connected to the second synchronous belt, both ends of the second synchronous belt are fixedly connected to the movable seat, both ends of the movable rail are fixedly connected to the second servo motor, the output end of the second servo motor is transmission-connected to the second synchronous belt, and the second servo motor is electrically connected to the controller.
[0007] Preferably, the movable chassis and the front and rear sides of the top of the fixed arm are fixedly connected with a second electric push rod, the output end of the second electric push rod is fixedly connected with a support plate, and the second electric push rod is electrically connected to the controller.
[0008] Preferably, a handle is installed on the side of the power distribution assembly away from the fixed arm.
[0009] The utility model provides an automatic plastering robot. It has the following beneficial effects: the automatic plastering robot, through the cooperation between a mobile chassis, a fixed arm, a first laser ranging sensor, a camera, an obstacle avoidance radar and a controller, measures the distance between the plastering robot and the wall, so that the controller can analyze the position and moving distance of the plastering robot, and through image acquisition of the wall, the controller can identify the construction area and the unconstructed area of the wall, and during the movement of the plastering robot, the obstacle avoidance radar irradiates the surrounding environment, identifies the surrounding environment according to the radar signal feedback, so that the plastering robot can avoid obstacles and re-plan the moving route, so that the plastering robot can automatically move and perform plastering construction according to the predetermined route, and can prevent gaps or overlaps in the mortar spraying on the wall, so that manpower can be saved and the work efficiency and safety of the plastering construction can be improved.
[0010] By coordinating the mobile chassis, the fixed arm, the telescopic arm, the fixed frame, the trowel assembly, the plastering assembly, the controller, the first electric push rod, the lifting seat, the first synchronous belt, the first servo motor and the second laser ranging sensor, and by controlling the first electric push rod and the first servo motor, the trowel assembly and the plastering assembly can be lifted and lowered, and the height can be measured according to the second laser ranging sensor, so that the lifting height of the trowel assembly and the plastering assembly can be controlled, so that the plastering robot can perform plastering and troweling operations in an orderly manner, and the movement of the trowel assembly and the plastering assembly can be more precise. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 It is a schematic diagram of the structure of the utility model;
[0012] Figure 2 This is a schematic diagram of the appearance of the utility model;
[0013] Figure 3 for Figure 1 A schematic diagram of the structure of the middle fixing frame, the wiper head assembly and the second laser ranging sensor;
[0014] Figure 4 for Figure 2 Schematic diagram of the appearance of the fixed arm, telescopic arm and movable seat;
[0015] Figure 5 for Figure 2 Schematic diagram of the structure of the middle fixed arm, the first laser ranging sensor and the camera.
[0016] In the figure: 1. mobile chassis, 2. fixed arm, 3. telescopic arm, 4. fixed frame, 5. wiper head assembly, 6. ash spraying assembly, 7. first laser ranging sensor, 8. camera, 9. obstacle avoidance radar, 10. controller, 11. power distribution assembly, 12. ash supply assembly, 13. first electric push rod, 14. lifting seat, 15. first synchronous belt, 16. first servo motor, 17. second laser ranging sensor, 18. mobile rail, 19. lifting assembly, 20. mobile seat, 21. second synchronous belt, 22. second servo motor, 23. second electric push rod, 24. support plate, 25. handle. DETAILED DESCRIPTION
[0017] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0018] In the prior art, the plastering robot needs to be moved manually, and there may be deviations after movement and alignment, which can easily cause gaps in the mortar spraying, requiring secondary construction, or overlap in the spraying, resulting in material waste.
