CN109184159B - Sensing system for wall surface processing equipment and control method thereof - Google Patents
Sensing system for wall surface processing equipment and control method thereof Download PDFInfo
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- CN109184159B CN109184159B CN201811332613.XA CN201811332613A CN109184159B CN 109184159 B CN109184159 B CN 109184159B CN 201811332613 A CN201811332613 A CN 201811332613A CN 109184159 B CN109184159 B CN 109184159B
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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
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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
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Abstract
The invention discloses an induction system for wall surface processing equipment, which comprises a leveling plate and a discharging flashboard, wherein the leveling plate faces the front side, a first sensing assembly, a second sensing assembly and a third sensing assembly are arranged above the leveling plate, the induction direction of the first sensing assembly faces the front side of a coating mechanism, the induction direction of the second sensing assembly faces the two sides of the coating mechanism, and the induction direction of the third sensing assembly faces the upper side of the coating mechanism; the coating mechanism is characterized by also comprising a lifting frame positioned at the top of the coating mechanism, wherein a fourth sensing assembly and a fifth sensing assembly are respectively arranged on two mutually vertical and intersected surfaces of the lifting frame; when the lifting frame is extended, the sensing direction of the fourth sensing assembly faces upwards, and the sensing direction of the fifth sensing assembly faces towards the wall surface opposite to the leveling plate. The invention is used for solving the problem of insufficient automation degree of the wall surface processing equipment in the prior art, and achieves the purposes of improving the sensing capability of a house structure with a top beam and a side beam and improving the automation degree of the wall surface processing equipment.
Description
Technical Field
The invention relates to the field of wall surface treatment, in particular to a sensing system for wall surface treatment equipment and a control method thereof.
Background
In the field of interior decoration, wall surface treatment is an indispensable process. Such as wall plastering, putty coating, smoothing, painting, etc. These wall surface processing operations need to consume a large amount of human costs, and in order to guarantee the planarization of handling the wall surface, have higher technical requirements for workers, often need to repair for the wall surface is low in processing efficiency. For this reason, some wall surface processing devices, such as wall plastering machines, wall painting machines, etc., have appeared in the prior art. In the prior art, all the devices realize automatic wall shoveling, wall scraping, wall painting and other operations through a mechanical structure. The materials used in such equipment, such as grout, putty, latex paint, etc., are typically prepared in advance in storage containers and transported to the work piece for application to the wall. However, due to the particularity of the indoor decoration conditions, different wall surfaces may have different structures, some of which are provided with door and window holes and some of which are not provided with door and window holes; some have top beams, some have no top beams, some have side beams, and some have no side beams; some adjacent walls have remaining obstructions thereon, etc. This has just led to the automation degree of wall processing equipment among the prior art not enough, and the automatic processing equipment declared on the market can only handle the complete smooth wall that does not have any debris or hole basically, in case have structures such as door and window hole, back timber, just need manual intervention, even manpower mending leakage.
Disclosure of Invention
The invention aims to provide a sensing system for a wall surface processing device and a control method thereof, which are used for solving the problem of insufficient automation degree of the wall surface processing device in the prior art and achieving the purposes of improving the sensing capability of a house structure with a top beam and a side beam and improving the automation degree of the wall surface processing device.
The invention is realized by the following technical scheme:
the sensing system for the wall surface processing equipment comprises a coating mechanism for processing the wall surface, wherein the coating mechanism comprises a leveling plate facing the front surface and a discharging flashboard for controlling raw material conveying to the leveling plate, a first sensing assembly, a second sensing assembly and a third sensing assembly are arranged above the leveling plate, the sensing direction of the first sensing assembly faces the front surface of the coating mechanism, the sensing direction of the second sensing assembly faces the two sides of the coating mechanism, and the sensing direction of the third sensing assembly faces the upper part of the coating mechanism; the lifting frame can be retracted into the top surface of the coating mechanism, and a fourth sensing assembly and a fifth sensing assembly are respectively arranged on two mutually vertical and intersected surfaces of the lifting frame; when the lifting frame is extended, the sensing direction of the fourth sensing assembly faces upwards, and the sensing direction of the fifth sensing assembly faces towards the wall surface opposite to the leveling plate.
