CN107299749A - Adaptive metope applicator system - Google Patents
Adaptive metope applicator system Download PDFInfo
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- CN107299749A CN107299749A CN201710683313.5A CN201710683313A CN107299749A CN 107299749 A CN107299749 A CN 107299749A CN 201710683313 A CN201710683313 A CN 201710683313A CN 107299749 A CN107299749 A CN 107299749A
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- Prior art keywords
- metope
- adaptive
- actuator
- smearing
- applicator system
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
Abstract
A kind of adaptive metope applicator system, has：Measuring unit, the measuring unit is used for the surface configuration for measuring metope, and generates corresponding detection information；Control unit, described control unit is used for the flatness and shape that the metope is calculated according to the detection information, and generates control instruction according to result of calculation；Smear actuator, the smearing actuator has skinning loam mechanism and feeding unit, the skinning loam mechanism is used to perform smearing action, the feeding unit has at least one cut-off portion and the through-flow face for conveying coating, and the cut-off portion is used for the part or all of through-flow face for ending the feeding unit according to the control instruction.The invention provides a kind of adaptive metope applicator system for the smearing processing for being suitable for various metopes.
Description
Technical field
It is a kind of adaptive metope applicator system specifically the invention belongs to technical field of engineering machinery.
Background technology
In technical field of buildings, metope processing is essential link.So-called metope processing, is in blank shape
The metope of state carries out Surface Machining, metope is reached the process of flat smooth or given shape.
Wherein, smearing is that coating is coated on metope by one kind, coating is firmly attached to metope and forms bright and clean smooth table
The processing technology in face.Traditional smearing work, mainly by manually undertaking, work load is very heavy.Particularly float work, need to be through more
Secondary smearing is with striking off, and its step is complicated and efficiency is very low.And artificial precision depends on the experience of workman, causes metope precision
It is difficult to ensure that.
With the development of automatic technology, some process equipments are also occurred in that, for making workman break away from onerous toil cangue
Lock.But existing process equipment structure very simple, only with some basic functions, automaticity is very low and is difficult to full
The complicated processed and applied of foot needs.Particularly when complicated metope is processed, metope can often reserve some irregular or minute asperities
Portion, operation avoidance is increasingly difficult, and efficiency is seriously restricted.
The content of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of adaptive metope applicator system, realize to complexity
The adaptive machining of metope, with significant adaptive ability and odds for effectiveness.
The purpose of the present invention is achieved through the following technical solutions：
A kind of adaptive metope applicator system, has：
Measuring unit, the measuring unit is used for the surface configuration for measuring metope, and generates corresponding detection information；
Control unit, described control unit is used for the flatness and shape that the metope is calculated according to the detection information,
And control instruction is generated according to result of calculation；
Actuator is smeared, the smearing actuator has skinning loam mechanism and feeding unit, and the skinning loam mechanism is used to perform
Smearing is acted, and the feeding unit has at least one cut-off portion and the through-flow face for conveying coating, and the cut-off portion is used for
End the part or all of through-flow face of the feeding unit according to the control instruction.
As the improvement of above-mentioned technical proposal, the smearing actuator vertically can slidably be held in a reference body
On, the measuring unit is used to measure the distance between mounting surface of the metope and the smearing actuator and obtain the inspection
Measurement information, it is up to a little less the distance between with the vertical guide that the detection information includes the metope.
As the further improvement of above-mentioned technical proposal, the reference body has vertical guide, and the smearing actuator can edge
Vertical direction is slidably held on the vertical guide, and the measuring unit is used to measure between the metope and the vertical guide
Distance and obtain the detection information, the detection information include the metope it is up to a little less between the vertical guide
Distance.
As the further improvement of above-mentioned technical proposal, the smearing actuator is connected with for driving it vertically
The drive division of slip, the drive division changes the motion shape of the smearing actuator vertically according to the control instruction
State.
As the further improvement of above-mentioned technical proposal, the cut-off portion includes gate and for driving the gate linear
The cut-off drive division of motion, the gate is used for the through-flow face of barrier portion or whole.
As the further improvement of above-mentioned technical proposal, the cut-off portion has a plurality of gates, a plurality of described
The continuous array distribution of gate and the horizontal width direction by the through-flow face along the skinning loam mechanism is divided into plurality of regions, institute
Gate is stated movingly to stretch out and be covered in the through-flow face.
As the further improvement of above-mentioned technical proposal, the measuring unit has composite-motion mechanism, the compound fortune
Motivation structure has at least one rotational freedom.
As the further improvement of above-mentioned technical proposal, there is the measuring unit at least one to be used for the displacement of ranging biography
Sensor, institute's displacement sensors are on the composite-motion mechanism.