[0019] In view of this, the utility model provides an automatic plastering robot, which cooperates with a mobile chassis, a fixed arm, a first laser ranging sensor, a camera, an obstacle avoidance radar and a controller, and measures the distance between the plastering robot and the wall, so that the controller can analyze the position and moving distance of the plastering robot, and can identify the construction area and the unconstructed area of the wall by collecting images of the wall, so as to facilitate the automatic movement and plastering construction of the plastering robot according to a predetermined route, and prevent gaps or overlaps in the mortar spraying on the wall. At the same time, the surrounding environment is irradiated by the obstacle avoidance radar, and the surrounding environment is identified according to the radar signal feedback, so that the plastering robot can avoid obstacles and re-plan the moving route, thereby improving the work efficiency and safety of the plastering construction.
[0020] Through the personnel in this field, all the electrical components in this case are connected to their corresponding power supplies through wires, and appropriate controllers and encoders should be selected according to actual conditions to meet the control requirements. The specific connection and control sequence should refer to the following working principle, and the electrical connection between the electrical components is completed in the order of working in sequence. The detailed connection means are well-known technologies in this field. The following mainly introduces the working principles and processes, and no longer explains the electrical control.
[0021] Depend on Figure 1-5 It can be seen that an automatic plastering robot includes a mobile chassis 1, a fixed arm 2 is fixedly connected to one side of the top of the mobile chassis 1, a telescopic arm 3 is cooperatively connected to the inner wall of the fixed arm 2, a fixed frame 4 is arranged inside the telescopic arm 3, a trowel assembly 5 is arranged on the side of the fixed frame 4 away from the telescopic arm 3, the trowel assembly 5 is composed of a trowel plate and an electric push rod, a plastering assembly 6 is arranged on the top of the fixed frame 4, and the plastering assembly 6 is used to evenly spray cement or mortar onto the wall, and the trowel is supplied by the trowel supply assembly 12, first laser ranging sensors 7 are installed on both sides of the fixed arm 2, and a camera 8 is installed below the first laser ranging sensor 7 A dust supply component 12 is arranged on the top of the mobile chassis 1 on the side away from the fixed arm 2. The dust supply component 12 is used to supply dust to the plastering component 6. A power distribution component 11 is arranged on the top of the dust supply component 12. The power distribution component 11 is used for power supply and distribution of the plastering robot. Obstacle avoidance radars 9 are installed on both sides of the fixed arm 2 and the power distribution component 11. A controller 10 is arranged on the top of the power distribution component 11. The controller 10 is installed with a plastering robot control component, a visual recognition system and a communication component. The controller 10 is electrically connected to the first laser ranging sensor 7, the camera 8, the obstacle avoidance radar 9, the power distribution component 11 and the dust supply component 12 respectively;
[0022] In the specific implementation process, it is worth pointing out that the mobile chassis 1 is used for the movement of the automatic plastering robot, and the bottom moving wheels are equipped with steering and driving components. Through the cooperation between the fixed frame 4, the wiping head assembly 5 and the plastering assembly 6, the fixed frame 4 is used to install and fix the wiping head assembly 5 and the plastering assembly 6. At the same time, lifting devices are installed on both sides of the fixed frame 4 for the up and down movement of the wiping head and the plastering assembly. The wiping head assembly 5 consists of a wiping head plate and an electric push rod. The wiping head plate is rotatably installed at the end of the fixed frame 4. The angle of the wiping head plate and the distance between the wall are controlled by the extension and retraction of the electric push rod. The plastering assembly 6 is used to evenly spray cement or mortar onto the wall, and the ash is supplied by the ash supply assembly 12. Through the cooperation between the mobile chassis 1, the fixed arm 2 and the telescopic arm 3 The telescopic arm 3 is combined to form a fixed frame of the plastering head bracket. Driving devices are installed on both sides of the telescopic arm 3 to lift the inner plastering head bracket. At the same time, a driving device is installed on one side of the telescopic arm 3 to extend and retract the telescopic arm 3 in the fixed arm 2, thereby extending the height of the plastering head bracket. The ash