Aiming at the problem of insufficient automation degree of the wall surface treatment equipment in the prior art, the induction system for the wall surface treatment equipment, the coating and batching mechanism and the leveling plate arranged on the front surface of the coating and batching mechanism can be the prior art. The first sensing assembly, the second sensing assembly and the third sensing assembly are arranged above the leveling plate, so that all the sensing assemblies are positioned above the leveling plate, the normal working state of the coating mechanism from bottom to top can be met, and the interference on the normal wall surface processing operation of the leveling plate can not be caused. The sensing direction of the first sensing assembly faces the front face of the coating mechanism, so that the sensing assembly can be used for sensing the distance between the leveling plate and the treated wall face in the bottom-up movement process of the leveling plate, and therefore the front-back position relation between the whole coating mechanism and the wall face is controlled, and the thickness of wall face treatment such as plastering is controlled. The last infrared inductor of second infrared inductor is used for responding to the crashproof distance between the side wall, and when work to the side position, the last infrared inductor of second infrared inductor induced the measurement earlier, when sensing the side again down the infrared inductor, just the blowing again scribbles the work of criticizing, here last infrared inductor, lower infrared inductor refer in particular to two second infrared inductors that distribute from top to bottom. The sensing direction of the third sensing assembly faces the upper side of the coating mechanism and is used for sensing the distance from the side beam bottom or the front side beam bottom. When the third infrared sensor at the front end senses the front side beam bottom and the third infrared sensor at the rear end also senses the side beam bottom, the conveying material stops, the coating and batching main disk mechanism retreats and correspondingly displaces leftwards or rightwards, the third infrared sensors distributed in the front and the rear direction cannot sense the side beam bottom, and in the safe anti-collision distance of the second infrared sensor, the coating and batching mechanism continues to move upwards, all flashboards are opened simultaneously to continue feeding, and coating and batching operation is performed on the beam body. When the fourth sensing assembly senses that the distance from the beam bottom, the side beam bottom or the ceiling is still 20cm, all the flashboards are closed, the lifting frame is retracted at the same time, the mounting rod of the lifting frame enters the notch, the fourth sensing assembly and the fifth sensing assembly are closed, the sixth sensing assembly is opened, and the coating mechanism is kept to move upwards continuously. The coating material continues to move upwards after avoiding barriers such as a side beam bottom, then the lifting frame extends upwards, and the fourth sensing assembly senses the ceiling, so that the sensing capability of the invention to the bottom position can be obviously improved, and the problem that a sensing signal can be obtained when the ceiling is contacted soon is avoided. In the working process of the scheme, the lifting frame is lifted, and when the fourth sensing assembly senses that the distance from the ceiling is only 20cm, the lifting frame can be stopped from conveying and withdrawing the raw materials of the coating and batching mechanism, so that the lifting frame is retracted into the top surface of the coating and batching mechanism.