As the further improvement of above-mentioned technical proposal, the detection information include on the metope a plurality of measurement points with
The distance between described smearing actuator, a plurality of measurement points are in array distribution on the metope.
As the further improvement of above-mentioned technical proposal, the control instruction is with the regulated quantity for including the cut-off portion
Regulated quantity array, the regulated quantity is corresponded with the cut-off portion.
The beneficial effects of the invention are as follows：
The surface configuration of metope is measured using measuring unit and detection information is generated, and control unit is calculated according to detection information
The flatness and shape of metope, and then generate control instruction and export to actuator is smeared, the feeding list of actuator is smeared in driving
Member implements cut-off or through-flow to through-flow face, and by being controlled to coating output state, the distribution and flow for making coating suit wall
There is provided a kind of adaptive metope applicator system for the smearing processing for being suitable for various metopes with state for the shape in face.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the first schematic diagram of the adaptive metope applicator system that the embodiment of the present invention 1 is provided；
Fig. 2 is the second schematic diagram of the adaptive metope applicator system that the embodiment of the present invention 1 is provided；
Fig. 3 is the first structure section view of the smearing actuator for the adaptive metope applicator system that the embodiment of the present invention 1 is provided
Schematic diagram；
Fig. 4 is the second structural representation of the smearing actuator for the adaptive metope applicator system that the embodiment of the present invention 1 is provided
Figure；
Fig. 5 is the structural representation in the cut-off portion of the smearing actuator of adaptive metope applicator system in Fig. 4.
Main element symbol description：
The adaptive metope applicator systems of 1000-, 0100- measuring units, 0200- control units, 0300- smears actuator,
0310- skinning loams mechanism, 0311- patters, 0320- feeding units, 0321- is through-flow face, 0322- cut-offs portion, 0322a- gates,
0322b- ends drive division.
Embodiment
For the ease of understanding the present invention, adaptive metope applicator system is carried out more fully below with reference to relevant drawings
Description.The preferred embodiment of adaptive metope applicator system is given in accompanying drawing.But, adaptive metope applicator system can lead to
Cross many different forms to realize, however it is not limited to embodiment described herein.On the contrary, providing the purpose of these embodiments
It is to make the disclosure to adaptive metope applicator system more thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or can also have element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element be referred to as " directly existing " another element " on " when,
In the absence of intermediary element.Term as used herein " vertically ", " level ", "left", "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Herein in the term used in the description of adaptive metope applicator system
It is to describe the purpose of specific embodiment, it is not intended that the limitation present invention.Term as used herein " and/or " include one
The arbitrary and all combination of individual or multiple related Listed Items.
Embodiment 1
Fig. 1~2 are please referred to, adaptive metope applicator system 1000 has measuring unit 0100, control unit 0200
With smearing actuator 0300, the adaptive smearing for solving complicated metope is processed.The detailed configuration in its each portion lifts it and wants person detailed
State as follows.
Adaptive metope applicator system 1000 has measuring unit 0100, and measuring unit 0100 is used for the surface for measuring metope
Shape, and generate corresponding detection information.
Specifically, the surface that metope before smearing is mostly coarse, rise and fall, and be often reserved with for installing door and window, cabinet, putting
The hollow spaces of rack etc., void shape is not of uniform size, big such as door and window, small such as pore, and very burden is brought to metope processing.Apply
It must be avoided in time when smearing, with anti-clogging corresponding hole site.
Measuring unit 0100 is the shape and convex and concave feature for being used to measure metope, and its metering system connects including contact with non-
Touch.As its name suggests, contact refers to that measuring unit 0100 directly comes in contact and implemented the measurement side of measurement action with metope
Formula, it is contactless to refer to the metering system that measuring unit 0100 does not come in contact with metope.More typically, contact type measurement mode
Non-contact displacement transducer etc. can be used using the forms such as tangent displacement sensor (visiting rule), non-contact measurement mode
Form.
Preferably, there is measuring unit 0100 at least one to be used for the displacement transducer of ranging.Further preferably, displacement is passed
Sensor is realized in the form of rangefinder.Specifically, rangefinder is to utilize the characteristics such as light, sound, the reflection of electromagnetic wave, interference, and
That designs is used for length, the instrument of range measurement.Relatively conventionally, rangefinder can use laser range finder or ultrasonic ranging
Instrument.The quantity of rangefinder can be one, also can be the multiple of array distribution.
Further preferably, measuring unit 0100 has composite-motion mechanism, and composite-motion mechanism is rotated with least one
The free degree, composite-motion mechanism is provided with rangefinder.Specifically, composite-motion mechanism is used for the position for adjusting rangefinder, makes survey
The sphere of action of distance meter is more flexible.
