CN109972819A - A kind of house ornamentation apparatus of plastering - Google Patents
A kind of house ornamentation apparatus of plastering Download PDFInfo
- Publication number
- CN109972819A CN109972819A CN201910278863.8A CN201910278863A CN109972819A CN 109972819 A CN109972819 A CN 109972819A CN 201910278863 A CN201910278863 A CN 201910278863A CN 109972819 A CN109972819 A CN 109972819A
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- CN
- China
- Prior art keywords
- executing agency
- spray
- laser
- executing
- hopper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 71
- 230000033001 locomotion Effects 0.000 claims abstract description 45
- 239000007921 spray Substances 0.000 claims abstract description 39
- 239000000463 material Substances 0.000 claims abstract description 30
- 238000007790 scraping Methods 0.000 claims abstract description 11
- 230000009471 action Effects 0.000 claims abstract description 6
- 238000003756 stirring Methods 0.000 claims description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 238000002347 injection Methods 0.000 claims description 9
- 239000007924 injection Substances 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000005422 blasting Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 3
- 238000005034 decoration Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
Abstract
The invention proposes a kind of house ornamentation apparatus of plastering, described device includes sensing mechanisms, control mechanism, support conduction mechanism and executing agency；The sensing mechanisms, for perceiving the action message of ambient condition information and executing agency during executing spray and scraping movement；The control mechanism, for executing spray according to the ambient condition information and action message control executing agency and scraping movement；The support conduction mechanism for providing support for the sensing mechanisms, control mechanism and executing agency, and transmits executing agency's execution spray and scrapes material requested during movement；Movement is scraped for executing spray by the executing agency.Device proposed by the invention can be improved the construction efficiency of Decoration Industry, save manpower and management cost.
Description
Technical field
This application involves house ornamentation field more particularly to a kind of house ornamentation apparatus of plastering.
Background technique
There is the plastering equipment for much applying to public dress currently on the market, these plastering equipment are limited to house ornamentation market building arc
Shape is complicated, internal structure is different, influence in top stress area, is not suitable for house ornamentation market.And it in the construction process, needs
Worker is wanted constantly to carry out material process, therefore it can not effectively use manpower and material resources sparingly in house ornamentation plastering market.
Summary of the invention
One of to solve above-mentioned technical problem, the present invention provides a kind of house ornamentation apparatus of plastering.
The embodiment of the invention provides a kind of house ornamentation apparatus of plastering, described device includes sensing mechanisms, control mechanism, support
Conduction mechanism and executing agency；
The sensing mechanisms, for perceiving the movement of ambient condition information and executing agency during executing spray and scraping movement
Information；
The control mechanism, for executing spray according to the ambient condition information and action message control executing agency and scraping
Make；
The support conduction mechanism for providing support for the sensing mechanisms, control mechanism and executing agency, and is transmitted
The executing agency executes spray and scrapes material requested during movement；
Movement is scraped for executing spray by the executing agency.
Preferably, the sensing mechanisms includes three axis laser locators, laser signal receivers and laser range finder；
The three axis laser locator emits positioning laser for defining world coordinate system, and to ambient enviroment；
The laser signal receivers, for receiving the laser returned after positioning Laser emission to ambient enviroment；
The laser range finder, positioning laser and positioning laser hair for being emitted according to the three axis laser locator
It is incident upon the distance between metope in executing agency described in the laser monitoring returned after ambient enviroment and ambient enviroment.
Preferably, the sensing mechanisms further includes avoidance radar, the avoidance radar barrier in ambient enviroment for identification
Hinder object.
Preferably, the sensing mechanisms further includes pressure sensor, and the pressure sensor is for monitoring the execution machine
The flow of structure blasting materials during executing spray and scraping movement.
Preferably, the sensing mechanisms further includes attitude measurement instrument, and the attitude measurement instrument is for monitoring the execution machine
The posture of structure.