The first sensing assembly comprises two first infrared sensors distributed left and right, the second sensing assembly comprises two second infrared sensors distributed left and right, the third sensing assembly comprises four third infrared sensors, the four third infrared sensors are distributed on two opposite sides of the top surface of the coating mechanism, and the two third infrared sensors on the same side are distributed along the front and back direction of the coating mechanism. The first sensing assembly comprises two first infrared sensors which are distributed left and right, and the recognition capability of the distance between the whole flat plate and the processed wall surface is ensured, so that errors are avoided. Ensure that the left and right sides right above the whole flat plate are all sensed by the wall surface. The second sensing assembly comprises two second infrared sensors which are distributed left and right and used for respectively sending infrared signals to two sides to sense whether beams are arranged on the wall surfaces of two sides of the leveling plate. The third sensing assembly comprises four third infrared sensors, the four third infrared sensors are distributed on two sides of the top surface of the coating mechanism in a pairwise opposite mode, and the two third infrared sensors on the same side are distributed in the front-back direction of the coating mechanism. Namely, two third infrared sensors are respectively arranged on two sides of the top surface of the coating mechanism. The two third infrared sensors on the same side are distributed along the front-back direction of the coating mechanism, namely, one of the two third infrared sensors on the same side is close to the front wall surface, and the other infrared sensor is far away from the front wall surface. A third infrared sensor close to the wall surface is used for sensing the existence of the bottom or the top beam of the front side beam; as is known, when the top beam exists on the top of the wall surface, the beam bottom inevitably protrudes downwards, and the beam bottom can be sensed by the third infrared sensor close to the wall surface; and keep away from the wall a third infrared inductor is used for responding to the side beam at the bottom, when two third infrared inductors of homonymy sense and have the discrepancy in elevation apart from the roof, then has surperficially had the curb girder, can carry out the following step this moment and avoid the back timber: the third infrared inductor that is located the front end senses the front side beam bottom, when the third infrared inductor that is located the rear end also senses the side beam bottom, carry the material to stop, and make scribble batch owner's dish mechanism retreat, and make left displacement or shift to the right correspondingly, the third infrared inductor that distributes all can not respond to the side beam bottom until the front and back, and when the anticollision distance of second infrared inductor, make this moment scribble batch mechanism and continue the ascending, thereby also handle the operation to the side beam surface. In the scheme, the distance between two third infrared sensors on the same side is preferably 6-10 cm, so that the width of the bottom of the existing side beam can be perfectly avoided, and the side beam is flexibly avoided.
Preferably, the coating mechanism is provided with mounting plates on two opposite sides, and the first infrared inductor and the second infrared inductor are arranged on the mounting plates.
Preferably, the number of the second infrared sensors is four, and two second infrared sensors distributed up and down are arranged on each mounting plate. The height of the barriers on the side surface can be measured through the two second infrared sensors distributed up and down, so that the height judgment and bypassing capacity of the beam of the wall body adjacent to the side surface is further improved.
Preferably, the mounting plate comprises a strip-shaped main body part, the long axis of the main body part is vertical, and a protruding part is arranged in the middle of the main body part; the first infrared inductor is installed on the protruding portion, and the second infrared inductor is installed on the main body portion.
And the surface of the lifting frame is also provided with a sixth sensing assembly, and when the lifting frame is contracted into the top surface of the coating mechanism, the sensing direction of the sixth sensing assembly is upward. Because the crane contracts to the top surface of the coating and batching mechanism, the whole top surface of the coating and batching mechanism can be jacked. Meanwhile, in the process of reaching the top, the distance from the sixth infrared sensor to the top is sensed, and the coating mechanism can be accurately stopped when reaching the top.
Preferably, the lifting frame comprises a rotating shaft with a horizontal axis, the rotating shaft is driven by a driving mechanism to rotate, the fourth sensing assembly is arranged on the mounting rod, and the mounting rod is fixedly connected with the rotating shaft through a rod body; the cross section of the installation rod is square, the fourth sensing assembly, the fifth sensing assembly and the sixth sensing assembly are respectively located on three side faces of the installation rod, and the fifth sensing assembly and the sixth sensing assembly are located on two opposite side faces of the installation rod.
Preferably, a notch is formed in the top of the coating mechanism, and the mounting rod can enter the notch; the fourth sensing assemblies are three fourth infrared sensors distributed along the length direction of the mounting rod, the fifth sensing assemblies are fifteen fifth infrared sensors uniformly distributed along the length direction of the mounting rod, and the sixth sensing assemblies are three sixth infrared sensors distributed along the length direction of the mounting rod.
Further, the discharge gate plates are fifteen parallel gate plates, and each gate plate corresponds to one fifth infrared inductor; when any one fifth infrared sensor cannot sense the wall surface, the flashboard corresponding to the fifth infrared sensor is closed. When the lifting frame is extended, the sensing direction of the fourth sensing assembly faces upwards, and the sensing direction of the fifth sensing assembly faces towards the wall surface opposite to the leveling plate. Therefore, the fifth infrared sensor reaches the door and window opening before the leveling plate, when the fifth infrared sensor cannot sense the wall surface, a hole is formed in the surface, and the gate plate corresponding to the fifth infrared sensor is closed regardless of whether the hole is the door and window opening. Because the blowing flashboard comprises fifteen flashboards that are side by side in this scheme, each flashboard corresponds a fifth infrared inductor, consequently closes the flashboard that certain fifth infrared inductor corresponds, can make the position that this fifth infrared inductor corresponds not the ejection of compact to make positions such as door and window hole do not have the raw materials to supply with, avoid the raw materials extravagant, avoid falling at door and window hole department raw materials, realize the effect of not blowing in position and the window gate department of empty cavity.