Wherein, composite-motion mechanism can be using structures such as head, mechanical arms, with the rotatably mounted of at least one direction
Degree, can also have one or more one-movement-freedom-degrees, and realize the regulation of rangefinder.It is multiple in an exemplary embodiment
Resultant motion mechanism can be in a reference body.
Preferably, detection information includes the distance between a plurality of measurement points and smearing actuator 0300, plural number on metope
Individual measurement point is in array distribution on metope.In an exemplary embodiment, a plurality of measurement points are performed with smearing on metope
The distance between device 0300, should be and smear the distance between mounting surface and a plurality of measurement points of actuator 0300.Wherein, smear
The mounting surface of actuator 0300, refers to that smearing actuator 0300 is used to install the surface being connected with reference body.
Adaptive metope applicator system 1000 also has control unit 0200, and control unit 0200 is used for according to detection information
The flatness and shape of metope are calculated, and control instruction is generated according to result of calculation.In an exemplary embodiment, control
Unit 0200 may include the structures such as computer, microprocessor or arithmetic processing circuit, for realizing that data operation is generated with instruction.
Specifically, control unit 0200 calculates the surface undulation degree and door and window hole or convex of metope according to detection information
The level and vertical position in the portion of rising, form a result of calculation, send control instruction accordingly and to smearing actuator 0300.At one
In exemplary embodiment, control unit 0200 can be realized using forms such as computer, processors.
Fig. 3 is please referred to, adaptive metope applicator system 1000, which also has, smears actuator 0300, smears actuator
0300 has skinning loam mechanism 0310 and feeding unit 0320, and skinning loam mechanism 0310 is used to perform smearing action, feeding unit 0320
With at least one cut-off portion 0322 and the through-flow face 0321 for conveying coating, cut-off portion 0322 is used to be cut according to control instruction
The only part or all of through-flow face 0321 of feeding unit 0320.
Specifically, smearing actuator 0300 is used to perform smearing action.Skinning loam mechanism 0310 has patter 0311, for applying
The face of plastering a wall is allowed to tend to be smooth.Feeding unit 0320 is used to convey coating to skinning loam mechanism 0310, and its feeding structure can use pump
The form such as pressure or extruding.During smearing, feeding unit 0320 exports coating to skinning loam mechanism 0310, and skinning loam mechanism 0310 applies coating
Smear and strike off on metope.Here, the feeding situation of feeding unit 0320 will directly determine the application area of skinning loam mechanism 0310
With smearing thickness.
Wherein, feeding unit 0320 has through-flow face 0321, by controlling the through-flow face 0321 in through-flow face 0321 to accumulate with leading to
Flow position, you can realize the accurate control exported to coating.Here, cut-off effect is played in cut-off portion 0322.Cut-off portion 0322 can
Using various structures and distribution form, realize that through-flow face 0321 is controlled in the break-make of vertical and horizontal direction respectively.Cutting
Under stop 0322 is acted on, through-flow face 0321 is divided into flow area and region of damming, the distribution in flow area and region of damming
Position is acted on by cut-off portion 0322 according to actual condition with size and determined, reaches careful differentiation control.
Thus, the coating acquired in skinning loam mechanism 0310 corresponds to flow area and area distribution of damming.Flow area institute
Corresponding wall section obtains coating material, and the wall section corresponding to region of damming does not have coating, so as to realize to multiple
The adaptability difference formula of miscellaneous metope is smeared.I.e. in complicated metope, adaptive metope applicator system 1000 still can once complete to smear,
Keep high efficiency.
Preferably, cut-off portion 0322 includes gate 0322a and the cut-off drive division for driving gate 0322a to move
0322b, gate 0322a are used for the through-flow face 0321 of barrier portion or whole.
Specifically, cut-off drive division 0322b is used to drive gate 0322a linear movements, gate 0322a is stretched out and is ended
Through-flow face 0321 is shunk and opens through-flow face 0321, realizes cut-off or through-flow switching.With gate 0322a overhangs not
Together, distribution and ratio of the flow area with region of damming changes, so as to change the coating distribution of the acquisition of skinning loam mechanism 0310
With quantity.
Wherein, cut-off drive division 0322b can use multiple structural forms, such as telescoping cylinder, electric cylinders, electric pushrod, linear cunning
The form such as rail and motor, is connected with gate 0322a and drives gate 0322a to occur linear movement.It is exemplary at one
In embodiment, cut-off drive division 0322b uses the form of telescopic cylinder, has the advantages that simple in construction.