Preferably, the support conduction mechanism includes pedestal, jet pipe, hopper, water tank, agitating device, fixed device and prevents
Shell is protected, at the top of the base, the sensing mechanisms, control mechanism and executing agency are arranged at institute for the guard shield setting
State the inside of guard shield；
The hopper executes spray for storing the executing agency and scrapes material requested during movement, sets in the hopper
It is equipped with spray pump, for spraying the material in hopper by jet pipe to executing agency；
It is provided with motor in the agitating device, for being stirred to the material stored in hopper；
The water tank is used water when agitating device is stirred the material stored in hopper for storing, and is being stirred
It mixes and is sprayed water by jet pipe to hopper when device is stirred the material stored in hopper.
Preferably, the executing agency includes six shaft mechanical arms, sprays and scrape device, universal wheel and indicator light, the universal wheel
It is set on the base, the front end of the support conduction mechanism, the front end of the six shaft mechanicals arm is arranged in the six shaft mechanicals arm
It is provided with spray and scrapes device, the indicator light is connect with control mechanism, is used to indicate working condition.
Preferably, the control mechanism includes processor, the processor, is configured with the executable operation of processor
Instruction, to perform the following operations:
Receive the range information and attitude measurement instrument transmission posture information acquisition current location information that laser range finder is sent
And posture information；
World coordinate system is established, and the current location information and posture information are mapped in the world coordinate system；
Base motions track and manipulator motion are determined according to the current location information, posture information and world coordinate system
Track, and wheel movement instruction is sent to executing agency according to the base motions track, according to the manipulator motion track
Mechanical arm movement instruction is sent to executing agency.
Preferably, the processor is configured with the executable operational order of processor, to perform the following operations:
Stirring instruction is received, the stirring dynamics of the agitating device is controlled according to the stirring instruction；
Jeting instruction is received, the injection flow of material in the hopper is controlled according to the jeting instruction.
Preferably, the processor is configured with the executable operational order of processor, to perform the following operations:
Detection senses mechanism, control mechanism, the correctness for supporting conduction mechanism and executing agency when booting.
Beneficial effects of the present invention are as follows: the present invention perceives ambient condition information by sensing mechanisms, and according to ring around
Border information controls executing agency and plasters to metope and ground, has filled up the integrated blank of house ornamentation market stirring injection plastering.This
Inventing proposed device can be improved the construction efficiency of Decoration Industry, save manpower and management cost.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of house ornamentation apparatus of plastering described in the embodiment of the present invention；
Fig. 2 is the schematic illustration of house ornamentation apparatus of plastering described in the embodiment of the present invention.
Appended drawing reference:
1, pedestal, 2, jet pipe, 3, hopper, 4, water tank, 5, agitating device, 6, six shaft mechanical arms, 7, spray scrape device, 8, universal
Wheel.
Specific embodiment
In order to which technical solution in the embodiment of the present application and advantage is more clearly understood, below in conjunction with attached drawing to the application
Exemplary embodiment be described in more detail, it is clear that described embodiment be only the application a part implement
Example, rather than the exhaustion of all embodiments.It should be noted that in the absence of conflict, embodiment and reality in the application
The feature applied in example can be combined with each other.
As depicted in figs. 1 and 2, the present embodiment proposes a kind of house ornamentation apparatus of plastering, and described device includes sensing mechanisms, control
Mechanism, support conduction mechanism and executing agency processed；
The sensing mechanisms, for perceiving the movement of ambient condition information and executing agency during executing spray and scraping movement
Information；
The control mechanism, for executing spray according to the ambient condition information and action message control executing agency and scraping
Make；
The support conduction mechanism for providing support for the sensing mechanisms, control mechanism and executing agency, and is transmitted
The executing agency executes spray and scrapes material requested during movement；
Movement is scraped for executing spray by the executing agency.