A method of controlling a sensing system for a wall treatment apparatus, comprising the steps of:
(a) enabling a leveling plate of the coating mechanism to face a wall surface, unfolding the lifting frame, starting the coating mechanism to integrally move at a constant speed along the wall surface from bottom to top, simultaneously opening all flashboards, conveying raw materials to the leveling plate, opening all first infrared sensors, all second infrared sensors, all third infrared sensors, all fourth infrared sensors and all fifth infrared sensors in the moving process, and closing all sixth infrared sensors; wherein the first infrared sensor is used for sensing the distance between the leveling plate and the treated wall surface; the second infrared sensor is used for sensing the distance from the coating mechanism to the side beam: when the second infrared sensor positioned above senses the side beam, stopping discharging until the second infrared sensor positioned below also senses the side beam, and discharging again to perform coating operation;
(b) when any one fifth infrared sensor cannot sense the wall surface, closing the gate plate corresponding to the fifth infrared sensor until the fifth infrared sensor senses the wall surface again, and then reopening the corresponding gate plate;
(c) when the third infrared sensor at the front end senses the bottom of the front side beam and the third infrared sensor at the rear end also senses the bottom of the front side beam, stopping conveying the materials and enabling the coating mechanism to retreat until the third infrared sensors distributed in the front and rear directions cannot sense the bottom of the front side beam, and then enabling the coating mechanism to continuously ascend;
(d) when the fourth infrared sensor senses that the distance from the front side beam bottom, the side beam bottom or the ceiling is still 20cm, closing all the flashboards, withdrawing the lifting frame, enabling the mounting rod of the lifting frame to enter the notch, closing the fourth infrared sensor and the fifth infrared sensor, opening the sixth infrared sensor, keeping the coating mechanism to continue moving upwards, and stopping moving upwards until the sixth infrared sensor senses an obstacle;
(e) when the sixth infrared sensor senses that the wall surface reaches the top, the coating mechanism stops moving upwards, and the surplus wall surface is processed by using the surplus materials on the leveling plate.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the sensing system for the wall surface processing equipment has the advantages that the sensing direction of the first sensing assembly faces to the front surface of the coating and batching mechanism, so that the sensing system can be used for sensing the distance between the leveling plate and the processed wall surface in the bottom-up movement process of the leveling plate, and further controlling the front-back position relation between the whole coating and batching mechanism and the wall surface, so as to control the thickness of wall surface processing such as plastering and the like. In the motion process of the coating mechanism, the upper infrared sensor of the second infrared sensor is used for sensing the collision avoidance distance between the side wall surfaces, when the coating mechanism works to the position of the side beam, the upper infrared sensor of the second infrared sensor firstly passes through the bottom of the side beam, the feeding is stopped at the moment, and the coating mechanism can be used for discharging materials again and recovering the coating work until the lower infrared sensor in the second infrared sensor senses the side beam.
2. The sensing direction of the third sensing assembly faces to the upper side of the painting mechanism and is used for sensing the distance from the side beam bottom or the beam bottom. When a third infrared sensor at the front end senses the bottom of the side beam and a third infrared sensor at the rear end also senses the bottom of the side beam, the conveying is stopped, the coating machine main disc mechanism is made to retreat or correspondingly move leftwards or rightwards until the third infrared sensors distributed in the front and the rear direction do not sense the bottom of the side beam, and when the collision avoidance distance of the second infrared sensor is out, the coating machine main disc mechanism is indicated to retreat into the beam body at the moment, the coating machine mechanism continues to move upwards, all the flashboards are opened to continue to supply materials, and coating operation is performed on the beam body.