Further preferably, cut-off portion 0322 has a plurality of gate 0322a, a plurality of continuous array distributions of gate 0322a
And the horizontal width direction by through-flow face 0321 along skinning loam mechanism 0310 is divided into plurality of regions, gate 0322a is along vertical side
Through-flow face 0321 is covered in slideably stretching out.
Specifically, in a brief embodiment, a plurality of gate 0322a linearly word order in through-flow face 0321
On, its distributing line is the horizontal width direction of skinning loam mechanism 0310, so as to realize the feeding to the horizontal direction of skinning loam mechanism 0310
Control.Further, a plurality of gate 0322a extension elongation is different, can also adjust skinning loam mechanism 0310 in same gate 0322a
The flow of compass of competency.
In another embodiment, a plurality of gate 0322a can also arrange according to other regularities of distribution, including along through-flow
The profile in face 0321 and be distributed in a ring, be also enough to realize the function of ending through-flow face 0321, however it is not limited to foregoing lifted
Preferred form.
Aforementioned complex gate 0322a distribution is characterized by, when a plurality of gate 0322a are all closed, it is sufficient to make
The entire area in through-flow face 0321 is ended and is in completely switched off state；When a plurality of gate 0322a are fully open, foot
So that the entire area in through-flow face 0321 realizes conducting and is in complete open position；When a plurality of gate 0322a parts are closed
When, the open position in through-flow face 0321 can depending on actual conditions, can be respectively under different use conditions it is completely switched off,
Part cut-off, completely through-flow etc. state.
Fig. 4~5 are please referred to, in another embodiment, gate 0322a uses the form of armature, ends drive division
0322b uses the form of electromagnet.Armature is articulated with electromagnet, and electromagnet is located on feeding unit 0320 and is connected with driving
Circuit.When electromagnet is powered, the magnetic fields of electromagnet make armature rotatably be pulled on electromagnet in armature, gate
The through-flow face 0321 of 0322a institutes management and control is switched on, and coating is able to through-flow.During electromagnet power down, electromagnet loses magnetic fields, rank
Iron is cut off through-flow face 0321 in sagging under Gravitative Loads and be covered on through-flow face.
Further preferably, the lower end of armature is hinged with electromagnet, and upper end is articulated with electromagnet by connecting rod.Thus,
The adhesive of armature is more sensitive and reliable with separating, and its direction of rotation uniformity is good.
Further preferably, smearing actuator 0300 is connected with the drive division for driving it vertically to slide, driving
Portion changes according to control instruction smears the motion state of actuator 0300 vertically.Wherein, motion state includes smearing
Speed, acceleration, direction of actuator 0300 etc..
Drive division can use multiple structural forms, such as telescoping cylinder, electric cylinders, electric pushrod, motor form, with smearing
Actuator 0300 connects and drives smearing actuator 0300 to occur linear movement.In an exemplary embodiment, drive division
The form of servomotor can be used, with the accurate reliable advantage of control.
Preferably, smearing actuator 0300 vertically slidably can be held in reference body, and measuring unit 0100 is used
Detection information is obtained in the distance between measurement metope and the mounting surface for smearing actuator 0300, detection information is included on metope
The distance between extremely a little less and described mounting surface.Specifically, reference body, which is used to support, smears actuator 0300, smears actuator
0300 vertically slides and realizes and the smearing of metope is struck off.Further carefully stated with reference to foregoing teachings, smear actuator
0300 mounting surface is the surface for being slidably connected with reference body.
In an exemplary embodiment, reference body has the linear slide rail being arranged in a vertical direction, and smears actuator
0300 is slidably held on linear slide rail.In a practical application, in the uphill process for smearing actuator 0300, skinning loam
Coating is attached on metope by mechanism 0310；In the decline process for smearing actuator 0300, patter 0311 scraped metope and made painting
Material is calibrated, and realizes a smearing flow.
Further preferably, the reference body is plumb datum body, and plumb datum body has vertical guide, and measuring unit 0100 is used for
The distance between measurement metope and vertical guide and obtain detection information, detection information include metope it is up to a little less with vertical guide it
Between distance.
Specifically, plumb datum body has vertical guide, and ensures the verticality of plumb datum body.Actuator 0300 is smeared to protect
It is held on plumb datum body, measuring unit 0100 is measured using the vertical guide as measuring basis, can effectively ensure that metope measurement essence
Degree, reduces measurement error.