Specifically, the sensing mechanisms includes three axis laser locators, laser signal receivers, laser range finder, avoidance
Radar, pressure sensor and attitude measurement instrument；
The three axis laser locator emits positioning laser for defining world coordinate system, and to ambient enviroment；
The laser signal receivers, for receiving the laser returned after positioning Laser emission to ambient enviroment；
The laser range finder, positioning laser and positioning laser hair for being emitted according to the three axis laser locator
It is incident upon the distance between metope in executing agency described in the laser monitoring returned after ambient enviroment and ambient enviroment；
The avoidance radar, for identification barrier in ambient enviroment；
The pressure sensor, for monitoring the stream of executing agency blasting materials during executing spray and scraping movement
Amount；
The attitude measurement instrument, for monitoring the posture of the executing agency.
The environment of door and window in ambient enviroment, door opening can be identified by sensing mechanisms.It is relatively narrow metope can be accurately identified
Or door opening narrow space and curved wall and cylinder scene.The narrow working space such as kitichen and toilet equally can be with
It works normally.
The support conduction mechanism includes pedestal 1, jet pipe 2, hopper 3, water tank 4, agitating device 5, fixed device and protection
The top of pedestal 1 is arranged in shell, the guard shield, and the sensing mechanisms, control mechanism and executing agency are arranged at institute
State the inside of guard shield；
The hopper 3 executes spray for storing the executing agency and scrapes material requested during movement, in the hopper 3
It is provided with spray pump, for spraying the material in hopper 3 by jet pipe 2 to executing agency；
It is provided with motor in the agitating device 5, for being stirred to the material stored in hopper 3；
The water tank 4, for store when agitating device 5 is stirred the material stored in hopper 3 use water, and
It is sprayed water by jet pipe 2 to hopper 3 when agitating device 5 is stirred the material stored in hopper 3.
The executing agency includes six shaft mechanical arms 6, sprays and scrape device 7, universal wheel 8 and indicator light, and the universal wheel 8 is arranged
On pedestal 1, the front end of the support conduction mechanism is arranged in the six shaft mechanicals arm 6, and the front end of the six shaft mechanicals arm 6 is set
It is equipped with spray and scrapes device 7, the indicator light is connect with control mechanism, is used to indicate working condition.
Specifically, the present embodiment being capable of all-around mobile in space using six shaft mechanical arms 6.In six shaft mechanical arms 6
End is provided with spray and scrapes guide member, and device 7 can be scraped with spray and is fixedly connected, while material needed for injection being guided to spray and is scraped
Module.The execution unit that injection and floating are provided in module is scraped in spray.Spray is scraped material and is sprayed by spraying execution unit to front
Metope, then by smooth out execution unit uniformly by spray scrape material smooth out.
The control mechanism includes processor, the processor, is configured with the executable operational order of processor, with
It performs the following operations:
Receive the range information and attitude measurement instrument transmission posture information acquisition current location information that laser range finder is sent
And posture information；
World coordinate system is established, and the current location information and posture information are mapped in the world coordinate system；
1 motion profile of pedestal and mechanical arm fortune are determined according to the current location information, posture information and world coordinate system
Dynamic rail mark, and wheel movement instruction is sent to executing agency according to 1 motion profile of pedestal, according to the manipulator motion rail
Mark sends mechanical arm movement instruction to executing agency；
Stirring instruction is received, the stirring dynamics of the agitating device 5 is controlled according to the stirring instruction；
Jeting instruction is received, the injection flow of material in the hopper 3 is controlled according to the jeting instruction；
Detection senses mechanism, control mechanism, the correctness for supporting conduction mechanism and executing agency in booting.
Specifically, including decision-making level, perception algorithm layer and driving layer three parts in control mechanism described in the present embodiment.Its
Middle decision-making level includes the stirring dynamics control module for assigning work order for stirring motor, is the injection that spray pump assigns work order
Flow-control module, the manipulator motion control module of work order is assigned for six shaft mechanical arms 6, be that universal wheel 8 assigns movement
The wheel control module of instruction, the working condition display module for showing current working status and operation number is sent to remote equipment
According to work data sending module.