supply component 12 is used to supply ash to the plastering component 6. A cement and mortar delivery pump is installed inside. The input end of the delivery pump is connected to the ash supply pipeline, and the output end of the delivery pump is connected to the ash spraying pipe of the plastering component 6. The power distribution component 11 is used for power supply and distribution of the plastering robot. The controller 10 is installed with a plastering robot control component, a visual recognition system and a communication component. Through the cooperation between the first laser ranging sensor 7 and the controller 10, the control between the plastering robot and the wall is realized. The distance is measured and the measurement signal is transmitted to the controller 10, so that the controller 10 can analyze the position and moving distance of the plastering robot, so that the controller 10 can move the plastering robot and enable the plastering robot to automatically plaster according to the predetermined route. Through the cooperation between the camera 8 and the controller 10, the camera 8 collects images of the wall and transmits the image signal to the visual recognition system of the controller 10, so that the controller 10 can identify the construction area and the unconstructed area of the wall, so that the controller 10 can control the plastering robot to move and spray plaster, and prevent gaps or overlaps in the mortar spraying. Through the cooperation between the obstacle avoidance radar 9 and the controller 10, the obstacle avoidance radar 9 can radar the surrounding environment. The robot can irradiate the surrounding environment according to the signal feedback, so that the plastering robot can avoid obstacles and re-plan the moving route. Through the cooperation between the mobile chassis 1, the fixed arm 2, the first laser ranging sensor 7, the camera 8, the obstacle avoidance radar 9 and the controller 10, the distance between the plastering robot and the wall is measured, so that the controller 10 can analyze the position and moving distance of the plastering robot, and through the image acquisition of the wall, the controller 10 can identify the construction area and the unconstructed area of the wall, so that the plastering robot can automatically move and plaster according to the predetermined route, and prevent the existence of gaps or overlaps in the mortar spraying on the wall. At the same time, the obstacle avoidance radar 9 irradiates the surrounding environment.According to the radar signal feedback, the surrounding environment is identified, so that the plastering robot can avoid obstacles and re-plan the moving route to improve the work efficiency and safety of the plastering construction. The specific models of the first laser ranging sensor 7, the camera 8, the obstacle avoidance radar 9, and the controller 10 are not limited, and they can meet the use requirements;
[0023] Further, a first electric push rod 13 is provided at the front and rear of one side of the telescopic arm 3, the first electric push rod 13 is fixedly connected to the mobile chassis 1, the output end of the first electric push rod 13 is fixedly connected to the telescopic arm 3, both sides of the inner wall of the telescopic arm 3 are matched and connected with a lifting seat 14, the lifting seat 14 is fixedly connected to the fixed frame 4, the upper and lower parts of the lifting seat 14 are fixedly connected with a first synchronous belt 15, the first synchronous belt 15 is matched and connected to the telescopic arm 3, the top of the telescopic arm 3 is fixedly connected with a first servo motor 16, the first servo motor 16 is transmission-connected to the first synchronous belt 15, the upper and lower parts of the fixed frame 4 away from the wiper assembly 5 are installed with a second laser ranging sensor 17, the first electric push rod 13, the first servo motor 16 and the second laser ranging sensor 17 are electrically connected to the controller 10 respectively;
[0024] In the specific implementation process, it is worth pointing out that, through the cooperation among the fixed arm 2, the telescopic arm 3, the controller 10 and the first electric push rod 13, the telescopic rod of the first electric push rod 13 is controlled by the controller 10 to be extended and retracted, so as to realize the lifting and lowering of the telescopic arm 3 in the fixed arm 2, and through the cooperation among the telescopic arm 3, the fixed frame 4, the controller 10, the lifting seat 14, the first synchronous belt 15 and the first servo motor 16, the lifting and lowering control of the lifting seat 14 is realized by controlling the first servo motor 16 to drive the first synchronous belt 15 to rotate, so as to realize the lifting and lowering of the fixed frame 4, the wiper assembly 5 and the ash spraying assembly 6, and the second laser ranging sensor 17 is used to measure the distance between the fixed frame 4 and the top of the inner wall of the telescopic arm 