In a preferred embodiment, detection information include metope between a plurality of measurement points and vertical guide away from
From a plurality of measurement points are in array distribution on metope.Under multimetering, the detail portion feature of metope, shape can be further obtained
Into multiple features array.With the quantity increase of measurement point, measurement accuracy is further improved, and all kinds of metopes can accurately measure, and
Make adaptive metope applicator system 1000 that there is stronger adaptive ability.
In an exemplary embodiment, plumb datum body has the linear slide rail being arranged in a vertical direction, linear sliding
The slip precision face of rail keeps vertical, is vertical guide.Smearing actuator 0300 vertically can slidably be held in vertical guide
On, in this, the detection information that measuring unit 0100 is measured is to smear the distance between mounting surface and metope of actuator 0300.
Under this measuring condition, motion benchmark and the control benchmark unification of actuator 0300 are smeared, it is ensured that adaptive to smear control tool
There is high precision.
Preferably, control instruction has the regulated quantity array for the regulated quantity for including cut-off portion 0322, regulated quantity and cut-off portion
0322 corresponds.In other words, different cut-off portions 0322 has different regulated quantitys, forms independent motion state, makes to lead to
The break-make control of stream interface 0321 is further accurate.For example, being had an effect corresponding to the cut-off portion 0322 at door and window position, make through-flow face
0321 is trapped, and avoids smearing the infringement and waste caused by mistake.
In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, without
It is that therefore, other examples of exemplary embodiment can have different values as limitation.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Therefore limitation of the scope of the invention can not be interpreted as.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.Therefore, protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of adaptive metope applicator system, it is characterised in that have：
Measuring unit, the measuring unit is used for the surface configuration for measuring metope, and generates corresponding detection information；
Control unit, described control unit is used for the flatness and shape that the metope is calculated according to the detection information, and root
Control instruction is generated according to result of calculation；
Actuator is smeared, the smearing actuator has skinning loam mechanism and feeding unit, and the skinning loam mechanism is used to perform smearing
Action, the feeding unit has at least one cut-off portion and the through-flow face for conveying coating, and the cut-off portion is used for basis
The control instruction ends the part or all of through-flow face of the feeding unit.
2. adaptive metope applicator system according to claim 1, it is characterised in that the smearing actuator can be along vertical
Direction is slidably held in a reference body, and the measuring unit is used for the installation for measuring the metope and the smearing actuator
The distance between face and obtain the detection information, it is up to a little less with the mounting surface that the detection information includes the metope
The distance between.
3. adaptive metope applicator system according to claim 2, it is characterised in that the reference body has vertical guide,
The smearing actuator vertically can be slidably held on the vertical guide, and the measuring unit is used to measure the wall
The distance between face and described vertical guide and obtain the detection information, it is up to a little less that the detection information includes the metope
The distance between with the vertical guide.
4. adaptive metope applicator system according to claim 2, it is characterised in that the smearing actuator is connected with use
In the drive division for driving it vertically to slide, the drive division changes the smearing actuator according to the control instruction
Motion state vertically.
5. adaptive metope applicator system according to claim 1, it is characterised in that the cut-off portion includes gate and use
In the cut-off drive division for driving the shutter motion, the gate is used for the through-flow face of barrier portion or whole.
6. adaptive metope applicator system according to claim 5, it is characterised in that the cut-off portion has a plurality of institutes
State gate, a plurality of continuous array distributions of gate and the horizontal width direction by the through-flow face along the skinning loam mechanism is drawn
It is divided into plurality of regions, the gate movingly stretches out and is covered in the through-flow face.
7. adaptive metope applicator system according to claim 1, it is characterised in that the measuring unit has compound fortune
Motivation structure, the composite-motion mechanism has at least one rotational freedom.
8. adaptive metope applicator system according to claim 7, it is characterised in that the measuring unit has at least one
The individual displacement transducer for ranging, institute's displacement sensors are on the composite-motion mechanism.
9. adaptive metope applicator system according to claim 1, it is characterised in that the detection information includes the wall
A plurality of measurement points smear the distance between actuator with described on face, and a plurality of measurement points are in array on the metope point
Cloth.
10. adaptive metope applicator system according to claim 1, it is characterised in that the control instruction, which has, to be included
The regulated quantity array of the regulated quantity in the cut-off portion, the regulated quantity is corresponded with the cut-off portion.
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| CN201710683313.5A CN107299749A (en) | 2017-08-11 | 2017-08-11 | Adaptive metope applicator system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115030458A (en) * | 2021-03-04 | 2022-09-09 | 广东博智林机器人有限公司 | Glue scraping mechanism, wall brick paving equipment and wall brick paving method |
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| CN203320912U (en) * | 2013-06-28 | 2013-12-04 | 蒋贞荣 | Automatic plastering and troweling robot for wall |
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