Perception algorithm layer includes the obstacle avoidance algorithm module for identifying current barrier, study current system characteristic and adaptive
Machine learning module, the injection flow control module for controlling injection flow, is incited somebody to action at the stirring dynamics control module for controlling stirring dynamics
Coordinate transformation module that house ornamentation apparatus of plastering current location and posture map in world coordinate system is sent according to laser range finder
Range information and attitude measurement instrument send posture information obtain current location information and posture information sensor fusion module,
Determine the laser positioning module of position and posture of the house ornamentation apparatus of plastering in world coordinate system, according to world coordinate system and house ornamentation
The current location of apparatus of plastering and posture determine 1 motion-control module of pedestal of 1 motion profile of pedestal, according to world coordinate system and
The current location of house ornamentation apparatus of plastering and posture determine the manipulator motion control module of manipulator motion track, the current family of identification
Dress apparatus of plastering failure and the health control module for issuing protection instruction in time when failure occurs.
It drives layer including being system electrification, and initializes the system initialization module of all data and machine performance, detection
The motor drive module that the startup self-detection module of the correctness of each mechanical electric electric control gear, control motor work when system electrification
And test macro and extraneous communication whether normal communication test module.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
Claims (10)
1. a kind of house ornamentation apparatus of plastering, which is characterized in that described device includes sensing mechanisms, control mechanism, support conduction mechanism
And executing agency；
The sensing mechanisms, for perceiving the movement letter of ambient condition information and executing agency during executing spray and scraping movement
Breath；
The control mechanism, for executing spray according to the ambient condition information and action message control executing agency and scraping movement；
The support conduction mechanism, for providing support for the sensing mechanisms, control mechanism and executing agency, and described in transmitting
Executing agency executes spray and scrapes material requested during movement；
Movement is scraped for executing spray by the executing agency.
2. the apparatus according to claim 1, which is characterized in that the sensing mechanisms includes three axis laser locators, laser
Signal receiver and laser range finder；
The three axis laser locator emits positioning laser for defining world coordinate system, and to ambient enviroment；
The laser signal receivers, for receiving the laser returned after positioning Laser emission to ambient enviroment；
The laser range finder, positioning laser and positioning Laser emission for being emitted according to the three axis laser locator are extremely
The distance between metope in executing agency described in the laser monitoring returned after ambient enviroment and ambient enviroment.
3. the apparatus of claim 2, which is characterized in that the sensing mechanisms further includes avoidance radar, the avoidance
The radar barrier in ambient enviroment for identification.
4. device according to claim 3, which is characterized in that the sensing mechanisms further includes pressure sensor, the pressure
Force snesor is used to monitor the flow of executing agency blasting materials during executing spray and scraping movement.
5. device according to claim 4, which is characterized in that the sensing mechanisms further includes attitude measurement instrument, the appearance
State measuring instrument is used to monitor the posture of the executing agency.
6. device according to claim 5, which is characterized in that the support conduction mechanism include pedestal, jet pipe, hopper,
Water tank, agitating device, fixed device and guard shield, the guard shield are arranged at the top of the base, the sensing mechanisms, control
Mechanism and executing agency processed are arranged at the inside of the guard shield；
The hopper executes spray for storing the executing agency and scrapes material requested during movement, is provided in the hopper
Spray pump, for being sprayed the material in hopper by jet pipe to executing agency；
It is provided with motor in the agitating device, for being stirred to the material stored in hopper；
The water tank is filled for storing the water of using when agitating device is stirred the material stored in hopper, and in stirring
It sets and is sprayed water by jet pipe to hopper when being stirred to the material stored in hopper.
7. device according to claim 6, which is characterized in that the executing agency include six shaft mechanical arms, spray scrape device,
Universal wheel and indicator light, the universal wheel are set on the base, and the support conduction mechanism is arranged in the six shaft mechanicals arm
Front end, the front end of the six shaft mechanicals arm are provided with spray and scrape device, and the indicator light is connect with control mechanism, are used to indicate work
State.