3 and the top of the mobile chassis 1 respectively, so as to measure the height position of the fixed frame 4 , which is convenient for the plastering robot to move the fixed frame 4, through the cooperation among the mobile chassis 1, the fixed arm 2, the telescopic arm 3, the fixed frame 4, the wiping head assembly 5, the plastering assembly 6, the controller 10, the first electric push rod 13, the lifting seat 14, the first synchronous belt 15, the first servo motor 16 and the second laser ranging sensor 17, the lifting of the wiping head assembly 5 and the plastering assembly 6 is realized by controlling the first electric push rod 13 and the first servo motor 16, and the height is measured according to the second laser ranging sensor 17, so that the lifting height of the wiping head assembly 5 and the plastering assembly 6 can be controlled, so that the plastering robot can perform plastering and leveling operations in an orderly manner, wherein the specific models of the first electric push rod 13, the first servo motor 16 and the second laser ranging sensor 17 are not limited, and can meet the use requirements;
[0025] Further, the ash spraying assembly 6 includes: a moving rail 18, a lifting assembly 19, a moving seat 20, a second synchronous belt 21 and a second servo motor 22, the bottom of the lifting assembly 19 is connected with the fixed frame 4, the top of the lifting assembly 19 is connected with the moving rail 18, the inner wall of the moving rail 18 is connected with the moving seat 20, the top of the moving seat 20 is fixedly connected with the ash spraying pipe, the inner rotation of the moving rail 18 is connected with the second synchronous belt 21, both ends of the second synchronous belt 21 are fixedly connected with the moving seat 20, both ends of the moving rail 18 are fixedly connected with the second servo motor 22, the output end of the second servo motor 22 is connected with the second synchronous belt 21, and the second servo motor 22 is electrically connected with the controller 10;
[0026] In the specific implementation process, it is worth pointing out that the lifting and lowering adjustment of the moving rail 18 and the ash spraying pipe is realized through the cooperation among the fixed frame 4, the controller 10, the moving rail 18 and the lifting assembly 19 to prevent the ash spraying pipe from touching the roof of the building. The top of the moving seat 20 is fixedly connected with the ash spraying pipe. Through the cooperation among the controller 10, the moving rail 18, the moving seat 20, the second synchronous belt 21 and the second servo motor 22, the second servo motor 22 is controlled by the controller 10 to realize the horizontal movement of the moving seat 20, and then the ash spraying operation is performed on different positions of the same horizontal height of the wall. The specific model of the second servo motor 22 is not limited, and it can meet the use requirements.
[0027] Furthermore, the front and rear sides of the movable chassis 1 and the top of the fixed arm 2 are fixedly connected with a second electric push rod 23, the output end of the second electric push rod 23 is fixedly connected with a support plate 24, and the second electric push rod 23 is electrically connected to the controller 10;
[0028] In the specific implementation process, it is worth pointing out that, through the cooperation among the mobile chassis 1, the fixed arm 2, the controller 10, the second electric push rod 23 and the support plate 24, when the plastering robot performs plastering or smoothing operations, the second electric push rod 23 is controlled to make the support plate 24 respectively press against the ground and the ceiling, thereby improving the stability of the plastering robot and ensuring the construction quality;
[0029] Furthermore, a handle 25 is installed on one side of the power distribution assembly 11 away from the fixed arm 2;
[0030] In the specific implementation process, it is worth pointing out that the handle 25 facilitates the transportation and movement of the plastering robot;
[0031] Specifically, when the automatic plastering robot is used, the construction route, construction height and plastering thickness of the plastering robot are set through the controller 10. The plastering robot moves to the wall according to the set route, so that the plastering component 6 faces the wall, and the storage device of the cement or mortar is connected to the delivery pump of the ash supply component 12. The distance between the plastering robot and the wall is measured by the first laser ranging sensor 7. The controller 10 moves the plastering robot according to the measurement data so that the distance between the bottom of the plastering head plate of the plastering head component 5 and the wall meets the plastering thickness requirement. The controller 10 automatically controls the telescopic rod of the second electric push rod 23 to extend, so that the support plate 24 is respectively pressed against the