3. When the fourth sensing assembly senses that the distance from the beam bottom, the side beam bottom or the ceiling is 20cm, all the flashboards are closed, the lifting frame is retracted at the same time, the mounting rod of the lifting frame enters the notch, the fourth sensing assembly and the fifth sensing assembly are closed, the sixth sensing assembly is opened, and the coating mechanism is kept moving upwards until the side beam bottom is suspended. When the third infrared sensor at the front end senses that the coating mechanism reaches the bottom of the side beam, the coating mechanism retreats and correspondingly shifts leftwards or rightwards. According to the ceiling induction device, the lifting frame extends upwards, and the fourth sensing assembly senses the ceiling, so that the sensing capability of the ceiling induction device to the bottom position can be remarkably improved, and the problem that a sensing signal can be obtained only when the ceiling induction device is in contact with the ceiling is solved.
4. According to the induction system for the wall surface processing equipment, when the lifting frame is extended, the induction direction of the fourth sensing assembly faces upwards, and the induction direction of the fifth sensing assembly faces towards the wall surface opposite to the leveling plate. Therefore, the fifth infrared sensor reaches the door and window opening before the leveling plate, when the fifth infrared sensor cannot sense the wall surface, a hole is formed in the surface, and the gate plate corresponding to the fifth infrared sensor is closed regardless of whether the hole is the door and window opening. The blowing flashboard comprises fifteen flashboards that are side by side, and each flashboard corresponds a fifth infrared inductor, consequently closes the flashboard that certain fifth infrared inductor corresponds, can make the position that this fifth infrared inductor corresponds not ejection of compact to make positions such as door and window hole not have the raw materials to supply, avoid the raw materials extravagant, avoid falling at door and window hole department raw materials.
5. According to the induction system for the wall surface treatment equipment, the lifting frame is retracted into the top surface of the coating mechanism, so that the whole top surface of the coating mechanism can be jacked. Meanwhile, in the process of reaching the top, the distance from the sixth infrared sensor to the top is sensed, and the coating mechanism can be accurately stopped when reaching the top.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic illustration of a house to be treated in an embodiment of the present invention;
FIG. 2 is a side view of an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
FIG. 4 is a schematic structural diagram of an embodiment of the present invention;
fig. 5 is a partially enlarged view of B in fig. 4.
Reference numbers and corresponding part names in the drawings:
23-leveling board, 24-first infrared sensor, 25-second infrared sensor, 26-third infrared sensor, 27-mounting board, 271-main body, 272-bulge, 28-rotating shaft, 29-mounting rod, 30-rod body, 31-notch, 32-fourth infrared sensor, 48-fifth infrared sensor, 49-sixth infrared sensor, 50-top beam and 51-side beam.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1:
the induction system for the wall surface processing equipment as shown in fig. 1 to 3 comprises a coating mechanism for processing the wall surface, wherein the coating mechanism comprises a leveling plate 23 facing to the front surface and a discharge gate 17 for controlling the raw material delivery to the leveling plate 23, a first sensing assembly, a second sensing assembly and a third sensing assembly are arranged above the leveling plate 23, the induction direction of the first sensing assembly faces to the front surface of the coating mechanism, the induction direction of the second sensing assembly faces to the two sides of the coating mechanism, and the induction direction of the third sensing assembly faces to the upper part of the coating mechanism; the lifting frame can be retracted into the top surface of the coating mechanism, and a fourth sensing assembly and a fifth sensing assembly are respectively arranged on two mutually vertical and intersected surfaces of the lifting frame; when the lifting frame is extended, the sensing direction of the fourth sensing assembly faces upwards, and the sensing direction of the fifth sensing assembly faces towards the wall surface opposite to the leveling plate 23.