8. device according to claim 7, which is characterized in that the control mechanism includes processor, the processor,
It is configured with the executable operational order of processor, to perform the following operations:
Receive the range information and attitude measurement instrument transmission posture information acquisition current location information and appearance that laser range finder is sent
State information；
World coordinate system is established, and the current location information and posture information are mapped in the world coordinate system；
Base motions track and manipulator motion rail are determined according to the current location information, posture information and world coordinate system
Mark, and according to the base motions track to executing agency send wheel movement instruction, according to the manipulator motion track to
Executing agency sends mechanical arm movement instruction.
9. device according to claim 8, which is characterized in that the processor is configured with what processor can be performed
Operational order, to perform the following operations:
Stirring instruction is received, the stirring dynamics of the agitating device is controlled according to the stirring instruction；
Jeting instruction is received, the injection flow of material in the hopper is controlled according to the jeting instruction.
10. device according to claim 9, which is characterized in that the processor is configured with what processor can be performed
Operational order, to perform the following operations: detection senses mechanism, control mechanism, support conduction mechanism and executing agency in booting
Correctness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278863.8A CN109972819A (en) | 2019-04-09 | 2019-04-09 | A kind of house ornamentation apparatus of plastering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278863.8A CN109972819A (en) | 2019-04-09 | 2019-04-09 | A kind of house ornamentation apparatus of plastering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109972819A true CN109972819A (en) | 2019-07-05 |
Family
ID=67083571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910278863.8A Withdrawn CN109972819A (en) | 2019-04-09 | 2019-04-09 | A kind of house ornamentation apparatus of plastering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109972819A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111255199A (en) * | 2020-03-25 | 2020-06-09 | 珠海心怡科技有限公司 | Roller coating method for completing operation by combining automatic spray gun of robot and roller |
| CN111321900A (en) * | 2020-03-04 | 2020-06-23 | 广东博智林机器人有限公司 | Leveling and floating device and leveling and floating robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103611461A (en) * | 2013-12-11 | 2014-03-05 | 三一汽车制造有限公司 | Stirring rotation speed adjusting device, stirring rotation speed adjusting method and stirring system |
| CN104950909A (en) * | 2014-03-26 | 2015-09-30 | 中集车辆（集团）有限公司 | Control system and control method for multi-section mechanical arm |
| CN109098408A (en) * | 2018-10-26 | 2018-12-28 | 北京乂斯科技有限公司 | A kind of fully-automatic intelligent plastering robot |
| US20190093373A1 (en) * | 2017-09-25 | 2019-03-28 | Canvas Construction, Inc. | Automated wall finishing system and method |
-
2019
- 2019-04-09 CN CN201910278863.8A patent/CN109972819A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103611461A (en) * | 2013-12-11 | 2014-03-05 | 三一汽车制造有限公司 | Stirring rotation speed adjusting device, stirring rotation speed adjusting method and stirring system |
| CN104950909A (en) * | 2014-03-26 | 2015-09-30 | 中集车辆（集团）有限公司 | Control system and control method for multi-section mechanical arm |
| US20190093373A1 (en) * | 2017-09-25 | 2019-03-28 | Canvas Construction, Inc. | Automated wall finishing system and method |
| CN109098408A (en) * | 2018-10-26 | 2018-12-28 | 北京乂斯科技有限公司 | A kind of fully-automatic intelligent plastering robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111321900A (en) * | 2020-03-04 | 2020-06-23 | 广东博智林机器人有限公司 | Leveling and floating device and leveling and floating robot |
| CN111255199A (en) * | 2020-03-25 | 2020-06-09 | 珠海心怡科技有限公司 | Roller coating method for completing operation by combining automatic spray gun of robot and roller |
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Application publication date: 20190705 |