ceiling and the ground, so as to fix the plastering robot. , the controller 10 automatically controls the electric push rod of the wiping head assembly 5 to rotate the wiping head plate to move the wiping head plate away from the wall, and at the same time controls the lifting assembly 19 to move the spraying assembly 6 upward to make the spraying tube of the spraying assembly 6 close to the wall. The visual recognition system analyzes the wall image captured by the camera 8, identifies the unconstructed area, and transmits the data of the construction area to the controller 10. The controller 10 automatically turns on the second servo motor 22 to move the moving seat 20 and the spraying tube to one end of the moving rail 18. The controller 10 automatically turns on the ash supply assembly 12 to transport cement or mortar to the spraying tube. The cement or mortar is sprayed on the wall surface through the spraying tube. While spraying, the controller 10 automatically controls the second servo motor 20 according to the recognition of the visual recognition system. The movable seat 20 and the ash spraying pipe are moved to the other side of the identification area to complete the ash spraying operation on the wall at the same height. When the movable seat 20 and the ash spraying pipe move to the other end of the movable rail 18, the first servo motor 16 is automatically controlled to move the fixed frame 4 and the ash spraying assembly 6 upward for a distance. At the same time, the controller 10 automatically controls the second servo motor 20 to make the movable seat 20 and the ash spraying pipe reciprocate. When the fixed frame 4 moves to the top of the telescopic arm 3, the first servo motor 16 is stopped. The controller 10 automatically controls the first electric push rod 13 to move upward at a certain frequency interval until the ash spraying height at this position reaches the set requirement. After completing the ash spraying operation at this position, the controller 10 automatically stops supplying ash to the ash spraying pipe and controls each The assembly resets the telescopic arm 3, the fixed frame 4, the lifting assembly 19 and the moving seat 20. After the fixed frame 4 moves to the bottom of the plastering robot, the controller 10 automatically controls the electric push rod of the wiping head assembly 5 to adjust the distance between the bottom of the wiping head plate and the wall according to the set value of the plastering thickness. After the wiping head plate is fixed, the controller 10 automatically controls the first servo motor 16 to make the fixed frame 4 and the wiping head assembly 5 move upward at a uniform speed. The wiping head plate smoothes the cement or mortar on the wall surface, and when the fixed frame 4 moves to the top of the telescopic arm 3, the first servo motor 16 is stopped, and the first electric push rod 13 is controlled at the same time to make the telescopic arm 3 and the wiping head assembly 5 move upward at a uniform speed. After completing the plastering operation at this position, the controller 10 controls the electric push rod of the wiping head assembly 5.The plastering plate is moved away from the wall, and at the same time, each component is controlled to reset the telescopic arm 3, the fixing frame 4 and the second electric push rod 23, so as to release the tight fixation between the plastering robot and the ceiling and the ground. The controller 10 automatically controls the mobile chassis 1 according to the preset construction route and the data fed back by the obstacle avoidance radar 9, and moves the plastering robot to the adjacent plastering position. During the movement of the plastering robot, the visual recognition system judges the position of the plastering robot according to the wall image transmitted by the camera 8, and controls the moving distance and steering angle of the plastering robot through the controller 10, so that the plastering robot accurately enters the adjacent construction position, and repeats the above steps to spray and plaster the wall again. By moving the chassis 1, the fixed arm 2, the first laser The cooperation between the optical ranging sensor 7, the camera 8, the obstacle avoidance radar 9 and the controller 10 measures the distance between the plastering robot and the wall, so that the controller 10 can analyze the position and movement distance of the plastering robot, and can identify the construction area and the unconstructed area of the wall by collecting images of the wall, so that the plastering robot can automatically move and plaster according to the predetermined route, and prevent gaps or overlaps in the mortar spraying on the wall. At the same time, the obstacle avoidance radar 9 irradiates the surrounding environment, and identifies the surrounding environment according to the radar signal feedback, so that the plastering robot can avoid obstacles and re-plan the movement route, thereby improving the work efficiency and safety of the plastering construction.