Example 2:
as shown in fig. 1 and fig. 2, in the sensing system for a wall surface processing device according to embodiment 1, the first sensing assembly includes two first infrared sensors 24 distributed left and right, the second sensing assembly includes two second infrared sensors 25 distributed left and right, the third sensing assembly includes four third infrared sensors 26, the four third infrared sensors 26 are distributed on two sides of the top surface of the coating mechanism in a pairwise opposite manner, and the two third infrared sensors 26 on the same side are distributed along the front and back direction of the coating mechanism. Scribble two opposite sides of criticizing mechanism and all set up mounting panel 27, first infrared inductor 24, second infrared inductor 25 all set up on mounting panel 27. The number of the second infrared sensors 25 is four, and two second infrared sensors 25 are arranged on each mounting plate 27 and distributed up and down. The mounting plate 27 comprises an elongated main body 271, the long axis of the main body 271 is vertical, and a protrusion 272 is arranged in the middle of the main body 271; the first infrared sensor 24 is mounted on the protruding portion 272, and the second infrared sensor 25 is mounted on the main body portion 271. And the surface of the lifting frame is also provided with a sixth sensing assembly, and when the lifting frame is contracted into the top surface of the coating mechanism, the sensing direction of the sixth sensing assembly is upward. The lifting frame comprises a rotating shaft 28 with a horizontal axis, the rotating shaft 28 is driven by a driving mechanism to rotate, the fourth sensing assembly is arranged on an installation rod 29, and the installation rod 29 is fixedly connected with the rotating shaft 28 through a rod body 30; the cross section of the mounting rod 29 is square, the fourth sensing assembly, the fifth sensing assembly and the sixth sensing assembly are respectively located on three side faces of the mounting rod 29, and the fifth sensing assembly and the sixth sensing assembly are located on two opposite side faces of the mounting rod 29. A notch 31 is formed in the top of the coating mechanism, and the mounting rod 29 can enter the notch 31; the fourth sensing assemblies are three fourth infrared sensors 32 distributed along the length direction of the mounting rod 29, the fifth sensing assemblies are fifteen fifth infrared sensors 48 uniformly distributed along the length direction of the mounting rod 29, and the sixth sensing assemblies are three sixth infrared sensors 49 distributed along the length direction of the mounting rod 29. The discharge gate plate 17 is fifteen parallel gate plates, and each gate plate corresponds to one fifth infrared inductor 48; when any one of the fifth infrared sensors 48 cannot sense the wall surface, the shutter corresponding to the fifth infrared sensor 48 is closed.
A method of controlling a sensing system for a wall treatment apparatus, comprising the steps of:
(a) enabling a leveling plate 23 of the coating mechanism to face a wall surface, unfolding the lifting frame, starting the coating mechanism to integrally move at a constant speed along the wall surface from bottom to top, simultaneously opening all the gate plates, conveying raw materials to the leveling plate 23 through a secondary pressurizing device, opening all the first infrared inductor 24, the second infrared inductor 25, the third infrared inductor 26, the fourth infrared inductor 32 and the fifth infrared inductor 48 in the moving process, and closing the sixth infrared inductor 49; wherein the first infrared sensor 24 is used to sense the distance between the screed 23 and the wall being treated; the second infrared sensor 25 is used to sense the distance from the batching mechanism to the side beam: when the second infrared sensor 25 positioned above senses the side beam, stopping discharging until the second infrared sensor 25 positioned below also senses the side beam, and discharging again to perform coating operation;
(b) when any one of the fifth infrared sensors 48 cannot sense the wall surface, closing the gate plate corresponding to the fifth infrared sensor 48 until the fifth infrared sensor 48 senses the wall surface again, and then reopening the corresponding gate plate;
(c) when the third infrared sensor 26 at the front end senses the bottom of the front side beam and the third infrared sensor 26 at the rear end also senses the bottom of the front side beam, stopping conveying the material and enabling the coating mechanism to retreat until the third infrared sensors 26 distributed in the front and rear direction do not sense the bottom of the front side beam, and enabling the coating mechanism to continuously ascend at the moment;
(d) when the fourth infrared sensor 32 senses that the distance from the front side beam bottom, the side beam bottom or the ceiling is still 20cm, closing all the flashboards, withdrawing the lifting frame, enabling the installation rod 29 of the lifting frame to enter the notch 31, closing the fourth infrared sensor 32 and the fifth infrared sensor 48, opening the sixth infrared sensor 49, and keeping the coating mechanism to continuously move upwards until the sixth infrared sensor 49 senses an obstacle, stopping moving upwards;
(e) when the sixth infrared sensor 49 senses that the top is reached, the upward movement of the coating mechanism is stopped, and the surplus wall surface treatment is completed by the remainders on the leveling plate 23.