[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by ... does not exclude the existence of other identical elements in the process, method, article or device including the element".
[0033] In the present utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.
[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. An automatic plastering robot, comprising a mobile chassis (1), Features: A fixed arm (2) is fixedly connected to one side of the top of the mobile chassis (1); a telescopic arm (3) is cooperatively connected to the inner wall of the fixed arm (2); a fixed frame (4) is arranged inside the telescopic arm (3); a wiping head assembly (5) is arranged on the side of the fixed frame (4) away from the telescopic arm (3); a ash spraying assembly (6) is arranged on the top of the fixed frame (4); first laser distance measuring sensors (7) are installed at the front and rear of both sides of the fixed arm (2); a camera (8) is installed below the first laser distance measuring sensor (7); An ash supply component (12) is arranged on a side of the top away from the fixed arm (2), the ash supply component (12) is connected to the ash spraying component (6), a power distribution component (11) is arranged on the top of the ash supply component (12), obstacle avoidance radars (9) are installed on both sides of the fixed arm (2) and the power distribution component (11), a controller (10) is arranged on the top of the power distribution component (11), and the controller (10) is electrically connected to the first laser ranging sensor (7), the camera (8), the obstacle avoidance radar (9), the power distribution component (11) and the ash supply component (12), respectively.
2. An automatic plastering robot according to claim 1, Features: A first electric push rod (13) is provided at the front and rear of one side of the telescopic arm (3), the first electric push rod (13) is fixedly connected to the mobile chassis (1), the output end of the first electric push rod (13) is fixedly connected to the telescopic arm (3), both sides of the inner wall of the telescopic arm (3) are matched and connected with a lifting seat (14), the lifting seat (14) is fixedly connected to the fixed frame (4), the upper and lower parts of the lifting seat (14) are fixedly connected with a first synchronous belt (15), the first synchronous belt (15) is matched and connected to the telescopic arm (3), the top of the telescopic arm (3) is fixedly connected with a first servo motor (16), the first servo motor (16) is transmission-connected to the first synchronous belt (15), and a second laser distance measuring sensor (17) is installed at the upper and lower parts of the fixed frame (4) away from the wiper head assembly (5), and the first electric push rod (13), the first servo motor (16) and the second laser distance measuring sensor (17) are respectively electrically connected to the controller (10).
3. The automatic plastering robot according to claim 1, Features: The ash spraying component (6) comprises: a movable rail (18), a lifting component (19), a movable seat (20), a second synchronous belt (21) and a second servo motor (22); the bottom of the lifting component (19) is cooperatively connected to the fixed frame (4); the top of the lifting component (19) is cooperatively connected to the movable rail (18); the inner wall of the movable rail (18) is cooperatively connected to the movable seat (20); the interior of the movable rail (18) is rotatably connected to the second synchronous belt (21); both ends of the second synchronous belt (21) are fixedly connected to the movable seat (20); both ends of the movable rail (18) are fixedly connected to the second servo motor (22); the output end of the second servo motor (22) is transmission-connected to the second synchronous belt (21); and the second servo motor (22) is electrically connected to the controller (10).
4. The automatic plastering robot according to claim 1, Features: The movable chassis (1) and the fixed arm (2) are both fixedly connected to the front and rear sides of the top with a second electric push rod (23), the output end of the second electric push rod (23) is fixedly connected to a support plate (24), and the second electric push rod (23) is electrically connected to the controller (10).
5. The automatic plastering robot according to claim 1, Features: A handle (25) is installed on the side of the power distribution assembly (11) away from the fixed arm (2).