In this embodiment, the first infrared sensor 24 is used for sensing the distance between the whole machine and the wall surface; the second infrared sensor 25 is used for sensing a beam on the wall surface adjacent to the wall surface to be treated; the third infrared sensor 26 is used for sensing the side beam bottom or the beam bottom; the fourth infrared sensor 32 is used for sensing the front side beam bottom, the side beam bottom or the ceiling 20cm in advance when the lifting frame is unfolded, so that the lifting frame can be conveniently folded in advance. The fifth infrared sensor 48 is used for sensing the door and window opening; the sixth infrared sensor 49 is used to sense the ceiling when the crane is retracted. The number of the fourth infrared sensors 32 and the number of the sixth infrared sensors 49 are three, the fourth infrared sensor 32 and the sixth infrared sensor 49 are distributed along the length direction of the mounting rod 29, the fourth infrared sensor 32 and the sixth infrared sensor 49 are located in the middle and used for sensing the top beam 50, and the fourth infrared sensor 32 and the sixth infrared sensor 49 are located on two sides and used for sensing the side beam 51.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. The induction system for the wall surface processing equipment comprises a coating mechanism for processing the wall surface, wherein the coating mechanism comprises a leveling plate (23) facing to the front surface and a discharging flashboard (17) used for controlling raw material conveying to the leveling plate (23), and is characterized in that a first sensing assembly, a second sensing assembly and a third sensing assembly are arranged above the leveling plate (23), the induction direction of the first sensing assembly faces to the front surface of the coating mechanism, the induction direction of the second sensing assembly faces to the two sides of the coating mechanism, and the induction direction of the third sensing assembly faces to the upper part of the coating mechanism; the lifting frame can be retracted into the top surface of the coating mechanism, and a fourth sensing assembly and a fifth sensing assembly are respectively arranged on two mutually vertical and intersected surfaces of the lifting frame; when the lifting frame is extended, the sensing direction of the fourth sensing assembly faces upwards, and the sensing direction of the fifth sensing assembly faces towards a wall surface opposite to the leveling plate (23);
the first sensing assembly comprises two first infrared sensors (24) distributed left and right, the second sensing assembly comprises two second infrared sensors (25) distributed left and right, the third sensing assembly comprises four third infrared sensors (26), the four third infrared sensors (26) are distributed on two sides of the top surface of the coating mechanism in a pairwise opposite mode, and the two third infrared sensors (26) on the same side are distributed along the front and back direction of the coating mechanism;
the surface of the lifting frame is also provided with a sixth sensing assembly, and when the lifting frame is contracted into the top surface of the coating mechanism, the sensing direction of the sixth sensing assembly is upward;
the lifting frame comprises a rotating shaft (28) with a horizontal axis, the rotating shaft (28) is driven by a driving mechanism to rotate, the fourth sensing assembly is arranged on an installation rod (29), and the installation rod (29) is fixedly connected with the rotating shaft (28) through a rod body (30); the cross section of the mounting rod (29) is square, the fourth sensing assembly, the fifth sensing assembly and the sixth sensing assembly are respectively positioned on three side surfaces of the mounting rod (29), and the fifth sensing assembly and the sixth sensing assembly are positioned on two opposite side surfaces of the mounting rod (29);
a notch (31) is formed in the top of the coating mechanism, and the mounting rod (29) can enter the notch (31); the fourth sensing assemblies are three fourth infrared sensors (32) distributed along the length direction of the mounting rod (29), the fifth sensing assemblies are fifteen fifth infrared sensors (48) uniformly distributed along the length direction of the mounting rod (29), and the sixth sensing assemblies are three sixth infrared sensors (49) distributed along the length direction of the mounting rod (29);
the control method of the induction system comprises the following steps:
(a) enabling a leveling plate (23) of the coating mechanism to face a wall surface, unfolding a lifting frame, starting the coating mechanism to move at a constant speed from bottom to top along the wall surface, simultaneously opening all gate plates, conveying raw materials to the leveling plate (23), opening all first infrared sensors (24), all second infrared sensors (25), all third infrared sensors (26), all fourth infrared sensors (32) and all fifth infrared sensors (48) in the moving process, and closing all sixth infrared sensors (49); wherein the first infrared sensor (24) is adapted to sense the distance between the screed (23) and the wall surface to be treated; the second infrared sensor (25) is used for sensing the distance from the coating mechanism to the side beam: when the second infrared sensor (25) positioned above senses the side beam, the material is stopped to be discharged until the second infrared sensor (25) positioned below also senses the side beam, and the material is discharged again to carry out coating operation;
(b) when any one fifth infrared sensor (48) cannot sense the wall surface, closing the gate plate corresponding to the fifth infrared sensor (48) until the fifth infrared sensor (48) senses the wall surface again, and then reopening the corresponding gate plate;
(c) when the third infrared sensor (26) positioned at the front end senses the bottom of the front side beam and the third infrared sensor (26) positioned at the rear end also senses the bottom of the front side beam, the material conveying is stopped, the coating mechanism is made to retreat until the third infrared sensors (26) distributed in the front and the rear directions cannot sense the bottom of the front side beam, and at the moment, the coating mechanism is made to continuously ascend;
(d) when the fourth infrared sensor (32) senses that the distance from the front side beam bottom, the side beam bottom or the ceiling is still 20cm, closing all the flashboards, withdrawing the lifting frame, enabling the mounting rod (29) of the lifting frame to enter the notch (31), closing the fourth infrared sensor (32) and the fifth infrared sensor (48), opening the sixth infrared sensor (49), keeping the coating mechanism to continue moving upwards, and stopping moving upwards until the sixth infrared sensor (49) senses an obstacle;
(e) when the sixth infrared sensor (49) senses that the top is reached, the coating mechanism stops moving upwards, and the residual wall surface treatment is completed by using the residual materials on the leveling plate (23).
2. A sensing system for a wall covering device as defined in claim 1, wherein mounting plates (27) are provided on opposite sides of said painting mechanism, said first and second infrared sensors (24, 25) being provided on said mounting plates (27).
3. A sensing system for a wall covering device as claimed in claim 2, wherein said second infrared sensors (25) are four in number, and two second infrared sensors (25) are disposed one above the other on each mounting plate (27).
4. The induction system for a wall treatment apparatus according to claim 2, wherein the mounting plate (27) comprises an elongated main body portion (271), the long axis of the main body portion (271) is vertical, and a protrusion (272) is arranged in the middle of the main body portion (271); the first infrared sensor (24) is mounted on the projection (272), and the second infrared sensor (25) is mounted on the main body (271).
5. An induction system for wall treatment apparatus as claimed in claim 1, wherein said discharge gate (17) is fifteen side-by-side gates, one for each fifth infrared inductor (48); when any one of the fifth infrared sensors (48) cannot sense the wall surface, the shutter corresponding to the fifth infrared sensor (48) is closed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811332613.XA CN109184159B (en) | 2018-11-09 | 2018-11-09 | Sensing system for wall surface processing equipment and control method thereof |
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| CN201811332613.XA CN109184159B (en) | 2018-11-09 | 2018-11-09 | Sensing system for wall surface processing equipment and control method thereof |
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| CN109184159A CN109184159A (en) | 2019-01-11 |
| CN109184159B true CN109184159B (en) | 2020-03-20 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2311800B (en) * | 1996-04-03 | 2000-01-26 | Stephen Mcdermott | Plastering apparatus |
| CN203320912U (en) * | 2013-06-28 | 2013-12-04 | 蒋贞荣 | Automatic plastering and troweling robot for wall |
| CN105317201B (en) * | 2015-10-30 | 2017-12-29 | 武汉科技大学 | Building surface spray robot |
| CN205421857U (en) * | 2015-10-30 | 2016-08-03 | 武汉科技大学 | Building surface coating robot |
| CN206477554U (en) * | 2017-01-18 | 2017-09-08 | 罗永彬 | A kind of building wall processing unit |
| CN207582911U (en) * | 2017-12-18 | 2018-07-06 | 年双红 | A kind of skyscraper alien invasion spray robot |
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